+ python -m lidar_slam --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62 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 0.004860624 Adjusted end_distance from 9.223372036854776e+18 to 160.964860624 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004860624 meters Centerline goodness [0,1] 0.9414250759991103 Centerline is valid? [0, False] SLAMing on 0.034860624 meters Centerline goodness [0,1] 0.9341091016898904 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999960e-01 2.15112187e-04 -1.81453408e-04 1.57128090e-03] [-2.15054535e-04 9.99999926e-01 3.17683831e-04 7.42160554e-04] [ 1.81521733e-04 -3.17644796e-04 9.99999933e-01 -1.27893796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06486062399999999 meters Centerline goodness [0,1] 0.9319986192613048 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999940e-01 1.52094583e-04 -3.12069340e-04 2.68140316e-03] [-1.51978056e-04 9.99999919e-01 3.73391398e-04 1.77844318e-03] [ 3.12126105e-04 -3.73343948e-04 9.99999882e-01 -2.09495817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09486062399999999 meters Centerline goodness [0,1] 0.9206420417725936 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999669e-01 -7.96811529e-04 -1.61872552e-04 2.94525074e-03] [ 7.96773926e-04 9.99999656e-01 -2.32231182e-04 4.24993684e-03] [ 1.62057540e-04 2.32102130e-04 9.99999960e-01 -2.44962404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12486062399999999 meters Centerline goodness [0,1] 0.9036517484961186 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999457e-01 -1.00950493e-03 -2.59941760e-04 3.71962165e-03] [ 1.00945020e-03 9.99999468e-01 -2.10592534e-04 4.97572823e-03] [ 2.60154216e-04 2.10330021e-04 9.99999944e-01 -2.86482433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154860624 meters Centerline goodness [0,1] 0.8979815599302268 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998770e-01 -1.55344835e-03 -2.14479825e-04 3.71991644e-03] [ 1.55336040e-03 9.99998710e-01 -4.09633249e-04 5.05409240e-03] [ 2.15115893e-04 4.09299581e-04 9.99999893e-01 -2.72905973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184860624 meters Centerline goodness [0,1] 0.8894146071374641 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998290e-01 -1.77549435e-03 -5.16633605e-04 5.28401550e-03] [ 1.77527146e-03 9.99998331e-01 -4.31573909e-04 6.00763316e-03] [ 5.17399000e-04 4.30656006e-04 9.99999773e-01 -3.53056234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.214860624 meters Centerline goodness [0,1] 0.879022074051624 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997695e-01 -1.88531374e-03 -1.02717981e-03 7.65461726e-03] [ 1.88510946e-03 9.99998203e-01 -1.99808194e-04 7.53929780e-03] [ 1.02755466e-03 1.97871387e-04 9.99999452e-01 -4.86601547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.244860624 meters Centerline goodness [0,1] 0.8862050858900308 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99996533e-01 -2.26438899e-03 -1.34434201e-03 9.27058164e-03] [ 2.26410498e-03 9.99997414e-01 -2.12748365e-04 8.14924705e-03] [ 1.34482028e-03 2.09703896e-04 9.99999074e-01 -5.85332744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274860624 meters Centerline goodness [0,1] 0.8787349728138873 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99998376 -0.00442749 -0.00358849 0.01694816] [ 0.00442089 0.99998853 -0.00184493 0.01160161] [ 0.00359662 0.00182904 0.99999186 -0.00858654] [ 0. 0. 0. 1. ]] SLAMing on 0.30486062399999997 meters Centerline goodness [0,1] 0.8746993987975952 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99998054 -0.004675 -0.00412991 0.01925726] [ 0.00466851 0.99998786 -0.00157949 0.01214355] [ 0.00413725 0.00156017 0.99999022 -0.00983875] [ 0. 0. 0. 1. ]] SLAMing on 0.33486062399999994 meters Centerline goodness [0,1] 0.873806600345804 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99997561 -0.00477572 -0.00509574 0.02286952] [ 0.00476821 0.99998753 -0.00148435 0.01346873] [ 0.00510276 0.00146001 0.99998591 -0.01120778] [ 0. 0. 0. 1. ]] SLAMing on 0.36486062399999997 meters Centerline goodness [0,1] 0.8717756448710258 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99997088 -0.0051192 -0.00566015 0.0252283 ] [ 0.00511094 0.99998586 -0.00147144 0.01398888] [ 0.0056676 0.00144246 0.9999829 -0.01223808] [ 0. 0. 0. 1. ]] SLAMing on 0.394860624 meters Centerline goodness [0,1] 0.8470270553691275 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.01 [[ 9.99930267e-01 -6.58127652e-03 -9.80551662e-03 5.10502064e-02] [ 6.58610179e-03 9.99978206e-01 4.59887404e-04 1.49493756e-02] [ 9.80227627e-03 -5.24435465e-04 9.99951819e-01 -1.27081384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42486062399999996 meters Centerline goodness [0,1] 0.8440255314545356 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.02 [[ 0.99993174 -0.00482187 -0.01064262 0.0651027 ] [ 0.00480889 0.99998766 -0.00124475 0.0166181 ] [ 0.0106485 0.00119348 0.99994259 -0.01763564] [ 0. 0. 0. 1. ]] SLAMing on 0.45486062399999994 meters Centerline goodness [0,1] 0.8501559438050288 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.02 [[ 0.99988225 -0.00477911 -0.01458227 0.09040837] [ 0.00479571 0.99998789 0.00110429 0.01881404] [ 0.01457682 -0.00117409 0.99989306 -0.01676234] [ 0. 0. 0. 1. ]] SLAMing on 0.48486062399999996 meters Centerline goodness [0,1] 0.7630350069240927 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.02 [[ 0.99988683 -0.00402741 -0.01449475 0.09541125] [ 0.0040557 0.99998993 0.00192275 0.02152755] [ 0.01448686 -0.00198132 0.9998931 -0.02154622] [ 0. 0. 0. 1. ]] SLAMing on 0.514860624 meters Centerline goodness [0,1] 0.7823897561326523 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.02 [[ 0.99978477 -0.00423012 -0.02031065 0.09066827] [ 0.00402831 0.99994222 -0.00996679 0.02749552] [ 0.02035163 0.00988283 0.99974404 -0.01646243] [ 0. 0. 0. 1. ]] SLAMing on 0.544860624 meters Centerline goodness [0,1] 0.8119635547339231 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.00 [[ 0.99974912 -0.00582648 -0.02162744 0.11949739] [ 0.00546545 0.99984536 -0.01671507 0.03730106] [ 0.02172148 0.01659268 0.99962636 -0.0047197 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5748606239999999 meters Centerline goodness [0,1] 0.8270767013033816 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.00 [[ 0.99967318 -0.01071248 -0.02321167 0.12480228] [ 0.01010009 0.99960198 -0.02634125 0.04985236] [ 0.02348461 0.0260982 0.99938349 0.00198051] [ 0. 0. 0. 1. ]] SLAMing on 0.604860624 meters Centerline goodness [0,1] 0.8149156768816852 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.00 [[ 0.99957495 -0.01386763 -0.02564403 0.14783936] [ 0.01322002 0.99959367 -0.02525325 0.05468626] [ 0.02598382 0.0249035 0.99935212 0.00211918] [ 0. 0. 0. 1. ]] SLAMing on 0.634860624 meters Centerline goodness [0,1] 0.7631630151379538 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.00 [[ 0.99958759 -0.01330565 -0.02544837 0.18134828] [ 0.01267887 0.99961613 -0.02463424 0.05397434] [ 0.02576638 0.02430143 0.99937257 -0.00374667] [ 0. 0. 0. 1. ]] SLAMing on 0.6648606239999999 meters Centerline goodness [0,1] 0.7653298631649513 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.00 [[ 9.99402887e-01 -1.70082410e-02 -3.00763812e-02 2.06006259e-01] [ 1.61861521e-02 9.99494351e-01 -2.73687743e-02 5.78571366e-02] [ 3.05266678e-02 2.68656112e-02 9.99172839e-01 -4.23200141e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6948606239999999 meters Centerline goodness [0,1] 0.8062615721259048 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.05 [[ 0.99853466 -0.02977949 -0.0451854 0.24126089] [ 0.02668215 0.99735112 -0.06766681 0.08354529] [ 0.0470808 0.06636201 0.99668424 0.05207636] [ 0. 0. 0. 1. ]] SLAMing on 0.724860624 meters Centerline goodness [0,1] 0.8189714510472319 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:0.06 [[ 0.99809189 -0.03559647 -0.05045259 0.24992077] [ 0.03194556 0.99693541 -0.0714091 0.08919678] [ 0.05283989 0.06966111 0.9961703 0.05869945] [ 0. 0. 0. 1. ]] SLAMing on 0.754860624 meters Centerline goodness [0,1] 0.8344084613117653 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:0.06 [[ 0.99784968 -0.04047037 -0.05155743 0.25240449] [ 0.03649469 0.99645129 -0.07584827 0.09464525] [ 0.05444408 0.0738036 0.99578556 0.06064005] [ 0. 0. 0. 1. ]] SLAMing on 0.784860624 meters Centerline goodness [0,1] 0.8488436123348018 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:0.07 [[ 0.99736495 -0.04855882 -0.05389993 0.25565176] [ 0.04387175 0.9954168 -0.08497448 0.10280006] [ 0.05777915 0.08238588 0.99492419 0.06997932] [ 0. 0. 0. 1. ]] SLAMing on 0.8148606239999999 meters Centerline goodness [0,1] 0.8485715145859047 Centerline is valid? [False, False] Translation: X:0.26, Y:0.11, Z:0.07 [[ 0.99709306 -0.05300698 -0.05473297 0.2582048 ] [ 0.04797952 0.9948391 -0.08940431 0.10532719] [ 0.05918955 0.08651835 0.99449041 0.07162244] [ 0. 0. 0. 1. ]] SLAMing on 0.844860624 meters Centerline goodness [0,1] 0.8562844118169439 Centerline is valid? [False, False] Translation: X:0.27, Y:0.10, Z:0.07 [[ 0.99698573 -0.05785838 -0.05169005 0.27309079] [ 0.05337993 0.99501984 -0.08417895 0.10426189] [ 0.05630309 0.081166 0.99510906 0.06813746] [ 0. 0. 0. 1. ]] SLAMing on 0.874860624 meters Centerline goodness [0,1] 0.8649908246191489 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:0.06 [[ 0.99691618 -0.06227692 -0.04774628 0.28843562] [ 0.05839563 0.99518058 -0.0787754 0.10361466] [ 0.05242206 0.0757443 0.99574833 0.06416337] [ 0. 0. 0. 1. ]] SLAMing on 0.9048606239999999 meters Centerline goodness [0,1] 0.8719882128618478 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:0.06 [[ 0.99685435 -0.06610449 -0.04372195 0.30267741] [ 0.06287726 0.99545889 -0.07147067 0.10285447] [ 0.04824794 0.06849674 0.99648399 0.05920881] [ 0. 0. 0. 1. ]] SLAMing on 0.9348606239999999 meters Centerline goodness [0,1] 0.8780627597076945 Centerline is valid? [False, False] Translation: X:0.32, Y:0.10, Z:0.05 [[ 0.99675105 -0.06992006 -0.03998169 0.31612155] [ 0.06732122 0.9957391 -0.06301977 0.10164761] [ 0.04421768 0.06012341 0.9972111 0.05357934] [ 0. 0. 0. 1. ]] SLAMing on 0.964860624 meters Centerline goodness [0,1] 0.8844367672877612 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.05 [[ 0.99632748 -0.07761517 -0.03615852 0.33514574] [ 0.07537011 0.99536161 -0.0597881 0.10198667] [ 0.04063127 0.05684325 0.99755599 0.04834238] [ 0. 0. 0. 1. ]] SLAMing on 0.994860624 meters Centerline goodness [0,1] 0.886257819417864 Centerline is valid? [False, False] Translation: X:0.35, Y:0.10, Z:0.04 [[ 0.99600235 -0.08254151 -0.03414991 0.34827873] [ 0.08073357 0.99541426 -0.05130832 0.10076123] [ 0.03822837 0.04834616 0.99809881 0.04258813] [ 0. 0. 0. 1. ]] SLAMing on 1.024860624 meters Centerline goodness [0,1] 0.8867935261825526 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:0.04 [[ 0.99578524 -0.08604845 -0.0317399 0.36195841] [ 0.08468801 0.99552318 -0.04197072 0.10005551] [ 0.03520932 0.03910583 0.99861456 0.03663906] [ 0. 0. 0. 1. ]] SLAMing on 1.054860624 meters Centerline goodness [0,1] 0.8867935261825526 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:0.04 [[ 0.99578524 -0.08604845 -0.0317399 0.36195841] [ 0.08468801 0.99552318 -0.04197072 0.10005551] [ 0.03520932 0.03910583 0.99861456 0.03663906] [ 0. 0. 0. 1. ]] SLAMing on 1.084860624 meters Centerline goodness [0,1] 0.8907613516065349 Centerline is valid? [False, False] Translation: X:0.38, Y:0.11, Z:0.04 [[ 0.99536534 -0.08976312 -0.03450254 0.38478278] [ 0.08833682 0.99525252 -0.04085379 0.10998367] [ 0.0380059 0.03761661 0.99856925 0.03639338] [ 0. 0. 0. 1. ]] SLAMing on 1.1148606239999999 meters Centerline goodness [0,1] 0.8923377033190855 Centerline is valid? [False, False] Translation: X:0.40, Y:0.11, Z:0.03 [[ 0.99535767 -0.0905973 -0.03248433 0.39689462] [ 0.08969162 0.99556648 -0.02833358 0.1102288 ] [ 0.03490726 0.02528847 0.99907056 0.03042879] [ 0. 0. 0. 1. ]] SLAMing on 1.1448606239999999 meters Centerline goodness [0,1] 0.8932203389830509 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.03 [[ 0.99535067 -0.09035849 -0.03335259 0.4001273 ] [ 0.08940071 0.9955684 -0.02917316 0.11534013] [ 0.03584083 0.02605578 0.99901778 0.03027657] [ 0. 0. 0. 1. ]] SLAMing on 1.174860624 meters Centerline goodness [0,1] 0.8936621130108543 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.03 [[ 0.99535179 -0.08999739 -0.03428226 0.40367561] [ 0.08898516 0.99558131 -0.02999164 0.12018987] [ 0.03682994 0.02680162 0.99896208 0.02990042] [ 0. 0. 0. 1. ]] SLAMing on 1.204860624 meters Centerline goodness [0,1] 0.893506641582578 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.03 [[ 0.99495918 -0.09235074 -0.03908421 0.42391907] [ 0.09125404 0.99540604 -0.02897454 0.13103199] [ 0.04158048 0.0252619 0.99881575 0.03081662] [ 0. 0. 0. 1. ]] SLAMing on 1.234860624 meters Centerline goodness [0,1] 0.8927455645045717 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.03 [[ 0.99480025 -0.09384016 -0.03957897 0.42486232] [ 0.09271103 0.99525704 -0.02946318 0.13220609] [ 0.04215608 0.02564057 0.99878197 0.03119837] [ 0. 0. 0. 1. ]] SLAMing on 1.264860624 meters Centerline goodness [0,1] 0.8880698571104559 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.03 [[ 0.99454145 -0.09771241 -0.03660048 0.43723462] [ 0.09703949 0.99508484 -0.01973578 0.1307214 ] [ 0.03834901 0.01607636 0.99913508 0.02542512] [ 0. 0. 0. 1. ]] SLAMing on 1.294860624 meters Centerline goodness [0,1] 0.8849723286504896 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.02 [[ 0.99442825 -0.09852326 -0.0374917 0.43981383] [ 0.09783586 0.99500653 -0.01975222 0.13137459] [ 0.03925054 0.01597413 0.99910171 0.02468321] [ 0. 0. 0. 1. ]] SLAMing on 1.3248606239999998 meters Centerline goodness [0,1] 0.8800831529786992 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:0.02 [[ 0.99433352 -0.09912748 -0.0384003 0.44271832] [ 0.09843711 0.9949527 -0.01947472 0.13128927] [ 0.04013696 0.01558435 0.99907265 0.02313921] [ 0. 0. 0. 1. ]] SLAMing on 1.3548606239999998 meters Centerline goodness [0,1] 0.8764287745237418 Centerline is valid? [False, False] Translation: X:0.45, Y:0.13, Z:0.02 [[ 0.99398191 -0.10210615 -0.03967747 0.4478187 ] [ 0.10123559 0.99458799 -0.02336846 0.13374277] [ 0.0418488 0.01921106 0.99893924 0.02252842] [ 0. 0. 0. 1. ]] SLAMing on 1.3848606239999999 meters Centerline goodness [0,1] 0.8473331374696189 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.02 [[ 0.99387382 -0.10430646 -0.03653744 0.48809383] [ 0.10334026 0.99426836 -0.02740839 0.1371987 ] [ 0.03918689 0.02346469 0.99895635 0.01973236] [ 0. 0. 0. 1. ]] SLAMing on 1.414860624 meters Centerline goodness [0,1] 0.8664694336187523 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.02 [[ 0.9937976 -0.104878 -0.03697203 0.48961672] [ 0.10390214 0.99421001 -0.02740065 0.13738835] [ 0.03963169 0.02338923 0.99894058 0.01929351] [ 0. 0. 0. 1. ]] SLAMing on 1.444860624 meters Centerline goodness [0,1] 0.8624602814344076 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.02 [[ 0.99375645 -0.10489454 -0.03801645 0.49312945] [ 0.10390632 0.99421768 -0.02710487 0.13710062] [ 0.04063978 0.02298549 0.99890944 0.01809812] [ 0. 0. 0. 1. ]] SLAMing on 1.474860624 meters Centerline goodness [0,1] 0.8640286136028159 Centerline is valid? [False, False] Translation: X:0.50, Y:0.14, Z:0.02 [[ 0.99371477 -0.10492878 -0.03899887 0.49665975] [ 0.10392762 0.99422172 -0.02687419 0.13691109] [ 0.0415934 0.02265221 0.9988778 0.01674648] [ 0. 0. 0. 1. ]] SLAMing on 1.504860624 meters Centerline goodness [0,1] 0.8564713256032592 Centerline is valid? [False, False] Translation: X:0.50, Y:0.14, Z:0.02 [[ 0.9936973 -0.10470504 -0.04003171 0.50035108] [ 0.1036963 0.99425589 -0.02650084 0.13696052] [ 0.04257654 0.02218267 0.99884692 0.01517157] [ 0. 0. 0. 1. ]] SLAMing on 1.534860624 meters Centerline goodness [0,1] 0.8443062528525788 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.01 [[ 0.9935341 -0.10585729 -0.04103933 0.50781738] [ 0.10471842 0.99407963 -0.02897836 0.14034303] [ 0.04386393 0.02449341 0.99873722 0.01346472] [ 0. 0. 0. 1. ]] SLAMing on 1.564860624 meters Centerline goodness [0,1] 0.8343040771239205 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.01 [[ 0.9935157 -0.10568572 -0.0419175 0.51056055] [ 0.10451628 0.99409505 -0.02917842 0.14197317] [ 0.04475372 0.02460816 0.99869492 0.01332824] [ 0. 0. 0. 1. ]] SLAMing on 1.5948606239999998 meters Centerline goodness [0,1] 0.8387940449502788 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.01 [[ 0.99348896 -0.10564221 -0.04265464 0.51275115] [ 0.1044221 0.99408376 -0.0298914 0.14449172] [ 0.04556008 0.02524269 0.99864262 0.01395907] [ 0. 0. 0. 1. ]] SLAMing on 1.6248606239999999 meters Centerline goodness [0,1] 0.8355289767146241 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:0.01 [[ 0.99348149 -0.10536247 -0.04351173 0.5152496 ] [ 0.1040964 0.99410218 -0.0304105 0.1469793 ] [ 0.04645923 0.02568286 0.99858997 0.01422195] [ 0. 0. 0. 1. ]] SLAMing on 1.654860624 meters Centerline goodness [0,1] 0.840011580775912 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:0.01 [[ 0.99349065 -0.10485108 -0.04452611 0.51839083] [ 0.10354054 0.99414852 -0.03079082 0.14897255] [ 0.04749402 0.02598014 0.9985336 0.01425438] [ 0. 0. 0. 1. ]] SLAMing on 1.684860624 meters Centerline goodness [0,1] 0.8347723138228754 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:0.01 [[ 0.99360061 -0.10341257 -0.04542751 0.52820277] [ 0.1019652 0.99423694 -0.03310595 0.15294479] [ 0.04858928 0.02826207 0.99841892 0.01306129] [ 0. 0. 0. 1. ]] SLAMing on 1.714860624 meters Centerline goodness [0,1] 0.8370246311108545 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:0.01 [[ 0.99362157 -0.102651 -0.04667931 0.53211208] [ 0.10114859 0.99430752 -0.03348898 0.15535872] [ 0.04985127 0.02855383 0.9983484 0.01269457] [ 0. 0. 0. 1. ]] SLAMing on 1.744860624 meters Centerline goodness [0,1] 0.8285482280610174 Centerline is valid? [False, False] Translation: X:0.54, Y:0.16, Z:0.01 [[ 0.99363443 -0.10197346 -0.04787521 0.53571216] [ 0.10041396 0.99436711 -0.03392756 0.15797499] [ 0.05106525 0.02890425 0.99827696 0.0125367 ] [ 0. 0. 0. 1. ]] SLAMing on 1.774860624 meters Centerline goodness [0,1] 0.8308129092067906 Centerline is valid? [False, False] Translation: X:0.54, Y:0.16, Z:0.01 [[ 0.99364495 -0.10128803 -0.04909629 0.53933684] [ 0.09965925 0.99442107 -0.03456548 0.16072513] [ 0.05232346 0.02945292 0.99819576 0.01270078] [ 0. 0. 0. 1. ]] SLAMing on 1.8048606239999998 meters Centerline goodness [0,1] 0.83022036892248 Centerline is valid? [False, False] Translation: X:0.54, Y:0.16, Z:0.01 [[ 0.99366753 -0.10033131 -0.0505813 0.5439377 ] [ 0.09864839 0.99451567 -0.03474308 0.16299539] [ 0.05378971 0.0295333 0.99811545 0.01197487] [ 0. 0. 0. 1. ]] SLAMing on 1.8348606239999998 meters Centerline goodness [0,1] 0.8186078805762889 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.01 [[ 0.99368867 -0.0994805 -0.05183105 0.54806888] [ 0.09774974 0.99459796 -0.03492677 0.16528917] [ 0.05502559 0.02963986 0.99804492 0.01114436] [ 0. 0. 0. 1. ]] SLAMing on 1.8648606239999999 meters Centerline goodness [0,1] 0.8214825142326014 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.01 [[ 0.99387847 -0.09715493 -0.05259757 0.55381355] [ 0.09544028 0.99484781 -0.03419039 0.17006648] [ 0.05564834 0.02896116 0.99803032 0.00924458] [ 0. 0. 0. 1. ]] SLAMing on 1.8948606239999999 meters Centerline goodness [0,1] 0.8153395070688304 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:0.01 [[ 0.99388449 -0.09645779 -0.05375418 0.55733472] [ 0.09467802 0.99490187 -0.0347324 0.17329656] [ 0.05683034 0.02943066 0.99794997 0.00906318] [ 0. 0. 0. 1. ]] SLAMing on 1.924860624 meters Centerline goodness [0,1] 0.8172271352106121 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.01 [[ 0.99393032 -0.09561489 -0.05440882 0.56128356] [ 0.0937205 0.99493401 -0.0363701 0.1799508 ] [ 0.05761071 0.03105012 0.99785615 0.01031869] [ 0. 0. 0. 1. ]] SLAMing on 1.954860624 meters Centerline goodness [0,1] 0.8114929083199298 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.01 [[ 0.99392149 -0.0951024 -0.05545818 0.56432622] [ 0.09313366 0.99496328 -0.03707017 0.18318609] [ 0.05870432 0.03167982 0.99777262 0.01053218] [ 0. 0. 0. 1. ]] SLAMing on 1.984860624 meters Centerline goodness [0,1] 0.8100434769922091 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:0.01 [[ 0.99395266 -0.09679332 -0.05185719 0.57580569] [ 0.09552392 0.99507625 -0.02642808 0.18283201] [ 0.05415992 0.02131466 0.99830476 0.00562185] [ 0. 0. 0. 1. ]] SLAMing on 2.0148606239999998 meters Centerline goodness [0,1] 0.8127882045407818 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:0.01 [[ 0.99391871 -0.09670452 -0.05266712 0.57788713] [ 0.09537134 0.99506817 -0.02726987 0.18557904] [ 0.05504449 0.0220811 0.99823971 0.00618289] [ 0. 0. 0. 1. ]] SLAMing on 2.044860624 meters Centerline goodness [0,1] 0.8147985347985348 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:0.01 [[ 0.99387504 -0.09670375 -0.05348633 0.58009895] [ 0.09531316 0.99505426 -0.02797185 0.18780585] [ 0.05592678 0.02270257 0.99817673 0.00652229] [ 0. 0. 0. 1. ]] SLAMing on 2.074860624 meters Centerline goodness [0,1] 0.8096799695487951 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:0.01 [[ 0.99381023 -0.09703884 -0.05408035 0.58182565] [ 0.09559522 0.99500715 -0.02867632 0.18993918] [ 0.05659305 0.02332899 0.99812473 0.00664449] [ 0. 0. 0. 1. ]] SLAMing on 2.104860624 meters Centerline goodness [0,1] 0.8152825091037237 Centerline is valid? [False, False] Translation: X:0.60, Y:0.19, Z:0.00 [[ 0.99339823 -0.10321115 -0.05007418 0.59711728] [ 0.10207109 0.99446741 -0.02482077 0.19222129] [ 0.05235892 0.01954578 0.99843703 0.00325156] [ 0. 0. 0. 1. ]] SLAMing on 2.134860624 meters Centerline goodness [0,1] 0.8226595180580922 Centerline is valid? [False, False] Translation: X:0.60, Y:0.19, Z:0.00 [[ 0.99328459 -0.10380831 -0.0510839 0.59961912] [ 0.10264405 0.99440603 -0.02491686 0.19236404] [ 0.05338472 0.01950608 0.99838349 0.00240254] [ 0. 0. 0. 1. ]] SLAMing on 2.164860624 meters Centerline goodness [0,1] 0.8077069708789114 Centerline is valid? [False, False] Translation: X:0.60, Y:0.19, Z:0.00 [[ 0.99285186 -0.10743795 -0.05198333 0.60297712] [ 0.10600117 0.99392365 -0.02965685 0.19462956] [ 0.05485373 0.02393457 0.9982075 0.00323571] [ 0. 0. 0. 1. ]] SLAMing on 2.194860624 meters Centerline goodness [0,1] 0.8219387455176063 Centerline is valid? [False, False] Translation: X:0.61, Y:0.19, Z:0.00 [[ 0.99272824 -0.10814915 -0.05286217 0.60505394] [ 0.10669829 0.99385235 -0.02954634 0.19383077] [ 0.05573261 0.02369119 0.99816462 0.00248743] [ 0. 0. 0. 1. ]] SLAMing on 2.2248606239999997 meters Centerline goodness [0,1] 0.8215492171665246 Centerline is valid? [False, False] Translation: X:0.62, Y:0.19, Z:-0.00 [[ 9.92062712e-01 -1.15768925e-01 -4.90829072e-02 6.19460880e-01] [ 1.14599300e-01 9.93071010e-01 -2.60186362e-02 1.93963492e-01] [ 5.17549618e-02 2.01872520e-02 9.98455757e-01 -4.84380889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254860624 meters Centerline goodness [0,1] 0.812076815316367 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.00 [[ 0.99178991 -0.11976959 -0.04481098 0.63131223] [ 0.11908894 0.99272808 -0.01757225 0.19210674] [ 0.04658974 0.01209149 0.99884092 -0.00497197] [ 0. 0. 0. 1. ]] SLAMing on 2.284860624 meters Centerline goodness [0,1] 0.8115462347324331 Centerline is valid? [False, False] Translation: X:0.63, Y:0.19, Z:-0.00 [[ 0.99165842 -0.12067914 -0.04527834 0.63178017] [ 0.11996675 0.99261209 -0.0181441 0.191867 ] [ 0.04713344 0.01256085 0.99880962 -0.00419236] [ 0. 0. 0. 1. ]] SLAMing on 2.314860624 meters Centerline goodness [0,1] 0.8123611273535258 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.00 [[ 0.99122833 -0.12391127 -0.04596082 0.63507451] [ 0.12299571 0.99215772 -0.02225129 0.19273818] [ 0.04835757 0.01640312 0.99869539 -0.00383513] [ 0. 0. 0. 1. ]] SLAMing on 2.344860624 meters Centerline goodness [0,1] 0.8059059466372145 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.00 [[ 0.99078231 -0.12750451 -0.04574953 0.63817629] [ 0.1264201 0.99163932 -0.02587323 0.19156932] [ 0.04866599 0.01985108 0.99861782 -0.00384059] [ 0. 0. 0. 1. ]] SLAMing on 2.374860624 meters Centerline goodness [0,1] 0.8076755469045059 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.00 [[ 0.99075734 -0.12737689 -0.04663722 0.64050187] [ 0.12628931 0.9916636 -0.02557961 0.19070654] [ 0.04950668 0.0194534 0.99858432 -0.00427575] [ 0. 0. 0. 1. ]] SLAMing on 2.404860624 meters Centerline goodness [0,1] 0.8017668356263576 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.00 [[ 0.99075785 -0.12695494 -0.04776317 0.64336175] [ 0.12586428 0.99172734 -0.02520061 0.18972341] [ 0.05056738 0.01895603 0.99854074 -0.00457987] [ 0. 0. 0. 1. ]] SLAMing on 2.4348606239999997 meters Centerline goodness [0,1] 0.7899677493665054 Centerline is valid? [False, False] Translation: X:0.65, Y:0.19, Z:-0.00 [[ 0.99076299 -0.12645236 -0.04897443 0.64654461] [ 0.12535634 0.99180048 -0.02485144 0.18861332] [ 0.05171538 0.01848263 0.99849082 -0.00483934] [ 0. 0. 0. 1. ]] SLAMing on 2.464860624 meters Centerline goodness [0,1] 0.7875267325588117 Centerline is valid? [False, False] Translation: X:0.65, Y:0.19, Z:-0.01 [[ 0.99077523 -0.12588726 -0.0501681 0.64982135] [ 0.12478662 0.99188079 -0.02451101 0.18732142] [ 0.0528464 0.01802459 0.99843997 -0.00521601] [ 0. 0. 0. 1. ]] SLAMing on 2.4948606239999997 meters Centerline goodness [0,1] 0.7973179524152848 Centerline is valid? [False, False] Translation: X:0.65, Y:0.19, Z:-0.01 [[ 0.99081588 -0.12502353 -0.05150743 0.65373711] [ 0.12394122 0.99200628 -0.02370906 0.18527869] [ 0.05405988 0.01710742 0.99839114 -0.00615653] [ 0. 0. 0. 1. ]] SLAMing on 2.524860624 meters Centerline goodness [0,1] 0.8000229134444635 Centerline is valid? [False, False] Translation: X:0.66, Y:0.18, Z:-0.01 [[ 0.99064038 -0.12575402 -0.05308075 0.66190155] [ 0.12451873 0.99187697 -0.02598378 0.18245932] [ 0.05591714 0.01913103 0.99825211 -0.00714069] [ 0. 0. 0. 1. ]] SLAMing on 2.554860624 meters Centerline goodness [0,1] 0.7986332443219342 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.01 [[ 0.99068189 -0.12494938 -0.05419444 0.66502649] [ 0.12372339 0.99199087 -0.02542923 0.18048119] [ 0.05693775 0.01848716 0.99820655 -0.00744483] [ 0. 0. 0. 1. ]] SLAMing on 2.584860624 meters Centerline goodness [0,1] 0.8057863076482383 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.01 [[ 0.99075328 -0.1238348 -0.05543348 0.66860428] [ 0.12263541 0.99214804 -0.02455235 0.17843916] [ 0.05803865 0.01752721 0.99816046 -0.00813189] [ 0. 0. 0. 1. ]] SLAMing on 2.614860624 meters Centerline goodness [0,1] 0.810335961604388 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.01 [[ 0.9910337 -0.12063252 -0.05744563 0.67616973] [ 0.11952043 0.99257836 -0.02242915 0.17418863] [ 0.05972497 0.01536212 0.99809666 -0.00956454] [ 0. 0. 0. 1. ]] SLAMing on 2.6448606239999997 meters Centerline goodness [0,1] 0.8065920929041073 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.01 [[ 0.99115267 -0.11880711 -0.05917143 0.68116439] [ 0.11772363 0.99281396 -0.02148438 0.17248091] [ 0.06129872 0.01432843 0.99801661 -0.01012 ] [ 0. 0. 0. 1. ]] SLAMing on 2.674860624 meters Centerline goodness [0,1] 0.8160125588697017 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.01 [[ 0.99123868 -0.11735469 -0.06061157 0.68507625] [ 0.11629093 0.99299733 -0.02080177 0.17082799] [ 0.06262832 0.01357094 0.99794465 -0.01020803] [ 0. 0. 0. 1. ]] SLAMing on 2.7048606239999997 meters Centerline goodness [0,1] 0.8211511651065525 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.01 [[ 0.99137133 -0.11552685 -0.06193901 0.68928563] [ 0.11451304 0.99322665 -0.01968714 0.1689041 ] [ 0.06379387 0.01242444 0.99788575 -0.01094274] [ 0. 0. 0. 1. ]] SLAMing on 2.734860624 meters Centerline goodness [0,1] 0.8217515806186385 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.01 [[ 0.99148547 -0.11375075 -0.06338244 0.6934116 ] [ 0.11277041 0.99344231 -0.01884732 0.16705937] [ 0.0651107 0.01153918 0.99781133 -0.01102783] [ 0. 0. 0. 1. ]] SLAMing on 2.7648606239999998 meters Centerline goodness [0,1] 0.8198748973988849 Centerline is valid? [False, False] Translation: X:0.70, Y:0.17, Z:-0.01 [[ 0.99159811 -0.11202187 -0.06468604 0.6972515 ] [ 0.11108395 0.99364927 -0.01793 0.1653748 ] [ 0.06628379 0.01059377 0.99774457 -0.01131397] [ 0. 0. 0. 1. ]] SLAMing on 2.794860624 meters Centerline goodness [0,1] 0.8229551674519651 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:-0.01 [[ 0.99189069 -0.10774549 -0.06740743 0.7058833 ] [ 0.10689882 0.99414028 -0.01605446 0.16215911] [ 0.06874223 0.0087185 0.99759636 -0.01168425] [ 0. 0. 0. 1. ]] SLAMing on 2.824860624 meters Centerline goodness [0,1] 0.8195256294964028 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:-0.01 [[ 0.99197214 -0.10617192 -0.06869343 0.70966343] [ 0.10537114 0.99431698 -0.01518795 0.16101403] [ 0.06991557 0.00782772 0.9975222 -0.01217007] [ 0. 0. 0. 1. ]] SLAMing on 2.854860624 meters Centerline goodness [0,1] 0.821157841540794 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:-0.01 [[ 0.99204856 -0.1046318 -0.0699417 0.71325126] [ 0.1038651 0.9944854 -0.01452033 0.160027 ] [ 0.07107529 0.00714037 0.9974454 -0.01232274] [ 0. 0. 0. 1. ]] SLAMing on 2.884860624 meters Centerline goodness [0,1] 0.8186159517426274 Centerline is valid? [False, False] Translation: X:0.72, Y:0.16, Z:-0.01 [[ 0.99219587 -0.10176557 -0.07204949 0.71988106] [ 0.10108453 0.9947923 -0.01304585 0.15683935] [ 0.0730019 0.00566095 0.99731574 -0.01284239] [ 0. 0. 0. 1. ]] SLAMing on 2.9148606239999997 meters Centerline goodness [0,1] 0.8184225195094761 Centerline is valid? [False, False] Translation: X:0.72, Y:0.15, Z:-0.01 [[ 0.99223629 -0.10068971 -0.07299816 0.72297531] [ 0.10005952 0.99490606 -0.01224847 0.15487482] [ 0.07385961 0.00484922 0.99725686 -0.01359369] [ 0. 0. 0. 1. ]] SLAMing on 2.944860624 meters Centerline goodness [0,1] 0.8216226708074534 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.01 [[ 0.99226547 -0.09963868 -0.07403631 0.72627909] [ 0.0990639 0.99501572 -0.01140478 0.15272439] [ 0.07480365 0.00398224 0.99719033 -0.01438478] [ 0. 0. 0. 1. ]] SLAMing on 2.9748606239999997 meters Centerline goodness [0,1] 0.8216226708074534 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.01 [[ 0.99226547 -0.09963868 -0.07403631 0.72627909] [ 0.0990639 0.99501572 -0.01140478 0.15272439] [ 0.07480365 0.00398224 0.99719033 -0.01438478] [ 0. 0. 0. 1. ]] SLAMing on 3.004860624 meters Centerline goodness [0,1] 0.8217484126764079 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.01 [[ 0.99228169 -0.09889018 -0.07481833 0.72876383] [ 0.09836237 0.99509297 -0.01071586 0.1505667 ] [ 0.07551088 0.00327384 0.9971396 -0.01496179] [ 0. 0. 0. 1. ]] SLAMing on 3.034860624 meters Centerline goodness [0,1] 0.8193379310344828 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.02 [[ 0.99198003 -0.10081746 -0.07623291 0.73435261] [ 0.10006834 0.99488771 -0.01359335 0.14829107] [ 0.07721363 0.00585583 0.99699737 -0.01523859] [ 0. 0. 0. 1. ]] SLAMing on 3.064860624 meters Centerline goodness [0,1] 0.8228642179116797 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.02 [[ 0.99197643 -0.10023202 -0.07704747 0.73672522] [ 0.09953787 0.99495135 -0.01280725 0.14559252] [ 0.07794218 0.00503534 0.99694516 -0.01584796] [ 0. 0. 0. 1. ]] SLAMing on 3.094860624 meters Centerline goodness [0,1] 0.8216748768472907 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.02 [[ 0.9919694 -0.09973939 -0.07777386 0.73893903] [ 0.09909487 0.99500427 -0.01211259 0.1431287 ] [ 0.07859343 0.00430833 0.99689744 -0.01645782] [ 0. 0. 0. 1. ]] SLAMing on 3.124860624 meters Centerline goodness [0,1] 0.8249103893616438 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.02 [[ 0.99195479 -0.09946914 -0.0783045 0.74034664] [ 0.09886713 0.99503376 -0.01153737 0.14091667] [ 0.07906323 0.00370281 0.99686273 -0.01670785] [ 0. 0. 0. 1. ]] SLAMing on 3.154860624 meters Centerline goodness [0,1] 0.8280883556040359 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.02 [[ 0.99193218 -0.09919202 -0.07893978 0.74185952] [ 0.09862351 0.99506316 -0.01107791 0.13892723] [ 0.0796489 0.00320322 0.99681783 -0.01669977] [ 0. 0. 0. 1. ]] SLAMing on 3.1848606239999997 meters Centerline goodness [0,1] 0.8282651975891129 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.02 [[ 0.99190188 -0.09915362 -0.07936761 0.74266807] [ 0.0986146 0.99506826 -0.01069215 0.13670994] [ 0.08003636 0.00277876 0.99678807 -0.01653827] [ 0. 0. 0. 1. ]] SLAMing on 3.214860624 meters Centerline goodness [0,1] 0.8304868446061527 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.02 [[ 0.99154991 -0.10188445 -0.08030148 0.74602335] [ 0.10110339 0.99478099 -0.01374395 0.13427304] [ 0.08128268 0.00550906 0.99667586 -0.01590468] [ 0. 0. 0. 1. ]] SLAMing on 3.2448606239999997 meters Centerline goodness [0,1] 0.824794416792902 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.02 [[ 0.99153915 -0.10165755 -0.08072089 0.74710439] [ 0.10091436 0.99480696 -0.01324438 0.13216489] [ 0.08164809 0.00498643 0.99664875 -0.0159819 ] [ 0. 0. 0. 1. ]] SLAMing on 3.274860624 meters Centerline goodness [0,1] 0.8241097662883792 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.02 [[ 0.99153643 -0.10141779 -0.08105521 0.74803429] [ 0.10071675 0.99483406 -0.01270172 0.12994084] [ 0.08192466 0.0044306 0.99662868 -0.01607784] [ 0. 0. 0. 1. ]] SLAMing on 3.304860624 meters Centerline goodness [0,1] 0.8272585334338323 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.02 [[ 0.99152371 -0.10125543 -0.08141292 0.74885698] [ 0.10058454 0.99485235 -0.01231071 0.12768519] [ 0.08224036 0.00401748 0.99660443 -0.01594039] [ 0. 0. 0. 1. ]] SLAMing on 3.334860624 meters Centerline goodness [0,1] 0.8208366854384553 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.02 [[ 0.99150521 -0.10094881 -0.08201679 0.75091673] [ 0.10035802 0.99488716 -0.01130473 0.12311297] [ 0.08273866 0.00297766 0.99656683 -0.01672541] [ 0. 0. 0. 1. ]] SLAMing on 3.364860624 meters Centerline goodness [0,1] 0.8210734523682242 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.02 [[ 0.99151 -0.1006168 -0.08236618 0.75220566] [ 0.10007365 0.99492242 -0.0107069 0.12083428] [ 0.08302525 0.00237332 0.99654462 -0.01721975] [ 0. 0. 0. 1. ]] SLAMing on 3.3948606239999997 meters Centerline goodness [0,1] 0.81914978784725 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.02 [[ 0.99151083 -0.10019275 -0.08287145 0.75388152] [ 0.09970145 0.99496658 -0.01005619 0.11838518] [ 0.08346188 0.00170841 0.99650951 -0.01776008] [ 0. 0. 0. 1. ]] SLAMing on 3.424860624 meters Centerline goodness [0,1] 0.8165784363278444 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 9.91555678e-01 -9.92139308e-02 -8.35100830e-02 7.56304982e-01] [ 9.87931368e-02 9.95065773e-01 -9.16644997e-03 1.16042273e-01] [ 8.40074648e-02 8.38822452e-04 9.96464772e-01 -1.85170893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4548606239999997 meters Centerline goodness [0,1] 0.81505684836893 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 9.91566379e-01 -9.86229375e-02 -8.40811067e-02 7.57690645e-01] [ 9.82144547e-02 9.95124658e-01 -8.99091117e-03 1.16129595e-01] [ 8.45578926e-02 6.57105185e-04 9.96418351e-01 -1.82850712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484860624 meters Centerline goodness [0,1] 0.816227977074931 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 9.91590535e-01 -9.79332524e-02 -8.46007680e-02 7.59149975e-01] [ 9.75425171e-02 9.95192895e-01 -8.74980582e-03 1.16181628e-01] [ 8.50509801e-02 4.24052771e-04 9.96376511e-01 -1.82478503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5148606239999998 meters Centerline goodness [0,1] 0.8149721263604991 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99200213 -0.09292557 -0.0854202 0.76045939] [ 0.09290812 0.99566588 -0.00418837 0.11376596] [ 0.08543919 -0.00378136 0.99633621 -0.01823283] [ 0. 0. 0. 1. ]] SLAMing on 3.544860624 meters Centerline goodness [0,1] 0.8144753225421888 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99205683 -0.09180502 -0.08599462 0.76228533] [ 0.09180132 0.99576929 -0.00400604 0.11421552] [ 0.08599858 -0.0039202 0.99628755 -0.01804216] [ 0. 0. 0. 1. ]] SLAMing on 3.574860624 meters Centerline goodness [0,1] 0.8174070042216499 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99211235 -0.09065242 -0.08657497 0.76413582] [ 0.09066894 0.99587403 -0.00374951 0.11471439] [ 0.08655767 -0.00412972 0.99623828 -0.01793774] [ 0. 0. 0. 1. ]] SLAMing on 3.6048606239999996 meters Centerline goodness [0,1] 0.8183004794885456 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 9.92473268e-01 -8.61088571e-02 -8.70751185e-02 7.64789373e-01] [ 8.64955894e-02 9.96252008e-01 6.71128436e-04 1.12743236e-01] [ 8.66909715e-02 -8.19769073e-03 9.96201522e-01 -1.82890737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634860624 meters Centerline goodness [0,1] 0.8171465063062104 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:-0.02 [[ 9.92540179e-01 -8.48694821e-02 -8.75280740e-02 7.66310364e-01] [ 8.52594035e-02 9.96358528e-01 7.19213094e-04 1.13836281e-01] [ 8.71483038e-02 -8.17643927e-03 9.96161794e-01 -1.78726995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6648606239999997 meters Centerline goodness [0,1] 0.8169548600903332 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:-0.02 [[ 0.99295012 -0.07936992 -0.08803677 0.76719151] [ 0.08011999 0.99677262 0.00501372 0.1138362 ] [ 0.0873547 -0.01203188 0.99610461 -0.01761001] [ 0. 0. 0. 1. ]] SLAMing on 3.694860624 meters Centerline goodness [0,1] 0.8180285308995531 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:-0.02 [[ 0.99299635 -0.07819836 -0.08856223 0.76907382] [ 0.07895442 0.99686538 0.00506103 0.11482348] [ 0.08788885 -0.01201796 0.99605779 -0.01742957] [ 0. 0. 0. 1. ]] SLAMing on 3.7248606239999997 meters Centerline goodness [0,1] 0.8185995565173252 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:-0.02 [[ 0.99304746 -0.07695713 -0.08907495 0.77104252] [ 0.07772337 0.99696161 0.00516079 0.11570942] [ 0.08840714 -0.01204812 0.99601156 -0.01740824] [ 0. 0. 0. 1. ]] SLAMing on 3.754860624 meters Centerline goodness [0,1] 0.81754911933187 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:-0.02 [[ 0.99309647 -0.07568576 -0.08961625 0.77300242] [ 0.07647455 0.99705693 0.00539631 0.11629665] [ 0.08894408 -0.01221242 0.99596175 -0.0173858 ] [ 0. 0. 0. 1. ]] SLAMing on 3.784860624 meters Centerline goodness [0,1] 0.8211418971172565 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:-0.02 [[ 0.99342437 -0.07048354 -0.09022251 0.77421785] [ 0.07163013 0.99738573 0.00953022 0.11558274] [ 0.08931492 -0.0159302 0.99587603 -0.01716493] [ 0. 0. 0. 1. ]] SLAMing on 3.814860624 meters Centerline goodness [0,1] 0.820183191386791 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99345412 -0.06935221 -0.09076991 0.77608662] [ 0.07052043 0.99746295 0.00972294 0.11628064] [ 0.08986531 -0.01606043 0.99582443 -0.01711256] [ 0. 0. 0. 1. ]] SLAMing on 3.844860624 meters Centerline goodness [0,1] 0.8212181272766231 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99348605 -0.06840387 -0.0911393 0.77733239] [ 0.06957824 0.99752868 0.00976732 0.11724868] [ 0.09024594 -0.01604501 0.99579025 -0.01683998] [ 0. 0. 0. 1. ]] SLAMing on 3.8748606239999996 meters Centerline goodness [0,1] 0.8223819576196456 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99349591 -0.06781499 -0.09147131 0.77809268] [ 0.06896997 0.9975733 0.00952161 0.11822522] [ 0.09060363 -0.01576845 0.99576219 -0.016088 ] [ 0. 0. 0. 1. ]] SLAMing on 3.904860624 meters Centerline goodness [0,1] 0.8195561273721454 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99354704 -0.06657976 -0.09182277 0.7796126 ] [ 0.06779448 0.99764747 0.01017038 0.11694468] [ 0.09092961 -0.01632983 0.99572343 -0.01610203] [ 0. 0. 0. 1. ]] SLAMing on 3.9348606239999997 meters Centerline goodness [0,1] 0.8186403391103718 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99354534 -0.06628311 -0.09205549 0.78039387] [ 0.06753223 0.99766165 0.01051775 0.11512413] [ 0.09114308 -0.01666657 0.99569833 -0.01617189] [ 0. 0. 0. 1. ]] SLAMing on 3.964860624 meters Centerline goodness [0,1] 0.8187528399219522 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.02 [[ 0.99332871 -0.06920853 -0.09224017 0.78230715] [ 0.07014449 0.9975127 0.00693995 0.11528057] [ 0.09153044 -0.0133638 0.9957126 -0.01608405] [ 0. 0. 0. 1. ]] SLAMing on 3.9948606239999997 meters Centerline goodness [0,1] 0.8186927338589388 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.02 [[ 0.99328006 -0.069886 -0.09225325 0.78169995] [ 0.07082319 0.99746488 0.00692051 0.11277377] [ 0.09153573 -0.01340767 0.99571153 -0.01557219] [ 0. 0. 0. 1. ]] SLAMing on 4.0248606239999996 meters Centerline goodness [0,1] 0.8163681104966528 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.01 [[ 0.99291804 -0.07485328 -0.09225377 0.78131361] [ 0.07547209 0.99714268 0.00323239 0.10892159] [ 0.09174822 -0.01017209 0.99573028 -0.01460745] [ 0. 0. 0. 1. ]] SLAMing on 4.054860624 meters Centerline goodness [0,1] 0.8166526049356676 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.01 [[ 9.92591020e-01 -7.91884912e-02 -9.21534055e-02 7.81322969e-01] [ 7.94672775e-02 9.96837266e-01 -6.46020415e-04 1.07969700e-01] [ 9.19131061e-02 -6.68194619e-03 9.95744612e-01 -1.39403717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084860624 meters Centerline goodness [0,1] 0.8140074945901725 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.01 [[ 0.99224788 -0.08349896 -0.09204383 0.78148594] [ 0.08345269 0.99650221 -0.00435817 0.10658484] [ 0.09208578 -0.00335692 0.99574542 -0.01350366] [ 0. 0. 0. 1. ]] SLAMing on 4.114860623999999 meters Centerline goodness [0,1] 0.8151298002467386 Centerline is valid? [False, False] Translation: X:0.78, Y:0.10, Z:-0.01 [[ 9.91886721e-01 -8.78026660e-02 -9.19316331e-02 7.81630196e-01] [ 8.74293586e-02 9.96137888e-01 -8.08799310e-03 1.04938460e-01] [ 9.22867302e-02 -1.51507676e-05 9.95732474e-01 -1.29330441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144860624 meters Centerline goodness [0,1] 0.8109048422692458 Centerline is valid? [False, False] Translation: X:0.78, Y:0.10, Z:-0.01 [[ 0.99139794 -0.09328368 -0.09180566 0.78127408] [ 0.09262911 0.99563571 -0.01137471 0.09899011] [ 0.09246607 0.00277299 0.99571197 -0.01274444] [ 0. 0. 0. 1. ]] SLAMing on 4.174860624 meters Centerline goodness [0,1] 0.8089277401334506 Centerline is valid? [False, False] Translation: X:0.78, Y:0.10, Z:-0.01 [[ 0.99100211 -0.09749615 -0.09170233 0.78151112] [ 0.09650891 0.99521682 -0.01514979 0.09754697] [ 0.09274075 0.00616338 0.99567121 -0.01210114] [ 0. 0. 0. 1. ]] SLAMing on 4.204860624 meters Centerline goodness [0,1] 0.8069908029347939 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.01 [[ 0.99089246 -0.0988901 -0.09139413 0.78019306] [ 0.09790952 0.99507981 -0.01516228 0.09387713] [ 0.09244386 0.00607584 0.99569936 -0.01195778] [ 0. 0. 0. 1. ]] SLAMing on 4.2348606239999995 meters Centerline goodness [0,1] 0.8039527720739219 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.01 [[ 0.99044801 -0.10351043 -0.09109516 0.78009197] [ 0.10225015 0.9945884 -0.01840734 0.0904722 ] [ 0.09250754 0.00891702 0.99567206 -0.01183008] [ 0. 0. 0. 1. ]] SLAMing on 4.264860624 meters Centerline goodness [0,1] 0.8052376929575301 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.01 [[ 0.99041879 -0.10382112 -0.09105933 0.77973563] [ 0.1026014 0.9945599 -0.01798801 0.08847026] [ 0.0924315 0.00847284 0.995683 -0.0118247 ] [ 0. 0. 0. 1. ]] SLAMing on 4.294860624 meters Centerline goodness [0,1] 0.8034917802982031 Centerline is valid? [False, False] Translation: X:0.78, Y:0.09, Z:-0.01 [[ 0.99040622 -0.10384451 -0.09116925 0.77990967] [ 0.10266701 0.9945614 -0.01752451 0.08685938] [ 0.09249324 0.00799631 0.9956812 -0.01190681] [ 0. 0. 0. 1. ]] SLAMing on 4.324860624 meters Centerline goodness [0,1] 0.8004226822498918 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.99041229 -0.10372594 -0.09123831 0.78034289] [ 0.102603 0.99457837 -0.01692614 0.08494639] [ 0.09249933 0.00740254 0.99568523 -0.01235766] [ 0. 0. 0. 1. ]] SLAMing on 4.354860624 meters Centerline goodness [0,1] 0.79749727136584 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.99038746 -0.10387451 -0.09133869 0.78084812] [ 0.1028068 0.99456728 -0.01633069 0.08165797] [ 0.09253881 0.00678347 0.99568597 -0.01283027] [ 0. 0. 0. 1. ]] SLAMing on 4.384860624 meters Centerline goodness [0,1] 0.7947599360844092 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.9903824 -0.10397542 -0.09127874 0.78075145] [ 0.10292666 0.99455807 -0.01613557 0.08055648] [ 0.09245971 0.00658537 0.99569465 -0.01290526] [ 0. 0. 0. 1. ]] SLAMing on 4.414860624 meters Centerline goodness [0,1] 0.7975295517250107 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.99038481 -0.1039121 -0.09132468 0.7810211 ] [ 0.10289269 0.99456675 -0.01581358 0.0796698 ] [ 0.09247172 0.00626489 0.9956956 -0.01319802] [ 0. 0. 0. 1. ]] SLAMing on 4.4448606239999995 meters Centerline goodness [0,1] 0.7955235204855842 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.99037859 -0.10394643 -0.0913531 0.78133915] [ 0.10294889 0.99456466 -0.01557776 0.07905612] [ 0.09247582 0.00602318 0.99569671 -0.01363907] [ 0. 0. 0. 1. ]] SLAMing on 4.474860624 meters Centerline goodness [0,1] 0.7881122590749489 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.01 [[ 0.99034269 -0.10456568 -0.09103497 0.78104046] [ 0.10360975 0.99450222 -0.01517714 0.07746277] [ 0.09212149 0.00559846 0.99573204 -0.01477182] [ 0. 0. 0. 1. ]] SLAMing on 4.504860624 meters Centerline goodness [0,1] 0.7868426365196326 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.99030517 -0.10507057 -0.09086168 0.78087831] [ 0.10412184 0.99444942 -0.01513258 0.07658108] [ 0.09194734 0.00552519 0.99574854 -0.01527053] [ 0. 0. 0. 1. ]] SLAMing on 4.534860624 meters Centerline goodness [0,1] 0.7799848942598188 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.99026971 -0.10550634 -0.09074315 0.78100106] [ 0.10458326 0.99440479 -0.01488129 0.07556133] [ 0.0918055 0.00524628 0.99576314 -0.01608672] [ 0. 0. 0. 1. ]] SLAMing on 4.564860624 meters Centerline goodness [0,1] 0.7297290504197456 Centerline is valid? [False, False] Translation: X:0.78, Y:0.07, Z:-0.02 [[ 0.99009427 -0.10741821 -0.09041387 0.77991998] [ 0.10648265 0.99419956 -0.01512238 0.07468859] [ 0.09151385 0.00534508 0.99578946 -0.01694946] [ 0. 0. 0. 1. ]] SLAMing on 4.594860624 meters Centerline goodness [0,1] 0.7397498613142367 Centerline is valid? [False, False] Translation: X:0.78, Y:0.07, Z:-0.02 [[ 0.99002822 -0.10821116 -0.09019124 0.7791242 ] [ 0.10725967 0.99411262 -0.01534497 0.07453944] [ 0.09132074 0.00551807 0.99580624 -0.01697074] [ 0. 0. 0. 1. ]] SLAMing on 4.624860624 meters Centerline goodness [0,1] 0.7686997420725231 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.98996479 -0.10892993 -0.09002211 0.77849104] [ 0.10795655 0.99403279 -0.01562653 0.07505061] [ 0.09118713 0.00575124 0.99581717 -0.01704828] [ 0. 0. 0. 1. ]] SLAMing on 4.6548606239999994 meters Centerline goodness [0,1] 0.7166784738386802 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.98991716 -0.10956342 -0.08977677 0.7776482 ] [ 0.10856532 0.99396149 -0.01594114 0.07588698] [ 0.09098122 0.00603377 0.99583433 -0.01698453] [ 0. 0. 0. 1. ]] SLAMing on 4.684860624 meters Centerline goodness [0,1] 0.7700662318877357 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.98986857 -0.1102243 -0.08950315 0.77671251] [ 0.10919127 0.99388592 -0.01637233 0.07702344] [ 0.09076055 0.00643349 0.99585196 -0.01685039] [ 0. 0. 0. 1. ]] SLAMing on 4.714860624 meters Centerline goodness [0,1] 0.7053162236480293 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.98977696 -0.11140843 -0.08904905 0.77509419] [ 0.11030017 0.99374798 -0.01728632 0.07957219] [ 0.09041816 0.00728748 0.99587723 -0.01662532] [ 0. 0. 0. 1. ]] SLAMing on 4.744860624 meters Centerline goodness [0,1] 0.704818663406683 Centerline is valid? [False, False] Translation: X:0.78, Y:0.08, Z:-0.02 [[ 0.98974583 -0.1116613 -0.08907831 0.77527836] [ 0.11052814 0.99371769 -0.0175693 0.08106221] [ 0.0904805 0.00754348 0.99586966 -0.01691275] [ 0. 0. 0. 1. ]] SLAMing on 4.7748606239999996 meters Centerline goodness [0,1] 0.7583527186277768 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.02 [[ 0.98971184 -0.11204963 -0.08896832 0.77493111] [ 0.11088122 0.99367094 -0.017984 0.082894 ] [ 0.09042033 0.00793406 0.99587209 -0.01699472] [ 0. 0. 0. 1. ]] SLAMing on 4.804860624 meters Centerline goodness [0,1] 0.756042044960487 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.98968281 -0.11238999 -0.08886184 0.77478671] [ 0.11118062 0.99362875 -0.01845993 0.08517065] [ 0.09037039 0.00838977 0.99587289 -0.01720677] [ 0. 0. 0. 1. ]] SLAMing on 4.834860624 meters Centerline goodness [0,1] 0.746092742559447 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.9899609 -0.11032182 -0.08835443 0.77191461] [ 0.10935172 0.99387816 -0.01576067 0.08758925] [ 0.08955229 0.00594074 0.9959644 -0.01739888] [ 0. 0. 0. 1. ]] SLAMing on 4.864860623999999 meters Centerline goodness [0,1] 0.746092742559447 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.9899609 -0.11032182 -0.08835443 0.77191461] [ 0.10935172 0.99387816 -0.01576067 0.08758925] [ 0.08955229 0.00594074 0.9959644 -0.01739888] [ 0. 0. 0. 1. ]] SLAMing on 4.894860624 meters Centerline goodness [0,1] 0.7507289758212268 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.98993463 -0.11064284 -0.08824728 0.77188576] [ 0.10962704 0.99383929 -0.01629045 0.08973899] [ 0.08950604 0.00645219 0.99596538 -0.01771535] [ 0. 0. 0. 1. ]] SLAMing on 4.924860624 meters Centerline goodness [0,1] 0.7504148086695012 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.98991842 -0.110817 -0.08821065 0.7721065 ] [ 0.10976633 0.9938173 -0.01668887 0.09179596] [ 0.08951468 0.00683806 0.99596203 -0.01812241] [ 0. 0. 0. 1. ]] SLAMing on 4.954860624 meters Centerline goodness [0,1] 0.7490628904623073 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.02 [[ 0.99022289 -0.10826227 -0.08796543 0.77048924] [ 0.107456 0.99411317 -0.01386405 0.09488553] [ 0.08894854 0.00427609 0.99602704 -0.01887118] [ 0. 0. 0. 1. ]] SLAMing on 4.9848606239999995 meters Centerline goodness [0,1] 0.7505235602094241 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.02 [[ 0.99049695 -0.10583557 -0.08783293 0.76851949] [ 0.10528012 0.99438237 -0.01094559 0.09575129] [ 0.08849795 0.00159451 0.99607508 -0.01878613] [ 0. 0. 0. 1. ]] SLAMing on 5.014860624 meters Centerline goodness [0,1] 0.7396204655063955 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.02 [[ 0.99046119 -0.10624115 -0.08774647 0.76820387] [ 0.10562292 0.99433775 -0.01167197 0.09877256] [ 0.08848967 0.0022926 0.99607446 -0.01871001] [ 0. 0. 0. 1. ]] SLAMing on 5.044860624 meters Centerline goodness [0,1] 0.7415922228060956 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.02 [[ 0.9904242 -0.10670726 -0.08759834 0.76763515] [ 0.10601988 0.99428574 -0.01247577 0.10184369] [ 0.08842903 0.00306914 0.99607775 -0.01848399] [ 0. 0. 0. 1. ]] SLAMing on 5.074860623999999 meters Centerline goodness [0,1] 0.7433278938779808 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.02 [[ 0.99039439 -0.10712772 -0.08742203 0.76712543] [ 0.10638239 0.99423828 -0.01315414 0.10455273] [ 0.08832751 0.00372762 0.99608451 -0.0183827 ] [ 0. 0. 0. 1. ]] SLAMing on 5.104860624 meters Centerline goodness [0,1] 0.7297039665307419 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99064709 -0.10529369 -0.08678471 0.76401571] [ 0.10475596 0.99443996 -0.01073989 0.10776878] [ 0.08743303 0.00154822 0.9961692 -0.01863898] [ 0. 0. 0. 1. ]] SLAMing on 5.134860624 meters Centerline goodness [0,1] 0.7262457238325069 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99060796 -0.10583874 -0.08656802 0.76339489] [ 0.10523936 0.99438075 -0.01147148 0.11060458] [ 0.0872957 0.00225338 0.99617989 -0.0186421 ] [ 0. 0. 0. 1. ]] SLAMing on 5.164860624 meters Centerline goodness [0,1] 0.7275143525409313 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.02 [[ 0.99056268 -0.10636478 -0.08644133 0.762994 ] [ 0.10570264 0.99432276 -0.01221438 0.11333171] [ 0.08724976 0.00296203 0.99618206 -0.01862096] [ 0. 0. 0. 1. ]] SLAMing on 5.1948606239999995 meters Centerline goodness [0,1] 0.7205211030726928 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 0.99048623 -0.10747521 -0.08594241 0.76172729] [ 0.10670294 0.99419871 -0.01354305 0.11856416] [ 0.08689938 0.0042439 0.99620805 -0.01883398] [ 0. 0. 0. 1. ]] SLAMing on 5.224860624 meters Centerline goodness [0,1] 0.7193062284200102 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 0.99043883 -0.10806254 -0.08575198 0.76111138] [ 0.10723113 0.9941319 -0.01425675 0.12126161] [ 0.0867894 0.00492515 0.99621451 -0.01882942] [ 0. 0. 0. 1. ]] SLAMing on 5.254860624 meters Centerline goodness [0,1] 0.725488098422038 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.02 [[ 0.99037827 -0.10877465 -0.08555092 0.76051487] [ 0.10788149 0.99405046 -0.01500872 0.12403127] [ 0.0866745 0.00563495 0.99622075 -0.01895492] [ 0. 0. 0. 1. ]] SLAMing on 5.284860623999999 meters Centerline goodness [0,1] 0.7182412614697414 Centerline is valid? [False, False] Translation: X:0.76, Y:0.13, Z:-0.02 [[ 0.99030337 -0.1097379 -0.08518703 0.75967987] [ 0.1087578 0.99393828 -0.01607614 0.12866956] [ 0.08643481 0.00665551 0.99623528 -0.01943992] [ 0. 0. 0. 1. ]] SLAMing on 5.314860624 meters Centerline goodness [0,1] 0.7219078415521423 Centerline is valid? [False, False] Translation: X:0.76, Y:0.13, Z:-0.02 [[ 0.99026363 -0.11016984 -0.08509137 0.75956702] [ 0.10913968 0.99388648 -0.01667922 0.13082033] [ 0.08640871 0.00722998 0.99623354 -0.01963697] [ 0. 0. 0. 1. ]] SLAMing on 5.344860624 meters Centerline goodness [0,1] 0.7130305888694246 Centerline is valid? [False, False] Translation: X:0.76, Y:0.13, Z:-0.02 [[ 0.9902289 -0.1106266 -0.0849028 0.75918315] [ 0.10954608 0.99383123 -0.01729596 0.13298557] [ 0.08629244 0.0078262 0.99623911 -0.01971969] [ 0. 0. 0. 1. ]] SLAMing on 5.374860624 meters Centerline goodness [0,1] 0.7182725330593039 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.02 [[ 0.99019426 -0.11101325 -0.084802 0.75891902] [ 0.10988179 0.99378329 -0.01790988 0.13524936] [ 0.08626304 0.00841606 0.99623685 -0.01969918] [ 0. 0. 0. 1. ]] SLAMing on 5.4048606239999994 meters Centerline goodness [0,1] 0.7098267460747157 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.02 [[ 0.99016359 -0.11135393 -0.08471349 0.75864119] [ 0.11016843 0.99373968 -0.01855723 0.13800425] [ 0.08624957 0.00904194 0.99623253 -0.01964497] [ 0. 0. 0. 1. ]] SLAMing on 5.434860624 meters Centerline goodness [0,1] 0.7097483508429026 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.02 [[ 0.9904804 -0.10884111 -0.08427455 0.75601313] [ 0.10790497 0.99403884 -0.01559814 0.14092102] [ 0.08546989 0.00635601 0.99632048 -0.01993894] [ 0. 0. 0. 1. ]] SLAMing on 5.464860624 meters Centerline goodness [0,1] 0.7247901449907337 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.02 [[ 0.99045048 -0.10911717 -0.08426916 0.75586811] [ 0.1081272 0.99400445 -0.01623745 0.14353421] [ 0.0855357 0.00697061 0.99631072 -0.01977607] [ 0. 0. 0. 1. ]] SLAMing on 5.494860624 meters Centerline goodness [0,1] 0.7143715518654067 Centerline is valid? [False, False] Translation: X:0.76, Y:0.15, Z:-0.02 [[ 0.99043013 -0.10924616 -0.08434114 0.75609408] [ 0.10820703 0.99398627 -0.01680879 0.14581841] [ 0.08567023 0.00752162 0.99629516 -0.01969397] [ 0. 0. 0. 1. ]] SLAMing on 5.5248606239999996 meters Centerline goodness [0,1] 0.7173746651358592 Centerline is valid? [False, False] Translation: X:0.76, Y:0.15, Z:-0.02 [[ 0.99042138 -0.109286 -0.08439235 0.75640641] [ 0.10821081 0.99397873 -0.0172251 0.14785626] [ 0.08576666 0.00792795 0.99628371 -0.01980452] [ 0. 0. 0. 1. ]] SLAMing on 5.554860624 meters Centerline goodness [0,1] 0.7235033137974476 Centerline is valid? [False, False] Translation: X:0.76, Y:0.15, Z:-0.02 [[ 0.99043271 -0.10904189 -0.08457486 0.75722857] [ 0.10794428 0.99400365 -0.01745786 0.14999496] [ 0.08597135 0.00816147 0.99626418 -0.02011584] [ 0. 0. 0. 1. ]] SLAMing on 5.584860624 meters Centerline goodness [0,1] 0.7103338283011604 Centerline is valid? [False, False] Translation: X:0.76, Y:0.15, Z:-0.02 [[ 0.99080998 -0.10569531 -0.08440428 0.75559762] [ 0.10485717 0.99438426 -0.01431471 0.15312944] [ 0.08544328 0.00533276 0.99632876 -0.02035658] [ 0. 0. 0. 1. ]] SLAMing on 5.614860623999999 meters Centerline goodness [0,1] 0.7284189570314661 Centerline is valid? [False, False] Translation: X:0.75, Y:0.15, Z:-0.02 [[ 0.99118201 -0.10225981 -0.0842683 0.75407791] [ 0.10172321 0.99475575 -0.01064836 0.15389987] [ 0.08491527 0.00198242 0.9963862 -0.02070301] [ 0. 0. 0. 1. ]] SLAMing on 5.644860624 meters Centerline goodness [0,1] 0.7166504921669208 Centerline is valid? [False, False] Translation: X:0.75, Y:0.16, Z:-0.02 [[ 0.99155562 -0.09861791 -0.08421379 0.7529201 ] [ 0.0983663 0.99512465 -0.00714204 0.15508169] [ 0.08450756 -0.00120207 0.99642211 -0.02084709] [ 0. 0. 0. 1. ]] SLAMing on 5.674860624 meters Centerline goodness [0,1] 0.7455328609142698 Centerline is valid? [False, False] Translation: X:0.75, Y:0.16, Z:-0.02 [[ 0.99198771 -0.094088 -0.08430793 0.75293298] [ 0.09408409 0.9955561 -0.00402828 0.15920783] [ 0.08431229 -0.00393603 0.99643161 -0.02103649] [ 0. 0. 0. 1. ]] SLAMing on 5.704860624 meters Centerline goodness [0,1] 0.7523575693320685 Centerline is valid? [False, False] Translation: X:0.75, Y:0.16, Z:-0.02 [[ 9.92349276e-01 -9.01924821e-02 -8.43103221e-02 7.52354390e-01] [ 9.04835439e-02 9.95897882e-01 -3.70329843e-04 1.59795505e-01] [ 8.39978722e-02 -7.26120018e-03 9.96439478e-01 -2.14863208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7348606239999995 meters Centerline goodness [0,1] 0.7551562237996758 Centerline is valid? [False, False] Translation: X:0.75, Y:0.16, Z:-0.02 [[ 9.92405964e-01 -8.92479242e-02 -8.46475655e-02 7.54075416e-01] [ 8.95100100e-02 9.95985676e-01 -7.01571336e-04 1.62703776e-01] [ 8.43703764e-02 -6.88056085e-03 9.96410707e-01 -2.16873492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764860624 meters Centerline goodness [0,1] 0.7777559827383287 Centerline is valid? [False, False] Translation: X:0.75, Y:0.16, Z:-0.02 [[ 0.99273791 -0.08538695 -0.08473794 0.75368029] [ 0.08595275 0.99629456 0.00304462 0.16352008] [ 0.08416398 -0.01030597 0.99639862 -0.02227468] [ 0. 0. 0. 1. ]] SLAMing on 5.794860624 meters Centerline goodness [0,1] 0.7952208789967236 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:-0.02 [[ 0.99309287 -0.08090496 -0.08497616 0.7537911 ] [ 0.08170584 0.99663852 0.00598388 0.16861881] [ 0.08420639 -0.0128856 0.99636502 -0.02208656] [ 0. 0. 0. 1. ]] SLAMing on 5.824860623999999 meters Centerline goodness [0,1] 0.7981698161316826 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:-0.02 [[ 0.99339337 -0.07704964 -0.08504682 0.75322003] [ 0.07813668 0.99689717 0.0095228 0.16965677] [ 0.08404921 -0.01610516 0.99633145 -0.0222342 ] [ 0. 0. 0. 1. ]] SLAMing on 5.854860624 meters Centerline goodness [0,1] 0.8161318793952681 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:-0.02 [[ 0.99340425 -0.07646372 -0.08544758 0.75457154] [ 0.07750936 0.99695116 0.00898244 0.17251637] [ 0.08450023 -0.01554618 0.99630218 -0.02201076] [ 0. 0. 0. 1. ]] SLAMing on 5.884860624 meters Centerline goodness [0,1] 0.8173035942605484 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:-0.02 [[ 0.99340665 -0.07601822 -0.08581642 0.75594189] [ 0.07703217 0.99699185 0.00856164 0.17480788] [ 0.08490743 -0.01511581 0.99627418 -0.02209595] [ 0. 0. 0. 1. ]] SLAMing on 5.914860624 meters Centerline goodness [0,1] 0.8209644322845417 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99340646 -0.07576419 -0.08604292 0.75691139] [ 0.07675575 0.99701563 0.00827001 0.17647533] [ 0.08515957 -0.01481977 0.99625711 -0.02228643] [ 0. 0. 0. 1. ]] SLAMing on 5.9448606239999995 meters Centerline goodness [0,1] 0.8179376553615818 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99338697 -0.07589982 -0.08614838 0.75725086] [ 0.07684619 0.99701309 0.00771792 0.17911041] [ 0.08530528 -0.01428705 0.99625242 -0.02231735] [ 0. 0. 0. 1. ]] SLAMing on 5.974860624 meters Centerline goodness [0,1] 0.8174298797939324 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99337058 -0.07621193 -0.08606184 0.75711584] [ 0.07713713 0.9969925 0.00747174 0.17934982] [ 0.08523357 -0.01406077 0.99626178 -0.02238884] [ 0. 0. 0. 1. ]] SLAMing on 6.004860624 meters Centerline goodness [0,1] 0.8166657115020918 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99334532 -0.07645622 -0.0861367 0.7573306 ] [ 0.07736795 0.99697594 0.00729172 0.17937084] [ 0.08531872 -0.01390742 0.99625664 -0.02247096] [ 0. 0. 0. 1. ]] SLAMing on 6.034860623999999 meters Centerline goodness [0,1] 0.8154387369866148 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99332476 -0.07680751 -0.08606121 0.75723882] [ 0.07770132 0.99695155 0.00707957 0.17928866] [ 0.0852551 -0.01371938 0.9962647 -0.02262358] [ 0. 0. 0. 1. ]] SLAMing on 6.064860624 meters Centerline goodness [0,1] 0.8145474260929118 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99327979 -0.07736736 -0.0860787 0.75717666] [ 0.07824206 0.996911 0.00682963 0.17925032] [ 0.08528441 -0.01351871 0.99626493 -0.02286283] [ 0. 0. 0. 1. ]] SLAMing on 6.094860624 meters Centerline goodness [0,1] 0.8059399161222219 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99325589 -0.07787428 -0.08589719 0.75636731] [ 0.07869887 0.99687884 0.00625043 0.1801975 ] [ 0.08514235 -0.01296829 0.9962844 -0.02233855] [ 0. 0. 0. 1. ]] SLAMing on 6.124860624 meters Centerline goodness [0,1] 0.8189650253893992 Centerline is valid? [False, False] Translation: X:0.76, Y:0.18, Z:-0.02 [[ 0.99322356 -0.07829915 -0.08588485 0.75560756] [ 0.07906788 0.99685361 0.0055807 0.18146488] [ 0.08517766 -0.01233362 0.99628944 -0.02132245] [ 0. 0. 0. 1. ]] SLAMing on 6.1548606239999994 meters Centerline goodness [0,1] 0.8155523131061712 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.99320092 -0.07870899 -0.08577198 0.75450401] [ 0.07940658 0.99683101 0.00474665 0.18368426] [ 0.08512656 -0.01152523 0.99630349 -0.02010326] [ 0. 0. 0. 1. ]] SLAMing on 6.184860624 meters Centerline goodness [0,1] 0.8118165683860995 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.99318117 -0.07900915 -0.0857247 0.75381861] [ 0.0796641 0.99681274 0.00424107 0.18464008] [ 0.08511639 -0.01104133 0.99630984 -0.01931331] [ 0. 0. 0. 1. ]] SLAMing on 6.214860624 meters Centerline goodness [0,1] 0.8169327887114742 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99316894 -0.07915425 -0.08573247 0.75354272] [ 0.07977074 0.99680606 0.00378371 0.18532494] [ 0.08515915 -0.01059681 0.99631101 -0.01865588] [ 0. 0. 0. 1. ]] SLAMing on 6.244860624 meters Centerline goodness [0,1] 0.8139401909771856 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99315271 -0.07942989 -0.08566551 0.75278765] [ 0.08000439 0.99678909 0.00328874 0.18606315] [ 0.08512922 -0.01011984 0.99631853 -0.01776518] [ 0. 0. 0. 1. ]] SLAMing on 6.2748606239999996 meters Centerline goodness [0,1] 0.8089463448118064 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99313672 -0.07981153 -0.0854961 0.75185068] [ 0.08034593 0.99676304 0.00282243 0.18689153] [ 0.08499409 -0.00967232 0.99633451 -0.01708589] [ 0. 0. 0. 1. ]] SLAMing on 6.304860624 meters Centerline goodness [0,1] 0.8121295421355553 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99310912 -0.08014726 -0.08550262 0.75132958] [ 0.08063436 0.9967412 0.00225311 0.18795256] [ 0.08504341 -0.00913203 0.9963354 -0.01629475] [ 0. 0. 0. 1. ]] SLAMing on 6.334860624 meters Centerline goodness [0,1] 0.8190618019359642 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.9930859 -0.08060625 -0.08534064 0.75014725] [ 0.08103769 0.99670976 0.00159771 0.18892096] [ 0.08493107 -0.00850247 0.99635055 -0.01519725] [ 0. 0. 0. 1. ]] SLAMing on 6.364860623999999 meters Centerline goodness [0,1] 0.8097745221471901 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.01 [[ 0.99306334 -0.08084643 -0.08537601 0.74997266] [ 0.08125585 0.99669239 0.00132568 0.18922196] [ 0.08498645 -0.00825378 0.99634792 -0.01485539] [ 0. 0. 0. 1. ]] SLAMing on 6.394860624 meters Centerline goodness [0,1] 0.8183747204220909 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.01 [[ 0.99305351 -0.08100794 -0.08533725 0.7499039 ] [ 0.0814089 0.99668004 0.00122332 0.1891686 ] [ 0.08495484 -0.00816204 0.99635137 -0.01490075] [ 0. 0. 0. 1. ]] SLAMing on 6.424860624 meters Centerline goodness [0,1] 0.8092540132200189 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99304182 -0.08117987 -0.08530988 0.75005295] [ 0.08157807 0.99666625 0.00118626 0.18875695] [ 0.08492918 -0.00813742 0.99635376 -0.01513542] [ 0. 0. 0. 1. ]] SLAMing on 6.454860624 meters Centerline goodness [0,1] 0.805091533180778 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99301836 -0.08155759 -0.08522267 0.7499214 ] [ 0.081958 0.99663506 0.00120445 0.18807559] [ 0.08483766 -0.00818072 0.9963612 -0.01545452] [ 0. 0. 0. 1. ]] SLAMing on 6.4848606239999995 meters Centerline goodness [0,1] 0.7989096306445167 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99299554 -0.08175737 -0.08529706 0.75006869] [ 0.08215607 0.99661879 0.00116865 0.18786913] [ 0.0849131 -0.00816814 0.99635488 -0.01552179] [ 0. 0. 0. 1. ]] SLAMing on 6.514860624 meters Centerline goodness [0,1] 0.7928496019630782 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.02 [[ 0.99297607 -0.08186692 -0.08541852 0.7504191 ] [ 0.08228115 0.99660826 0.00133414 0.18708708] [ 0.08501958 -0.0083531 0.99634427 -0.01579023] [ 0. 0. 0. 1. ]] SLAMing on 6.544860624 meters Centerline goodness [0,1] 0.7799538842551738 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.992943 -0.08214383 -0.08553712 0.75088613] [ 0.08259795 0.99658137 0.00177762 0.18485318] [ 0.08509868 -0.00883026 0.9963334 -0.01653561] [ 0. 0. 0. 1. ]] SLAMing on 6.574860623999999 meters Centerline goodness [0,1] 0.7866468588406708 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.99292905 -0.08227377 -0.08557412 0.75100708] [ 0.08274603 0.9965687 0.00198047 0.18397051] [ 0.08511755 -0.00904739 0.99632984 -0.01680072] [ 0. 0. 0. 1. ]] SLAMing on 6.604860624 meters Centerline goodness [0,1] 0.780071275837491 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.99290904 -0.08265571 -0.08543815 0.75028553] [ 0.08311394 0.9965384 0.00181409 0.18334232] [ 0.08499245 -0.00890233 0.99634182 -0.01636382] [ 0. 0. 0. 1. ]] SLAMing on 6.634860624 meters Centerline goodness [0,1] 0.7786115787371244 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.02 [[ 0.99288391 -0.08305276 -0.08534509 0.74945419] [ 0.08349437 0.99650695 0.00161188 0.1827788 ] [ 0.08491311 -0.00872625 0.99635015 -0.01570379] [ 0. 0. 0. 1. ]] SLAMing on 6.664860624 meters Centerline goodness [0,1] 0.758051220829425 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 0.99285978 -0.08331847 -0.08536675 0.74897898] [ 0.08372984 0.99648772 0.00124358 0.18263279] [ 0.0849633 -0.00838245 0.99634882 -0.0148589 ] [ 0. 0. 0. 1. ]] SLAMing on 6.6948606239999995 meters Centerline goodness [0,1] 0.7801797701672545 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92847889e-01 -8.35256729e-02 -8.53025827e-02 7.48461967e-01] [ 8.39046010e-02 9.96473420e-01 8.60383681e-04 1.83101142e-01] [ 8.49298922e-02 -8.01150928e-03 9.96354721e-01 -1.42161139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724860624 meters Centerline goodness [0,1] 0.7976515409985215 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92839205e-01 -8.35382200e-02 -8.53913236e-02 7.47976141e-01] [ 8.38938816e-02 9.96474526e-01 5.78824544e-04 1.83065025e-01] [ 8.50419247e-02 -7.73848929e-03 9.96347322e-01 -1.30965811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754860624 meters Centerline goodness [0,1] 0.7896946998070593 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92831180e-01 -8.37311101e-02 -8.52956581e-02 7.47528833e-01] [ 8.40646156e-02 9.96460254e-01 3.19456244e-04 1.83022967e-01] [ 8.49669848e-02 -7.48751283e-03 9.96355634e-01 -1.26305659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784860623999999 meters Centerline goodness [0,1] 0.7896946998070593 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92831180e-01 -8.37311101e-02 -8.52956581e-02 7.47528833e-01] [ 8.40646156e-02 9.96460254e-01 3.19456244e-04 1.83022967e-01] [ 8.49669848e-02 -7.48751283e-03 9.96355634e-01 -1.26305659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814860624 meters Centerline goodness [0,1] 0.7890649358011395 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92827123e-01 -8.37519559e-02 -8.53224118e-02 7.47410998e-01] [ 8.40698259e-02 9.96459857e-01 1.32923820e-04 1.83224158e-01] [ 8.50092257e-02 -7.30501068e-03 9.96353385e-01 -1.22206866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844860624 meters Centerline goodness [0,1] 0.8057394516266515 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92823141e-01 -8.37045672e-02 -8.54151954e-02 7.47491939e-01] [ 8.40029375e-02 9.96465502e-01 -1.01308605e-04 1.83775094e-01] [ 8.51217755e-02 -7.07454579e-03 9.96345439e-01 -1.18139080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874860624 meters Centerline goodness [0,1] 0.7893944985380532 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92848343e-01 -8.31016156e-02 -8.57104929e-02 7.48560398e-01] [ 8.34010652e-02 9.96516058e-01 -8.73286663e-05 1.84860813e-01] [ 8.54191397e-02 -7.06164229e-03 9.96320081e-01 -1.17974311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9048606239999994 meters Centerline goodness [0,1] 0.8059294598739137 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.01 [[ 9.92860565e-01 -8.27587747e-02 -8.59004297e-02 7.49533524e-01] [ 8.30668296e-02 9.96543979e-01 1.18836135e-05 1.85095371e-01] [ 8.56025725e-02 -7.14727513e-03 9.96303727e-01 -1.21586651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934860624 meters Centerline goodness [0,1] 0.7886895453640783 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.01 [[ 9.92868820e-01 -8.24724503e-02 -8.60801968e-02 7.50377721e-01] [ 8.27915435e-02 9.96566878e-01 1.37428130e-04 1.85075466e-01] [ 8.57733389e-02 -7.26316046e-03 9.96288202e-01 -1.24543448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964860624 meters Centerline goodness [0,1] 0.8135737611813147 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92874479e-01 -8.23110453e-02 -8.61693684e-02 7.51146771e-01] [ 8.26504074e-02 9.96578533e-01 3.72052137e-04 1.83990887e-01] [ 8.58439187e-02 -7.49133447e-03 9.96280433e-01 -1.30034919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994860623999999 meters Centerline goodness [0,1] 0.7908315141893233 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92858208e-01 -8.24576260e-02 -8.62166956e-02 7.51259966e-01] [ 8.27945591e-02 9.96566581e-01 3.33383552e-04 1.83412133e-01] [ 8.58931875e-02 -7.46927590e-03 9.96276352e-01 -1.29794813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0248606239999996 meters Centerline goodness [0,1] 0.7911172993862241 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92839121e-01 -8.27448313e-02 -8.61613135e-02 7.50907417e-01] [ 8.30814037e-02 9.96542712e-01 3.21597423e-04 1.82864263e-01] [ 8.58368185e-02 -7.47769738e-03 9.96281147e-01 -1.28736363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054860624 meters Centerline goodness [0,1] 0.7919193063976879 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92811610e-01 -8.31110520e-02 -8.61258354e-02 7.50397343e-01] [ 8.34369043e-02 9.96513045e-01 1.84379140e-04 1.82604620e-01] [ 8.58101946e-02 -7.36912684e-03 9.96284250e-01 -1.25295350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084860624 meters Centerline goodness [0,1] 0.7782283218964442 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92784736e-01 -8.35821321e-02 -8.59796166e-02 7.49329938e-01] [ 8.38899926e-02 9.96475021e-01 -3.25976545e-05 1.82173411e-01] [ 8.56792648e-02 -7.18046694e-03 9.96296896e-01 -1.18380413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114860623999999 meters Centerline goodness [0,1] 0.7599061006307096 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92695907e-01 -8.50882910e-02 -8.55267092e-02 7.46549321e-01] [ 8.53410744e-02 9.96351548e-01 -7.02881805e-04 1.80911809e-01] [ 8.52744761e-02 -6.60119336e-03 9.96335630e-01 -1.03852992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144860624 meters Centerline goodness [0,1] 0.7676519578780949 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:-0.01 [[ 9.92659175e-01 -8.57396300e-02 -8.53022796e-02 7.45403376e-01] [ 8.59861829e-02 9.96296019e-01 -7.86364522e-04 1.79226768e-01] [ 8.50537442e-02 -6.55422546e-03 9.96354808e-01 -9.90663700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174860624 meters Centerline goodness [0,1] 0.753566504403613 Centerline is valid? [False, False] Translation: X:0.74, Y:0.18, Z:-0.01 [[ 0.99261288 -0.08657515 -0.08499655 0.74405364] [ 0.08680452 0.99622486 -0.0010004 0.17766056] [ 0.08476228 -0.00638507 0.99638074 -0.00946344] [ 0. 0. 0. 1. ]] SLAMing on 7.204860623999999 meters Centerline goodness [0,1] 0.7623958746529155 Centerline is valid? [False, False] Translation: X:0.74, Y:0.18, Z:-0.01 [[ 0.99257307 -0.08740701 -0.08460918 0.74246316] [ 0.0876297 0.99615253 -0.00108532 0.17600052] [ 0.08437851 -0.00633702 0.99641362 -0.00910801] [ 0. 0. 0. 1. ]] SLAMing on 7.2348606239999995 meters Centerline goodness [0,1] 0.7506778129236331 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.99252555 -0.08823596 -0.08430571 0.74100635] [ 0.08844087 0.99608057 -0.00130836 0.17477353] [ 0.08409072 -0.00615749 0.99643908 -0.00858336] [ 0. 0. 0. 1. ]] SLAMing on 7.264860624 meters Centerline goodness [0,1] 0.7494227628540857 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.99240233 -0.08997046 -0.08392218 0.73846822] [ 0.09013632 0.99592778 -0.00181821 0.17288423] [ 0.08374401 -0.00576004 0.99647065 -0.00757657] [ 0. 0. 0. 1. ]] SLAMing on 7.294860624 meters Centerline goodness [0,1] 0.7350562241073191 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.99236822 -0.0904474 -0.08381277 0.73772781] [ 0.09061469 0.99588437 -0.00181376 0.17177615] [ 0.08363188 -0.00579475 0.99647987 -0.00732237] [ 0. 0. 0. 1. ]] SLAMing on 7.324860623999999 meters Centerline goodness [0,1] 0.7338179980912817 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.99232619 -0.09097847 -0.08373558 0.73713353] [ 0.09114062 0.99583624 -0.00189211 0.1706718 ] [ 0.08355907 -0.00575412 0.99648621 -0.00709115] [ 0. 0. 0. 1. ]] SLAMing on 7.354860624 meters Centerline goodness [0,1] 0.7304599640125956 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.9923058 -0.09141937 -0.08349673 0.73635321] [ 0.09158912 0.99579525 -0.00180319 0.16980192] [ 0.08331049 -0.00585808 0.99650642 -0.0071912 ] [ 0. 0. 0. 1. ]] SLAMing on 7.384860624 meters Centerline goodness [0,1] 0.7262455491070177 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:-0.01 [[ 0.99224259 -0.09238111 -0.08318878 0.73496629] [ 0.09254608 0.99570663 -0.0018791 0.16830446] [ 0.08300521 -0.00583427 0.99653203 -0.00699853] [ 0. 0. 0. 1. ]] SLAMing on 7.414860624 meters Centerline goodness [0,1] 0.7240199652290954 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:-0.01 [[ 0.99221506 -0.09268899 -0.08317471 0.73485133] [ 0.09285914 0.99567758 -0.00182885 0.16767521] [ 0.08298471 -0.00590892 0.9965333 -0.00716286] [ 0. 0. 0. 1. ]] SLAMing on 7.4448606239999995 meters Centerline goodness [0,1] 0.7208813388276848 Centerline is valid? [False, False] Translation: X:0.74, Y:0.17, Z:-0.01 [[ 0.99220596 -0.09267134 -0.08330278 0.73546814] [ 0.0928672 0.99567733 -0.00152889 0.16674512] [ 0.08308438 -0.00621913 0.99652311 -0.00770892] [ 0. 0. 0. 1. ]] SLAMing on 7.474860624 meters Centerline goodness [0,1] 0.7127148917169011 Centerline is valid? [False, False] Translation: X:0.74, Y:0.16, Z:-0.01 [[ 0.99214085 -0.09322771 -0.08345736 0.73579297] [ 0.09345302 0.99562295 -0.00121136 0.16430613] [ 0.083205 -0.0065975 0.99651061 -0.00831043] [ 0. 0. 0. 1. ]] SLAMing on 7.504860624 meters Centerline goodness [0,1] 0.7155076340131505 Centerline is valid? [False, False] Translation: X:0.74, Y:0.16, Z:-0.01 [[ 0.9921094 -0.09361472 -0.08339798 0.73549641] [ 0.09383584 0.99558687 -0.00127302 0.16369136] [ 0.08314911 -0.00656274 0.99651551 -0.00829383] [ 0. 0. 0. 1. ]] SLAMing on 7.534860623999999 meters Centerline goodness [0,1] 0.7132221726522419 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.992083 -0.09400412 -0.08327389 0.73499932] [ 0.09421531 0.99555086 -0.00139862 0.16346309] [ 0.08303487 -0.00645813 0.99652572 -0.00822458] [ 0. 0. 0. 1. ]] SLAMing on 7.564860624 meters Centerline goodness [0,1] 0.7098688058828445 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99206639 -0.09416107 -0.08329447 0.73489722] [ 0.09437066 0.99553611 -0.00142602 0.16338285] [ 0.08305692 -0.00644585 0.99652396 -0.0081396 ] [ 0. 0. 0. 1. ]] SLAMing on 7.594860624 meters Centerline goodness [0,1] 0.7122057346870467 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99202678 -0.09459457 -0.08327509 0.73425981] [ 0.09476437 0.99549788 -0.00192015 0.16396988] [ 0.08308181 -0.00598667 0.99652475 -0.00743231] [ 0. 0. 0. 1. ]] SLAMing on 7.624860624 meters Centerline goodness [0,1] 0.7068254056766854 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.9920217 -0.09472966 -0.083182 0.7340762 ] [ 0.09489559 0.99548529 -0.0019656 0.16381538] [ 0.08299265 -0.00594368 0.99653243 -0.00749377] [ 0. 0. 0. 1. ]] SLAMing on 7.6548606239999994 meters Centerline goodness [0,1] 0.7028951247323192 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99200278 -0.09511617 -0.08296629 0.73337719] [ 0.09527286 0.99544903 -0.00207751 0.16339487] [ 0.08278631 -0.00584354 0.99655019 -0.00741178] [ 0. 0. 0. 1. ]] SLAMing on 7.684860624 meters Centerline goodness [0,1] 0.703330363109824 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99195859 -0.09596713 -0.08251341 0.73160713] [ 0.09608533 0.99536984 -0.00254648 0.16291141] [ 0.08237574 -0.00540232 0.9965867 -0.00673451] [ 0. 0. 0. 1. ]] SLAMing on 7.714860624 meters Centerline goodness [0,1] 0.7000111148160497 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99192905 -0.09641279 -0.08234889 0.73087085] [ 0.09652314 0.99532721 -0.00264926 0.16235448] [ 0.08221951 -0.00532069 0.99660004 -0.00655695] [ 0. 0. 0. 1. ]] SLAMing on 7.744860623999999 meters Centerline goodness [0,1] 0.696325058937734 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.9919087 -0.09671837 -0.08223552 0.730474 ] [ 0.09682966 0.99529746 -0.00264316 0.16145726] [ 0.08210444 -0.00534106 0.99660942 -0.00651033] [ 0. 0. 0. 1. ]] SLAMing on 7.7748606239999996 meters Centerline goodness [0,1] 0.6911597459155085 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99184589 -0.09771973 -0.08180824 0.72856619] [ 0.09781514 0.99520052 -0.00285036 0.16045982] [ 0.08169414 -0.00517497 0.99664401 -0.00603034] [ 0. 0. 0. 1. ]] SLAMing on 7.804860624 meters Centerline goodness [0,1] 0.6925785256854537 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99181009 -0.09811345 -0.08177095 0.72797215] [ 0.09820411 0.995162 -0.00292215 0.15998802] [ 0.08166205 -0.00513202 0.99664686 -0.00567783] [ 0. 0. 0. 1. ]] SLAMing on 7.834860624 meters Centerline goodness [0,1] 0.6897373379142192 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99178427 -0.0984087 -0.0817294 0.72752482] [ 0.09848573 0.99513364 -0.00309818 0.15976479] [ 0.08163656 -0.00497646 0.99664974 -0.00527469] [ 0. 0. 0. 1. ]] SLAMing on 7.864860623999999 meters Centerline goodness [0,1] 0.6822683264177041 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.9917826 -0.09844924 -0.08170086 0.7275135 ] [ 0.0985419 0.99512866 -0.00290724 0.15929667] [ 0.08158908 -0.00516761 0.99665266 -0.00548667] [ 0. 0. 0. 1. ]] SLAMing on 7.894860624 meters Centerline goodness [0,1] 0.6761475251085964 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99176478 -0.09865681 -0.08166668 0.72733815] [ 0.09875866 0.99510747 -0.00280119 0.15876311] [ 0.08154348 -0.00528717 0.99665576 -0.00558358] [ 0. 0. 0. 1. ]] SLAMing on 7.924860624 meters Centerline goodness [0,1] 0.6747177954847278 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99175484 -0.09865661 -0.08178753 0.72772133] [ 0.09877162 0.9951066 -0.00264846 0.15806864] [ 0.0816486 -0.00545167 0.99664627 -0.00573323] [ 0. 0. 0. 1. ]] SLAMing on 7.954860623999999 meters Centerline goodness [0,1] 0.6725367687714254 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99174363 -0.09874182 -0.08182068 0.72792825] [ 0.09886479 0.99509759 -0.00255704 0.15757528] [ 0.08167205 -0.00555325 0.99664379 -0.00596673] [ 0. 0. 0. 1. ]] SLAMing on 7.9848606239999995 meters Centerline goodness [0,1] 0.6696724023825281 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99173306 -0.09885888 -0.0818075 0.72806873] [ 0.09898037 0.99508604 -0.00257904 0.15723021] [ 0.08166046 -0.00553962 0.99664481 -0.00613532] [ 0. 0. 0. 1. ]] SLAMing on 8.014860624 meters Centerline goodness [0,1] 0.6919841730998035 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99172877 -0.09881194 -0.08191608 0.72872916] [ 0.09894962 0.99508958 -0.00238707 0.15615242] [ 0.08174971 -0.00573824 0.99663637 -0.00664955] [ 0. 0. 0. 1. ]] SLAMing on 8.044860624 meters Centerline goodness [0,1] 0.6909868875086267 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99173377 -0.09853196 -0.08219239 0.72991163] [ 0.09868242 0.99511646 -0.0022397 0.15582579] [ 0.08201169 -0.00588975 0.99661396 -0.00704645] [ 0. 0. 0. 1. ]] SLAMing on 8.074860624000001 meters Centerline goodness [0,1] 0.6880496209510683 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99173073 -0.09843911 -0.08234015 0.73045321] [ 0.09859299 0.9951254 -0.00220504 0.15610394] [ 0.08215584 -0.00593135 0.99660184 -0.00727313] [ 0. 0. 0. 1. ]] SLAMing on 8.104860624 meters Centerline goodness [0,1] 0.6921630960608155 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99171814 -0.09849196 -0.08242858 0.73049521] [ 0.09863166 0.99512115 -0.00238548 0.15669409] [ 0.08226138 -0.00576434 0.99659412 -0.00701415] [ 0. 0. 0. 1. ]] SLAMing on 8.134860624 meters Centerline goodness [0,1] 0.6910731086391056 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.99171752 -0.09848418 -0.08244529 0.73005269] [ 0.09859615 0.99512381 -0.00272209 0.15775446] [ 0.08231135 -0.00542924 0.99659187 -0.00620487] [ 0. 0. 0. 1. ]] SLAMing on 8.164860624000001 meters Centerline goodness [0,1] 0.6958633440958137 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.01 [[ 0.991705 -0.09849456 -0.08258342 0.73006843] [ 0.09858563 0.9951241 -0.00298427 0.15839929] [ 0.08247468 -0.00518202 0.99657969 -0.00566692] [ 0. 0. 0. 1. ]] SLAMing on 8.194860624 meters Centerline goodness [0,1] 0.6985243223788034 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99168707 -0.09855054 -0.08273174 0.73003782] [ 0.0986071 0.99512059 -0.00341205 0.15925847] [ 0.08266431 -0.00477425 0.99656601 -0.00490331] [ 0. 0. 0. 1. ]] SLAMing on 8.224860624 meters Centerline goodness [0,1] 0.6979403133824262 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99165664 -0.0989714 -0.08259403 0.72856023] [ 0.09893617 0.99508347 -0.00452928 0.16158252] [ 0.08263623 -0.00368005 0.99657298 -0.00298349] [ 0. 0. 0. 1. ]] SLAMing on 8.254860624 meters Centerline goodness [0,1] 0.7000055456965395 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99163302 -0.09909731 -0.08272653 0.72844792] [ 0.09902651 0.99507239 -0.0049686 0.16258824] [ 0.08281126 -0.0032651 0.9965599 -0.00234191] [ 0. 0. 0. 1. ]] SLAMing on 8.284860624 meters Centerline goodness [0,1] 0.6989586795170045 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99162144 -0.09926656 -0.08266235 0.72849549] [ 0.09917537 0.99505629 -0.00521872 0.16297756] [ 0.08277174 -0.00302308 0.99656395 -0.00245143] [ 0. 0. 0. 1. ]] SLAMing on 8.314860624000001 meters Centerline goodness [0,1] 0.696785813244666 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99160803 -0.09944493 -0.08260879 0.7284539 ] [ 0.09935972 0.99503824 -0.00515215 0.16247471] [ 0.08271126 -0.00309907 0.99656873 -0.00271904] [ 0. 0. 0. 1. ]] SLAMing on 8.344860624 meters Centerline goodness [0,1] 0.6914200530035335 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99159287 -0.09961748 -0.08258294 0.72867833] [ 0.09954053 0.99502065 -0.00505872 0.16188981] [ 0.08267566 -0.00320416 0.99657136 -0.00317099] [ 0. 0. 0. 1. ]] SLAMing on 8.374860624 meters Centerline goodness [0,1] 0.6903438165574087 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99158117 -0.09968822 -0.08263797 0.72907097] [ 0.09962484 0.995013 -0.00490045 0.16132123] [ 0.08271437 -0.0033736 0.99656758 -0.00361987] [ 0. 0. 0. 1. ]] SLAMing on 8.404860624000001 meters Centerline goodness [0,1] 0.6880281495026737 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99157001 -0.09971744 -0.08273663 0.72956747] [ 0.09966256 0.9950097 -0.0048033 0.16118988] [ 0.08280273 -0.00348294 0.99655987 -0.00402401] [ 0. 0. 0. 1. ]] SLAMing on 8.434860624 meters Centerline goodness [0,1] 0.6851447372058945 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99156256 -0.09967036 -0.08288246 0.73019613] [ 0.09962676 0.99501391 -0.00467211 0.16121459] [ 0.08293488 -0.00362462 0.99654838 -0.00444504] [ 0. 0. 0. 1. ]] SLAMing on 8.464860624 meters Centerline goodness [0,1] 0.6811638336747688 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99150407 -0.10040445 -0.082696 0.72880224] [ 0.10032148 0.99494165 -0.00516855 0.16209857] [ 0.08279664 -0.00317154 0.99656142 -0.00364354] [ 0. 0. 0. 1. ]] SLAMing on 8.494860624000001 meters Centerline goodness [0,1] 0.6787796346677031 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99146902 -0.10087395 -0.08254466 0.72783614] [ 0.10075824 0.99489531 -0.00557688 0.16234808] [ 0.08268585 -0.00278775 0.99657176 -0.00289881] [ 0. 0. 0. 1. ]] SLAMing on 8.524860624 meters Centerline goodness [0,1] 0.6762981806116242 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.00 [[ 0.99145278 -0.10119233 -0.08234985 0.72713207] [ 0.10105869 0.99486356 -0.00580014 0.16244424] [ 0.08251379 -0.0025716 0.9965866 -0.0025775 ] [ 0. 0. 0. 1. ]] SLAMing on 8.554860624 meters Centerline goodness [0,1] 0.6030524427341983 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:0.00 [[ 0.99169586 -0.10385185 -0.07585586 0.77875658] [ 0.10287473 0.99455433 -0.01668771 0.16706152] [ 0.07717582 0.00874549 0.99697914 0.00275877] [ 0. 0. 0. 1. ]] SLAMing on 8.584860624000001 meters Centerline goodness [0,1] 0.6809895833333333 Centerline is valid? [False, False] Translation: X:0.70, Y:0.16, Z:-0.01 [[ 0.99201898 -0.10271113 -0.07313533 0.69603227] [ 0.10175146 0.99466902 -0.01673877 0.16441052] [ 0.07446471 0.00916355 0.99718155 -0.00532994] [ 0. 0. 0. 1. ]] SLAMing on 8.614860624 meters Centerline goodness [0,1] 0.6652266622358838 Centerline is valid? [False, False] Translation: X:0.70, Y:0.16, Z:-0.01 [[ 0.99199266 -0.1029563 -0.07314758 0.69592684] [ 0.10199421 0.99464349 -0.01677848 0.16440563] [ 0.07448321 0.0091835 0.99717998 -0.00537185] [ 0. 0. 0. 1. ]] SLAMing on 8.644860624000001 meters Centerline goodness [0,1] 0.6635715470071298 Centerline is valid? [False, False] Translation: X:0.70, Y:0.16, Z:-0.01 [[ 0.99196833 -0.1032229 -0.07310175 0.69579061] [ 0.10226737 0.99461666 -0.0167058 0.16420182] [ 0.07443264 0.0090957 0.99718456 -0.00564338] [ 0. 0. 0. 1. ]] SLAMing on 8.674860624 meters Centerline goodness [0,1] 0.5735404530744337 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:0.00 [[ 0.99164962 -0.10779652 -0.07078795 0.75909541] [ 0.10611894 0.99398525 -0.02705736 0.1687757 ] [ 0.07327887 0.01931948 0.99712435 0.00275002] [ 0. 0. 0. 1. ]] SLAMing on 8.704860624 meters Centerline goodness [0,1] 0.5735404530744337 Centerline is valid? [False, False] Translation: X:0.76, Y:0.17, Z:0.00 [[ 0.99164962 -0.10779652 -0.07078795 0.75909541] [ 0.10611894 0.99398525 -0.02705736 0.1687757 ] [ 0.07327887 0.01931948 0.99712435 0.00275002] [ 0. 0. 0. 1. ]] SLAMing on 8.734860624000001 meters Centerline goodness [0,1] 0.6670256240335763 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99187339 -0.106806 -0.06913512 0.67039857] [ 0.10543146 0.99415486 -0.02324497 0.16442846] [ 0.07121372 0.01576705 0.99733646 -0.00607181] [ 0. 0. 0. 1. ]] SLAMing on 8.764860624 meters Centerline goodness [0,1] 0.6664274872360977 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99184628 -0.10705197 -0.06914355 0.67014227] [ 0.10568019 0.99412921 -0.02321242 0.16384111] [ 0.07122256 0.01571605 0.99733663 -0.00596816] [ 0. 0. 0. 1. ]] SLAMing on 8.794860624 meters Centerline goodness [0,1] 0.6697432223936521 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99186512 -0.10674327 -0.0693503 0.67074457] [ 0.10539277 0.99416789 -0.02285966 0.16316131] [ 0.07138595 0.01536468 0.99733042 -0.00607193] [ 0. 0. 0. 1. ]] SLAMing on 8.824860624000001 meters Centerline goodness [0,1] 0.6723866802769884 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.9918801 -0.10652042 -0.06947854 0.67127899] [ 0.10519882 0.99419841 -0.02242154 0.16231809] [ 0.07146381 0.01493042 0.99733144 -0.00652934] [ 0. 0. 0. 1. ]] SLAMing on 8.854860624 meters Centerline goodness [0,1] 0.6650844464068881 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99189952 -0.10628355 -0.06956404 0.67183357] [ 0.10500282 0.99423239 -0.02182594 0.16079219] [ 0.07148256 0.01434472 0.9973387 -0.00713512] [ 0. 0. 0. 1. ]] SLAMing on 8.884860624 meters Centerline goodness [0,1] 0.6655952969617054 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99191725 -0.10613082 -0.06954434 0.67213451] [ 0.10490177 0.99425865 -0.02110326 0.15884683] [ 0.07138477 0.01363736 0.99735562 -0.00790097] [ 0. 0. 0. 1. ]] SLAMing on 8.914860624000001 meters Centerline goodness [0,1] 0.6641944787803873 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.01 [[ 0.99190603 -0.10625286 -0.06951801 0.67184958] [ 0.10505497 0.99425144 -0.0206767 0.15678387] [ 0.07131534 0.01320613 0.99736639 -0.00795239] [ 0. 0. 0. 1. ]] SLAMing on 8.944860624 meters Centerline goodness [0,1] 0.6571491024344928 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.01 [[ 0.99178096 -0.10752456 -0.06934687 0.67026264] [ 0.10635915 0.99412064 -0.02029512 0.15220954] [ 0.07112138 0.01275264 0.99738614 -0.00772431] [ 0. 0. 0. 1. ]] SLAMing on 8.974860624 meters Centerline goodness [0,1] 0.652645379803884 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.01 [[ 0.99174155 -0.10800374 -0.06916562 0.66931388] [ 0.10686651 0.99407326 -0.01994746 0.14988111] [ 0.07091009 0.01239124 0.99740574 -0.00758827] [ 0. 0. 0. 1. ]] SLAMing on 9.004860624 meters Centerline goodness [0,1] 0.649084069349035 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.01 [[ 0.99169827 -0.10854381 -0.06894039 0.66830137] [ 0.10743951 0.99401959 -0.01953992 0.1476901 ] [ 0.07064903 0.01197078 0.9974294 -0.00763027] [ 0. 0. 0. 1. ]] SLAMing on 9.034860624 meters Centerline goodness [0,1] 0.6471468204319208 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.01 [[ 0.99166593 -0.10886542 -0.06889856 0.66804087] [ 0.10781709 0.99399361 -0.01876667 0.14490746] [ 0.07052777 0.01118182 0.99744714 -0.00821339] [ 0. 0. 0. 1. ]] SLAMing on 9.064860624000001 meters Centerline goodness [0,1] 0.630922085657047 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.01 [[ 0.99125877 -0.11247945 -0.0689523 0.66943356] [ 0.11124022 0.99355947 -0.02156815 0.14066862] [ 0.07093419 0.01370935 0.99738678 -0.00851304] [ 0. 0. 0. 1. ]] SLAMing on 9.094860624 meters Centerline goodness [0,1] 0.6257191475569241 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.01 [[ 0.9912222 -0.11284366 -0.06888293 0.66894425] [ 0.11165666 0.99352792 -0.02085799 0.13730997] [ 0.0707908 0.01298367 0.99740668 -0.008801 ] [ 0. 0. 0. 1. ]] SLAMing on 9.124860624 meters Centerline goodness [0,1] 0.6215699989239212 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.01 [[ 0.99120629 -0.11300136 -0.06885334 0.66870908] [ 0.11187095 0.99352003 -0.02007067 0.13381793] [ 0.07067518 0.01219149 0.99742488 -0.00912566] [ 0. 0. 0. 1. ]] SLAMing on 9.154860624000001 meters Centerline goodness [0,1] 0.6132050182286082 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.01 [[ 0.99109281 -0.1139222 -0.06896931 0.66772722] [ 0.11282465 0.99342123 -0.01961789 0.12804078] [ 0.07075049 0.01166171 0.99742587 -0.00827482] [ 0. 0. 0. 1. ]] SLAMing on 9.184860624 meters Centerline goodness [0,1] 0.6096156921272853 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.01 [[ 0.99110167 -0.11382592 -0.06900099 0.66771199] [ 0.11278664 0.99344159 -0.01878784 0.12487361] [ 0.070687 0.01083826 0.99743966 -0.00847918] [ 0. 0. 0. 1. ]] SLAMing on 9.214860624 meters Centerline goodness [0,1] 0.6076966187184756 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.01 [[ 0.99108948 -0.11399265 -0.06890074 0.66714379] [ 0.11298598 0.99342716 -0.01834779 0.12223403] [ 0.07053938 0.01039949 0.99745478 -0.008291 ] [ 0. 0. 0. 1. ]] SLAMing on 9.244860624000001 meters Centerline goodness [0,1] 0.6225015947267701 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.01 [[ 0.99109099 -0.11384908 -0.06911606 0.66721031] [ 0.11290963 0.99345355 -0.01736285 0.11671972] [ 0.07064034 0.0094043 0.99745752 -0.00786323] [ 0. 0. 0. 1. ]] SLAMing on 9.274860624 meters Centerline goodness [0,1] 0.6224751819986764 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.01 [[ 0.99113237 -0.11342288 -0.0692234 0.66750441] [ 0.11254501 0.9935102 -0.01646537 0.11348202] [ 0.0706417 0.00852861 0.99746529 -0.00798904] [ 0. 0. 0. 1. ]] SLAMing on 9.304860624 meters Centerline goodness [0,1] 0.6195718330731166 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.01 [[ 0.99115863 -0.11311478 -0.06935137 0.66781817] [ 0.11228655 0.99355121 -0.01573931 0.11053853] [ 0.07068449 0.00781293 0.99746813 -0.0080756 ] [ 0. 0. 0. 1. ]] SLAMing on 9.334860624000001 meters Centerline goodness [0,1] 0.6244433318401013 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.01 [[ 0.99119714 -0.11268577 -0.06949924 0.66818207] [ 0.11191398 0.99360599 -0.01491295 0.10738104] [ 0.07073534 0.00700374 0.99747053 -0.00812479] [ 0. 0. 0. 1. ]] SLAMing on 9.364860624 meters Centerline goodness [0,1] 0.6180646857743887 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.01 [[ 0.99125568 -0.11189589 -0.06993916 0.66885914] [ 0.11121431 0.9937037 -0.01357667 0.10142943] [ 0.07101798 0.00567971 0.99745887 -0.00754228] [ 0. 0. 0. 1. ]] SLAMing on 9.394860624 meters Centerline goodness [0,1] 0.6174546027908443 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.01 [[ 0.99129142 -0.11135761 -0.07029084 0.66959912] [ 0.11072362 0.99376797 -0.01286448 0.09863213] [ 0.07128535 0.00496959 0.99744358 -0.00729252] [ 0. 0. 0. 1. ]] SLAMing on 9.424860624 meters Centerline goodness [0,1] 0.6170235014247248 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.01 [[ 0.99134115 -0.11066551 -0.07068146 0.67072367] [ 0.11008919 0.99384915 -0.01200994 0.09575882] [ 0.07157579 0.00412468 0.99742664 -0.00736949] [ 0. 0. 0. 1. ]] SLAMing on 9.454860624 meters Centerline goodness [0,1] 0.6160301152850757 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.01 [[ 0.99139832 -0.10991697 -0.07104668 0.67200319] [ 0.10940017 0.9939354 -0.01113658 0.09285514] [ 0.07183991 0.00326827 0.99741082 -0.00764861] [ 0. 0. 0. 1. ]] SLAMing on 9.484860624000001 meters Centerline goodness [0,1] 0.6183715316531264 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.01 [[ 0.99150238 -0.10856344 -0.07167298 0.67399539] [ 0.10815279 0.99408796 -0.00959716 0.0869518 ] [ 0.07229114 0.00176398 0.99738201 -0.00778847] [ 0. 0. 0. 1. ]] SLAMing on 9.514860624 meters Centerline goodness [0,1] 0.6207576032565013 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.91554522e-01 -1.07851247e-01 -7.20259605e-02 6.75030798e-01] [ 1.07500237e-01 9.94166610e-01 -8.74355493e-03 8.39154672e-02] [ 7.25488083e-02 9.26903627e-04 9.97364433e-01 -7.84234232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544860624 meters Centerline goodness [0,1] 0.6509507078640074 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.91602787e-01 -1.07249423e-01 -7.22597736e-02 6.75720007e-01] [ 1.06954278e-01 9.94232134e-01 -7.95273795e-03 8.09684237e-02] [ 7.26959155e-02 1.57465207e-04 9.97354139e-01 -7.83337132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574860624000001 meters Centerline goodness [0,1] 0.6698040623717686 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.91679988e-01 -1.06117075e-01 -7.28695238e-02 6.76610886e-01] [ 1.05900594e-01 9.94353203e-01 -6.83898763e-03 7.59918210e-02] [ 7.31837778e-02 -9.34838694e-04 9.97318034e-01 -6.68103387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604860624 meters Centerline goodness [0,1] 0.657479103635711 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.01 [[ 0.99172028 -0.10552341 -0.07318266 0.67726914] [ 0.10534245 0.9944158 -0.00633885 0.07408874] [ 0.07344289 -0.00142287 0.99729841 -0.00631802] [ 0. 0. 0. 1. ]] SLAMing on 9.634860624 meters Centerline goodness [0,1] 0.6678344926350246 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.01 [[ 0.99176922 -0.10475894 -0.07361646 0.67835489] [ 0.10462837 0.99449541 -0.00563856 0.07195527] [ 0.07380192 -0.00211022 0.99727069 -0.00616907] [ 0. 0. 0. 1. ]] SLAMing on 9.664860624000001 meters Centerline goodness [0,1] 0.6713934677997337 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.01 [[ 0.99181156 -0.10417254 -0.07387773 0.67905754] [ 0.10408901 0.99455546 -0.00499055 0.06992273] [ 0.07399538 -0.00274018 0.99725482 -0.00610649] [ 0. 0. 0. 1. ]] SLAMing on 9.694860624 meters Centerline goodness [0,1] 0.6801027414678806 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.01 [[ 0.99187894 -0.10309861 -0.07447719 0.68034271] [ 0.10309035 0.99466409 -0.0039655 0.06607478] [ 0.07448863 -0.00374458 0.99721483 -0.00556398] [ 0. 0. 0. 1. ]] SLAMing on 9.724860624 meters Centerline goodness [0,1] 0.671410812593551 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.01 [[ 0.99192047 -0.10262158 -0.07458282 0.68091324] [ 0.10266046 0.99471091 -0.00332229 0.06372101] [ 0.07452928 -0.00436126 0.99720929 -0.00575884] [ 0. 0. 0. 1. ]] SLAMing on 9.754860624 meters Centerline goodness [0,1] 0.6747396954880551 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.01 [[ 0.99194936 -0.10219102 -0.0747895 0.68155321] [ 0.10227636 0.99475236 -0.00269808 0.06108658] [ 0.07467275 -0.00497284 0.99719569 -0.00580345] [ 0. 0. 0. 1. ]] SLAMing on 9.784860624 meters Centerline goodness [0,1] 0.670850978019762 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.01 [[ 0.99196232 -0.10203227 -0.07483435 0.68174995] [ 0.10215636 0.99476597 -0.00217777 0.05859203] [ 0.07466487 -0.00548454 0.9971936 -0.00585145] [ 0. 0. 0. 1. ]] SLAMing on 9.814860624000001 meters Centerline goodness [0,1] 0.6710420640497943 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99197904 -0.10174102 -0.07500901 0.68202369] [ 0.10192985 0.99479072 -0.00131645 0.05379217] [ 0.0747522 -0.00633977 0.99718199 -0.0055035 ] [ 0. 0. 0. 1. ]] SLAMing on 9.844860624 meters Centerline goodness [0,1] 0.6697789681844352 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 9.91990489e-01 -1.01481740e-01 -7.52085565e-02 6.82316236e-01] [ 1.01709958e-01 9.94813774e-01 -7.99407035e-04 5.13455852e-02] [ 7.48996332e-02 -6.85645493e-03 9.97167505e-01 -5.21803250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874860624 meters Centerline goodness [0,1] 0.672232467726661 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.00 [[ 9.92025661e-01 -1.00879910e-01 -7.55534991e-02 6.82992475e-01] [ 1.01188448e-01 9.94867243e-01 2.57024379e-04 4.68402134e-02] [ 7.51397728e-02 -7.90011607e-03 9.97141716e-01 -4.90416843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904860624000001 meters Centerline goodness [0,1] 0.6707597851112816 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.00 [[ 9.92059615e-01 -1.00322115e-01 -7.58498125e-02 6.83870158e-01] [ 1.00672963e-01 9.94919245e-01 8.06569878e-04 4.50404536e-02] [ 7.53835214e-02 -8.43619075e-03 9.97118927e-01 -4.94141598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934860624 meters Centerline goodness [0,1] 0.6709816345725459 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 0.99209398 -0.09974603 -0.07615944 0.68462655] [ 0.10012788 0.99497385 0.0012025 0.04359417] [ 0.07565671 -0.00881868 0.99709493 -0.00469126] [ 0. 0. 0. 1. ]] SLAMing on 9.964860624 meters Centerline goodness [0,1] 0.6766324557489216 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9921386 -0.0990453 -0.07649203 0.68564263] [ 0.09946222 0.99503997 0.00165078 0.04251758] [ 0.07594913 -0.00924587 0.99706883 -0.00472058] [ 0. 0. 0. 1. ]] SLAMing on 9.994860624000001 meters Centerline goodness [0,1] 0.6709092257123792 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99228025 -0.09698599 -0.07728919 0.68827235] [ 0.09749395 0.99523213 0.00281732 0.04036108] [ 0.07664744 -0.0103308 0.99700474 -0.00485859] [ 0. 0. 0. 1. ]] SLAMing on 10.024860624 meters Centerline goodness [0,1] 0.6788920489674787 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99233053 -0.09615736 -0.07767812 0.6894662 ] [ 0.09670186 0.99530802 0.00327001 0.03958143] [ 0.07699922 -0.01075655 0.99697313 -0.00488912] [ 0. 0. 0. 1. ]] SLAMing on 10.054860624 meters Centerline goodness [0,1] 0.6798644771985359 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99237743 -0.09542995 -0.07797544 0.69027048] [ 0.09599528 0.99537555 0.00352559 0.03944611] [ 0.0772784 -0.01098399 0.99694905 -0.00468438] [ 0. 0. 0. 1. ]] SLAMing on 10.084860624000001 meters Centerline goodness [0,1] 0.6778994733849235 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9924299 -0.09452494 -0.0784087 0.69159724] [ 0.09512126 0.99545806 0.00389711 0.03943599] [ 0.0776842 -0.01132595 0.99691368 -0.00472028] [ 0. 0. 0. 1. ]] SLAMing on 10.114860624 meters Centerline goodness [0,1] 0.6855373947498762 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99281669 -0.08992095 -0.07892557 0.69214909] [ 0.09085042 0.99583031 0.00825843 0.03781086] [ 0.07785387 -0.01536953 0.9968463 -0.00485107] [ 0. 0. 0. 1. ]] SLAMing on 10.144860624 meters Centerline goodness [0,1] 0.6853502555618658 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99284941 -0.08925868 -0.07926504 0.69315238] [ 0.09020511 0.9958875 0.00843361 0.03795742] [ 0.07818629 -0.01552341 0.9968179 -0.00481846] [ 0. 0. 0. 1. ]] SLAMing on 10.174860624 meters Centerline goodness [0,1] 0.6843392543913828 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99288019 -0.08873372 -0.07946857 0.69382242] [ 0.08969409 0.99593231 0.00859079 0.03800259] [ 0.07838303 -0.01565748 0.99680035 -0.0048241 ] [ 0. 0. 0. 1. ]] SLAMing on 10.204860624 meters Centerline goodness [0,1] 0.6839320866141732 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99292054 -0.08817686 -0.07958413 0.69416428] [ 0.08914247 0.99598127 0.00865605 0.03788583] [ 0.07850104 -0.01568909 0.99679057 -0.00442939] [ 0. 0. 0. 1. ]] SLAMing on 10.234860624000001 meters Centerline goodness [0,1] 0.6841300756884692 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99291129 -0.08830692 -0.07955535 0.69385013] [ 0.08925965 0.99597218 0.00849322 0.03792021] [ 0.07848491 -0.0155341 0.99679427 -0.00410661] [ 0. 0. 0. 1. ]] SLAMing on 10.264860624 meters Centerline goodness [0,1] 0.6835524048638802 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9929026 -0.08852099 -0.07942587 0.69341796] [ 0.08946089 0.99595536 0.00834735 0.0376977 ] [ 0.07836571 -0.01539362 0.99680582 -0.00391252] [ 0. 0. 0. 1. ]] SLAMing on 10.294860624 meters Centerline goodness [0,1] 0.6827174502935518 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99287638 -0.08892763 -0.0792993 0.69290411] [ 0.08985295 0.99592153 0.00817071 0.03732671] [ 0.07824928 -0.01523778 0.99681737 -0.00371758] [ 0. 0. 0. 1. ]] SLAMing on 10.324860624000001 meters Centerline goodness [0,1] 0.6788434137473591 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9927929 -0.09005511 -0.07907176 0.69158228] [ 0.09093702 0.99582752 0.00761682 0.03662555] [ 0.0780559 -0.01475248 0.99683983 -0.00299065] [ 0. 0. 0. 1. ]] SLAMing on 10.354860624 meters Centerline goodness [0,1] 0.6813848346356086 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99276088 -0.09049859 -0.07896729 0.69124902] [ 0.09136218 0.99579035 0.00738505 0.03642252] [ 0.07796652 -0.01454621 0.99684985 -0.00292172] [ 0. 0. 0. 1. ]] SLAMing on 10.384860624 meters Centerline goodness [0,1] 0.6815745476003148 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99273306 -0.09091596 -0.07883753 0.69098233] [ 0.09176985 0.99575371 0.00726888 0.0360777 ] [ 0.0778419 -0.01445096 0.99686098 -0.00305885] [ 0. 0. 0. 1. ]] SLAMing on 10.414860624000001 meters Centerline goodness [0,1] 0.6808113091579595 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9926903 -0.09148784 -0.07871432 0.69058065] [ 0.09232719 0.99570353 0.00708307 0.03556341] [ 0.07772811 -0.01429877 0.99687205 -0.00304266] [ 0. 0. 0. 1. ]] SLAMing on 10.444860624 meters Centerline goodness [0,1] 0.6796008869179602 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.9925465 -0.09311977 -0.07861395 0.68945539] [ 0.09390137 0.99556159 0.00629674 0.03531402] [ 0.07767867 -0.01363176 0.99688525 -0.00256163] [ 0. 0. 0. 1. ]] SLAMing on 10.474860624 meters Centerline goodness [0,1] 0.6801904621652799 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 0.99247274 -0.09395476 -0.07855163 0.68883907] [ 0.09470595 0.9954879 0.00588467 0.03511847] [ 0.0776443 -0.01327968 0.99689268 -0.00219329] [ 0. 0. 0. 1. ]] SLAMing on 10.504860624 meters Centerline goodness [0,1] 0.6762890653814946 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.00 [[ 0.99239797 -0.09508182 -0.07813911 0.68726416] [ 0.09579004 0.99538714 0.00535736 0.03491676] [ 0.07726928 -0.01280158 0.99692807 -0.00170996] [ 0. 0. 0. 1. ]] SLAMing on 10.534860624 meters Centerline goodness [0,1] 0.6667813605977193 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 9.91940753e-01 -1.00140591e-01 -7.76234753e-02 6.86175661e-01] [ 1.00479152e-01 9.94939058e-01 4.58374631e-04 3.68832088e-02] [ 7.71847255e-02 -8.25422148e-03 9.96982641e-01 -6.40788594e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564860624 meters Centerline goodness [0,1] 0.6662576988197189 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.00 [[ 9.91869984e-01 -1.01014248e-01 -7.73954597e-02 6.85177927e-01] [ 1.01319561e-01 9.94853932e-01 1.82181895e-05 3.67612479e-02] [ 7.69953372e-02 -7.85974411e-03 9.97000473e-01 -2.75122366e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594860624 meters Centerline goodness [0,1] 0.6671897219634189 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 9.91818763e-01 -1.01724561e-01 -7.71210451e-02 6.84361615e-01] [ 1.01998878e-01 9.94784440e-01 -3.83934724e-04 3.68551716e-02] [ 7.67578712e-02 -7.48546642e-03 9.97021663e-01 -1.35011395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624860624 meters Centerline goodness [0,1] 0.6671897219634189 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 9.91818763e-01 -1.01724561e-01 -7.71210451e-02 6.84361615e-01] [ 1.01998878e-01 9.94784440e-01 -3.83934724e-04 3.68551716e-02] [ 7.67578712e-02 -7.48546642e-03 9.97021663e-01 -1.35011395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654860624000001 meters Centerline goodness [0,1] 0.6582886259523284 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 9.91777276e-01 -1.02323418e-01 -7.68619112e-02 6.83728209e-01] [ 1.02569821e-01 9.94725528e-01 -7.45467703e-04 3.73118346e-02] [ 7.65327840e-02 -7.14437458e-03 9.97041469e-01 -1.79570105e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684860624 meters Centerline goodness [0,1] 0.6592527127215594 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91702695e-01 -1.03294630e-01 -7.65244045e-02 6.82418788e-01] [ 1.03488198e-01 9.94629636e-01 -1.44235036e-03 3.87637366e-02] [ 7.62624276e-02 -6.48898997e-03 9.97066665e-01 2.18620055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714860624 meters Centerline goodness [0,1] 0.6490634500343238 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91671773e-01 -1.03721864e-01 -7.63470380e-02 6.81835071e-01] [ 1.03892309e-01 9.94587019e-01 -1.74661269e-03 3.92784160e-02] [ 7.61149348e-02 -6.19980359e-03 9.97079776e-01 3.85868996e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744860624000001 meters Centerline goodness [0,1] 0.6444198623402163 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91632894e-01 -1.04252445e-01 -7.61290462e-02 6.80978238e-01] [ 1.04396911e-01 9.94533516e-01 -2.09040101e-03 3.98030531e-02] [ 7.59308174e-02 -5.87472684e-03 9.97095782e-01 6.64243791e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774860624 meters Centerline goodness [0,1] 0.6577626918536009 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91587968e-01 -1.04882984e-01 -7.58476252e-02 6.80057626e-01] [ 1.05002978e-01 9.94468975e-01 -2.41515626e-03 3.98025149e-02] [ 7.56814189e-02 -5.56938666e-03 9.97116495e-01 9.08281465e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804860624 meters Centerline goodness [0,1] 0.6313595684687998 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 0.99114 -0.10928042 -0.0754936 0.67994461] [ 0.10908148 0.99400978 -0.006766 0.04064658] [ 0.07578076 -0.0015289 0.99712333 0.00150219] [ 0. 0. 0. 1. ]] SLAMing on 10.834860624000001 meters Centerline goodness [0,1] 0.6257786061111383 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 0.99109143 -0.1100095 -0.07507122 0.67855654] [ 0.10979025 0.99392975 -0.00705385 0.04009379] [ 0.07539151 -0.00125108 0.99715323 0.00191886] [ 0. 0. 0. 1. ]] SLAMing on 10.864860624 meters Centerline goodness [0,1] 0.6312664098348588 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91047423e-01 -1.10515358e-01 -7.49090137e-02 6.77735691e-01] [ 1.10270781e-01 9.93873990e-01 -7.40587745e-03 4.05394302e-02] [ 7.52685835e-02 -9.20699666e-04 9.97162872e-01 2.34305557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894860624 meters Centerline goodness [0,1] 0.6258735257337615 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91018323e-01 -1.10844840e-01 -7.48071120e-02 6.77247477e-01] [ 1.10557053e-01 9.93837661e-01 -7.99003566e-03 4.29480316e-02] [ 7.52317794e-02 -3.52182085e-04 9.97166012e-01 2.63840435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924860624 meters Centerline goodness [0,1] 0.645970515970516 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.00 [[ 9.91026700e-01 -1.10594200e-01 -7.50666514e-02 6.78091347e-01] [ 1.10291595e-01 9.93865631e-01 -8.17751501e-03 4.43384274e-02] [ 7.55105506e-02 -1.75085021e-04 9.97144987e-01 2.49664864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954860624 meters Centerline goodness [0,1] 0.6471311273907272 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.00 [[ 9.91048513e-01 -1.10286304e-01 -7.52314771e-02 6.78855745e-01] [ 1.09974101e-01 9.93899858e-01 -8.29269872e-03 4.57215625e-02] [ 7.56871255e-02 -5.50473373e-05 9.97131614e-01 2.18378092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984860624000001 meters Centerline goodness [0,1] 0.6453124229422498 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.00 [[ 9.91084703e-01 -1.09855604e-01 -7.53847345e-02 6.79570065e-01] [ 1.09520018e-01 9.93947525e-01 -8.58385190e-03 4.76499297e-02] [ 7.58714545e-02 2.51186853e-04 9.97117575e-01 2.09731770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014860624 meters Centerline goodness [0,1] 0.6445373370600311 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.00 [[ 9.91096718e-01 -1.09660239e-01 -7.55111123e-02 6.79915648e-01] [ 1.09296751e-01 9.93968944e-01 -8.94200056e-03 4.92554815e-02] [ 7.60362824e-02 6.09268181e-04 9.97104865e-01 2.30252165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044860624 meters Centerline goodness [0,1] 0.6439800945755243 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.00 [[ 0.99110108 -0.10955824 -0.0756018 0.68002742] [ 0.10916301 0.99397986 -0.00935303 0.05119569] [ 0.07617137 0.00101687 0.99709422 0.00258516] [ 0. 0. 0. 1. ]] SLAMing on 11.074860624000001 meters Centerline goodness [0,1] 0.6521793089753773 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.00 [[ 0.99109444 -0.1095028 -0.07576907 0.68010294] [ 0.10907634 0.99398549 -0.00975642 0.05278241] [ 0.07638171 0.00140492 0.99707766 0.00310194] [ 0. 0. 0. 1. ]] SLAMing on 11.104860624 meters Centerline goodness [0,1] 0.643491013945164 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99108875 -0.10958307 -0.07572745 0.67964551] [ 0.10910468 0.99397546 -0.0104382 0.05559323] [ 0.07641508 0.00208297 0.99707392 0.00374705] [ 0. 0. 0. 1. ]] SLAMing on 11.134860624 meters Centerline goodness [0,1] 0.6549151696606786 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99107304 -0.10976134 -0.07567477 0.67938301] [ 0.10925625 0.993955 -0.01079501 0.05670521] [ 0.07640219 0.0024307 0.99707412 0.00393596] [ 0. 0. 0. 1. ]] SLAMing on 11.164860624000001 meters Centerline goodness [0,1] 0.6421015953607606 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99106252 -0.10987224 -0.07565161 0.67924211] [ 0.10935028 0.99394219 -0.01102023 0.05727929] [ 0.07640414 0.00264922 0.99707341 0.00406411] [ 0. 0. 0. 1. ]] SLAMing on 11.194860624 meters Centerline goodness [0,1] 0.6465888443636907 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99104458 -0.1100542 -0.07562216 0.67902642] [ 0.10950931 0.99392123 -0.01132734 0.05772684] [ 0.07640909 0.00294457 0.9970722 0.00433207] [ 0. 0. 0. 1. ]] SLAMing on 11.224860624 meters Centerline goodness [0,1] 0.6345153664302601 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99102762 -0.11021882 -0.0756047 0.67898038] [ 0.10966174 0.99390251 -0.01149332 0.05865806] [ 0.07641048 0.00309925 0.99707163 0.0042618 ] [ 0. 0. 0. 1. ]] SLAMing on 11.254860624 meters Centerline goodness [0,1] 0.6332792815267556 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.00 [[ 0.99099654 -0.11054058 -0.07554226 0.67837624] [ 0.109954 0.99386552 -0.0118932 0.05968299] [ 0.07639353 0.00347995 0.99707167 0.00480499] [ 0. 0. 0. 1. ]] SLAMing on 11.284860624 meters Centerline goodness [0,1] 0.6663495957345615 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99096799 -0.11076317 -0.07559082 0.67808527] [ 0.11014518 0.99383929 -0.01230898 0.06082804] [ 0.0764885 0.00387184 0.99706295 0.00533738] [ 0. 0. 0. 1. ]] SLAMing on 11.314860624 meters Centerline goodness [0,1] 0.6326882688268827 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99095366 -0.11096111 -0.0754882 0.67742949] [ 0.1103265 0.99381631 -0.0125385 0.06129694] [ 0.07641269 0.00409673 0.99706786 0.0058174 ] [ 0. 0. 0. 1. ]] SLAMing on 11.344860624 meters Centerline goodness [0,1] 0.6301400644146506 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99094288 -0.11110152 -0.07542317 0.67719022] [ 0.11045789 0.99380011 -0.01266513 0.06135576] [ 0.07636267 0.00421934 0.99707118 0.00593049] [ 0. 0. 0. 1. ]] SLAMing on 11.374860624 meters Centerline goodness [0,1] 0.6244167768656903 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99092715 -0.11130364 -0.07533178 0.67679579] [ 0.11065424 0.99377714 -0.01275313 0.06118051] [ 0.07628247 0.00430164 0.99707697 0.00609516] [ 0. 0. 0. 1. ]] SLAMing on 11.404860624000001 meters Centerline goodness [0,1] 0.6223365723278296 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99090882 -0.11152716 -0.07524232 0.67649098] [ 0.11087679 0.99375199 -0.01277938 0.06083165] [ 0.07619745 0.00432057 0.99708339 0.00613793] [ 0. 0. 0. 1. ]] SLAMing on 11.434860624 meters Centerline goodness [0,1] 0.6155591572123177 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99086307 -0.11194878 -0.0752186 0.67634011] [ 0.11130178 0.99370483 -0.01275251 0.06059467] [ 0.07617271 0.00426403 0.99708552 0.00593289] [ 0. 0. 0. 1. ]] SLAMing on 11.464860624 meters Centerline goodness [0,1] 0.6534685537725506 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99085627 -0.11200084 -0.07523078 0.67642542] [ 0.11136268 0.99369947 -0.01263801 0.06051159] [ 0.07617225 0.00414455 0.99708606 0.00576349] [ 0. 0. 0. 1. ]] SLAMing on 11.494860624000001 meters Centerline goodness [0,1] 0.6081707986232354 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99084988 -0.11208411 -0.07519083 0.6764805 ] [ 0.11145653 0.99369063 -0.01250483 0.06018611] [ 0.07611802 0.0040099 0.99709075 0.00547751] [ 0. 0. 0. 1. ]] SLAMing on 11.524860624 meters Centerline goodness [0,1] 0.6563746012759171 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99083226 -0.11222643 -0.07521074 0.67637596] [ 0.11160258 0.9936748 -0.01246016 0.05952837] [ 0.07613338 0.00395222 0.99708981 0.00560869] [ 0. 0. 0. 1. ]] SLAMing on 11.554860624 meters Centerline goodness [0,1] 0.6507526454369318 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.9907749 -0.11297308 -0.07484773 0.67505153] [ 0.11233989 0.99358957 -0.01263003 0.05845558] [ 0.07579478 0.00410513 0.99711499 0.00601257] [ 0. 0. 0. 1. ]] SLAMing on 11.584860624000001 meters Centerline goodness [0,1] 0.6453096641058154 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99072386 -0.11355861 -0.07463699 0.67391829] [ 0.11289999 0.99352133 -0.01299882 0.05862575] [ 0.07562957 0.00445173 0.99712605 0.00668524] [ 0. 0. 0. 1. ]] SLAMing on 11.614860624 meters Centerline goodness [0,1] 0.6448065679810921 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99070069 -0.11383185 -0.07452825 0.67332548] [ 0.1131621 0.99348935 -0.01316223 0.05890011] [ 0.07554131 0.00460606 0.99713203 0.00702087] [ 0. 0. 0. 1. ]] SLAMing on 11.644860624 meters Centerline goodness [0,1] 0.6472194637537239 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99067728 -0.11403865 -0.0745232 0.672918 ] [ 0.11335039 0.99346451 -0.01341456 0.05948149] [ 0.07556594 0.00484227 0.99712905 0.00747228] [ 0. 0. 0. 1. ]] SLAMing on 11.674860624 meters Centerline goodness [0,1] 0.6451958536828466 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99102096 -0.11109805 -0.0743955 0.67060184] [ 0.11064322 0.99380764 -0.01022029 0.05904939] [ 0.07507027 0.00189717 0.99717644 0.0083702 ] [ 0. 0. 0. 1. ]] SLAMing on 11.704860624 meters Centerline goodness [0,1] 0.6534481042889839 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99102519 -0.11090814 -0.07462215 0.67107885] [ 0.11044007 0.99382855 -0.01038278 0.05967478] [ 0.07531316 0.00204832 0.99715783 0.00862499] [ 0. 0. 0. 1. ]] SLAMing on 11.734860624000001 meters Centerline goodness [0,1] 0.6505622449995024 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99104083 -0.11064411 -0.07480606 0.67169795] [ 0.11017105 0.99385787 -0.01043382 0.06042185] [ 0.07550103 0.00209888 0.99714351 0.00851823] [ 0. 0. 0. 1. ]] SLAMing on 11.764860624 meters Centerline goodness [0,1] 0.6546694544006372 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99105343 -0.11042454 -0.07496346 0.67228114] [ 0.10994351 0.9938821 -0.01052623 0.06128854] [ 0.07566719 0.00219032 0.99713072 0.00838158] [ 0. 0. 0. 1. ]] SLAMing on 11.794860624 meters Centerline goodness [0,1] 0.6596476363726981 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107675 -0.1101527 -0.07505499 0.67290687] [ 0.10967291 0.9939123 -0.01049702 0.06228441] [ 0.07575435 0.00217185 0.99712415 0.00798629] [ 0. 0. 0. 1. ]] SLAMing on 11.824860624000001 meters Centerline goodness [0,1] 0.6480807577268195 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107882 -0.11007916 -0.0751355 0.67316532] [ 0.10959907 0.99392046 -0.0104959 0.0625142 ] [ 0.07583409 0.00216748 0.99711809 0.00792657] [ 0. 0. 0. 1. ]] SLAMing on 11.854860624 meters Centerline goodness [0,1] 0.651629135113591 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107524 -0.11001263 -0.07528003 0.67347722] [ 0.10952742 0.99392772 -0.01055641 0.06263256] [ 0.07598425 0.00221697 0.99710655 0.00804602] [ 0. 0. 0. 1. ]] SLAMing on 11.884860624 meters Centerline goodness [0,1] 0.656962844904871 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107778 -0.10997054 -0.07530815 0.67361712] [ 0.10949078 0.99393254 -0.01048245 0.06255929] [ 0.07600399 0.00214337 0.99710521 0.00795342] [ 0. 0. 0. 1. ]] SLAMing on 11.914860624000001 meters Centerline goodness [0,1] 0.6425803566992896 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107741 -0.10992524 -0.07537908 0.6736124 ] [ 0.10944309 0.9939375 -0.01051002 0.06313654] [ 0.07607742 0.00216653 0.99709956 0.008189 ] [ 0. 0. 0. 1. ]] SLAMing on 11.944860624 meters Centerline goodness [0,1] 0.6624081683476528 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99107301 -0.10993423 -0.07542379 0.67367332] [ 0.10945264 0.99393653 -0.01050182 0.06316254] [ 0.07612097 0.00215274 0.99709627 0.00824123] [ 0. 0. 0. 1. ]] SLAMing on 11.974860624 meters Centerline goodness [0,1] 0.6583727295347102 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99108452 -0.10977115 -0.07551006 0.67397299] [ 0.10930281 0.99395493 -0.01031978 0.06277353] [ 0.07618642 0.00197431 0.99709164 0.00814808] [ 0. 0. 0. 1. ]] SLAMing on 12.004860624 meters Centerline goodness [0,1] 0.655100469436924 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99108669 -0.10971287 -0.07556622 0.67413244] [ 0.10925428 0.99396162 -0.01018859 0.06255715] [ 0.07622774 0.00184184 0.99708873 0.00805681] [ 0. 0. 0. 1. ]] SLAMing on 12.034860624 meters Centerline goodness [0,1] 0.6574751407245766 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99109101 -0.10972199 -0.07549629 0.6739678 ] [ 0.10929414 0.99396126 -0.00978819 0.06078979] [ 0.07611437 0.00144968 0.99709804 0.00801459] [ 0. 0. 0. 1. ]] SLAMing on 12.064860624 meters Centerline goodness [0,1] 0.6607160542735466 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99109588 -0.10971665 -0.07544017 0.67376144] [ 0.10930561 0.99396214 -0.00956854 0.05975944] [ 0.0760345 0.00123731 0.99710442 0.00809918] [ 0. 0. 0. 1. ]] SLAMing on 12.094860624 meters Centerline goodness [0,1] 0.65776232055646 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99109766 -0.10972866 -0.07539931 0.67366205] [ 0.10933465 0.99396106 -0.00934621 0.05893812] [ 0.07596952 0.00101925 0.99710962 0.0080423 ] [ 0. 0. 0. 1. ]] SLAMing on 12.124860624 meters Centerline goodness [0,1] 0.6510441064076329 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 9.91104283e-01 -1.09625658e-01 -7.54620182e-02 6.73881618e-01] [ 1.09270230e-01 9.93972814e-01 -8.83532078e-03 5.70525645e-02] [ 7.59757724e-02 5.10972188e-04 9.97109533e-01 7.89950911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154860624000001 meters Centerline goodness [0,1] 0.6498990495888117 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 9.91124453e-01 -1.09359978e-01 -7.55825012e-02 6.74475163e-01] [ 1.09030704e-01 9.94002197e-01 -8.48160207e-03 5.63787826e-02] [ 7.60567201e-02 1.65509859e-04 9.97103479e-01 7.53850097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184860624 meters Centerline goodness [0,1] 0.6443065405831363 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 9.91130067e-01 -1.09279168e-01 -7.56257543e-02 6.74466566e-01] [ 1.08953550e-01 9.94011092e-01 -8.43053601e-03 5.63717147e-02] [ 7.60941205e-02 1.16063320e-04 9.97100633e-01 7.67837161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214860624 meters Centerline goodness [0,1] 0.6483686826435706 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 9.91129376e-01 -1.09192235e-01 -7.57602471e-02 6.74631701e-01] [ 1.08864595e-01 9.94020643e-01 -8.45348221e-03 5.66083826e-02] [ 7.62303042e-02 1.30885956e-04 9.97090228e-01 7.89103714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244860624000001 meters Centerline goodness [0,1] 0.6591921628473676 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99136671 -0.10718111 -0.07552655 0.67284362] [ 0.10699115 0.99423828 -0.00656849 0.0552417 ] [ 0.0757954 -0.00156889 0.99712216 0.00904116] [ 0. 0. 0. 1. ]] SLAMing on 12.274860624 meters Centerline goodness [0,1] 0.6488592921445308 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99138051 -0.10705982 -0.07551741 0.67267506] [ 0.10686624 0.99425143 -0.00661132 0.05527165] [ 0.07579109 -0.00151593 0.99712257 0.00935757] [ 0. 0. 0. 1. ]] SLAMing on 12.304860624 meters Centerline goodness [0,1] 0.6606795279276616 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99138799 -0.10690607 -0.07563697 0.6728691 ] [ 0.10671437 0.99426792 -0.0065831 0.05533535] [ 0.07590719 -0.00154514 0.99711369 0.00949589] [ 0. 0. 0. 1. ]] SLAMing on 12.334860624000001 meters Centerline goodness [0,1] 0.660666288560649 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:0.01 [[ 0.99139516 -0.10673637 -0.07578248 0.67320811] [ 0.10655193 0.99428599 -0.00648452 0.05504634] [ 0.07604159 -0.00164604 0.99710329 0.00957963] [ 0. 0. 0. 1. ]] SLAMing on 12.364860624 meters Centerline goodness [0,1] 0.6406718803797158 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99140132 -0.1065809 -0.07592057 0.67395951] [ 0.1064224 0.99430204 -0.00614195 0.05466943] [ 0.0761426 -0.00199051 0.99709495 0.00894913] [ 0. 0. 0. 1. ]] SLAMing on 12.394860624 meters Centerline goodness [0,1] 0.6647643412378235 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99140107 -0.10651191 -0.07602057 0.67428884] [ 0.10635664 0.99430934 -0.00609972 0.05457492] [ 0.07623766 -0.00203802 0.99708759 0.00886861] [ 0. 0. 0. 1. ]] SLAMing on 12.424860624 meters Centerline goodness [0,1] 0.659615858163014 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99141509 -0.10637826 -0.07602494 0.67439791] [ 0.10623252 0.99432339 -0.00597003 0.05428823] [ 0.07622845 -0.00215754 0.99708804 0.00880374] [ 0. 0. 0. 1. ]] SLAMing on 12.454860624 meters Centerline goodness [0,1] 0.6586014881979008 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99140495 -0.10647924 -0.07601575 0.67389951] [ 0.10633428 0.99431256 -0.00596339 0.05349376] [ 0.07621839 -0.00217095 0.99708878 0.00942042] [ 0. 0. 0. 1. ]] SLAMing on 12.484860624000001 meters Centerline goodness [0,1] 0.6580830812366265 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99138344 -0.10674107 -0.07592899 0.67341113] [ 0.10659045 0.99428463 -0.00604511 0.05314051] [ 0.07614029 -0.00210028 0.9970949 0.00970234] [ 0. 0. 0. 1. ]] SLAMing on 12.514860624 meters Centerline goodness [0,1] 0.6580830812366265 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99138344 -0.10674107 -0.07592899 0.67341113] [ 0.10659045 0.99428463 -0.00604511 0.05314051] [ 0.07614029 -0.00210028 0.9970949 0.00970234] [ 0. 0. 0. 1. ]] SLAMing on 12.544860624 meters Centerline goodness [0,1] 0.6543667854071982 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99137348 -0.10681985 -0.07594828 0.67320834] [ 0.10668083 0.99427583 -0.00589667 0.0521564 ] [ 0.07614342 -0.00225643 0.99709432 0.0099815 ] [ 0. 0. 0. 1. ]] SLAMing on 12.574860624000001 meters Centerline goodness [0,1] 0.6665929094753404 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99132872 -0.10751889 -0.07554511 0.67135151] [ 0.10737409 0.99420066 -0.00598757 0.05060363] [ 0.07575078 -0.00217594 0.99712441 0.01092577] [ 0. 0. 0. 1. ]] SLAMing on 12.604860624 meters Centerline goodness [0,1] 0.6640575158266673 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99131748 -0.10765484 -0.07549895 0.67102571] [ 0.10752102 0.99418562 -0.00584683 0.04958834] [ 0.07568941 -0.00232166 0.99712874 0.01112343] [ 0. 0. 0. 1. ]] SLAMing on 12.634860624 meters Centerline goodness [0,1] 0.6619013756406169 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.9913267 -0.10749894 -0.07559998 0.67146515] [ 0.10739008 0.99420166 -0.00551559 0.04831694] [ 0.07575455 -0.00265094 0.99712297 0.01090765] [ 0. 0. 0. 1. ]] SLAMing on 12.664860624000001 meters Centerline goodness [0,1] 0.6394541185677949 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:0.01 [[ 0.99134148 -0.10734984 -0.07561798 0.67184469] [ 0.10727398 0.99421654 -0.00507595 0.04680634] [ 0.07572555 -0.00307985 0.99712394 0.01051079] [ 0. 0. 0. 1. ]] SLAMing on 12.694860624 meters Centerline goodness [0,1] 0.6582785663677897 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.9913589 -0.10720243 -0.07559877 0.67214257] [ 0.10717733 0.99423018 -0.0044007 0.04466763] [ 0.07563434 -0.0037398 0.99712861 0.0100263 ] [ 0. 0. 0. 1. ]] SLAMing on 12.724860624 meters Centerline goodness [0,1] 0.6642724970783015 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.9913639 -0.10707563 -0.07571273 0.67235405] [ 0.10706702 0.994243 -0.00418456 0.04425152] [ 0.07572491 -0.00395791 0.99712089 0.01009696] [ 0. 0. 0. 1. ]] SLAMing on 12.754860624 meters Centerline goodness [0,1] 0.6600800156128025 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99138829 -0.1068591 -0.07569939 0.67240906] [ 0.10687277 0.99426513 -0.00388206 0.04368065] [ 0.0756801 -0.00424157 0.99712313 0.01003062] [ 0. 0. 0. 1. ]] SLAMing on 12.784860624 meters Centerline goodness [0,1] 0.6559842557947422 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99140203 -0.10660765 -0.0758737 0.67274261] [ 0.10664332 0.99429085 -0.00359296 0.0428179 ] [ 0.07582357 -0.00452935 0.99711096 0.01014644] [ 0. 0. 0. 1. ]] SLAMing on 12.814860624 meters Centerline goodness [0,1] 0.6620785084844513 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99144767 -0.10608433 -0.07601074 0.67334391] [ 0.10618333 0.99434277 -0.00274924 0.04016852] [ 0.07587238 -0.00534535 0.99710321 0.00988643] [ 0. 0. 0. 1. ]] SLAMing on 12.844860624 meters Centerline goodness [0,1] 0.664797825348284 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99146886 -0.10585242 -0.07605767 0.6736884 ] [ 0.10598203 0.99436529 -0.00234159 0.03905572] [ 0.07587697 -0.00573913 0.99710067 0.00963616] [ 0. 0. 0. 1. ]] SLAMing on 12.874860624 meters Centerline goodness [0,1] 0.664596875909576 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99148116 -0.10572399 -0.07607591 0.67379334] [ 0.10587197 0.99437756 -0.00209668 0.0381257 ] [ 0.07586985 -0.00597549 0.99709982 0.00961405] [ 0. 0. 0. 1. ]] SLAMing on 12.904860624000001 meters Centerline goodness [0,1] 0.6621376592606919 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99152987 -0.10518295 -0.07619096 0.67426118] [ 0.10537358 0.99443154 -0.001525 0.03646913] [ 0.0759271 -0.00651643 0.99709208 0.00956488] [ 0. 0. 0. 1. ]] SLAMing on 12.934860624 meters Centerline goodness [0,1] 0.6572234545279197 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:0.01 [[ 0.99154166 -0.10493978 -0.07637267 0.6746749 ] [ 0.10514094 0.99445635 -0.00139323 0.03599463] [ 0.07609549 -0.00664845 0.99707837 0.00970687] [ 0. 0. 0. 1. ]] SLAMing on 12.964860624 meters Centerline goodness [0,1] 0.6649541726965751 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99156045 -0.10462181 -0.07656471 0.67522249] [ 0.10484333 0.99448811 -0.00113174 0.03532077] [ 0.0762611 -0.00690511 0.99706397 0.00965749] [ 0. 0. 0. 1. ]] SLAMing on 12.994860624000001 meters Centerline goodness [0,1] 0.6686577229702064 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91591869e-01 -1.04274055e-01 -7.66321558e-02 6.75618989e-01] [ 1.04540459e-01 9.94520489e-01 -5.37828047e-04 3.34939022e-02] [ 7.62683305e-02 -7.47785481e-03 9.97059288e-01 9.44540732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024860624 meters Centerline goodness [0,1] 0.6679164563655154 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91612702e-01 -1.03996890e-01 -7.67391492e-02 6.75905673e-01] [ 1.04288643e-01 9.94547051e-01 -2.06628270e-04 3.25965487e-02] [ 7.63421832e-02 -7.79812655e-03 9.97051182e-01 9.44742796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054860624 meters Centerline goodness [0,1] 0.6697005355298864 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91611599e-01 -1.03954376e-01 -7.68109656e-02 6.75841969e-01] [ 1.04246998e-01 9.94551418e-01 -2.01014011e-04 3.22571313e-02] [ 7.64133510e-02 -7.80798472e-03 9.97045653e-01 9.80155233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084860624000001 meters Centerline goodness [0,1] 0.6656919610756915 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91634238e-01 -1.03653919e-01 -7.69246589e-02 6.75962656e-01] [ 1.03959908e-01 9.94581488e-01 -2.68328047e-05 3.16980280e-02] [ 7.65106231e-02 -7.97047217e-03 9.97036908e-01 1.01255572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114860624 meters Centerline goodness [0,1] 0.665892827226384 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91648135e-01 -1.03444382e-01 -7.70275085e-02 6.76116825e-01] [ 1.03756830e-01 9.94602693e-01 5.46054053e-05 3.13128516e-02] [ 7.66061188e-02 -8.04627943e-03 9.97028966e-01 1.03516151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144860624 meters Centerline goodness [0,1] 0.6651168364289994 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91707518e-01 -1.02678603e-01 -7.72871491e-02 6.76776265e-01] [ 1.03013696e-01 9.94679876e-01 3.50864701e-04 3.08977076e-02] [ 7.68399456e-02 -8.30959007e-03 9.97008813e-01 1.06383505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174860624 meters Centerline goodness [0,1] 0.6789554531490015 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91722536e-01 -1.02402564e-01 -7.74604856e-02 6.77233179e-01] [ 1.02744230e-01 9.94707716e-01 4.27934087e-04 3.11112914e-02] [ 7.70067212e-02 -8.38300982e-03 9.96995331e-01 1.06837229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204860624 meters Centerline goodness [0,1] 0.6724001629015643 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91769167e-01 -1.01891106e-01 -7.75378791e-02 6.77602572e-01] [ 1.02242854e-01 9.94759305e-01 5.69842694e-04 3.13504619e-02] [ 7.70734648e-02 -8.49284645e-03 9.96989244e-01 1.07521187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234860624 meters Centerline goodness [0,1] 0.6606453160609331 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91794177e-01 -1.01603091e-01 -7.75958947e-02 6.77830391e-01] [ 1.01965603e-01 9.94787669e-01 7.13810425e-04 3.09817052e-02] [ 7.71189139e-02 -8.62006521e-03 9.96984638e-01 1.07983146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264860624 meters Centerline goodness [0,1] 0.6687942411517697 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91806218e-01 -1.01473550e-01 -7.76114998e-02 6.77898374e-01] [ 1.01842991e-01 9.94800158e-01 8.06692134e-04 3.06375553e-02] [ 7.71260743e-02 -8.70426956e-03 9.96983352e-01 1.08088384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294860624 meters Centerline goodness [0,1] 0.6704199707721425 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91811779e-01 -1.01359108e-01 -7.76899374e-02 6.78270909e-01] [ 1.01738627e-01 9.94810727e-01 9.32442416e-04 3.01367402e-02] [ 7.71922715e-02 -8.82887496e-03 9.96977133e-01 1.06729777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324860624000001 meters Centerline goodness [0,1] 0.6761448093982259 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99181714 -0.10124792 -0.07776645 0.67861131] [ 0.10164647 0.99481989 0.00117353 0.02938834] [ 0.0772448 -0.00906861 0.99697091 0.01046481] [ 0. 0. 0. 1. ]] SLAMing on 13.354860624 meters Centerline goodness [0,1] 0.6686064611921354 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99182456 -0.10114798 -0.07780189 0.67869512] [ 0.10154534 0.99483024 0.00115805 0.02959456] [ 0.07728254 -0.009049 0.99696817 0.01053131] [ 0. 0. 0. 1. ]] SLAMing on 13.384860624 meters Centerline goodness [0,1] 0.6708818316807971 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99182402 -0.101066 -0.07791513 0.67885463] [ 0.1014549 0.9948396 0.00103891 0.0303036 ] [ 0.07740806 -0.00893529 0.99695945 0.01070792] [ 0. 0. 0. 1. ]] SLAMing on 13.414860624000001 meters Centerline goodness [0,1] 0.6745345187031224 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 9.91832435e-01 -1.00907975e-01 -7.80128273e-02 6.79044985e-01] [ 1.01289586e-01 9.94856540e-01 9.40067572e-04 3.07710667e-02] [ 7.75167111e-02 -8.83427648e-03 9.96951912e-01 1.08863241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444860624 meters Centerline goodness [0,1] 0.6617007472907706 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99185176 -0.10054744 -0.0782323 0.67975721] [ 0.10093789 0.99489218 0.00104253 0.03098946] [ 0.07772788 -0.00893064 0.99693461 0.01075606] [ 0. 0. 0. 1. ]] SLAMing on 13.474860624 meters Centerline goodness [0,1] 0.6772484235260268 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99195968 -0.09936466 -0.07837516 0.68109248] [ 0.09978017 0.99500853 0.00139357 0.03170973] [ 0.07784548 -0.00920265 0.99692296 0.0101033 ] [ 0. 0. 0. 1. ]] SLAMing on 13.504860624 meters Centerline goodness [0,1] 0.6734821665101269 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99197461 -0.09911831 -0.07849794 0.68146797] [ 0.09950703 0.99503631 0.00104629 0.03331286] [ 0.07800459 -0.00884899 0.99691373 0.01024763] [ 0. 0. 0. 1. ]] SLAMing on 13.534860624 meters Centerline goodness [0,1] 0.684003759851534 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:0.01 [[ 0.99236094 -0.0950335 -0.07866638 0.68096396] [ 0.09569855 0.99539917 0.00471914 0.03448927] [ 0.07785597 -0.01221135 0.99688983 0.01015696] [ 0. 0. 0. 1. ]] SLAMing on 13.564860624 meters Centerline goodness [0,1] 0.6874924500495276 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99239168 -0.0945467 -0.07886487 0.68164576] [ 0.09519641 0.99544829 0.00451116 0.03617768] [ 0.07807939 -0.01198449 0.99687511 0.01015505] [ 0. 0. 0. 1. ]] SLAMing on 13.594860624 meters Centerline goodness [0,1] 0.6902322652522463 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99240489 -0.09422282 -0.07908597 0.68231406] [ 0.09484679 0.99548318 0.00416231 0.03798444] [ 0.07833657 -0.01163174 0.99685911 0.01026363] [ 0. 0. 0. 1. ]] SLAMing on 13.624860624 meters Centerline goodness [0,1] 0.6866855936521803 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99242192 -0.09391192 -0.07924197 0.68275063] [ 0.09451639 0.99551565 0.00390381 0.03941098] [ 0.07852001 -0.0113639 0.99684777 0.01039538] [ 0. 0. 0. 1. ]] SLAMing on 13.654860624000001 meters Centerline goodness [0,1] 0.6964493879930056 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99249142 -0.09319822 -0.07921408 0.68388207] [ 0.09378868 0.99558503 0.00375831 0.04179275] [ 0.07851409 -0.01115947 0.99685054 0.00939356] [ 0. 0. 0. 1. ]] SLAMing on 13.684860624 meters Centerline goodness [0,1] 0.6967792233104322 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99249586 -0.09313071 -0.07923786 0.68418749] [ 0.09369518 0.99559503 0.00342769 0.04323574] [ 0.0785696 -0.01082618 0.99684984 0.00920081] [ 0. 0. 0. 1. ]] SLAMing on 13.714860624 meters Centerline goodness [0,1] 0.6989661562469521 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.01 [[ 0.99250463 -0.09302675 -0.07925011 0.68437493] [ 0.0935588 0.99560918 0.00301902 0.04486817] [ 0.07862129 -0.01041094 0.99685019 0.0092204 ] [ 0. 0. 0. 1. ]] SLAMing on 13.744860624000001 meters Centerline goodness [0,1] 0.6995177596631661 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.01 [[ 0.99250283 -0.0930499 -0.07924554 0.68440837] [ 0.09353913 0.99561253 0.00247584 0.0470108 ] [ 0.07866748 -0.00986983 0.99685205 0.00932314] [ 0. 0. 0. 1. ]] SLAMing on 13.774860624 meters Centerline goodness [0,1] 0.7052183749754082 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.01 [[ 0.99281712 -0.08961105 -0.07927184 0.68367138] [ 0.09035443 0.99589259 0.00583365 0.04911971] [ 0.07842348 -0.01295431 0.99683597 0.00884119] [ 0. 0. 0. 1. ]] SLAMing on 13.804860624 meters Centerline goodness [0,1] 0.7129472100993663 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.01 [[ 0.99282333 -0.0894561 -0.07936907 0.68406892] [ 0.09016718 0.99591193 0.00541369 0.05089227] [ 0.07856031 -0.01253132 0.9968306 0.00890099] [ 0. 0. 0. 1. ]] SLAMing on 13.834860624000001 meters Centerline goodness [0,1] 0.7235898956943003 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.01 [[ 0.99283272 -0.08921956 -0.07951773 0.68465931] [ 0.08990175 0.99593792 0.00503347 0.05265994] [ 0.07874563 -0.01214618 0.99682074 0.00885251] [ 0. 0. 0. 1. ]] SLAMing on 13.864860624 meters Centerline goodness [0,1] 0.7252840132249484 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.01 [[ 0.99315725 -0.08553781 -0.0795108 0.68385256] [ 0.08646982 0.9962195 0.00834723 0.05428784] [ 0.07849621 -0.0151654 0.99679906 0.008651 ] [ 0. 0. 0. 1. ]] SLAMing on 13.894860624 meters Centerline goodness [0,1] 0.7270641057620354 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99316112 -0.08547447 -0.07953049 0.68384387] [ 0.086357 0.99623436 0.00771803 0.05663989] [ 0.07857131 -0.01453326 0.99680255 0.00900633] [ 0. 0. 0. 1. ]] SLAMing on 13.924860624 meters Centerline goodness [0,1] 0.7309621864470236 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99315965 -0.08536752 -0.0796636 0.68395776] [ 0.08619872 0.99625304 0.0070476 0.05901184] [ 0.07876346 -0.0138663 0.99679689 0.00957649] [ 0. 0. 0. 1. ]] SLAMing on 13.954860624 meters Centerline goodness [0,1] 0.723605128718822 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99316165 -0.08527631 -0.07973631 0.68401416] [ 0.08606373 0.99626853 0.00648505 0.06120196] [ 0.07888576 -0.01330311 0.9967949 0.0099759 ] [ 0. 0. 0. 1. ]] SLAMing on 13.984860624 meters Centerline goodness [0,1] 0.7434954537440496 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.01 [[ 0.99348136 -0.08147335 -0.07973 0.68333828] [ 0.08251829 0.99654043 0.00989463 0.06289993] [ 0.07864802 -0.01640931 0.99676739 0.00971239] [ 0. 0. 0. 1. ]] SLAMing on 14.014860624 meters Centerline goodness [0,1] 0.7492604485348031 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:0.01 [[ 0.9934966 -0.08113025 -0.07988983 0.68414884] [ 0.08214091 0.99657601 0.0094412 0.06538692] [ 0.07885032 -0.01594202 0.99675899 0.00952621] [ 0. 0. 0. 1. ]] SLAMing on 14.044860624 meters Centerline goodness [0,1] 0.7507984790874525 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:0.01 [[ 0.99351638 -0.08062213 -0.08015775 0.68512501] [ 0.08160159 0.99662427 0.00901411 0.06792265] [ 0.07916043 -0.01549667 0.99674143 0.00953398] [ 0. 0. 0. 1. ]] SLAMing on 14.074860624000001 meters Centerline goodness [0,1] 0.7620116863565615 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:0.01 [[ 0.99383964 -0.07660364 -0.08009152 0.68473332] [ 0.07782807 0.99689123 0.01227499 0.0708147 ] [ 0.07890222 -0.01843273 0.99671193 0.00902913] [ 0. 0. 0. 1. ]] SLAMing on 14.104860624 meters Centerline goodness [0,1] 0.7746435610617657 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:0.01 [[ 0.99385046 -0.07632853 -0.08021987 0.68526545] [ 0.07750119 0.99692474 0.01160298 0.07355737] [ 0.07908754 -0.01774876 0.99670966 0.00922382] [ 0. 0. 0. 1. ]] SLAMing on 14.134860624 meters Centerline goodness [0,1] 0.7785157452046364 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:0.01 [[ 0.99386289 -0.0761277 -0.08025664 0.68553552] [ 0.07723673 0.99695427 0.01080136 0.07655295] [ 0.07918992 -0.01693383 0.99671571 0.00953398] [ 0. 0. 0. 1. ]] SLAMing on 14.164860624000001 meters Centerline goodness [0,1] 0.7876839659178931 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:0.01 [[ 0.99414887 -0.07252407 -0.08005179 0.68435911] [ 0.07385593 0.99717344 0.0138 0.07979111] [ 0.07882469 -0.01963156 0.99669517 0.00945688] [ 0. 0. 0. 1. ]] SLAMing on 14.194860624 meters Centerline goodness [0,1] 0.7851325145442792 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:0.01 [[ 0.9941318 -0.07278156 -0.08003006 0.68411155] [ 0.07404094 0.99717203 0.01287915 0.0828087 ] [ 0.07886637 -0.01872908 0.99670924 0.00994927] [ 0. 0. 0. 1. ]] SLAMing on 14.224860624 meters Centerline goodness [0,1] 0.783651098758377 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.99409409 -0.0734937 -0.07984748 0.68358261] [ 0.07465336 0.9971417 0.01163248 0.08728301] [ 0.07876434 -0.01752466 0.99673922 0.01005243] [ 0. 0. 0. 1. ]] SLAMing on 14.254860624 meters Centerline goodness [0,1] 0.7755256233228252 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.99406989 -0.07406207 -0.07962324 0.68308301] [ 0.0751758 0.99710876 0.01107785 0.08881223] [ 0.07857258 -0.0169979 0.99676347 0.00991955] [ 0. 0. 0. 1. ]] SLAMing on 14.284860624 meters Centerline goodness [0,1] 0.7739588494536731 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.9940412 -0.07464946 -0.07943269 0.68257849] [ 0.07571936 0.99707347 0.01053933 0.08996543] [ 0.07841348 -0.01649112 0.99678452 0.00987962] [ 0. 0. 0. 1. ]] SLAMing on 14.314860624 meters Centerline goodness [0,1] 0.7741598831141724 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.99400431 -0.07528852 -0.07929107 0.68201931] [ 0.07631581 0.99703353 0.01000194 0.09102371] [ 0.07830283 -0.01599314 0.99680133 0.00996182] [ 0. 0. 0. 1. ]] SLAMing on 14.344860624 meters Centerline goodness [0,1] 0.7511672187589661 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.993943 -0.07662717 -0.07877558 0.68076225] [ 0.07758032 0.99694451 0.00910661 0.09310208] [ 0.07783706 -0.01516289 0.99685078 0.00957807] [ 0. 0. 0. 1. ]] SLAMing on 14.374860624 meters Centerline goodness [0,1] 0.7388624849845928 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.99390111 -0.07739443 -0.07855372 0.67999066] [ 0.07829809 0.99689388 0.00848492 0.09449257] [ 0.07765304 -0.01458378 0.99687377 0.00968769] [ 0. 0. 0. 1. ]] SLAMing on 14.404860624 meters Centerline goodness [0,1] 0.7388624849845928 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:0.01 [[ 0.99390111 -0.07739443 -0.07855372 0.67999066] [ 0.07829809 0.99689388 0.00848492 0.09449257] [ 0.07765304 -0.01458378 0.99687377 0.00968769] [ 0. 0. 0. 1. ]] SLAMing on 14.434860624 meters Centerline goodness [0,1] 0.743925772547375 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:0.01 [[ 0.99386748 -0.07815148 -0.07822897 0.67924932] [ 0.07900659 0.99684286 0.00789136 0.09629836] [ 0.07736526 -0.01402357 0.99690419 0.0094442 ] [ 0. 0. 0. 1. ]] SLAMing on 14.464860624 meters Centerline goodness [0,1] 0.7388014607361479 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:0.01 [[ 0.99379336 -0.07963988 -0.07766759 0.67762889] [ 0.08040703 0.99673895 0.00679563 0.09911201] [ 0.07687311 -0.01299847 0.99695615 0.00932811] [ 0. 0. 0. 1. ]] SLAMing on 14.494860624000001 meters Centerline goodness [0,1] 0.735312647661049 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:0.01 [[ 0.99375872 -0.08040174 -0.07732513 0.67665348] [ 0.08113402 0.99668284 0.00637067 0.09938163] [ 0.07655642 -0.01260461 0.99698558 0.00933443] [ 0. 0. 0. 1. ]] SLAMing on 14.524860624 meters Centerline goodness [0,1] 0.7298128482809378 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:0.01 [[ 0.9937256 -0.08116068 -0.07695703 0.67539124] [ 0.08185353 0.99662698 0.00588678 0.09952689] [ 0.07621967 -0.01214905 0.99701703 0.00967206] [ 0. 0. 0. 1. ]] SLAMing on 14.554860624 meters Centerline goodness [0,1] 0.7210726962008676 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:0.01 [[ 0.99364473 -0.08282264 -0.07622699 0.67278656] [ 0.08343296 0.99650158 0.00485177 0.1009138 ] [ 0.07555848 -0.01118078 0.99707869 0.01029798] [ 0. 0. 0. 1. ]] SLAMing on 14.584860624000001 meters Centerline goodness [0,1] 0.7206102854136525 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:0.01 [[ 0.99360476 -0.08354309 -0.07596143 0.67176676] [ 0.08410973 0.99644728 0.0042857 0.10223604] [ 0.07533352 -0.01064739 0.99710155 0.01058937] [ 0. 0. 0. 1. ]] SLAMing on 14.614860624 meters Centerline goodness [0,1] 0.7043262897191337 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:0.01 [[ 0.99356743 -0.0842639 -0.07565286 0.67067428] [ 0.0847902 0.99639171 0.00376631 0.1036116 ] [ 0.07506251 -0.01015671 0.9971271 0.01078758] [ 0. 0. 0. 1. ]] SLAMing on 14.644860624 meters Centerline goodness [0,1] 0.6948193753782198 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:0.01 [[ 0.99353768 -0.08480474 -0.07543893 0.67003341] [ 0.08530194 0.99634939 0.00338743 0.10472918] [ 0.07487626 -0.00980063 0.99714467 0.01079974] [ 0. 0. 0. 1. ]] SLAMing on 14.674860624 meters Centerline goodness [0,1] 0.7017664118112312 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99351254 -0.08527172 -0.0752434 0.66948086] [ 0.08574307 0.99631261 0.00305049 0.10552835] [ 0.07470583 -0.0094823 0.99716053 0.01080423] [ 0. 0. 0. 1. ]] SLAMing on 14.704860624 meters Centerline goodness [0,1] 0.6994496669036523 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99348636 -0.08570264 -0.07509939 0.66978626] [ 0.08615657 0.99627762 0.00281973 0.10618633] [ 0.07457818 -0.00927167 0.99717207 0.00990167] [ 0. 0. 0. 1. ]] SLAMing on 14.734860624 meters Centerline goodness [0,1] 0.6992245199409157 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99347971 -0.08578552 -0.07509264 0.67025289] [ 0.08623116 0.99627148 0.00270652 0.10679085] [ 0.07458048 -0.0091642 0.99717289 0.00934495] [ 0. 0. 0. 1. ]] SLAMing on 14.764860624 meters Centerline goodness [0,1] 0.6846608916120853 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99347743 -0.08587966 -0.07501513 0.67047806] [ 0.08629969 0.9962664 0.00236982 0.10812357] [ 0.07453154 -0.00882814 0.99717958 0.00902004] [ 0. 0. 0. 1. ]] SLAMing on 14.794860624 meters Centerline goodness [0,1] 0.695334890139051 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99375941 -0.08270825 -0.07484369 0.66921069] [ 0.08335763 0.99650402 0.00558938 0.1102848 ] [ 0.07411975 -0.01179329 0.99717961 0.00863985] [ 0. 0. 0. 1. ]] SLAMing on 14.824860624000001 meters Centerline goodness [0,1] 0.6926229508196722 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.01 [[ 0.99373669 -0.08290818 -0.07492407 0.66907513] [ 0.08348535 0.99649839 0.00459914 0.11312433] [ 0.07428041 -0.0108254 0.99717864 0.0094303 ] [ 0. 0. 0. 1. ]] SLAMing on 14.854860624 meters Centerline goodness [0,1] 0.6935570039534138 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:0.01 [[ 0.99402817 -0.07970518 -0.07453243 0.66681535] [ 0.08047696 0.99672896 0.00740485 0.11535695] [ 0.07369843 -0.01335878 0.9971911 0.01008563] [ 0. 0. 0. 1. ]] SLAMing on 14.884860624 meters Centerline goodness [0,1] 0.7101561664349128 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:0.01 [[ 0.99401597 -0.07986457 -0.07452449 0.66641 ] [ 0.08056873 0.99672795 0.00648593 0.11762081] [ 0.07376264 -0.01245146 0.99719809 0.01103932] [ 0. 0. 0. 1. ]] SLAMing on 14.914860624000001 meters Centerline goodness [0,1] 0.6987631797816114 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:0.01 [[ 0.99403899 -0.07971884 -0.07437339 0.66625619] [ 0.08034472 0.9967522 0.00545691 0.1220436 ] [ 0.07369682 -0.01139989 0.99721553 0.01149453] [ 0. 0. 0. 1. ]] SLAMing on 14.944860624 meters Centerline goodness [0,1] 0.6943727135786528 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:0.01 [[ 0.9940082 -0.08016098 -0.07430954 0.66580443] [ 0.0807336 0.99672449 0.00472948 0.12398175] [ 0.07368702 -0.01070041 0.99722401 0.01192069] [ 0. 0. 0. 1. ]] SLAMing on 14.974860624 meters Centerline goodness [0,1] 0.6977344190921551 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:0.01 [[ 0.99398223 -0.08061282 -0.07416811 0.66528369] [ 0.0811437 0.9966937 0.00416761 0.12547891] [ 0.07358692 -0.01016081 0.99723704 0.01209175] [ 0. 0. 0. 1. ]] SLAMing on 15.004860624 meters Centerline goodness [0,1] 0.7061415292031594 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99395025 -0.08112648 -0.07403651 0.66477518] [ 0.08162901 0.99665561 0.00378221 0.12637609] [ 0.07348207 -0.00980286 0.99724836 0.01218111] [ 0. 0. 0. 1. ]] SLAMing on 15.034860624 meters Centerline goodness [0,1] 0.6867880937029873 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99386099 -0.08264811 -0.07355012 0.66303635] [ 0.0831 0.99653639 0.00309994 0.1268859 ] [ 0.07303917 -0.00919293 0.9972867 0.01219429] [ 0. 0. 0. 1. ]] SLAMing on 15.064860624 meters Centerline goodness [0,1] 0.6924939467312349 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99381059 -0.08362919 -0.07312099 0.66161801] [ 0.0840575 0.99645699 0.00279467 0.12662142] [ 0.07262821 -0.00892374 0.99731916 0.01223722] [ 0. 0. 0. 1. ]] SLAMing on 15.094860624 meters Centerline goodness [0,1] 0.6828966814456536 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99375622 -0.08458655 -0.07275778 0.66020399] [ 0.08500025 0.99637753 0.00260306 0.1258871 ] [ 0.07227403 -0.00877123 0.99734624 0.01237031] [ 0. 0. 0. 1. ]] SLAMing on 15.124860624 meters Centerline goodness [0,1] 0.6720120136225899 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99368994 -0.08566618 -0.07239892 0.6587859 ] [ 0.08606606 0.9962865 0.00241605 0.12510857] [ 0.07192309 -0.00863189 0.99737283 0.012422 ] [ 0. 0. 0. 1. ]] SLAMing on 15.154860624 meters Centerline goodness [0,1] 0.6692890208985577 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.01 [[ 0.99327497 -0.09083565 -0.07178937 0.65767403] [ 0.09092317 0.99585579 -0.00205457 0.1259521 ] [ 0.07167849 -0.00448656 0.9974177 0.01274786] [ 0. 0. 0. 1. ]] SLAMing on 15.184860624 meters Centerline goodness [0,1] 0.6286694239887016 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:0.02 [[ 0.99274413 -0.09522538 -0.07342492 0.68969523] [ 0.09470259 0.99544942 -0.01057694 0.12989927] [ 0.07409799 0.00354666 0.99724466 0.01971311] [ 0. 0. 0. 1. ]] SLAMing on 15.214860624 meters Centerline goodness [0,1] 0.6574647586501495 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:0.01 [[ 0.99278258 -0.09649739 -0.07121103 0.60464734] [ 0.09602691 0.99532841 -0.01000899 0.12772044] [ 0.07184421 0.00309857 0.99741105 0.01164873] [ 0. 0. 0. 1. ]] SLAMing on 15.244860624000001 meters Centerline goodness [0,1] 0.660121850639849 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:0.01 [[ 0.99256708 -0.09881029 -0.07104306 0.60322456] [ 0.09829478 0.99509955 -0.01072464 0.12544955] [ 0.07175462 0.00366176 0.99741559 0.01172312] [ 0. 0. 0. 1. ]] SLAMing on 15.274860624 meters Centerline goodness [0,1] 0.6552329291640077 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99251587 -0.09957541 -0.0706894 0.60189104] [ 0.09906739 0.99502357 -0.01066535 0.12434213] [ 0.07139962 0.00358252 0.99744136 0.01181347] [ 0. 0. 0. 1. ]] SLAMing on 15.304860624 meters Centerline goodness [0,1] 0.6565415606446141 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99246427 -0.100193 -0.07054101 0.60084703] [ 0.09968235 0.99496144 -0.0107314 0.12363326] [ 0.0712608 0.00361884 0.99745115 0.0122684 ] [ 0. 0. 0. 1. ]] SLAMing on 15.334860624000001 meters Centerline goodness [0,1] 0.6561350586118389 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99242969 -0.10070644 -0.07029597 0.59988841] [ 0.10019866 0.99490968 -0.01072172 0.12296699] [ 0.07101789 0.00359699 0.99746856 0.01241198] [ 0. 0. 0. 1. ]] SLAMing on 15.364860624 meters Centerline goodness [0,1] 0.6543353826584694 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99238216 -0.10135598 -0.07003299 0.59864684] [ 0.10084441 0.99484347 -0.01081118 0.12229853] [ 0.07076764 0.00366638 0.99748609 0.01283375] [ 0. 0. 0. 1. ]] SLAMing on 15.394860624 meters Centerline goodness [0,1] 0.6553998569574315 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99236942 -0.10147266 -0.07004447 0.59845443] [ 0.10095381 0.99483121 -0.01091726 0.12213401] [ 0.07079023 0.0037627 0.99748413 0.01315444] [ 0. 0. 0. 1. ]] SLAMing on 15.424860624 meters Centerline goodness [0,1] 0.6542960978327188 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99236416 -0.10152076 -0.0700494 0.5983869 ] [ 0.10100831 0.99482665 -0.01082858 0.12161913] [ 0.07078633 0.00367032 0.99748475 0.01321183] [ 0. 0. 0. 1. ]] SLAMing on 15.454860624 meters Centerline goodness [0,1] 0.6571164021164021 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99236936 -0.10160481 -0.06985356 0.5981626 ] [ 0.10111242 0.99481898 -0.0105582 0.12055876] [ 0.07056441 0.00341457 0.99750138 0.01281659] [ 0. 0. 0. 1. ]] SLAMing on 15.484860624 meters Centerline goodness [0,1] 0.6558417517321626 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99235668 -0.10181371 -0.06972946 0.5977488 ] [ 0.10132665 0.99479784 -0.01049608 0.11987856] [ 0.07043536 0.0033504 0.99751072 0.01285668] [ 0. 0. 0. 1. ]] SLAMing on 15.514860624 meters Centerline goodness [0,1] 0.6488107822410147 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99235109 -0.10193193 -0.06963621 0.59760837] [ 0.10146544 0.99478664 -0.01021281 0.11877112] [ 0.07031418 0.00306903 0.99752017 0.01257063] [ 0. 0. 0. 1. ]] SLAMing on 15.544860624 meters Centerline goodness [0,1] 0.6548201969146528 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.99233735 -0.10212364 -0.06955104 0.59735023] [ 0.10168723 0.99476819 -0.00979581 0.11674908] [ 0.07018755 0.00264829 0.9975303 0.01241433] [ 0. 0. 0. 1. ]] SLAMing on 15.574860624000001 meters Centerline goodness [0,1] 0.6522620206858436 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:0.01 [[ 0.9923221 -0.10233622 -0.06945612 0.59693914] [ 0.10191237 0.99474679 -0.0096281 0.1157041 ] [ 0.07007656 0.00247574 0.99753854 0.01245142] [ 0. 0. 0. 1. ]] SLAMing on 15.604860624 meters Centerline goodness [0,1] 0.6545948512344377 Centerline is valid? [False, False] Translation: X:0.60, Y:0.11, Z:0.01 [[ 0.9922971 -0.10268601 -0.06929687 0.59626047] [ 0.10227422 0.99471113 -0.00947388 0.11473135] [ 0.0699032 0.00231362 0.9975511 0.01256886] [ 0. 0. 0. 1. ]] SLAMing on 15.634860624 meters Centerline goodness [0,1] 0.6499895002099958 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:0.01 [[ 0.99223696 -0.10343159 -0.06904862 0.59497812] [ 0.10304559 0.99463465 -0.00913856 0.11176231] [ 0.06962337 0.00195246 0.99757144 0.01294282] [ 0. 0. 0. 1. ]] SLAMing on 15.664860624000001 meters Centerline goodness [0,1] 0.6485352356474074 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:0.01 [[ 0.99221389 -0.10372083 -0.0689462 0.59450013] [ 0.10336074 0.99460519 -0.00877942 0.10996644] [ 0.06948485 0.00158473 0.99758175 0.01292388] [ 0. 0. 0. 1. ]] SLAMing on 15.694860624 meters Centerline goodness [0,1] 0.6415252242592253 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:0.01 [[ 0.99219197 -0.10404917 -0.0687668 0.59385593] [ 0.10371736 0.99457144 -0.00838779 0.10794075] [ 0.06926623 0.00118999 0.9975975 0.01284245] [ 0. 0. 0. 1. ]] SLAMing on 15.724860624 meters Centerline goodness [0,1] 0.6330766218509333 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92097000e-01 -1.04953930e-01 -6.87620220e-02 5.92991180e-01] [ 1.04635547e-01 9.94476616e-01 -8.22571136e-03 1.04504239e-01] [ 6.92455437e-02 9.65751754e-04 9.97599179e-01 1.33340137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754860624 meters Centerline goodness [0,1] 0.6280503668244966 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92097862e-01 -1.04885639e-01 -6.88537167e-02 5.93179568e-01] [ 1.04603108e-01 9.94484191e-01 -7.70604724e-03 1.02553146e-01] [ 6.92821864e-02 4.42840224e-04 9.97597004e-01 1.31939966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784860624 meters Centerline goodness [0,1] 0.6273984712183454 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92101339e-01 -1.04860097e-01 -6.88425314e-02 5.93197279e-01] [ 1.04607758e-01 9.94486983e-01 -7.27027673e-03 1.01067580e-01] [ 6.92253633e-02 1.13883891e-05 9.97601047e-01 1.29855339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814860624 meters Centerline goodness [0,1] 0.6279583300859897 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92107837e-01 -1.04763179e-01 -6.88964137e-02 5.93148234e-01] [ 1.04538682e-01 9.94497121e-01 -6.86586967e-03 9.94447657e-02] [ 6.92365754e-02 -3.90657191e-04 9.97600192e-01 1.31867500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844860624 meters Centerline goodness [0,1] 0.6439380174942249 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92119776e-01 -1.04569677e-01 -6.90183567e-02 5.93291415e-01] [ 1.04362997e-01 9.94517349e-01 -6.60352532e-03 9.82649219e-02] [ 6.93304817e-02 -6.51474499e-04 9.97593534e-01 1.34401871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874860624 meters Centerline goodness [0,1] 0.6362340993289981 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.01 [[ 9.92127644e-01 -1.04503453e-01 -6.90055557e-02 5.93238686e-01] [ 1.04315425e-01 9.94524102e-01 -6.33262206e-03 9.69260362e-02] [ 6.92894692e-02 -9.15574475e-04 9.97596176e-01 1.34825575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904860624 meters Centerline goodness [0,1] 0.6435216290247558 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.01 [[ 0.99217762 -0.10386525 -0.06925015 0.59433034] [ 0.10374399 0.99458962 -0.00535501 0.09376852] [ 0.06943168 -0.00187117 0.99758495 0.01290889] [ 0. 0. 0. 1. ]] SLAMing on 15.934860624 meters Centerline goodness [0,1] 0.6271024662057579 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.01 [[ 0.99219346 -0.10372535 -0.06923282 0.59445231] [ 0.10362618 0.99460359 -0.00503204 0.09252518] [ 0.06938116 -0.00218158 0.99758784 0.01272977] [ 0. 0. 0. 1. ]] SLAMing on 15.964860624 meters Centerline goodness [0,1] 0.614005717670693 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.01 [[ 0.99221318 -0.10345967 -0.06934767 0.59480796] [ 0.10338371 0.99463048 -0.00469322 0.09126877] [ 0.06946087 -0.00251274 0.99758151 0.01275809] [ 0. 0. 0. 1. ]] SLAMing on 15.994860624000001 meters Centerline goodness [0,1] 0.6304375787821881 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 0.99223164 -0.10315999 -0.06952978 0.59536067] [ 0.10311372 0.99466043 -0.00426383 0.08992598] [ 0.06959838 -0.00293876 0.99757076 0.01262747] [ 0. 0. 0. 1. ]] SLAMing on 16.024860624 meters Centerline goodness [0,1] 0.6117776752294519 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 0.99225387 -0.10279465 -0.06975326 0.59595019] [ 0.10278165 0.99469674 -0.003785 0.08828669] [ 0.06977242 -0.00341368 0.99755709 0.0125852 ] [ 0. 0. 0. 1. ]] SLAMing on 16.054860624 meters Centerline goodness [0,1] 0.6449575534417511 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 0.99228951 -0.10231818 -0.06994659 0.59625117] [ 0.10235247 0.99474336 -0.00310302 0.08520085] [ 0.0698964 -0.00408011 0.99754591 0.01297551] [ 0. 0. 0. 1. ]] SLAMing on 16.084860623999997 meters Centerline goodness [0,1] 0.6435329616938577 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 0.99230867 -0.10198122 -0.07016645 0.59670429] [ 0.10203396 0.99477686 -0.00284142 0.08415685] [ 0.07008973 -0.00433979 0.99753125 0.01321166] [ 0. 0. 0. 1. ]] SLAMing on 16.114860624 meters Centerline goodness [0,1] 0.6466664963074643 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 0.99233961 -0.10147737 -0.07045882 0.59745384] [ 0.10155305 0.99482694 -0.0025165 0.0833004 ] [ 0.0703497 -0.00465809 0.99751152 0.01333406] [ 0. 0. 0. 1. ]] SLAMing on 16.144860624 meters Centerline goodness [0,1] 0.6439253050722238 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 0.99244427 -0.10004545 -0.07103019 0.5992356 ] [ 0.10017782 0.99496809 -0.00170518 0.08157972] [ 0.07084337 -0.00542336 0.99747271 0.01344367] [ 0. 0. 0. 1. ]] SLAMing on 16.174860623999997 meters Centerline goodness [0,1] 0.6467750580668215 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 0.99248565 -0.09933622 -0.07144607 0.60041954] [ 0.09948832 0.99503769 -0.00143546 0.08108683] [ 0.07123413 -0.00568338 0.99744343 0.01356473] [ 0. 0. 0. 1. ]] SLAMing on 16.204860624 meters Centerline goodness [0,1] 0.6486203372508943 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 0.99252827 -0.09857497 -0.07190697 0.60188503] [ 0.0987551 0.99511121 -0.00105445 0.0806441 ] [ 0.07165937 -0.0060546 0.99741079 0.0133491 ] [ 0. 0. 0. 1. ]] SLAMing on 16.234860624 meters Centerline goodness [0,1] 0.6453599328227182 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 9.92637858e-01 -9.69756832e-02 -7.25658263e-02 6.04437580e-01] [ 9.72411519e-02 9.95260841e-01 1.26074714e-04 7.78203349e-02] [ 7.22096992e-02 -7.18153108e-03 9.97363617e-01 1.27067861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264860623999997 meters Centerline goodness [0,1] 0.6442779118506288 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.01 [[ 9.92679631e-01 -9.63055322e-02 -7.28861813e-02 6.05730012e-01] [ 9.66182906e-02 9.95321212e-01 7.69282152e-04 7.58221969e-02] [ 7.24710761e-02 -7.80578897e-03 9.97339969e-01 1.22975080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294860624 meters Centerline goodness [0,1] 0.6442779118506288 Centerline is valid? [False, False] Translation: X:0.61, Y:0.08, Z:0.01 [[ 9.92679631e-01 -9.63055322e-02 -7.28861813e-02 6.05730012e-01] [ 9.66182906e-02 9.95321212e-01 7.69282152e-04 7.58221969e-02] [ 7.24710761e-02 -7.80578897e-03 9.97339969e-01 1.22975080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324860624 meters Centerline goodness [0,1] 0.6520756059143336 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99270714 -0.09587078 -0.07308432 0.60627981] [ 0.09621114 0.99536029 0.00114274 0.07438279] [ 0.07263567 -0.00816594 0.99732511 0.01240007] [ 0. 0. 0. 1. ]] SLAMing on 16.354860623999997 meters Centerline goodness [0,1] 0.6536681587132994 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99274917 -0.09510693 -0.07351025 0.60696009] [ 0.09548649 0.99542934 0.00165831 0.07230919] [ 0.07301655 -0.00866553 0.99729308 0.01321339] [ 0. 0. 0. 1. ]] SLAMing on 16.384860623999998 meters Centerline goodness [0,1] 0.652849871491206 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99276845 -0.09474712 -0.07371419 0.60727413] [ 0.0951411 0.99546209 0.00184384 0.07134073] [ 0.07320498 -0.00884375 0.9972777 0.01369568] [ 0. 0. 0. 1. ]] SLAMing on 16.414860624 meters Centerline goodness [0,1] 0.6508924969745865 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99279818 -0.09419709 -0.07401805 0.60799563] [ 0.09461412 0.99551172 0.00214028 0.07032305] [ 0.07348423 -0.00912802 0.99725461 0.01396038] [ 0. 0. 0. 1. ]] SLAMing on 16.444860623999997 meters Centerline goodness [0,1] 0.6552429538337206 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99287036 -0.09302198 -0.07453429 0.60928926] [ 0.09348046 0.99561751 0.00267886 0.06893639] [ 0.07395845 -0.00962726 0.99721485 0.01449311] [ 0. 0. 0. 1. ]] SLAMing on 16.474860623999998 meters Centerline goodness [0,1] 0.6546103928769053 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.01 [[ 0.99289622 -0.09260627 -0.07470724 0.60975305] [ 0.09307873 0.99565464 0.0028599 0.06830596] [ 0.07411777 -0.00979324 0.99720141 0.01469679] [ 0. 0. 0. 1. ]] SLAMing on 16.504860624 meters Centerline goodness [0,1] 0.6425750295590048 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:0.02 [[ 0.99290764 -0.09240868 -0.07480013 0.60980542] [ 0.09289364 0.99567145 0.00302304 0.06733478] [ 0.074197 -0.00995006 0.99719396 0.01504444] [ 0. 0. 0. 1. ]] SLAMing on 16.534860624 meters Centerline goodness [0,1] 0.6380973861614415 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.02 [[ 0.99293452 -0.09213023 -0.07478675 0.60967963] [ 0.09265264 0.9956922 0.00353882 0.06475679] [ 0.07413855 -0.01044301 0.99719327 0.01536316] [ 0. 0. 0. 1. ]] SLAMing on 16.564860623999998 meters Centerline goodness [0,1] 0.6529909410795838 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.02 [[ 0.99293644 -0.09209991 -0.07479856 0.60960058] [ 0.09263408 0.99569336 0.00369641 0.06363386] [ 0.07413599 -0.01059919 0.99719181 0.01556888] [ 0. 0. 0. 1. ]] SLAMing on 16.594860624 meters Centerline goodness [0,1] 0.6481610684740358 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.02 [[ 0.9929415 -0.09204665 -0.07479705 0.60965177] [ 0.09260617 0.99569462 0.00403968 0.06199067] [ 0.07410318 -0.01093783 0.99719059 0.01555565] [ 0. 0. 0. 1. ]] SLAMing on 16.624860624 meters Centerline goodness [0,1] 0.6453863726658721 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.02 [[ 9.92601124e-01 -9.55428675e-02 -7.49304282e-02 6.11401488e-01] [ 9.58640096e-02 9.95394199e-01 6.92745092e-04 6.06465352e-02] [ 7.45191267e-02 -7.87075084e-03 9.97188523e-01 1.51870559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654860623999998 meters Centerline goodness [0,1] 0.6405048851857362 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.01 [[ 0.99258842 -0.09578289 -0.07479222 0.61124805] [ 0.09613232 0.99536798 0.00107775 0.05878986] [ 0.07434255 -0.00825971 0.99719856 0.01486893] [ 0. 0. 0. 1. ]] SLAMing on 16.684860624 meters Centerline goodness [0,1] 0.6420440485028458 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:0.01 [[ 0.99254829 -0.09631752 -0.07463801 0.61075374] [ 0.09668609 0.99531403 0.00133214 0.05677357] [ 0.07415995 -0.00853867 0.9972098 0.01478356] [ 0. 0. 0. 1. ]] SLAMing on 16.714860624 meters Centerline goodness [0,1] 0.634538053533983 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.01 [[ 0.9925172 -0.09681389 -0.0744089 0.61025442] [ 0.09719637 0.99526405 0.00152783 0.05466634] [ 0.07390859 -0.00874867 0.99722664 0.01466181] [ 0. 0. 0. 1. ]] SLAMing on 16.744860623999998 meters Centerline goodness [0,1] 0.6297904705824624 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.01 [[ 0.99214122 -0.10068486 -0.0742856 0.61084229] [ 0.10080856 0.99490364 -0.00209202 0.05349791] [ 0.07411765 -0.00541304 0.99723481 0.01499763] [ 0. 0. 0. 1. ]] SLAMing on 16.774860624 meters Centerline goodness [0,1] 0.6274883834678405 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99207433 -0.10166453 -0.07384335 0.60904603] [ 0.10178092 0.99480442 -0.00219499 0.05186158] [ 0.07368284 -0.00533825 0.99726744 0.01569945] [ 0. 0. 0. 1. ]] SLAMing on 16.804860624 meters Centerline goodness [0,1] 0.6275508954163502 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99206063 -0.10183276 -0.07379568 0.60891333] [ 0.10196041 0.99478636 -0.00204533 0.05095523] [ 0.07361921 -0.00549515 0.99727128 0.01565604] [ 0. 0. 0. 1. ]] SLAMing on 16.834860623999997 meters Centerline goodness [0,1] 0.6277142018779343 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99206173 -0.10188795 -0.0737046 0.60880151] [ 0.10202918 0.99477967 -0.00185633 0.04956243] [ 0.07350898 -0.00567842 0.99727839 0.01566716] [ 0. 0. 0. 1. ]] SLAMing on 16.864860624 meters Centerline goodness [0,1] 0.62677188367675 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99204854 -0.10219904 -0.07345101 0.60822943] [ 0.10234323 0.9947475 -0.00180788 0.04845205] [ 0.07324998 -0.0057237 0.99729719 0.0156596 ] [ 0. 0. 0. 1. ]] SLAMing on 16.894860624 meters Centerline goodness [0,1] 0.6192460462509443 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99203424 -0.10244697 -0.07329854 0.60762488] [ 0.10259298 0.99472183 -0.00178013 0.04738791] [ 0.07309403 -0.00575397 0.99730846 0.01599337] [ 0. 0. 0. 1. ]] SLAMing on 16.924860623999997 meters Centerline goodness [0,1] 0.6152536601974804 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99201576 -0.10287951 -0.07294205 0.606381 ] [ 0.10301453 0.994678 -0.00191866 0.04619384] [ 0.07275124 -0.00561075 0.99733434 0.01668658] [ 0. 0. 0. 1. ]] SLAMing on 16.954860624 meters Centerline goodness [0,1] 0.6151268665776375 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.9920096 -0.10296878 -0.07289979 0.60611908] [ 0.10310304 0.99466881 -0.00192907 0.04560482] [ 0.07270978 -0.00560253 0.99733741 0.01695919] [ 0. 0. 0. 1. ]] SLAMing on 16.984860624 meters Centerline goodness [0,1] 0.6143770200976937 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99201944 -0.10281639 -0.07298102 0.60639823] [ 0.10295843 0.99468399 -0.00182311 0.04512123] [ 0.07278049 -0.00570546 0.99733166 0.01702501] [ 0. 0. 0. 1. ]] SLAMing on 17.014860623999997 meters Centerline goodness [0,1] 0.6131620409647316 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.02 [[ 0.9920419 -0.10257652 -0.07301312 0.60685774] [ 0.1027374 0.99470729 -0.00155877 0.04467779] [ 0.07278658 -0.00595481 0.99732976 0.01664155] [ 0. 0. 0. 1. ]] SLAMing on 17.044860624 meters Centerline goodness [0,1] 0.6154369097045185 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.02 [[ 0.99205546 -0.10240491 -0.07306984 0.60718055] [ 0.1025764 0.99472413 -0.00141174 0.04437451] [ 0.0728289 -0.00609472 0.99732583 0.01648423] [ 0. 0. 0. 1. ]] SLAMing on 17.074860624 meters Centerline goodness [0,1] 0.6152227034088984 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.02 [[ 0.99210658 -0.10175452 -0.07328398 0.60796329] [ 0.10194401 0.99478946 -0.00115994 0.0440552 ] [ 0.07302016 -0.00632007 0.99731044 0.01651457] [ 0. 0. 0. 1. ]] SLAMing on 17.104860623999997 meters Centerline goodness [0,1] 0.6144318402171806 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:0.02 [[ 0.99212847 -0.10140683 -0.07346939 0.60849869] [ 0.10159562 0.99482509 -0.00117255 0.04472441] [ 0.0732081 -0.00630085 0.99729678 0.01657322] [ 0. 0. 0. 1. ]] SLAMing on 17.134860623999998 meters Centerline goodness [0,1] 0.6145194521876136 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99214471 -0.1010906 -0.07368564 0.6091226 ] [ 0.10127693 0.99485753 -0.00121286 0.04560033] [ 0.07342932 -0.00625932 0.99728078 0.01654354] [ 0. 0. 0. 1. ]] SLAMing on 17.164860624 meters Centerline goodness [0,1] 0.6195791665657764 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99216174 -0.10069342 -0.07399947 0.60993743] [ 0.10087709 0.9948981 -0.0012609 0.04630327] [ 0.0737489 -0.00621383 0.99725748 0.01663975] [ 0. 0. 0. 1. ]] SLAMing on 17.194860623999997 meters Centerline goodness [0,1] 0.6193598523483413 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99218439 -0.10027809 -0.07425922 0.61072508] [ 0.10045016 0.99494107 -0.00142345 0.04726544] [ 0.07402629 -0.00604703 0.99723796 0.01670847] [ 0. 0. 0. 1. ]] SLAMing on 17.224860623999998 meters Centerline goodness [0,1] 0.624150447004945 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.02 [[ 0.99260668 -0.09579857 -0.0745293 0.61118758] [ 0.096269 0.99535159 0.00273712 0.04646607] [ 0.07392065 -0.00989174 0.99721507 0.01595081] [ 0. 0. 0. 1. ]] SLAMing on 17.254860624 meters Centerline goodness [0,1] 0.6271198848246748 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:0.01 [[ 0.99277856 -0.09368801 -0.07492193 0.61403893] [ 0.09422119 0.99554476 0.00360602 0.04771355] [ 0.07425029 -0.01063921 0.99718288 0.01444506] [ 0. 0. 0. 1. ]] SLAMing on 17.284860624 meters Centerline goodness [0,1] 0.6364701860624116 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:0.01 [[ 0.99281585 -0.09302176 -0.0752572 0.61519928] [ 0.09355007 0.99560836 0.00351789 0.04942583] [ 0.07459945 -0.01053293 0.99715795 0.0142942 ] [ 0. 0. 0. 1. ]] SLAMing on 17.314860623999998 meters Centerline goodness [0,1] 0.6326665362418077 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:0.01 [[ 0.99282858 -0.09268519 -0.0755041 0.6157484 ] [ 0.09317898 0.99564475 0.00303613 0.05160951] [ 0.07489386 -0.01004975 0.99714087 0.01471168] [ 0. 0. 0. 1. ]] SLAMing on 17.344860624 meters Centerline goodness [0,1] 0.6387606795639792 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:0.02 [[ 0.99283432 -0.09248937 -0.07566856 0.61583587] [ 0.09295157 0.99566723 0.00260175 0.05337636] [ 0.07510007 -0.00961662 0.99712963 0.01531234] [ 0. 0. 0. 1. ]] SLAMing on 17.374860624 meters Centerline goodness [0,1] 0.6419901424683063 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:0.02 [[ 0.99292317 -0.09149339 -0.07571355 0.61646935] [ 0.09193743 0.99576191 0.00239296 0.05538657] [ 0.07517373 -0.00933694 0.99712674 0.01556022] [ 0. 0. 0. 1. ]] SLAMing on 17.404860623999998 meters Centerline goodness [0,1] 0.6384239117075928 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:0.02 [[ 0.99293268 -0.09138007 -0.07572562 0.61666291] [ 0.09181415 0.99577359 0.00226358 0.05602313] [ 0.07519873 -0.00920026 0.99712612 0.01548949] [ 0. 0. 0. 1. ]] SLAMing on 17.434860624 meters Centerline goodness [0,1] 0.6492377410536168 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:0.02 [[ 0.99293036 -0.0913454 -0.07579792 0.61671012] [ 0.09174923 0.99578042 0.00185537 0.05734573] [ 0.0753086 -0.00879665 0.99712147 0.01582244] [ 0. 0. 0. 1. ]] SLAMing on 17.464860624 meters Centerline goodness [0,1] 0.6101596718500151 Centerline is valid? [False, False] Translation: X:0.66, Y:0.06, Z:0.02 [[ 9.93216742e-01 -9.15361084e-02 -7.17052536e-02 6.56100105e-01] [ 9.13305097e-02 9.95801659e-01 -6.14762852e-03 6.12406954e-02] [ 7.19669405e-02 -4.42949789e-04 9.97406920e-01 1.93399872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494860623999998 meters Centerline goodness [0,1] 0.6469499555818774 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99368486 -0.0892527 -0.06800257 0.5778792 ] [ 0.08921903 0.99600575 -0.00353812 0.05832047] [ 0.06804674 -0.00255135 0.99767887 0.00936559] [ 0. 0. 0. 1. ]] SLAMing on 17.524860624 meters Centerline goodness [0,1] 0.640911452534699 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99367392 -0.08932048 -0.06807343 0.57810236] [ 0.08927491 0.99600009 -0.00371747 0.05910857] [ 0.06813319 -0.0023833 0.99767339 0.00931679] [ 0. 0. 0. 1. ]] SLAMing on 17.554860624 meters Centerline goodness [0,1] 0.641844323252355 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99368807 -0.08912928 -0.06811751 0.57899388] [ 0.08907711 0.99601745 -0.00380896 0.06017524] [ 0.06818572 -0.00228279 0.99767003 0.00853586] [ 0. 0. 0. 1. ]] SLAMing on 17.584860623999997 meters Centerline goodness [0,1] 0.6549098395217898 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99371793 -0.08867073 -0.06828009 0.58051425] [ 0.08862146 0.9960583 -0.00375633 0.06128584] [ 0.06834403 -0.00231834 0.99765912 0.00735537] [ 0. 0. 0. 1. ]] SLAMing on 17.614860624 meters Centerline goodness [0,1] 0.6481688392302918 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99372399 -0.08852303 -0.0683835 0.58107839] [ 0.08846602 0.99607169 -0.00386754 0.06227475] [ 0.06845723 -0.00220635 0.99765161 0.00707956] [ 0. 0. 0. 1. ]] SLAMing on 17.644860624 meters Centerline goodness [0,1] 0.6491306842275937 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 9.93997708e-01 -8.56203637e-02 -6.81007393e-02 5.79020484e-01] [ 8.57673199e-02 9.96314898e-01 -7.68340375e-04 6.34446378e-02] [ 6.79155667e-02 -5.07708932e-03 9.97678154e-01 7.45634381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674860623999997 meters Centerline goodness [0,1] 0.6570031435557108 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99397913 -0.08589538 -0.06802551 0.57842486] [ 0.08601114 0.99629342 -0.0012308 0.06466056] [ 0.06787908 -0.00462756 0.99768282 0.00800497] [ 0. 0. 0. 1. ]] SLAMing on 17.704860624 meters Centerline goodness [0,1] 0.6570031435557108 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:0.01 [[ 0.99397913 -0.08589538 -0.06802551 0.57842486] [ 0.08601114 0.99629342 -0.0012308 0.06466056] [ 0.06787908 -0.00462756 0.99768282 0.00800497] [ 0. 0. 0. 1. ]] SLAMing on 17.734860624 meters Centerline goodness [0,1] 0.6528242521100733 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99397832 -0.08606551 -0.06782199 0.57784991] [ 0.08615813 0.99628025 -0.00156366 0.06546502] [ 0.06770429 -0.00428918 0.99769621 0.00823853] [ 0. 0. 0. 1. ]] SLAMing on 17.764860623999997 meters Centerline goodness [0,1] 0.6558457773560405 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99398617 -0.08609593 -0.06766824 0.57777442] [ 0.08617376 0.99627854 -0.00177339 0.0659373 ] [ 0.0675691 -0.0040685 0.9977063 0.00808887] [ 0. 0. 0. 1. ]] SLAMing on 17.794860624 meters Centerline goodness [0,1] 0.6549862534366409 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99397238 -0.08630565 -0.06760359 0.57767629] [ 0.08637089 0.99626112 -0.00196264 0.06646864] [ 0.06752022 -0.00388817 0.99771033 0.00797644] [ 0. 0. 0. 1. ]] SLAMing on 17.824860624 meters Centerline goodness [0,1] 0.6523129982755604 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99396361 -0.08651429 -0.06746576 0.57747015] [ 0.08656291 0.99624394 -0.0022078 0.06755972] [ 0.06740336 -0.00364556 0.99771915 0.00781161] [ 0. 0. 0. 1. ]] SLAMing on 17.854860623999997 meters Centerline goodness [0,1] 0.6479274417210104 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99395566 -0.08658648 -0.06749016 0.57820019] [ 0.08663144 0.99623785 -0.00226571 0.06938659] [ 0.06743243 -0.00359475 0.99771737 0.00685319] [ 0. 0. 0. 1. ]] SLAMing on 17.884860623999998 meters Centerline goodness [0,1] 0.6486716365637665 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99395076 -0.08656758 -0.06758656 0.57885499] [ 0.08661711 0.99623924 -0.00220283 0.06960639] [ 0.06752308 -0.00366465 0.99771098 0.00629931] [ 0. 0. 0. 1. ]] SLAMing on 17.914860624 meters Centerline goodness [0,1] 0.6481564973449554 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99394675 -0.08665725 -0.06753051 0.57918975] [ 0.08670998 0.99623127 -0.00215543 0.06969015] [ 0.06746279 -0.00371319 0.99771488 0.00566101] [ 0. 0. 0. 1. ]] SLAMing on 17.944860623999997 meters Centerline goodness [0,1] 0.6497386672027339 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99390245 -0.08745726 -0.06715013 0.5783056 ] [ 0.08748056 0.99616284 -0.00259915 0.06984883] [ 0.06711978 -0.00329103 0.9977395 0.00551843] [ 0. 0. 0. 1. ]] SLAMing on 17.974860623999998 meters Centerline goodness [0,1] 0.649920955559459 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99388281 -0.08788278 -0.06688475 0.57766892] [ 0.08789413 0.99612595 -0.00277876 0.07001648] [ 0.06686984 -0.00311701 0.99775684 0.00544338] [ 0. 0. 0. 1. ]] SLAMing on 18.004860624 meters Centerline goodness [0,1] 0.6493037260067746 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.01 [[ 0.99386949 -0.08820951 -0.06665227 0.57720113] [ 0.08821154 0.99609749 -0.00291831 0.07029747] [ 0.06664958 -0.00297908 0.997772 0.00529563] [ 0. 0. 0. 1. ]] SLAMing on 18.034860623999997 meters Centerline goodness [0,1] 0.649813677107463 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.00 [[ 0.99381611 -0.08913607 -0.06621406 0.57608649] [ 0.08910747 0.99601624 -0.00339102 0.0719848 ] [ 0.06625254 -0.00253011 0.99779968 0.00495167] [ 0. 0. 0. 1. ]] SLAMing on 18.064860623999998 meters Centerline goodness [0,1] 0.6522132569187844 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.00 [[ 0.9938083 -0.08922107 -0.06621686 0.57643135] [ 0.08918524 0.9960089 -0.00350277 0.07281252] [ 0.0662651 -0.00242448 0.99779911 0.00452457] [ 0. 0. 0. 1. ]] SLAMing on 18.094860624 meters Centerline goodness [0,1] 0.6505660377358491 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.00 [[ 0.99380188 -0.08935146 -0.06613724 0.57665419] [ 0.08931307 0.9959973 -0.00354278 0.07325775] [ 0.06618906 -0.0023861 0.99780425 0.00394266] [ 0. 0. 0. 1. ]] SLAMing on 18.124860624 meters Centerline goodness [0,1] 0.6530812854442344 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.00 [[ 0.99380728 -0.08931664 -0.06610314 0.57736946] [ 0.08925772 0.99600112 -0.00385007 0.07450068] [ 0.06618267 -0.00207398 0.99780537 0.00320529] [ 0. 0. 0. 1. ]] SLAMing on 18.154860623999998 meters Centerline goodness [0,1] 0.6550984351337708 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 0.99379852 -0.08931817 -0.06623265 0.57760356] [ 0.08923187 0.99600174 -0.00426606 0.07606186] [ 0.06634887 -0.00167046 0.99779509 0.0034026 ] [ 0. 0. 0. 1. ]] SLAMing on 18.184860624 meters Centerline goodness [0,1] 0.6557145023505029 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 0.99378069 -0.08947439 -0.06628931 0.57743479] [ 0.0893471 0.99598855 -0.00488825 0.07840905] [ 0.06646076 -0.00106491 0.99778847 0.00384612] [ 0. 0. 0. 1. ]] SLAMing on 18.214860624 meters Centerline goodness [0,1] 0.6557145023505029 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 0.99378069 -0.08947439 -0.06628931 0.57743479] [ 0.0893471 0.99598855 -0.00488825 0.07840905] [ 0.06646076 -0.00106491 0.99778847 0.00384612] [ 0. 0. 0. 1. ]] SLAMing on 18.244860623999998 meters Centerline goodness [0,1] 0.6570169440012157 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 9.93768787e-01 -8.96244595e-02 -6.62650237e-02 5.77158022e-01] [ 8.94632688e-02 9.95975473e-01 -5.40193431e-03 8.07554713e-02] [ 6.64824838e-02 -5.60011917e-04 9.97787435e-01 4.15803916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274860624 meters Centerline goodness [0,1] 0.6568786831944726 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.01 [[ 9.93700953e-01 -9.07069787e-02 -6.58077501e-02 5.75099813e-01] [ 9.04812922e-02 9.95877539e-01 -6.40800467e-03 8.31057668e-02] [ 6.61177110e-02 4.13270072e-04 9.97811745e-01 5.22854960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304860624 meters Centerline goodness [0,1] 0.6559011568906028 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 9.93688914e-01 -9.08820067e-02 -6.57480262e-02 5.75404367e-01] [ 9.06595461e-02 9.95861601e-01 -6.36543495e-03 8.33533856e-02] [ 6.60544381e-02 3.64575928e-04 9.97815954e-01 4.53793246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334860623999997 meters Centerline goodness [0,1] 0.6543567831527545 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.00 [[ 9.93678756e-01 -9.10296498e-02 -6.56972856e-02 5.75656960e-01] [ 9.08090282e-02 9.95848126e-01 -6.34278862e-03 8.34060960e-02] [ 6.60019005e-02 3.36787649e-04 9.97819440e-01 4.00390611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364860624 meters Centerline goodness [0,1] 0.6559126094927683 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93620399e-01 -9.19918459e-02 -6.52380432e-02 5.74778134e-01] [ 9.17574409e-02 9.95759604e-01 -6.58663123e-03 8.37831381e-02] [ 6.55673244e-02 5.58535249e-04 9.97847991e-01 3.22657359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394860624 meters Centerline goodness [0,1] 0.6545061099796334 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93597382e-01 -9.23951700e-02 -6.50182691e-02 5.74450054e-01] [ 9.21586844e-02 9.95722237e-01 -6.63348592e-03 8.36867976e-02] [ 6.53530384e-02 5.99016094e-04 9.97862025e-01 2.78967071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424860623999997 meters Centerline goodness [0,1] 0.6566981684795068 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93561632e-01 -9.29625963e-02 -6.47552206e-02 5.73741092e-01] [ 9.27149852e-02 9.95669298e-01 -6.82494648e-03 8.36475846e-02] [ 6.51092498e-02 7.77225643e-04 9.97877839e-01 2.67437249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454860624 meters Centerline goodness [0,1] 0.6566822037136089 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93485516e-01 -9.40566547e-02 -6.43418669e-02 5.72677059e-01] [ 9.38102055e-02 9.95566551e-01 -6.84746805e-03 8.28921283e-02] [ 6.47006604e-02 7.66936572e-04 9.97904422e-01 2.07300484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484860624 meters Centerline goodness [0,1] 0.6567764262812357 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93472623e-01 -9.42724120e-02 -6.42250643e-02 5.72563972e-01] [ 9.40345962e-02 9.95546234e-01 -6.72241809e-03 8.23683556e-02] [ 6.45727595e-02 6.39160347e-04 9.97912797e-01 1.71176784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514860623999997 meters Centerline goodness [0,1] 0.6591977237507304 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 9.93451893e-01 -9.45620659e-02 -6.41198267e-02 5.72084247e-01] [ 9.43145071e-02 9.95518654e-01 -6.88359590e-03 8.30349301e-02] [ 6.44834106e-02 7.91091531e-04 9.97918466e-01 1.85997584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544860624 meters Centerline goodness [0,1] 0.660665172659672 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.00 [[ 0.99342114 -0.0949341 -0.06404653 0.57127682] [ 0.09465586 0.99548276 -0.00737157 0.08426032] [ 0.06445703 0.0012607 0.99791969 0.00264876] [ 0. 0. 0. 1. ]] SLAMing on 18.574860624 meters Centerline goodness [0,1] 0.6591701223700613 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99339929 -0.09509611 -0.06414507 0.57117451] [ 0.09479882 0.99546691 -0.00766933 0.08537982] [ 0.06458362 0.00153783 0.99791111 0.00303461] [ 0. 0. 0. 1. ]] SLAMing on 18.604860623999997 meters Centerline goodness [0,1] 0.6594927370322319 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99338826 -0.09518705 -0.06418087 0.57119589] [ 0.09488345 0.99545807 -0.00776885 0.08598679] [ 0.06462886 0.00162778 0.99790804 0.00304914] [ 0. 0. 0. 1. ]] SLAMing on 18.634860623999998 meters Centerline goodness [0,1] 0.6576431903341745 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99336547 -0.09557252 -0.06396049 0.57080858] [ 0.09525939 0.99542086 -0.00793456 0.0860344 ] [ 0.06442593 0.00178908 0.99792089 0.00275864] [ 0. 0. 0. 1. ]] SLAMing on 18.664860624 meters Centerline goodness [0,1] 0.656198220704071 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99335689 -0.09571145 -0.06388593 0.5708941 ] [ 0.09539706 0.99540747 -0.00796058 0.08580347] [ 0.06435445 0.00181316 0.99792546 0.00244032] [ 0. 0. 0. 1. ]] SLAMing on 18.694860623999997 meters Centerline goodness [0,1] 0.6568567497324569 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99334202 -0.0959298 -0.06378947 0.57083964] [ 0.09561849 0.99538653 -0.0079225 0.08557547] [ 0.06425518 0.0017703 0.99793193 0.00208775] [ 0. 0. 0. 1. ]] SLAMing on 18.724860623999998 meters Centerline goodness [0,1] 0.6557460706266585 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.9932951 -0.09653035 -0.06361401 0.57024107] [ 0.09619576 0.99532776 -0.00830874 0.08632833] [ 0.06411884 0.00213363 0.99793999 0.00209034] [ 0. 0. 0. 1. ]] SLAMing on 18.754860624 meters Centerline goodness [0,1] 0.6585459379313872 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99326781 -0.09678753 -0.06364931 0.57017659] [ 0.09643013 0.99530199 -0.00867051 0.08803578] [ 0.06418948 0.00247442 0.99793466 0.00218528] [ 0. 0. 0. 1. ]] SLAMing on 18.784860623999997 meters Centerline goodness [0,1] 0.6528946762516309 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99326364 -0.0967453 -0.06377837 0.57051388] [ 0.09638523 0.99530603 -0.00870561 0.08868917] [ 0.06432123 0.00249967 0.99792612 0.00208867] [ 0. 0. 0. 1. ]] SLAMing on 18.814860623999998 meters Centerline goodness [0,1] 0.6533100598095336 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.9932656 -0.09666524 -0.06386924 0.57072881] [ 0.09630142 0.99531369 -0.00875765 0.0892875 ] [ 0.06441649 0.00254798 0.99791985 0.00213251] [ 0. 0. 0. 1. ]] SLAMing on 18.844860624 meters Centerline goodness [0,1] 0.6574832464631422 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99324961 -0.09678948 -0.06392966 0.57066548] [ 0.0964093 0.99530097 -0.00901242 0.09008385] [ 0.06450156 0.00278817 0.99791371 0.00236895] [ 0. 0. 0. 1. ]] SLAMing on 18.874860624 meters Centerline goodness [0,1] 0.6571362752124501 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.9932564 -0.09669913 -0.06396091 0.57084103] [ 0.09630803 0.99530927 -0.00917699 0.09067664] [ 0.06454829 0.00295516 0.99791021 0.00240533] [ 0. 0. 0. 1. ]] SLAMing on 18.904860623999998 meters Centerline goodness [0,1] 0.6496774359369779 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99325431 -0.09677746 -0.06387489 0.57070432] [ 0.09638267 0.99530146 -0.00924069 0.09080221] [ 0.06446906 0.00302192 0.99791513 0.00234315] [ 0. 0. 0. 1. ]] SLAMing on 18.934860624 meters Centerline goodness [0,1] 0.6532500578302105 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99325818 -0.0967447 -0.06386434 0.57095787] [ 0.09634806 0.99530455 -0.00926879 0.09141023] [ 0.06446118 0.00305309 0.99791555 0.00202296] [ 0. 0. 0. 1. ]] SLAMing on 18.964860624 meters Centerline goodness [0,1] 0.6545337620578778 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99327386 -0.09647328 -0.06403082 0.57165293] [ 0.09606562 0.99533041 -0.00942225 0.09331722] [ 0.06464081 0.00320771 0.99790344 0.00176496] [ 0. 0. 0. 1. ]] SLAMing on 18.994860623999998 meters Centerline goodness [0,1] 0.6576813161350119 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 0.99328119 -0.09631088 -0.06416144 0.57208839] [ 0.09589889 0.99534596 -0.00947729 0.09409363] [ 0.0647756 0.0032606 0.99789453 0.00165893] [ 0. 0. 0. 1. ]] SLAMing on 19.024860624 meters Centerline goodness [0,1] 0.6594159944331331 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.00 [[ 9.93362010e-01 -9.50124555e-02 -6.48425034e-02 5.74787471e-01] [ 9.46322092e-02 9.95472362e-01 -8.91748326e-03 9.47655517e-02] [ 6.53961920e-02 2.72209975e-03 9.97855665e-01 6.86542784e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054860624 meters Centerline goodness [0,1] 0.6592139873123937 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:0.00 [[ 9.93381778e-01 -9.45736975e-02 -6.51801966e-02 5.76016384e-01] [ 9.41931475e-02 9.95514214e-01 -8.89386422e-03 9.55749209e-02] [ 6.57289378e-02 2.69547479e-03 9.97833875e-01 3.70906146e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084860623999997 meters Centerline goodness [0,1] 0.6668649305645349 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:0.00 [[ 9.93413360e-01 -9.39595246e-02 -6.55858489e-02 5.77367128e-01] [ 9.35845953e-02 9.95572683e-01 -8.77245345e-03 9.67647021e-02] [ 6.61197351e-02 2.57684733e-03 9.97808369e-01 6.06297027e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114860624 meters Centerline goodness [0,1] 0.667857790206893 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 9.93777819e-01 -8.99227920e-02 -6.57231916e-02 5.76905092e-01] [ 8.97875797e-02 9.95948316e-01 -5.01418340e-03 9.76080179e-02] [ 6.59077914e-02 -9.18142054e-04 9.97825295e-01 -5.80467627e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144860624 meters Centerline goodness [0,1] 0.6674782428512225 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:0.00 [[ 9.93815822e-01 -8.92449523e-02 -6.60715488e-02 5.77921224e-01] [ 8.90930221e-02 9.96009482e-01 -5.24830541e-03 9.93755527e-02] [ 6.62762739e-02 -6.70665000e-04 9.97801085e-01 2.14949485e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174860623999997 meters Centerline goodness [0,1] 0.6710792711415667 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 9.94173884e-01 -8.51541050e-02 -6.60837815e-02 5.77529349e-01] [ 8.52621045e-02 9.96357847e-01 -1.18944627e-03 9.89119106e-02] [ 6.59443805e-02 -4.45192587e-03 9.97813369e-01 -3.81573508e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204860624 meters Centerline goodness [0,1] 0.6709413937517883 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 9.94515971e-01 -8.09553505e-02 -6.62133996e-02 5.77426557e-01] [ 8.13218511e-02 9.96683806e-01 2.85429941e-03 9.84096485e-02] [ 6.57627523e-02 -8.22324257e-03 9.97801402e-01 -8.49921677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234860624 meters Centerline goodness [0,1] 0.682591537516661 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 0.99494454 -0.07517906 -0.06658435 0.57939113] [ 0.07581828 0.99709622 0.00712215 0.10048588] [ 0.06585556 -0.01213445 0.99775538 -0.00217267] [ 0. 0. 0. 1. ]] SLAMing on 19.264860623999997 meters Centerline goodness [0,1] 0.687421350671141 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 0.9952419 -0.07091436 -0.06681848 0.57961033] [ 0.07180231 0.99735845 0.01097939 0.10076377] [ 0.06586338 -0.01572487 0.99770474 -0.00250603] [ 0. 0. 0. 1. ]] SLAMing on 19.294860624 meters Centerline goodness [0,1] 0.6935658036819511 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 0.99553321 -0.06661575 -0.06690268 0.57964708] [ 0.06776464 0.99758782 0.01504997 0.10101525] [ 0.06573873 -0.01951638 0.99764599 -0.00317127] [ 0. 0. 0. 1. ]] SLAMing on 19.324860624 meters Centerline goodness [0,1] 0.7050070167077078 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.00 [[ 0.9958343 -0.0617134 -0.06712305 0.57998675] [ 0.0630997 0.99783144 0.01873085 0.10341239] [ 0.06582155 -0.02288827 0.99756887 -0.00307675] [ 0. 0. 0. 1. ]] SLAMing on 19.354860623999997 meters Centerline goodness [0,1] 0.7154748291359732 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.00 [[ 0.99585813 -0.06109125 -0.06733827 0.58076159] [ 0.0624641 0.99787626 0.01847203 0.10511082] [ 0.06606679 -0.02260174 0.99755919 -0.00281317] [ 0. 0. 0. 1. ]] SLAMing on 19.384860623999998 meters Centerline goodness [0,1] 0.7277246145667198 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.00 [[ 0.99593865 -0.05938036 -0.06767697 0.58316246] [ 0.06078434 0.99797241 0.01887671 0.10628563] [ 0.06641885 -0.02291375 0.99752869 -0.00363801] [ 0. 0. 0. 1. ]] SLAMing on 19.414860624 meters Centerline goodness [0,1] 0.7337078053455436 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.00 [[ 0.99594281 -0.0591417 -0.06782468 0.58399643] [ 0.06054091 0.99798938 0.01876155 0.10697302] [ 0.06657872 -0.0227916 0.99752084 -0.00397942] [ 0. 0. 0. 1. ]] SLAMing on 19.444860623999997 meters Centerline goodness [0,1] 0.7362979936585756 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99594224 -0.05883939 -0.06809534 0.58507611] [ 0.06023561 0.99801025 0.01863377 0.10779421] [ 0.06686345 -0.02265993 0.99750479 -0.00422133] [ 0. 0. 0. 1. ]] SLAMing on 19.474860623999998 meters Centerline goodness [0,1] 0.7323658094120158 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99594808 -0.05856266 -0.06824836 0.58592521] [ 0.05995833 0.9980279 0.01858239 0.10854079] [ 0.06702554 -0.02259916 0.99749529 -0.00460252] [ 0. 0. 0. 1. ]] SLAMing on 19.504860624 meters Centerline goodness [0,1] 0.7397778428917716 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99595458 -0.05801376 -0.06862122 0.58735057] [ 0.05942293 0.99805821 0.01867396 0.10890221] [ 0.06740463 -0.02267609 0.997468 -0.00493619] [ 0. 0. 0. 1. ]] SLAMing on 19.534860623999997 meters Centerline goodness [0,1] 0.7404993991187074 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99595712 -0.05776972 -0.06879012 0.58788953] [ 0.05917574 0.99807469 0.01857835 0.10929456] [ 0.06758441 -0.02257395 0.99745815 -0.00482738] [ 0. 0. 0. 1. ]] SLAMing on 19.564860623999998 meters Centerline goodness [0,1] 0.7451262767688082 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99597344 -0.05718356 -0.06904312 0.5887195 ] [ 0.05858797 0.99811102 0.01848871 0.11027066] [ 0.06785545 -0.02245936 0.99744234 -0.00455914] [ 0. 0. 0. 1. ]] SLAMing on 19.594860624 meters Centerline goodness [0,1] 0.7458821644998532 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99596812 -0.05709599 -0.0691921 0.58890225] [ 0.05849466 0.99811891 0.01835806 0.11051587] [ 0.06801377 -0.02233141 0.99743443 -0.00420491] [ 0. 0. 0. 1. ]] SLAMing on 19.624860624 meters Centerline goodness [0,1] 0.7436989327442578 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99596042 -0.0571196 -0.06928345 0.58880641] [ 0.05849683 0.99812506 0.01801326 0.11053919] [ 0.06812463 -0.02199336 0.99743437 -0.00346777] [ 0. 0. 0. 1. ]] SLAMing on 19.654860623999998 meters Centerline goodness [0,1] 0.7463287918146636 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99597606 -0.05661827 -0.06946982 0.58950433] [ 0.05801477 0.99814889 0.01825055 0.10941002] [ 0.06830791 -0.02220739 0.99741709 -0.00337887] [ 0. 0. 0. 1. ]] SLAMing on 19.684860624 meters Centerline goodness [0,1] 0.749220976376275 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99598159 -0.0562874 -0.0696592 0.59016669] [ 0.05769291 0.99816608 0.01833068 0.1094159 ] [ 0.06849966 -0.02227586 0.99740242 -0.0034137 ] [ 0. 0. 0. 1. ]] SLAMing on 19.714860624 meters Centerline goodness [0,1] 0.7564827348249595 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99601896 -0.05508366 -0.07008586 0.59210689] [ 0.05653189 0.99822285 0.01884921 0.10892079] [ 0.06892303 -0.02273626 0.99736286 -0.00384169] [ 0. 0. 0. 1. ]] SLAMing on 19.744860623999998 meters Centerline goodness [0,1] 0.7576482470829013 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99603123 -0.05471298 -0.07020169 0.59274592] [ 0.05617269 0.99824048 0.01898863 0.10866949] [ 0.06903925 -0.02285669 0.99735207 -0.00400892] [ 0. 0. 0. 1. ]] SLAMing on 19.774860624 meters Centerline goodness [0,1] 0.7640031855588001 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99604116 -0.05422419 -0.07043962 0.59352525] [ 0.05569849 0.99826425 0.01913569 0.1083826 ] [ 0.06927974 -0.02298332 0.99733248 -0.00392111] [ 0. 0. 0. 1. ]] SLAMing on 19.804860624 meters Centerline goodness [0,1] 0.7666383611081626 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.00 [[ 0.99605062 -0.05381031 -0.07062308 0.5942308 ] [ 0.05529452 0.99828488 0.01923055 0.10826364] [ 0.06946716 -0.02305967 0.99731769 -0.00392329] [ 0. 0. 0. 1. ]] SLAMing on 19.834860623999997 meters Centerline goodness [0,1] 0.7723866716267205 Centerline is valid? [False, False] Translation: X:0.60, Y:0.11, Z:-0.00 [[ 0.99608521 -0.05251826 -0.07110621 0.59604912] [ 0.05405754 0.99833955 0.01989785 0.10711839] [ 0.06994314 -0.02366378 0.99727027 -0.00404036] [ 0. 0. 0. 1. ]] SLAMing on 19.864860624 meters Centerline goodness [0,1] 0.7763587605873138 Centerline is valid? [False, False] Translation: X:0.60, Y:0.11, Z:-0.00 [[ 0.99608684 -0.0521792 -0.07133262 0.59672016] [ 0.0537262 0.99835656 0.01994199 0.10683317] [ 0.07017484 -0.02369639 0.99725321 -0.00389451] [ 0. 0. 0. 1. ]] SLAMing on 19.894860624 meters Centerline goodness [0,1] 0.7800889171165449 Centerline is valid? [False, False] Translation: X:0.60, Y:0.11, Z:-0.00 [[ 0.9960932 -0.05167013 -0.07161377 0.59779108] [ 0.05324354 0.99837647 0.02023741 0.10602638] [ 0.07045183 -0.02397132 0.99722711 -0.00406327] [ 0. 0. 0. 1. ]] SLAMing on 19.924860623999997 meters Centerline goodness [0,1] 0.7837082355423116 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.9961142 -0.05077897 -0.07195835 0.59925283] [ 0.05240881 0.99840605 0.02094446 0.10379892] [ 0.07078011 -0.02463432 0.99718771 -0.00438655] [ 0. 0. 0. 1. ]] SLAMing on 19.954860624 meters Centerline goodness [0,1] 0.7850733664097963 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99612323 -0.05042995 -0.0720786 0.59980033] [ 0.05208186 0.99841725 0.02122436 0.1022376 ] [ 0.07089417 -0.02489606 0.99717311 -0.0043727 ] [ 0. 0. 0. 1. ]] SLAMing on 19.984860624 meters Centerline goodness [0,1] 0.7858610876897133 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99612739 -0.05022672 -0.07216307 0.60008545] [ 0.05189204 0.99842361 0.02138962 0.10119824] [ 0.07097499 -0.02505147 0.99716346 -0.00430236] [ 0. 0. 0. 1. ]] SLAMing on 20.014860623999997 meters Centerline goodness [0,1] 0.7875246742992499 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99614436 -0.04946694 -0.07245302 0.60136548] [ 0.05117585 0.99844903 0.02192193 0.09959289] [ 0.07125624 -0.02554525 0.99713088 -0.00458043] [ 0. 0. 0. 1. ]] SLAMing on 20.044860624 meters Centerline goodness [0,1] 0.7874420320404721 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99613977 -0.04919241 -0.07270261 0.60207435] [ 0.05091607 0.99845955 0.02204725 0.09908224] [ 0.07150606 -0.02566387 0.99710995 -0.00452146] [ 0. 0. 0. 1. ]] SLAMing on 20.074860624 meters Centerline goodness [0,1] 0.7891526671398901 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99613026 -0.0491205 -0.07288131 0.60256714] [ 0.05085667 0.99846009 0.0221595 0.0983696 ] [ 0.0716806 -0.02578025 0.99709441 -0.00454991] [ 0. 0. 0. 1. ]] SLAMing on 20.104860623999997 meters Centerline goodness [0,1] 0.7891526671398901 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99613026 -0.0491205 -0.07288131 0.60256714] [ 0.05085667 0.99846009 0.0221595 0.0983696 ] [ 0.0716806 -0.02578025 0.99709441 -0.00454991] [ 0. 0. 0. 1. ]] SLAMing on 20.134860623999998 meters Centerline goodness [0,1] 0.7910048047890357 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.00 [[ 0.99611034 -0.04947964 -0.07291061 0.60225369] [ 0.0512296 0.99843725 0.02232898 0.09593101] [ 0.07169184 -0.02597731 0.99708849 -0.00427803] [ 0. 0. 0. 1. ]] SLAMing on 20.164860624 meters Centerline goodness [0,1] 0.7921822567114094 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99609413 -0.04988241 -0.07285762 0.60174508] [ 0.05163516 0.99841535 0.02237392 0.0943771 ] [ 0.0716261 -0.02604854 0.99709136 -0.00402201] [ 0. 0. 0. 1. ]] SLAMing on 20.194860623999997 meters Centerline goodness [0,1] 0.7887021621904613 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99606396 -0.0506203 -0.0727611 0.6009074 ] [ 0.05235825 0.99838204 0.02217907 0.09300717] [ 0.07152066 -0.02590142 0.99710276 -0.0035943 ] [ 0. 0. 0. 1. ]] SLAMing on 20.224860623999998 meters Centerline goodness [0,1] 0.7845583629150136 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99582238 -0.05561023 -0.07242433 0.59987468] [ 0.05704912 0.99820997 0.01795125 0.09190099] [ 0.07129642 -0.022008 0.99721235 -0.00280763] [ 0. 0. 0. 1. ]] SLAMing on 20.254860624 meters Centerline goodness [0,1] 0.7802880100177397 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99558624 -0.05969349 -0.07242052 0.60031014] [ 0.06084261 0.99805246 0.0137645 0.09274883] [ 0.07145783 -0.01811 0.9972792 -0.00235457] [ 0. 0. 0. 1. ]] SLAMing on 20.284860623999997 meters Centerline goodness [0,1] 0.7765198834062045 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99533145 -0.06374339 -0.07247128 0.60103851] [ 0.06460679 0.99786433 0.00963033 0.09364154] [ 0.07170264 -0.01426751 0.997324 -0.00212125] [ 0. 0. 0. 1. ]] SLAMing on 20.314860623999998 meters Centerline goodness [0,1] 0.7622590463307406 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99502979 -0.06879993 -0.07198811 0.60024364] [ 0.06937349 0.99757562 0.00549468 0.09271832] [ 0.07143555 -0.01046144 0.99739035 -0.00202196] [ 0. 0. 0. 1. ]] SLAMing on 20.344860624 meters Centerline goodness [0,1] 0.7581984225819842 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99496942 -0.06984824 -0.07181275 0.59915463] [ 0.07039838 0.99750563 0.0051554 0.09120014] [ 0.07127353 -0.01018497 0.99740481 -0.00155902] [ 0. 0. 0. 1. ]] SLAMing on 20.374860624 meters Centerline goodness [0,1] 0.7475892184129129 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.00 [[ 0.99492476 -0.07089581 -0.07140387 0.59754597] [ 0.07141612 0.99743526 0.00475731 0.09025884] [ 0.07088346 -0.00983255 0.99743614 -0.00103224] [ 0. 0. 0. 1. ]] SLAMing on 20.404860623999998 meters Centerline goodness [0,1] 0.7398437297199076 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.00 [[ 9.94799013e-01 -7.30341082e-02 -7.09995934e-02 5.94777651e-01] [ 7.34708589e-02 9.97291024e-01 3.55603852e-03 9.01081425e-02] [ 7.05475451e-02 -8.75394472e-03 9.97470006e-01 4.83110229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434860624 meters Centerline goodness [0,1] 0.7293848592738896 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.00 [[ 9.94764355e-01 -7.37204302e-02 -7.07755399e-02 5.93859852e-01] [ 7.41378119e-02 9.97242595e-01 3.28502603e-03 8.99771203e-02] [ 7.03382095e-02 -8.51497046e-03 9.97486858e-01 6.99331138e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464860624 meters Centerline goodness [0,1] 0.7291672073287832 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:0.00 [[ 9.94711949e-01 -7.46260976e-02 -7.05626315e-02 5.93356203e-01] [ 7.50387176e-02 9.97175450e-01 3.21128159e-03 8.91862604e-02] [ 7.01236784e-02 -8.48922955e-03 9.97502182e-01 1.74086741e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494860623999998 meters Centerline goodness [0,1] 0.7206442091090339 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94700137e-01 -7.48350353e-02 -7.05078400e-02 5.93639067e-01] [ 7.52524990e-02 9.97159118e-01 3.27953928e-03 8.87629310e-02] [ 7.00621111e-02 -8.56804933e-03 9.97505834e-01 -3.88975158e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524860624 meters Centerline goodness [0,1] 0.7211106786038666 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94677663e-01 -7.52902896e-02 -7.03400249e-02 5.93062852e-01] [ 7.56919775e-02 9.97126555e-01 3.05902911e-03 8.86706567e-02] [ 6.99075915e-02 -8.36692351e-03 9.97518382e-01 -2.96144245e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554860624 meters Centerline goodness [0,1] 0.7152105235900357 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94669371e-01 -7.56152605e-02 -7.01083065e-02 5.92736922e-01] [ 7.60118611e-02 9.97102392e-01 3.00268132e-03 8.86126136e-02] [ 6.96781116e-02 -8.31573799e-03 9.97534866e-01 -6.27556488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584860623999997 meters Centerline goodness [0,1] 0.707711862208503 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94625939e-01 -7.64352420e-02 -6.98347733e-02 5.91894179e-01] [ 7.67981601e-02 9.97043468e-01 2.52285881e-03 8.94255813e-02] [ 6.94354693e-02 -7.87248291e-03 9.97555382e-01 -6.89875007e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614860624 meters Centerline goodness [0,1] 0.7053890355645287 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 0.99461219 -0.07669369 -0.06974716 0.59187613] [ 0.07704869 0.99702442 0.00240986 0.08994433] [ 0.0693548 -0.0077708 0.99756179 -0.00103646] [ 0. 0. 0. 1. ]] SLAMing on 20.644860624 meters Centerline goodness [0,1] 0.7017489231407961 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 0.99458535 -0.07699677 -0.06979591 0.59188172] [ 0.077334 0.99700295 0.00213848 0.09084932] [ 0.06942208 -0.0075245 0.997559 -0.00104345] [ 0. 0. 0. 1. ]] SLAMing on 20.674860623999997 meters Centerline goodness [0,1] 0.7021127309581352 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94557024e-01 -7.74176128e-02 -6.97340561e-02 5.91491148e-01] [ 7.77263114e-02 9.96973250e-01 1.72024929e-03 9.20287324e-02] [ 6.93898110e-02 -7.13105698e-03 9.97564134e-01 -8.65763213e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704860624 meters Centerline goodness [0,1] 0.699906073888541 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.00 [[ 9.94511179e-01 -7.82336834e-02 -6.94766522e-02 5.90295314e-01] [ 7.84711198e-02 9.96916148e-01 6.90642698e-04 9.47291327e-02] [ 6.92083650e-02 -6.13876258e-03 9.97583339e-01 -1.87176327e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734860624 meters Centerline goodness [0,1] 0.7003466159339085 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.00 [[ 9.94489994e-01 -7.86402410e-02 -6.93207388e-02 5.89689025e-01] [ 7.88429749e-02 9.96887029e-01 1.89169743e-04 9.63178807e-02] [ 6.90900690e-02 -5.65358068e-03 9.97594406e-01 6.52006337e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764860623999997 meters Centerline goodness [0,1] 0.7032028096660901 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.00 [[ 0.99443504 -0.0795979 -0.06901534 0.58797656] [ 0.07968337 0.99681907 -0.00151797 0.10120972] [ 0.06891663 -0.00398985 0.99761444 0.00158303] [ 0. 0. 0. 1. ]] SLAMing on 20.794860624 meters Centerline goodness [0,1] 0.7010848152136797 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:0.00 [[ 0.99440411 -0.08014477 -0.06882787 0.58717523] [ 0.08018151 0.99677778 -0.00223308 0.1037008 ] [ 0.06878506 -0.00329814 0.99762605 0.00188565] [ 0. 0. 0. 1. ]] SLAMing on 20.824860624 meters Centerline goodness [0,1] 0.6994506794228191 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:0.00 [[ 0.99437778 -0.0806794 -0.06858334 0.58649634] [ 0.08066842 0.99673667 -0.00293418 0.10587737] [ 0.06859626 -0.00261483 0.99764108 0.00200499] [ 0. 0. 0. 1. ]] SLAMing on 20.854860623999997 meters Centerline goodness [0,1] 0.6953801478352692 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:0.00 [[ 0.99431926 -0.08172117 -0.06819718 0.58527007] [ 0.08162283 0.99665431 -0.00423189 0.10964951] [ 0.06831484 -0.0013586 0.99766289 0.00229203] [ 0. 0. 0. 1. ]] SLAMing on 20.884860623999998 meters Centerline goodness [0,1] 0.6984164687252573 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:0.00 [[ 9.94297110e-01 -8.22127598e-02 -6.79287766e-02 5.84774352e-01] [ 8.20854084e-02 9.96614364e-01 -4.66861017e-03 1.11444747e-01] [ 6.80826138e-02 -9.33975762e-04 9.97679250e-01 1.92695806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914860624 meters Centerline goodness [0,1] 0.6930501418608968 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.00 [[ 9.94224857e-01 -8.35044413e-02 -6.74087610e-02 5.83188571e-01] [ 8.32873689e-02 9.96507333e-01 -6.02912147e-03 1.15851034e-01] [ 6.76767830e-02 3.80004085e-04 9.97707226e-01 2.05087979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944860623999997 meters Centerline goodness [0,1] 0.6921308529753726 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.00 [[ 9.94192562e-01 -8.39931001e-02 -6.72778491e-02 5.82720586e-01] [ 8.37401694e-02 9.96465926e-01 -6.57584580e-03 1.17871588e-01] [ 6.75924099e-02 9.03798502e-04 9.97712609e-01 2.16609490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974860623999998 meters Centerline goodness [0,1] 0.690642699497434 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.00 [[ 0.99414724 -0.08473049 -0.06702245 0.58164494] [ 0.08442677 0.99640253 -0.00735627 0.12008822] [ 0.06740464 0.00165473 0.99772435 0.00259025] [ 0. 0. 0. 1. ]] SLAMing on 21.004860624 meters Centerline goodness [0,1] 0.6899550543868513 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.00 [[ 0.99411476 -0.08515279 -0.06696894 0.58154994] [ 0.0848239 0.99636586 -0.00774448 0.12178645] [ 0.06738503 0.00201833 0.997725 0.00235298] [ 0. 0. 0. 1. ]] SLAMing on 21.034860623999997 meters Centerline goodness [0,1] 0.6849950667982188 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:0.00 [[ 0.99403092 -0.08652475 -0.06645298 0.57980697] [ 0.08611639 0.99624452 -0.00899062 0.12573099] [ 0.06698133 0.00321426 0.99774905 0.00254307] [ 0. 0. 0. 1. ]] SLAMing on 21.064860623999998 meters Centerline goodness [0,1] 0.688579834180262 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:0.00 [[ 0.99400696 -0.08696373 -0.06623803 0.57942801] [ 0.08652857 0.99620487 -0.00941594 0.12749073] [ 0.06680549 0.00362803 0.99775942 0.00223344] [ 0. 0. 0. 1. ]] SLAMing on 21.094860624 meters Centerline goodness [0,1] 0.6843160314320842 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:0.00 [[ 0.9939834 -0.08729144 -0.06616038 0.57941799] [ 0.08683015 0.99617471 -0.00982157 0.12921999] [ 0.06676463 0.00401776 0.99776066 0.00191849] [ 0. 0. 0. 1. ]] SLAMing on 21.124860623999997 meters Centerline goodness [0,1] 0.6899311969587449 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:0.00 [[ 0.99395951 -0.08770309 -0.06597467 0.57939114] [ 0.08719296 0.99613528 -0.01057788 0.13325674] [ 0.06664741 0.00476146 0.99776523 0.00130314] [ 0. 0. 0. 1. ]] SLAMing on 21.154860623999998 meters Centerline goodness [0,1] 0.6874211303530675 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:0.00 [[ 0.99420561 -0.08508606 -0.06569293 0.57727338] [ 0.08479433 0.99637231 -0.0072214 0.13385246] [ 0.06606906 0.00160917 0.99781376 0.00112611] [ 0. 0. 0. 1. ]] SLAMing on 21.184860624 meters Centerline goodness [0,1] 0.6863236800949145 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.00 [[ 9.94450710e-01 -8.26477611e-02 -6.50932579e-02 5.74184150e-01] [ 8.25215707e-02 9.96578526e-01 -4.62950178e-03 1.37384564e-01] [ 6.52531610e-02 -7.67786548e-04 9.97868446e-01 1.51477605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214860624 meters Centerline goodness [0,1] 0.6888906891337222 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.00 [[ 9.94434005e-01 -8.29095873e-02 -6.50154575e-02 5.73904336e-01] [ 8.27283799e-02 9.96557071e-01 -5.47902507e-03 1.40367771e-01] [ 6.52458776e-02 6.99053807e-05 9.97869215e-01 1.89048900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244860623999998 meters Centerline goodness [0,1] 0.6809035018822955 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.00 [[ 9.94415593e-01 -8.30595361e-02 -6.51056217e-02 5.73930890e-01] [ 8.28279446e-02 9.96544245e-01 -6.25296207e-03 1.43070497e-01] [ 6.54000008e-02 8.25478156e-04 9.97858787e-01 2.40030284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274860624 meters Centerline goodness [0,1] 0.6882180793409929 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.00 [[ 0.99439913 -0.08316444 -0.06522303 0.57426599] [ 0.08288805 0.99653472 -0.00693691 0.14602989] [ 0.06557392 0.00149185 0.9978466 0.00252912] [ 0. 0. 0. 1. ]] SLAMing on 21.304860624 meters Centerline goodness [0,1] 0.692755604155276 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.00 [[ 0.99467705 -0.0800767 -0.06484824 0.5728097 ] [ 0.07999371 0.99678782 -0.00387942 0.1494841 ] [ 0.06495059 -0.00132868 0.9978876 0.00175284] [ 0. 0. 0. 1. ]] SLAMing on 21.334860623999997 meters Centerline goodness [0,1] 0.6935259263304481 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.00 [[ 9.94682457e-01 -7.97258928e-02 -6.51965605e-02 5.74191993e-01] [ 7.96091194e-02 9.96816485e-01 -4.39117985e-03 1.52518807e-01] [ 6.53390970e-02 -8.22411197e-04 9.97862779e-01 1.50009870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364860624 meters Centerline goodness [0,1] 0.6948507258285401 Centerline is valid? [False, False] Translation: X:0.58, Y:0.16, Z:0.00 [[ 9.94685899e-01 -7.94021266e-02 -6.55382658e-02 5.75464446e-01] [ 7.92517095e-02 9.96842614e-01 -4.89584970e-03 1.55465583e-01] [ 6.57200771e-02 -3.24186945e-04 9.97838046e-01 1.32240613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394860624 meters Centerline goodness [0,1] 0.694952611858056 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.00 [[ 9.94959553e-01 -7.61607759e-02 -6.52305415e-02 5.74448337e-01] [ 7.62005382e-02 9.97090736e-01 -1.88179657e-03 1.59577660e-01] [ 6.51840877e-02 -3.09829090e-03 9.97868446e-01 3.81216890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424860623999997 meters Centerline goodness [0,1] 0.6955309575730808 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.00 [[ 9.94944992e-01 -7.62646970e-02 -6.53311534e-02 5.74713084e-01] [ 7.62518115e-02 9.97084952e-01 -2.69433315e-03 1.62866409e-01] [ 6.53461924e-02 -2.30090551e-03 9.97860001e-01 6.31544981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454860624 meters Centerline goodness [0,1] 0.6978774107736644 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:0.00 [[ 9.94930867e-01 -7.62623520e-02 -6.55486347e-02 5.75456491e-01] [ 7.62062484e-02 9.97086416e-01 -3.35943555e-03 1.65938819e-01] [ 6.56138517e-02 -1.65280942e-03 9.97843721e-01 6.23487093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484860624 meters Centerline goodness [0,1] 0.6980561794637163 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:0.00 [[ 9.94906106e-01 -7.65128262e-02 -6.56325215e-02 5.75539406e-01] [ 7.64036609e-02 9.97068226e-01 -4.17535600e-03 1.68750919e-01] [ 6.57595701e-02 -8.60477737e-04 9.97835126e-01 9.87437918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514860623999997 meters Centerline goodness [0,1] 0.698573771859101 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.00 [[ 9.94862256e-01 -7.72393533e-02 -6.54459636e-02 5.74560304e-01] [ 7.70299719e-02 9.97012367e-01 -5.72042687e-03 1.73779246e-01] [ 6.56922772e-02 6.49736042e-04 9.97839718e-01 1.97793822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544860624 meters Centerline goodness [0,1] 0.6962958840063451 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99483309 -0.07792986 -0.06506958 0.57319306] [ 0.07766615 0.99695773 -0.00657642 0.17618391] [ 0.06538413 0.00148874 0.99785906 0.0025426 ] [ 0. 0. 0. 1. ]] SLAMing on 21.574860624 meters Centerline goodness [0,1] 0.7000027880781777 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99480326 -0.07843706 -0.06491606 0.57243789] [ 0.07813045 0.99691677 -0.00725234 0.17822649] [ 0.06528477 0.00214273 0.99786437 0.0029939 ] [ 0. 0. 0. 1. ]] SLAMing on 21.604860623999997 meters Centerline goodness [0,1] 0.6967637720715201 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99473227 -0.07984941 -0.06427895 0.56979482] [ 0.0794715 0.99680159 -0.00841886 0.18102236] [ 0.0647456 0.00326617 0.99789646 0.00390034] [ 0. 0. 0. 1. ]] SLAMing on 21.634860623999998 meters Centerline goodness [0,1] 0.6935623516268677 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99469139 -0.0805946 -0.0639808 0.56846798] [ 0.08017868 0.99673946 -0.00904606 0.18220274] [ 0.06450125 0.00386814 0.99791013 0.00448119] [ 0. 0. 0. 1. ]] SLAMing on 21.664860624 meters Centerline goodness [0,1] 0.6943287586997233 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99463051 -0.08180131 -0.06339314 0.56667157] [ 0.08136817 0.99663989 -0.00938866 0.18295884] [ 0.06394814 0.00418007 0.99794447 0.00409525] [ 0. 0. 0. 1. ]] SLAMing on 21.694860623999997 meters Centerline goodness [0,1] 0.6890283185344948 Centerline is valid? [False, False] Translation: X:0.57, Y:0.18, Z:0.00 [[ 0.99458807 -0.08255173 -0.06308557 0.56564251] [ 0.08210946 0.99657731 -0.0095759 0.18326743] [ 0.06366015 0.00434415 0.99796218 0.0038972 ] [ 0. 0. 0. 1. ]] SLAMing on 21.724860623999998 meters Centerline goodness [0,1] 0.681171993059831 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99454973 -0.08320671 -0.06282894 0.5646984 ] [ 0.08275363 0.99652201 -0.00978404 0.18378071] [ 0.06342452 0.00453139 0.99797635 0.00383982] [ 0. 0. 0. 1. ]] SLAMing on 21.754860624 meters Centerline goodness [0,1] 0.6831090344422373 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99448166 -0.08444704 -0.06224885 0.56294792] [ 0.08399051 0.99641718 -0.0099192 0.18408266] [ 0.06286347 0.00463615 0.99801137 0.00318683] [ 0. 0. 0. 1. ]] SLAMing on 21.784860623999997 meters Centerline goodness [0,1] 0.6812250258473748 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.9944643 -0.08481078 -0.06203128 0.56253654] [ 0.08435939 0.99638656 -0.00986469 0.18405678] [ 0.06264376 0.00457716 0.99802545 0.00268437] [ 0. 0. 0. 1. ]] SLAMing on 21.814860623999998 meters Centerline goodness [0,1] 0.6783504577395784 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99443904 -0.08518958 -0.0619171 0.56219848] [ 0.08473177 0.99635374 -0.00998718 0.18440351] [ 0.06254214 0.00468529 0.99803133 0.00247416] [ 0. 0. 0. 1. ]] SLAMing on 21.844860624 meters Centerline goodness [0,1] 0.686382239165779 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 0.99477365 -0.08099634 -0.062169 0.56233557] [ 0.08077503 0.99671388 -0.00606912 0.18535977] [ 0.06245628 0.0010157 0.99804718 0.00196705] [ 0. 0. 0. 1. ]] SLAMing on 21.874860623999997 meters Centerline goodness [0,1] 0.688511690647482 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99509247 -0.07700439 -0.06213932 0.56165466] [ 0.0770378 0.99702643 -0.00186158 0.18451783] [ 0.0620979 -0.00293464 0.99806575 0.00143486] [ 0. 0. 0. 1. ]] SLAMing on 21.904860623999998 meters Centerline goodness [0,1] 0.6901233872330835 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:-0.00 [[ 9.95396981e-01 -7.36102482e-02 -6.13708497e-02 5.62090614e-01] [ 7.38002664e-02 9.97272695e-01 8.32183566e-04 1.83851758e-01] [ 6.11422154e-02 -5.35753807e-03 9.98114686e-01 -1.94642989e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934860624 meters Centerline goodness [0,1] 0.6955442752397067 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:-0.00 [[ 9.95411627e-01 -7.32667681e-02 -6.15440724e-02 5.62955853e-01] [ 7.34604922e-02 9.97297733e-01 8.87922438e-04 1.84263000e-01] [ 6.13127087e-02 -5.40490617e-03 9.98103972e-01 -5.47583766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964860624 meters Centerline goodness [0,1] 0.6968320686056024 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:-0.00 [[ 9.95420430e-01 -7.31060178e-02 -6.15928359e-02 5.63405091e-01] [ 7.32929686e-02 9.97310150e-01 7.78415635e-04 1.84861948e-01] [ 6.13702535e-02 -5.28917261e-03 9.98101055e-01 -7.17216528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994860623999998 meters Centerline goodness [0,1] 0.6980493855000564 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:-0.00 [[ 9.95420789e-01 -7.30918403e-02 -6.16038676e-02 5.63367140e-01] [ 7.32650694e-02 9.97312349e-01 5.54807203e-04 1.85401721e-01] [ 6.13977460e-02 -5.06567826e-03 9.98100524e-01 -4.51462217e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024860624 meters Centerline goodness [0,1] 0.6980493855000564 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:-0.00 [[ 9.95420789e-01 -7.30918403e-02 -6.16038676e-02 5.63367140e-01] [ 7.32650694e-02 9.97312349e-01 5.54807203e-04 1.85401721e-01] [ 6.13977460e-02 -5.06567826e-03 9.98100524e-01 -4.51462217e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054860624 meters Centerline goodness [0,1] 0.6952104089639017 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 9.95405574e-01 -7.34908407e-02 -6.13745764e-02 5.62182996e-01] [ 7.36265995e-02 9.97285877e-01 -4.96932439e-05 1.86384555e-01] [ 6.12116503e-02 -4.46933643e-03 9.98114802e-01 5.05206567e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084860623999997 meters Centerline goodness [0,1] 0.6926570566165478 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 9.95391698e-01 -7.37675021e-02 -6.12676425e-02 5.61564951e-01] [ 7.38874590e-02 9.97266538e-01 -3.08451884e-04 1.86527953e-01] [ 6.11229234e-02 -4.21987998e-03 9.98121326e-01 9.96984355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114860624 meters Centerline goodness [0,1] 0.6923836667889494 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 9.95381141e-01 -7.39541828e-02 -6.12140789e-02 5.61188229e-01] [ 7.40691200e-02 9.97253033e-01 -3.92521666e-04 1.86384797e-01] [ 6.10749545e-02 -4.14336430e-03 9.98124583e-01 1.23631721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144860624 meters Centerline goodness [0,1] 0.6889771542860362 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 9.95352352e-01 -7.46381156e-02 -6.08510180e-02 5.59887582e-01] [ 7.47509999e-02 9.97202141e-01 -4.22425877e-04 1.85578350e-01] [ 6.07122945e-02 -4.12821185e-03 9.98146770e-01 1.26781810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174860623999997 meters Centerline goodness [0,1] 0.6896309017708833 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95346368e-01 -7.48676637e-02 -6.06666384e-02 5.59407971e-01] [ 7.49922263e-02 9.97184093e-01 -2.24230284e-04 1.84315554e-01] [ 6.05125944e-02 -4.32633948e-03 9.98158058e-01 1.12720018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204860624 meters Centerline goodness [0,1] 0.6832139345413681 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95301861e-01 -7.56964209e-02 -6.03676928e-02 5.58265936e-01] [ 7.58344940e-02 9.97120419e-01 -3.87549995e-06 1.82144893e-01] [ 6.01941525e-02 -4.57409614e-03 9.98176208e-01 8.26967773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234860624 meters Centerline goodness [0,1] 0.6821709786276715 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95295145e-01 -7.59134957e-02 -6.02056106e-02 5.57786491e-01] [ 7.60604082e-02 9.97103200e-01 1.48915331e-04 1.81300307e-01] [ 6.00199023e-02 -4.72747803e-03 9.98185986e-01 7.16597527e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264860623999997 meters Centerline goodness [0,1] 0.6800850421014351 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95282549e-01 -7.61573864e-02 -6.01057423e-02 5.57322418e-01] [ 7.63064025e-02 9.97084399e-01 1.84489446e-04 1.80417878e-01] [ 5.99164477e-02 -4.77007209e-03 9.98191998e-01 8.81309392e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294860624 meters Centerline goodness [0,1] 0.676424537270033 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95268952e-01 -7.65489442e-02 -5.98328780e-02 5.56533388e-01] [ 7.67193663e-02 9.97052573e-01 5.52898980e-04 1.77564262e-01] [ 5.96142011e-02 -5.14062367e-03 9.98208255e-01 7.36078660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324860624 meters Centerline goodness [0,1] 0.6717088554603556 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 9.95264385e-01 -7.66861493e-02 -5.97330536e-02 5.56298085e-01] [ 7.68762518e-02 9.97040247e-01 8.87587452e-04 1.75696907e-01] [ 5.94881928e-02 -5.47543745e-03 9.98213992e-01 5.42973617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354860623999997 meters Centerline goodness [0,1] 0.6799431406432912 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:0.00 [[ 9.95254471e-01 -7.69559295e-02 -5.95510138e-02 5.55692037e-01] [ 7.71630762e-02 9.97017783e-01 1.18329423e-03 1.73868174e-01] [ 5.92823582e-02 -5.77281828e-03 9.98224562e-01 4.82546182e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384860623999998 meters Centerline goodness [0,1] 0.6676031264777058 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.00 [[ 9.95244440e-01 -7.72292738e-02 -5.93645013e-02 5.54998488e-01] [ 7.74527474e-02 9.96994941e-01 1.46924395e-03 1.71896810e-01] [ 5.90726388e-02 -6.06020059e-03 9.98235292e-01 5.33785878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414860624 meters Centerline goodness [0,1] 0.6726033847602693 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.00 [[ 9.95191817e-01 -7.78585997e-02 -5.94246310e-02 5.54360148e-01] [ 7.81148016e-02 9.96942370e-01 1.99705774e-03 1.68007102e-01] [ 5.90874443e-02 -6.62939878e-03 9.98230797e-01 6.73496801e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444860623999997 meters Centerline goodness [0,1] 0.6775433454082902 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.00 [[ 9.95178823e-01 -7.81025042e-02 -5.93220801e-02 5.53816156e-01] [ 7.83759071e-02 9.96921241e-01 2.29252891e-03 1.65981656e-01] [ 5.89603894e-02 -6.93089806e-03 9.98236262e-01 7.89597079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474860623999998 meters Centerline goodness [0,1] 0.668263143407652 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:0.00 [[ 9.95149485e-01 -7.84328993e-02 -5.93783062e-02 5.53628464e-01] [ 7.87432725e-02 9.96890705e-01 2.90171260e-03 1.61656892e-01] [ 5.89660917e-02 -7.56327995e-03 9.98231334e-01 7.26242541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504860624 meters Centerline goodness [0,1] 0.6651443035188599 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:0.00 [[ 9.95154485e-01 -7.84395316e-02 -5.92856686e-02 5.53472319e-01] [ 7.87801730e-02 9.96886122e-01 3.42683027e-03 1.59317519e-01] [ 5.88322614e-02 -8.08076074e-03 9.98235176e-01 4.80573248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534860623999997 meters Centerline goodness [0,1] 0.660976077603924 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:0.00 [[ 9.95142279e-01 -7.86656792e-02 -5.91908379e-02 5.53058359e-01] [ 7.90279751e-02 9.96865151e-01 3.80135051e-03 1.57040208e-01] [ 5.87062477e-02 -8.46061667e-03 9.98239447e-01 4.74236135e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564860623999998 meters Centerline goodness [0,1] 0.6575458546319328 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 9.94835270e-01 -8.22428901e-02 -5.94885909e-02 5.54226787e-01] [ 8.24080144e-02 9.96598623e-01 3.23563102e-04 1.54505715e-01] [ 5.92596370e-02 -5.22422865e-03 9.98228933e-01 1.26815419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594860624 meters Centerline goodness [0,1] 0.6553481400735794 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 9.94841115e-01 -8.22164516e-02 -5.94273566e-02 5.54019124e-01] [ 8.24054675e-02 9.96598616e-01 7.32747442e-04 1.52150042e-01] [ 5.91649775e-02 -5.62610639e-03 9.98232364e-01 1.32176370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624860623999997 meters Centerline goodness [0,1] 0.6576647916552891 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 0.99485485 -0.08211769 -0.05933393 0.5538178 ] [ 0.08232957 0.99660452 0.001131 0.150144 ] [ 0.05903958 -0.00601012 0.99823755 0.00133679] [ 0. 0. 0. 1. ]] SLAMing on 22.654860623999998 meters Centerline goodness [0,1] 0.6559537069738379 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 0.99487614 -0.08177216 -0.05945404 0.5539535 ] [ 0.08201095 0.99663017 0.00158337 0.14809531] [ 0.05912421 -0.00645114 0.99822979 0.00179229] [ 0. 0. 0. 1. ]] SLAMing on 22.684860624 meters Centerline goodness [0,1] 0.6600520494469746 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 0.99488351 -0.08154462 -0.05964286 0.55418359] [ 0.08178608 0.9966486 0.00161446 0.14747948] [ 0.05931132 -0.00648415 0.99821847 0.00234301] [ 0. 0. 0. 1. ]] SLAMing on 22.714860624 meters Centerline goodness [0,1] 0.6680488928639186 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 0.99489562 -0.08124671 -0.05984715 0.55455251] [ 0.08150161 0.99667154 0.00182649 0.14628316] [ 0.05949955 -0.00669481 0.99820588 0.00268542] [ 0. 0. 0. 1. ]] SLAMing on 22.744860623999998 meters Centerline goodness [0,1] 0.6649625361789607 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:0.00 [[ 0.99492874 -0.08069475 -0.06004291 0.55492412] [ 0.0809865 0.99671222 0.00243746 0.1430033 ] [ 0.05964881 -0.00728776 0.99819282 0.00316031] [ 0. 0. 0. 1. ]] SLAMing on 22.774860624 meters Centerline goodness [0,1] 0.6680891289669142 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:0.00 [[ 0.99494058 -0.08048052 -0.06013431 0.55525165] [ 0.08079273 0.99672706 0.00277456 0.14157716] [ 0.0597142 -0.00761894 0.99818644 0.00308062] [ 0. 0. 0. 1. ]] SLAMing on 22.804860624 meters Centerline goodness [0,1] 0.665175322750182 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:0.00 [[ 0.99497803 -0.07973157 -0.06051116 0.5563727 ] [ 0.08009721 0.99678042 0.00363726 0.13902284] [ 0.06002633 -0.00846577 0.99816089 0.00295786] [ 0. 0. 0. 1. ]] SLAMing on 22.834860623999997 meters Centerline goodness [0,1] 0.665551929663691 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:0.00 [[ 0.99499276 -0.07949221 -0.06058373 0.55667307] [ 0.07987843 0.99679668 0.00397625 0.13777914] [ 0.06007358 -0.00879567 0.9981552 0.00288762] [ 0. 0. 0. 1. ]] SLAMing on 22.864860624 meters Centerline goodness [0,1] 0.6609257265877287 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:0.00 [[ 0.99500656 -0.07919291 -0.06074887 0.55727339] [ 0.0796075 0.99681644 0.00443122 0.13578996] [ 0.06020455 -0.00924516 0.99814325 0.00278292] [ 0. 0. 0. 1. ]] SLAMing on 22.894860624 meters Centerline goodness [0,1] 0.6601377240695587 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.00 [[ 0.99500695 -0.07907024 -0.06090205 0.55737072] [ 0.07953072 0.996819 0.00517073 0.13107232] [ 0.06029947 -0.00998849 0.99813035 0.00310598] [ 0. 0. 0. 1. ]] SLAMing on 22.924860623999997 meters Centerline goodness [0,1] 0.6586313111021829 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.00 [[ 0.9950099 -0.07912383 -0.06078417 0.5569215 ] [ 0.07959661 0.99681257 0.0053927 0.12950328] [ 0.06016374 -0.010204 0.99813636 0.00332033] [ 0. 0. 0. 1. ]] SLAMing on 22.954860624 meters Centerline goodness [0,1] 0.6593812776215348 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.00 [[ 0.9950078 -0.07911129 -0.06083482 0.55680998] [ 0.0795942 0.99681189 0.00555226 0.12817091] [ 0.06020162 -0.01036664 0.9981324 0.00368925] [ 0. 0. 0. 1. ]] SLAMing on 22.984860624 meters Centerline goodness [0,1] 0.6719716357432288 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.00 [[ 0.99500813 -0.07904817 -0.06091144 0.55698156] [ 0.07954657 0.99681429 0.00579763 0.12694982] [ 0.0602591 -0.01061399 0.99812634 0.00373452] [ 0. 0. 0. 1. ]] SLAMing on 23.014860623999997 meters Centerline goodness [0,1] 0.6708357779081551 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:0.00 [[ 0.99502486 -0.07861633 -0.06119637 0.55771757] [ 0.07915709 0.99684123 0.00645912 0.12417892] [ 0.06049528 -0.01127111 0.99810485 0.00378404] [ 0. 0. 0. 1. ]] SLAMing on 23.044860624 meters Centerline goodness [0,1] 0.6581064521285098 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:0.00 [[ 0.99504552 -0.07824203 -0.06134004 0.55846604] [ 0.07882556 0.9968628 0.00714801 0.12175684] [ 0.06058833 -0.01194776 0.99809133 0.00332512] [ 0. 0. 0. 1. ]] SLAMing on 23.074860624 meters Centerline goodness [0,1] 0.6518054042564498 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:0.00 [[ 0.99503641 -0.07838389 -0.06130663 0.55822226] [ 0.07898264 0.99684852 0.0074012 0.11956191] [ 0.06053329 -0.01220663 0.99809154 0.00350067] [ 0. 0. 0. 1. ]] SLAMing on 23.104860623999997 meters Centerline goodness [0,1] 0.6695962938451356 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:0.00 [[ 0.9949968 -0.07877072 -0.06145363 0.55825836] [ 0.07940812 0.99681012 0.00799581 0.11550162] [ 0.06062776 -0.01283573 0.99807791 0.00350727] [ 0. 0. 0. 1. ]] SLAMing on 23.134860623999998 meters Centerline goodness [0,1] 0.668870857263291 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.00 [[ 0.99498016 -0.07897265 -0.06146375 0.5580665 ] [ 0.07961953 0.99679206 0.00814359 0.11406854] [ 0.06062346 -0.01299642 0.99807609 0.00370819] [ 0. 0. 0. 1. ]] SLAMing on 23.164860624 meters Centerline goodness [0,1] 0.6629204590423428 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.00 [[ 0.99492013 -0.07988723 -0.06125332 0.55649062] [ 0.08052883 0.99671958 0.00807443 0.11096791] [ 0.06040734 -0.01296607 0.99808959 0.00471889] [ 0. 0. 0. 1. ]] SLAMing on 23.194860623999997 meters Centerline goodness [0,1] 0.6609278486003417 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.00 [[ 0.99491041 -0.08010665 -0.06112449 0.55601495] [ 0.08075547 0.99670009 0.00821515 0.10878516] [ 0.0602647 -0.01310947 0.99809634 0.00498625] [ 0. 0. 0. 1. ]] SLAMing on 23.224860623999998 meters Centerline goodness [0,1] 0.659603590324024 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.01 [[ 0.99490773 -0.08024116 -0.06099145 0.55566423] [ 0.08090278 0.99668615 0.00845277 0.10691158] [ 0.06011108 -0.01334411 0.9981025 0.00502634] [ 0. 0. 0. 1. ]] SLAMing on 23.254860624 meters Centerline goodness [0,1] 0.6568915725912313 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99490878 -0.08022289 -0.06099847 0.55557077] [ 0.08089775 0.99668468 0.00867166 0.10463158] [ 0.06010057 -0.01356215 0.99810019 0.00535971] [ 0. 0. 0. 1. ]] SLAMing on 23.284860623999997 meters Centerline goodness [0,1] 0.657816877438274 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99491134 -0.08014558 -0.06105831 0.55576712] [ 0.0808305 0.99668877 0.00882743 0.10381421] [ 0.06014865 -0.01371788 0.99809517 0.00536109] [ 0. 0. 0. 1. ]] SLAMing on 23.314860623999998 meters Centerline goodness [0,1] 0.6548792927575655 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99490707 -0.08022015 -0.06102998 0.55552514] [ 0.08090569 0.99668254 0.00884183 0.10334148] [ 0.06011823 -0.01373447 0.99809677 0.0055726 ] [ 0. 0. 0. 1. ]] SLAMing on 23.344860624 meters Centerline goodness [0,1] 0.6522532384601349 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99491197 -0.08002285 -0.06120872 0.55575988] [ 0.08072308 0.99669548 0.00905022 0.1019253 ] [ 0.06028223 -0.01394513 0.99808396 0.00598332] [ 0. 0. 0. 1. ]] SLAMing on 23.374860623999997 meters Centerline goodness [0,1] 0.6654982997645829 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99492003 -0.07993208 -0.06119636 0.55582641] [ 0.08064083 0.99670079 0.00919685 0.10077557] [ 0.06025934 -0.01408505 0.99808338 0.00607836] [ 0. 0. 0. 1. ]] SLAMing on 23.404860623999998 meters Centerline goodness [0,1] 0.6686631967148798 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99491561 -0.08001782 -0.06115624 0.55570007] [ 0.08072953 0.9966931 0.00925264 0.09977704] [ 0.06021362 -0.01414271 0.99808532 0.0062032 ] [ 0. 0. 0. 1. ]] SLAMing on 23.434860624 meters Centerline goodness [0,1] 0.6614787006621826 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99489802 -0.08025287 -0.06113428 0.55500822] [ 0.08095865 0.99667544 0.00915254 0.0984656 ] [ 0.06019652 -0.01405519 0.99808759 0.00709263] [ 0. 0. 0. 1. ]] SLAMing on 23.464860624 meters Centerline goodness [0,1] 0.6726285281600042 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.01 [[ 0.99489284 -0.08033097 -0.06111602 0.55460955] [ 0.08103776 0.99666884 0.00917125 0.09756083] [ 0.06017569 -0.01407712 0.99808853 0.00755844] [ 0. 0. 0. 1. ]] SLAMing on 23.494860623999998 meters Centerline goodness [0,1] 0.669682667987797 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.01 [[ 0.99488917 -0.08035571 -0.06114333 0.55460789] [ 0.08106873 0.99666543 0.00926741 0.09651603] [ 0.06019476 -0.01417686 0.99808597 0.00769253] [ 0. 0. 0. 1. ]] SLAMing on 23.524860624 meters Centerline goodness [0,1] 0.6612490869247626 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.9949174 -0.07971968 -0.06151535 0.55611725] [ 0.08048109 0.996706 0.00999678 0.09422905] [ 0.06051577 -0.01489679 0.99805607 0.00716139] [ 0. 0. 0. 1. ]] SLAMing on 23.554860624 meters Centerline goodness [0,1] 0.6725138588866044 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.99491463 -0.07962679 -0.06168026 0.55654218] [ 0.08039164 0.99671303 0.01001554 0.09403894] [ 0.06068001 -0.01492319 0.99804571 0.0072436 ] [ 0. 0. 0. 1. ]] SLAMing on 23.584860623999997 meters Centerline goodness [0,1] 0.6710519473766314 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.99490246 -0.07963117 -0.06187054 0.55676073] [ 0.08039391 0.99671367 0.00993409 0.09373161] [ 0.06087615 -0.01485747 0.99803474 0.00766936] [ 0. 0. 0. 1. ]] SLAMing on 23.614860624 meters Centerline goodness [0,1] 0.6719201061090738 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.99488931 -0.07975758 -0.06191916 0.55635428] [ 0.08053181 0.9967008 0.01010664 0.09151125] [ 0.0609088 -0.01504145 0.99803 0.00843453] [ 0. 0. 0. 1. ]] SLAMing on 23.644860624 meters Centerline goodness [0,1] 0.6700015551293349 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.99487981 -0.07978825 -0.06203218 0.5564917 ] [ 0.08057653 0.99669513 0.0103075 0.0895376 ] [ 0.06100476 -0.01525306 0.99802092 0.00870113] [ 0. 0. 0. 1. ]] SLAMing on 23.674860623999997 meters Centerline goodness [0,1] 0.6669601242879337 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.01 [[ 0.99486672 -0.07998735 -0.06198579 0.55627774] [ 0.08078744 0.99667598 0.01050667 0.08774165] [ 0.06093935 -0.01546041 0.99802173 0.00877122] [ 0. 0. 0. 1. ]] SLAMing on 23.704860624 meters Centerline goodness [0,1] 0.6696863029299099 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99483734 -0.08036118 -0.06197369 0.55607012] [ 0.08118612 0.99663929 0.0109057 0.08497315] [ 0.06088902 -0.0158808 0.9980182 0.00877607] [ 0. 0. 0. 1. ]] SLAMing on 23.734860624 meters Centerline goodness [0,1] 0.6671914113912617 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99482754 -0.08041187 -0.06206519 0.55627912] [ 0.08123912 0.99663484 0.01091824 0.08425984] [ 0.06097838 -0.01590389 0.99801238 0.00888901] [ 0. 0. 0. 1. ]] SLAMing on 23.764860623999997 meters Centerline goodness [0,1] 0.6647614634020751 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99483506 -0.0802088 -0.06220734 0.55682706] [ 0.0810585 0.99664581 0.01125387 0.08256545] [ 0.06109602 -0.01623817 0.9979998 0.00881998] [ 0. 0. 0. 1. ]] SLAMing on 23.794860624 meters Centerline goodness [0,1] 0.6628594947780007 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99483651 -0.08012236 -0.06229553 0.55704634] [ 0.08098233 0.99665033 0.01140061 0.08140711] [ 0.06117342 -0.01638658 0.99799263 0.00895731] [ 0. 0. 0. 1. ]] SLAMing on 23.824860624 meters Centerline goodness [0,1] 0.6609868928296068 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99483552 -0.08012486 -0.06230811 0.55700735] [ 0.0809877 0.9966494 0.01144387 0.08050785] [ 0.0611824 -0.01643096 0.99799135 0.00916928] [ 0. 0. 0. 1. ]] SLAMing on 23.854860623999997 meters Centerline goodness [0,1] 0.6641664526072437 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99480337 -0.08061054 -0.06219488 0.55593853] [ 0.08145198 0.99661534 0.01111023 0.07967525] [ 0.06108877 -0.01611839 0.99800218 0.01022384] [ 0. 0. 0. 1. ]] SLAMing on 23.884860623999998 meters Centerline goodness [0,1] 0.6644665879089835 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99477635 -0.08106278 -0.06203899 0.55509885] [ 0.08189149 0.99658132 0.01092956 0.07915009] [ 0.06094092 -0.01595294 0.99801388 0.0107425 ] [ 0. 0. 0. 1. ]] SLAMing on 23.914860624 meters Centerline goodness [0,1] 0.6644665879089835 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.01 [[ 0.99477635 -0.08106278 -0.06203899 0.55509885] [ 0.08189149 0.99658132 0.01092956 0.07915009] [ 0.06094092 -0.01595294 0.99801388 0.0107425 ] [ 0. 0. 0. 1. ]] SLAMing on 23.944860623999997 meters Centerline goodness [0,1] 0.6612258494337109 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.01 [[ 0.99470646 -0.08193228 -0.06201748 0.55427938] [ 0.08274712 0.99651332 0.01068224 0.0772114 ] [ 0.06092602 -0.01575746 0.9980179 0.01145032] [ 0. 0. 0. 1. ]] SLAMing on 23.974860623999998 meters Centerline goodness [0,1] 0.642082651391162 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.01 [[ 0.99467778 -0.08228653 -0.06200832 0.55418754] [ 0.08309803 0.99648479 0.01061941 0.07581133] [ 0.06091651 -0.01571566 0.99801914 0.01157084] [ 0. 0. 0. 1. ]] SLAMing on 24.004860624 meters Centerline goodness [0,1] 0.6556046256350037 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99465494 -0.08263915 -0.06190574 0.55395697] [ 0.08345494 0.99645404 0.01070592 0.07452201] [ 0.0608015 -0.01581503 0.99802458 0.01144165] [ 0. 0. 0. 1. ]] SLAMing on 24.034860623999997 meters Centerline goodness [0,1] 0.653942141183661 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99460742 -0.08332604 -0.06174823 0.55306375] [ 0.08412551 0.99640028 0.01045818 0.07336085] [ 0.06065451 -0.01559638 0.99803696 0.01195217] [ 0. 0. 0. 1. ]] SLAMing on 24.064860623999998 meters Centerline goodness [0,1] 0.6506192976196544 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99459342 -0.08354585 -0.06167666 0.55258457] [ 0.08433162 0.99638508 0.01024439 0.07330043] [ 0.06059783 -0.0153903 0.99804361 0.01241529] [ 0. 0. 0. 1. ]] SLAMing on 24.094860624 meters Centerline goodness [0,1] 0.6420070189715681 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99458442 -0.08375978 -0.06153162 0.55206421] [ 0.08453258 0.99636992 0.01006094 0.07318577] [ 0.06046555 -0.01520788 0.99805443 0.01275142] [ 0. 0. 0. 1. ]] SLAMing on 24.124860623999997 meters Centerline goodness [0,1] 0.6542205729100475 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99458109 -0.08380413 -0.061525 0.5519236 ] [ 0.08457093 0.99636766 0.00996211 0.07287316] [ 0.06046666 -0.01511135 0.99805583 0.0130468 ] [ 0. 0. 0. 1. ]] SLAMing on 24.154860623999998 meters Centerline goodness [0,1] 0.6572538662739023 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99459216 -0.08374162 -0.06143103 0.55150139] [ 0.08450349 0.99637394 0.0099062 0.07213706] [ 0.06037871 -0.01504376 0.99806217 0.01363593] [ 0. 0. 0. 1. ]] SLAMing on 24.184860624 meters Centerline goodness [0,1] 0.659927541739505 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99459789 -0.08369515 -0.06140157 0.5514127 ] [ 0.08445428 0.99637848 0.00986958 0.0717774 ] [ 0.06035317 -0.01500189 0.99806435 0.01389391] [ 0. 0. 0. 1. ]] SLAMing on 24.214860624 meters Centerline goodness [0,1] 0.6612673910835787 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99459659 -0.08363382 -0.06150618 0.55145109] [ 0.08439449 0.99638353 0.00987063 0.07121454] [ 0.06045823 -0.01500807 0.99805789 0.01428244] [ 0. 0. 0. 1. ]] SLAMing on 24.244860623999998 meters Centerline goodness [0,1] 0.6560311480797917 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99459982 -0.08351082 -0.06162102 0.55172115] [ 0.08427302 0.99639381 0.00987096 0.07041604] [ 0.06057447 -0.01501064 0.99805081 0.01460553] [ 0. 0. 0. 1. ]] SLAMing on 24.274860624 meters Centerline goodness [0,1] 0.6601318792797363 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.9946191 -0.08314521 -0.06180386 0.55237248] [ 0.08392138 0.99642153 0.01006626 0.07001654] [ 0.06074573 -0.01519876 0.99803755 0.01452012] [ 0. 0. 0. 1. ]] SLAMing on 24.304860624 meters Centerline goodness [0,1] 0.657608971431471 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99463249 -0.08290746 -0.06190775 0.55274011] [ 0.08368803 0.99644062 0.01011955 0.06997926] [ 0.06084841 -0.01524618 0.99803057 0.01452793] [ 0. 0. 0. 1. ]] SLAMing on 24.334860623999997 meters Centerline goodness [0,1] 0.6590079123554473 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.9946614 -0.08236945 -0.06216078 0.55349255] [ 0.08317089 0.99648089 0.01041309 0.06905819] [ 0.06108431 -0.01552746 0.99801183 0.01463916] [ 0. 0. 0. 1. ]] SLAMing on 24.364860624 meters Centerline goodness [0,1] 0.6622369318612465 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99466131 -0.08228923 -0.06226847 0.55377002] [ 0.08309464 0.99648684 0.01045304 0.06825492] [ 0.06118954 -0.01557141 0.9980047 0.01480803] [ 0. 0. 0. 1. ]] SLAMing on 24.394860624 meters Centerline goodness [0,1] 0.6583885488847301 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.01 [[ 0.99467896 -0.08197068 -0.06240652 0.55434201] [ 0.08281284 0.99650412 0.01102571 0.06598748] [ 0.06128457 -0.0161351 0.99798991 0.01461601] [ 0. 0. 0. 1. ]] SLAMing on 24.424860623999997 meters Centerline goodness [0,1] 0.6579758476074984 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.01 [[ 0.99468552 -0.08169455 -0.06266356 0.55517167] [ 0.08255917 0.99652175 0.01133056 0.06503605] [ 0.06151996 -0.01644379 0.99797039 0.01441098] [ 0. 0. 0. 1. ]] SLAMing on 24.454860624 meters Centerline goodness [0,1] 0.6545427029208495 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.01 [[ 0.99469618 -0.08139367 -0.06288539 0.55577546] [ 0.08227048 0.99654395 0.01147736 0.06454327] [ 0.06173387 -0.01659009 0.99795476 0.01447095] [ 0. 0. 0. 1. ]] SLAMing on 24.484860624 meters Centerline goodness [0,1] 0.6714541285559503 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.01 [[ 0.99470697 -0.08107018 -0.06313213 0.55638593] [ 0.08195433 0.99656928 0.01153929 0.06442521] [ 0.06198005 -0.01665217 0.99793846 0.01463715] [ 0. 0. 0. 1. ]] SLAMing on 24.514860623999997 meters Centerline goodness [0,1] 0.6794389930126378 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99473915 -0.08041312 -0.06346467 0.55696872] [ 0.08130481 0.99662189 0.01159075 0.06445187] [ 0.06231823 -0.01668975 0.99791678 0.01533849] [ 0. 0. 0. 1. ]] SLAMing on 24.544860624 meters Centerline goodness [0,1] 0.662264483183659 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99474465 -0.08012623 -0.06374063 0.55757304] [ 0.08101567 0.9966466 0.01148981 0.06453302] [ 0.06260625 -0.01659342 0.99790035 0.01569731] [ 0. 0. 0. 1. ]] SLAMing on 24.574860624 meters Centerline goodness [0,1] 0.6791074846378564 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99476812 -0.07958095 -0.06405664 0.55849884] [ 0.08048102 0.99668874 0.01159156 0.06468815] [ 0.06292207 -0.01668626 0.99787894 0.01576913] [ 0. 0. 0. 1. ]] SLAMing on 24.604860623999997 meters Centerline goodness [0,1] 0.6643443140224663 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99508637 -0.07520788 -0.06439637 0.55871272] [ 0.07636613 0.996956 0.01571438 0.06362337] [ 0.06301851 -0.02055487 0.99780066 0.01570343] [ 0. 0. 0. 1. ]] SLAMing on 24.634860623999998 meters Centerline goodness [0,1] 0.6910704802367044 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99510713 -0.07460018 -0.0647813 0.55974202] [ 0.07575078 0.99700651 0.01548705 0.06487105] [ 0.06343204 -0.02031851 0.9977793 0.01607743] [ 0. 0. 0. 1. ]] SLAMing on 24.664860624 meters Centerline goodness [0,1] 0.6922061101658328 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.9954117 -0.07010959 -0.06511675 0.55967197] [ 0.07149923 0.99725472 0.01925851 0.06537443] [ 0.06358778 -0.02382595 0.9976918 0.0166018 ] [ 0. 0. 0. 1. ]] SLAMing on 24.694860623999997 meters Centerline goodness [0,1] 0.6919532622253901 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99544492 -0.06921744 -0.06556191 0.56107713] [ 0.07061198 0.99731916 0.01919502 0.06660662] [ 0.06405752 -0.02373705 0.99766386 0.01678526] [ 0. 0. 0. 1. ]] SLAMing on 24.724860623999998 meters Centerline goodness [0,1] 0.7042543982483387 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99574155 -0.0646224 -0.06574727 0.56112906] [ 0.06627026 0.99753203 0.02319697 0.06613705] [ 0.06408596 -0.02745527 0.99756664 0.01691211] [ 0. 0. 0. 1. ]] SLAMing on 24.754860624 meters Centerline goodness [0,1] 0.6983690812406178 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.9957703 -0.06380673 -0.06610763 0.56233165] [ 0.06545863 0.99758721 0.02312865 0.06716344] [ 0.06447236 -0.02735814 0.99754441 0.01705418] [ 0. 0. 0. 1. ]] SLAMing on 24.784860623999997 meters Centerline goodness [0,1] 0.7142201600978942 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.9958032 -0.0629652 -0.06641814 0.56341059] [ 0.06462319 0.99764199 0.02311502 0.0682454 ] [ 0.06480608 -0.02731017 0.9975241 0.01719275] [ 0. 0. 0. 1. ]] SLAMing on 24.814860623999998 meters Centerline goodness [0,1] 0.7188696584469291 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99584138 -0.06200559 -0.06674772 0.56459171] [ 0.06366302 0.99770648 0.02299543 0.07002212] [ 0.06516879 -0.02714916 0.99750486 0.01746292] [ 0. 0. 0. 1. ]] SLAMing on 24.844860624 meters Centerline goodness [0,1] 0.7268261316872429 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.9961074 -0.05733552 -0.06695284 0.56467157] [ 0.05923841 0.99788434 0.02678905 0.07147717] [ 0.06527522 -0.03065095 0.99739644 0.01772838] [ 0. 0. 0. 1. ]] SLAMing on 24.874860623999997 meters Centerline goodness [0,1] 0.7291800416013969 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:0.02 [[ 0.99612307 -0.05668672 -0.06727141 0.56582372] [ 0.05859053 0.99792573 0.0266717 0.07277334] [ 0.06561994 -0.03050976 0.99737815 0.01773957] [ 0. 0. 0. 1. ]] SLAMing on 24.904860623999998 meters Centerline goodness [0,1] 0.7328849757424853 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:0.02 [[ 0.99618268 -0.05535028 -0.06750118 0.56752935] [ 0.0572876 0.99798958 0.02710943 0.07335299] [ 0.06586496 -0.03087293 0.99735083 0.01713917] [ 0. 0. 0. 1. ]] SLAMing on 24.934860624 meters Centerline goodness [0,1] 0.724274237018404 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:0.02 [[ 0.99617602 -0.05534303 -0.06760543 0.56788303] [ 0.05726642 0.99799781 0.0268501 0.07360925] [ 0.0659841 -0.03061895 0.99735078 0.01725491] [ 0. 0. 0. 1. ]] SLAMing on 24.964860624 meters Centerline goodness [0,1] 0.7441722994679894 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:0.02 [[ 0.99616347 -0.05547492 -0.06768209 0.56799674] [ 0.0573851 0.99799739 0.02661139 0.07376506] [ 0.06607028 -0.03039323 0.99735198 0.01746178] [ 0. 0. 0. 1. ]] SLAMing on 24.994860623999998 meters Centerline goodness [0,1] 0.7366873823461151 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:0.02 [[ 0.99615127 -0.05567468 -0.06769765 0.56783037] [ 0.05756076 0.99799724 0.02623498 0.07433252] [ 0.06610144 -0.03003074 0.99736089 0.01785756] [ 0. 0. 0. 1. ]] SLAMing on 25.024860624 meters Centerline goodness [0,1] 0.7188393110018281 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99611427 -0.05657074 -0.06749895 0.56636096] [ 0.05839056 0.99797322 0.02529798 0.07574782] [ 0.06593102 -0.02914098 0.99739857 0.01910067] [ 0. 0. 0. 1. ]] SLAMing on 25.054860624 meters Centerline goodness [0,1] 0.7251210466673534 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99609442 -0.057087 -0.06735718 0.56565802] [ 0.05887298 0.99795655 0.02483336 0.07610671] [ 0.06580188 -0.02870189 0.99741983 0.01954882] [ 0. 0. 0. 1. ]] SLAMing on 25.084860623999997 meters Centerline goodness [0,1] 0.7171766646902632 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99605521 -0.05805104 -0.06711255 0.56440545] [ 0.0597939 0.99791597 0.02425715 0.07584859] [ 0.06556453 -0.02817438 0.9974505 0.02022136] [ 0. 0. 0. 1. ]] SLAMing on 25.114860624 meters Centerline goodness [0,1] 0.7129851091736749 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99603585 -0.05865603 -0.06687348 0.56362129] [ 0.06037296 0.99788859 0.0239474 0.07577738] [ 0.06532762 -0.02788981 0.99747404 0.02035876] [ 0. 0. 0. 1. ]] SLAMing on 25.144860624 meters Centerline goodness [0,1] 0.7091899671052632 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99600343 -0.05937303 -0.06672343 0.56261739] [ 0.06105486 0.99785881 0.02345426 0.07586972] [ 0.06518801 -0.02743431 0.99749581 0.02105343] [ 0. 0. 0. 1. ]] SLAMing on 25.174860623999997 meters Centerline goodness [0,1] 0.6974604153814518 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99574267 -0.06384599 -0.0664847 0.56229565] [ 0.06522539 0.99769372 0.01878558 0.0781059 ] [ 0.06513198 -0.02304209 0.99761059 0.02185953] [ 0. 0. 0. 1. ]] SLAMing on 25.204860624 meters Centerline goodness [0,1] 0.6941845862060128 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99547833 -0.06768015 -0.06665047 0.56319531] [ 0.06878119 0.99752837 0.01436312 0.08016845] [ 0.06551364 -0.01888247 0.997673 0.02256667] [ 0. 0. 0. 1. ]] SLAMing on 25.234860624 meters Centerline goodness [0,1] 0.7002916496111338 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99544493 -0.06847718 -0.06633446 0.56198627] [ 0.06955157 0.9974798 0.01402214 0.07976408] [ 0.06520708 -0.01857194 0.99769891 0.02290376] [ 0. 0. 0. 1. ]] SLAMing on 25.264860623999997 meters Centerline goodness [0,1] 0.6827882696146169 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.9951524 -0.07276916 -0.06615406 0.5626351 ] [ 0.07357368 0.99724159 0.00980425 0.08064074] [ 0.06525813 -0.01462392 0.99776125 0.02268017] [ 0. 0. 0. 1. ]] SLAMing on 25.294860624 meters Centerline goodness [0,1] 0.6931844376712855 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99512832 -0.07329678 -0.06593336 0.56224696] [ 0.07409253 0.99720417 0.00970253 0.08026048] [ 0.06503785 -0.01454043 0.99777686 0.02236974] [ 0. 0. 0. 1. ]] SLAMing on 25.324860624 meters Centerline goodness [0,1] 0.6834037108125399 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99503982 -0.07493882 -0.06542112 0.56028369] [ 0.07567627 0.99709304 0.00886452 0.08023105] [ 0.06456665 -0.01377138 0.99781837 0.02282134] [ 0. 0. 0. 1. ]] SLAMing on 25.354860623999997 meters Centerline goodness [0,1] 0.6826618263626137 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99502774 -0.07521995 -0.06528214 0.55997734] [ 0.07594175 0.9970748 0.00864302 0.0803285 ] [ 0.06444105 -0.01355769 0.99782941 0.02287233] [ 0. 0. 0. 1. ]] SLAMing on 25.384860623999998 meters Centerline goodness [0,1] 0.6823541448192956 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99501135 -0.07558915 -0.06510518 0.55948039] [ 0.07628703 0.99705137 0.00829731 0.08065023] [ 0.06428602 -0.0132226 0.99784391 0.02301431] [ 0. 0. 0. 1. ]] SLAMing on 25.414860624 meters Centerline goodness [0,1] 0.6774028368068001 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99499886 -0.07594817 -0.06487794 0.55885032] [ 0.07661109 0.99703063 0.00778845 0.08163036] [ 0.06409378 -0.01271987 0.99786281 0.02335504] [ 0. 0. 0. 1. ]] SLAMing on 25.444860623999997 meters Centerline goodness [0,1] 0.6768300494504087 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99498 -0.07628466 -0.06477235 0.55826951] [ 0.07691459 0.99701108 0.00728425 0.08287894] [ 0.06402308 -0.01222962 0.99787348 0.02383877] [ 0. 0. 0. 1. ]] SLAMing on 25.474860623999998 meters Centerline goodness [0,1] 0.67428454305552 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99497256 -0.07638109 -0.06477294 0.5582153 ] [ 0.07699661 0.99700638 0.00705664 0.08369542] [ 0.06404004 -0.01200846 0.99787508 0.02396011] [ 0. 0. 0. 1. ]] SLAMing on 25.504860624 meters Centerline goodness [0,1] 0.6731634949866994 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.9949689 -0.07641858 -0.06478497 0.55848946] [ 0.0770146 0.99700712 0.00674953 0.08460997] [ 0.06407529 -0.01170496 0.99787642 0.02399829] [ 0. 0. 0. 1. ]] SLAMing on 25.534860623999997 meters Centerline goodness [0,1] 0.6742788461538461 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99496912 -0.07635535 -0.06485614 0.55879059] [ 0.07694166 0.99701383 0.00658755 0.08532588] [ 0.06415947 -0.01154455 0.99787288 0.02394807] [ 0. 0. 0. 1. ]] SLAMing on 25.564860623999998 meters Centerline goodness [0,1] 0.673662899464391 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99496993 -0.07627746 -0.06493533 0.55922535] [ 0.07685142 0.99702212 0.00638386 0.08615982] [ 0.06425501 -0.01134212 0.99786905 0.02383595] [ 0. 0. 0. 1. ]] SLAMing on 25.594860624 meters Centerline goodness [0,1] 0.6848748136342604 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99504067 -0.07515407 -0.06516082 0.56077783] [ 0.07572694 0.99710829 0.00636324 0.08822136] [ 0.06449417 -0.01126611 0.99785449 0.02348943] [ 0. 0. 0. 1. ]] SLAMing on 25.624860623999997 meters Centerline goodness [0,1] 0.6860184090091017 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99506211 -0.07479198 -0.06524992 0.56127018] [ 0.07534426 0.99713928 0.0060414 0.08988329] [ 0.06461141 -0.01092778 0.99785067 0.02360006] [ 0. 0. 0. 1. ]] SLAMing on 25.654860623999998 meters Centerline goodness [0,1] 0.6872580894875367 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.9953454 -0.07094766 -0.06522238 0.56029403] [ 0.07170892 0.99738128 0.0094028 0.09089417] [ 0.06438447 -0.01403606 0.99782645 0.02407607] [ 0. 0. 0. 1. ]] SLAMing on 25.684860624 meters Centerline goodness [0,1] 0.6931997210671763 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99535604 -0.07070141 -0.06532731 0.56071392] [ 0.07143327 0.99740538 0.00893298 0.09304477] [ 0.06452624 -0.01355804 0.9978239 0.02429249] [ 0. 0. 0. 1. ]] SLAMing on 25.714860623999996 meters Centerline goodness [0,1] 0.695347569994032 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99535491 -0.07059884 -0.06545535 0.56097561] [ 0.07129073 0.99742111 0.00829273 0.09532232] [ 0.06470109 -0.01292057 0.99782104 0.02476537] [ 0. 0. 0. 1. ]] SLAMing on 25.744860623999998 meters Centerline goodness [0,1] 0.6945624136942758 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99539233 -0.06995971 -0.06557244 0.56209343] [ 0.07063441 0.99746999 0.00802537 0.09835635] [ 0.06484508 -0.01262006 0.99781554 0.02425662] [ 0. 0. 0. 1. ]] SLAMing on 25.774860624 meters Centerline goodness [0,1] 0.6932128107223564 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.9953911 -0.07003097 -0.06551512 0.56220644] [ 0.07068095 0.99746961 0.00765354 0.09944692] [ 0.06481336 -0.01224894 0.99782222 0.02421414] [ 0. 0. 0. 1. ]] SLAMing on 25.804860624 meters Centerline goodness [0,1] 0.6898203592814371 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99537959 -0.07037928 -0.0653163 0.56186466] [ 0.07100843 0.99744857 0.00735839 0.10005541] [ 0.06463178 -0.0119624 0.99783748 0.02403172] [ 0. 0. 0. 1. ]] SLAMing on 25.834860623999997 meters Centerline goodness [0,1] 0.6898203592814371 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99537959 -0.07037928 -0.0653163 0.56186466] [ 0.07100843 0.99744857 0.00735839 0.10005541] [ 0.06463178 -0.0119624 0.99783748 0.02403172] [ 0. 0. 0. 1. ]] SLAMing on 25.864860624 meters Centerline goodness [0,1] 0.6871700174256807 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99536264 -0.07079922 -0.0651206 0.56145766] [ 0.0714053 0.99742265 0.00702432 0.1007549 ] [ 0.06445545 -0.0116417 0.99785268 0.02392832] [ 0. 0. 0. 1. ]] SLAMing on 25.894860624 meters Centerline goodness [0,1] 0.6878217461390463 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99530186 -0.07186287 -0.06488397 0.56047143] [ 0.07242126 0.99735428 0.00629238 0.10213843] [ 0.06426012 -0.0109618 0.99787298 0.02415889] [ 0. 0. 0. 1. ]] SLAMing on 25.924860623999997 meters Centerline goodness [0,1] 0.6894165994746013 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99527948 -0.07236196 -0.06467234 0.55977961] [ 0.07289663 0.99732179 0.0059432 0.10275899] [ 0.06406908 -0.01062954 0.99788885 0.02428986] [ 0. 0. 0. 1. ]] SLAMing on 25.954860624 meters Centerline goodness [0,1] 0.6823014383989994 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99521746 -0.07362228 -0.06420254 0.55807636] [ 0.07409952 0.99723791 0.00508101 0.10422083] [ 0.06365113 -0.00981409 0.99792395 0.02461548] [ 0. 0. 0. 1. ]] SLAMing on 25.984860624 meters Centerline goodness [0,1] 0.6794149851399969 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.99518884 -0.07417301 -0.06401195 0.55745316] [ 0.0746326 0.99719947 0.0048154 0.10442976] [ 0.06347551 -0.00956962 0.99793751 0.02463121] [ 0. 0. 0. 1. ]] SLAMing on 26.014860623999997 meters Centerline goodness [0,1] 0.6824863174354965 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.02 [[ 0.9951602 -0.07474338 -0.06379337 0.55689271] [ 0.07518304 0.99715952 0.00451603 0.10459343] [ 0.06327462 -0.00929035 0.99795291 0.02453551] [ 0. 0. 0. 1. ]] SLAMing on 26.044860624 meters Centerline goodness [0,1] 0.6783560069979372 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.02 [[ 0.99510127 -0.07590728 -0.06333684 0.55538986] [ 0.07630774 0.99707659 0.0039244 0.1052308 ] [ 0.06285379 -0.00873826 0.99798449 0.02463417] [ 0. 0. 0. 1. ]] SLAMing on 26.074860624 meters Centerline goodness [0,1] 0.677112215537536 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:0.02 [[ 0.99507672 -0.0765268 -0.06297602 0.55426953] [ 0.07690293 0.9970322 0.00356694 0.10571007] [ 0.06251615 -0.00839242 0.99800867 0.02483378] [ 0. 0. 0. 1. ]] SLAMing on 26.104860623999997 meters Centerline goodness [0,1] 0.6711209708991257 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:0.03 [[ 0.99505531 -0.07705789 -0.06266592 0.55330861] [ 0.07741386 0.99699369 0.00326875 0.10601773] [ 0.06222564 -0.0081038 0.99802921 0.02500309] [ 0. 0. 0. 1. ]] SLAMing on 26.134860623999998 meters Centerline goodness [0,1] 0.6727992911867411 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:0.03 [[ 0.99502043 -0.07782595 -0.06226934 0.55205912] [ 0.07816277 0.99693613 0.00298784 0.10560241] [ 0.06184602 -0.0078401 0.99805491 0.025188 ] [ 0. 0. 0. 1. ]] SLAMing on 26.164860624 meters Centerline goodness [0,1] 0.6734041996125046 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:0.03 [[ 0.9950041 -0.07818485 -0.06208035 0.55140609] [ 0.07851877 0.99690826 0.00295389 0.10508836] [ 0.06165746 -0.0078136 0.99806678 0.02531009] [ 0. 0. 0. 1. ]] SLAMing on 26.194860623999997 meters Centerline goodness [0,1] 0.6728622591692155 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99497142 -0.07875009 -0.06188943 0.55072835] [ 0.07908887 0.99686293 0.00303963 0.10405495] [ 0.06145591 -0.00791912 0.99807838 0.02521062] [ 0. 0. 0. 1. ]] SLAMing on 26.224860623999998 meters Centerline goodness [0,1] 0.6648861326801814 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99495477 -0.0790343 -0.06179475 0.55025173] [ 0.07937098 0.99684061 0.00300885 0.10351544] [ 0.06136171 -0.00789838 0.99808434 0.02544192] [ 0. 0. 0. 1. ]] SLAMing on 26.254860624 meters Centerline goodness [0,1] 0.6684082656286736 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.9949445 -0.07929783 -0.06162227 0.5496449 ] [ 0.07963458 0.99681954 0.00302414 0.10299448] [ 0.06118648 -0.00791612 0.99809496 0.02557253] [ 0. 0. 0. 1. ]] SLAMing on 26.284860623999997 meters Centerline goodness [0,1] 0.6664066156966766 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99492763 -0.07967905 -0.06140242 0.54884285] [ 0.08000941 0.99678978 0.00293661 0.10238083] [ 0.06097132 -0.00783449 0.99810877 0.02586343] [ 0. 0. 0. 1. ]] SLAMing on 26.314860623999998 meters Centerline goodness [0,1] 0.669413298565841 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99488527 -0.08051315 -0.06099943 0.54757622] [ 0.08084691 0.99672196 0.00301931 0.10013887] [ 0.06055638 -0.00793548 0.99813323 0.02588812] [ 0. 0. 0. 1. ]] SLAMing on 26.344860624 meters Centerline goodness [0,1] 0.6670650592392434 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99486279 -0.08091562 -0.06083331 0.54712438] [ 0.08124858 0.99668931 0.00301571 0.09872677] [ 0.06038789 -0.00794284 0.99814338 0.02590966] [ 0. 0. 0. 1. ]] SLAMing on 26.374860623999997 meters Centerline goodness [0,1] 0.6621354681083329 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.03 [[ 0.99482982 -0.08150673 -0.06058284 0.54680081] [ 0.08186304 0.99663773 0.00341862 0.09621782] [ 0.0601005 -0.00836044 0.99815732 0.02514119] [ 0. 0. 0. 1. ]] SLAMing on 26.404860623999998 meters Centerline goodness [0,1] 0.660959436357043 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.02 [[ 0.99482833 -0.08155981 -0.06053586 0.5469237 ] [ 0.08192247 0.99663246 0.0035291 0.09568302] [ 0.06004417 -0.00847009 0.99815978 0.0249027 ] [ 0. 0. 0. 1. ]] SLAMing on 26.434860624 meters Centerline goodness [0,1] 0.6639137774315025 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:0.02 [[ 0.99483096 -0.08154292 -0.06051534 0.54697812] [ 0.08190871 0.99663339 0.00358466 0.09542011] [ 0.06001931 -0.00852286 0.99816083 0.02486624] [ 0. 0. 0. 1. ]] SLAMing on 26.464860623999996 meters Centerline goodness [0,1] 0.6605082026600424 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99485157 -0.08124437 -0.06057811 0.5478195 ] [ 0.08163909 0.99665367 0.00406542 0.09407324] [ 0.0600451 -0.00899003 0.99815518 0.0241327 ] [ 0. 0. 0. 1. ]] SLAMing on 26.494860623999998 meters Centerline goodness [0,1] 0.6610367069916846 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99485675 -0.08122783 -0.06051518 0.54791059] [ 0.08164095 0.99665217 0.0043817 0.09280911] [ 0.05995667 -0.00929968 0.99815766 0.02380989] [ 0. 0. 0. 1. ]] SLAMing on 26.524860624 meters Centerline goodness [0,1] 0.6632376127581483 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99484802 -0.08129253 -0.06057174 0.54829989] [ 0.08173422 0.99664238 0.00484625 0.09010887] [ 0.0599744 -0.00977207 0.99815208 0.02345503] [ 0. 0. 0. 1. ]] SLAMing on 26.554860624 meters Centerline goodness [0,1] 0.6545178240263754 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99484553 -0.08151195 -0.0603172 0.54776816] [ 0.08195696 0.99662364 0.00493693 0.0890967 ] [ 0.05971113 -0.0098549 0.99816705 0.02338256] [ 0. 0. 0. 1. ]] SLAMing on 26.584860623999997 meters Centerline goodness [0,1] 0.6614549849564122 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99484893 -0.08155312 -0.06020547 0.54763736] [ 0.0820097 0.99661824 0.00514787 0.0878457 ] [ 0.05958205 -0.01005878 0.99817273 0.02324315] [ 0. 0. 0. 1. ]] SLAMing on 26.614860624 meters Centerline goodness [0,1] 0.6608005343746788 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99484524 -0.08173916 -0.06001376 0.54708944] [ 0.08219536 0.99660283 0.00516861 0.08658345] [ 0.0593874 -0.01007482 0.99818417 0.02346756] [ 0. 0. 0. 1. ]] SLAMing on 26.644860624 meters Centerline goodness [0,1] 0.6500679853254316 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99483515 -0.08202656 -0.05978855 0.54608288] [ 0.08247847 0.99657966 0.00512609 0.08516869] [ 0.05916358 -0.01003088 0.9981979 0.02421958] [ 0. 0. 0. 1. ]] SLAMing on 26.674860623999997 meters Centerline goodness [0,1] 0.6607729419010471 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:0.02 [[ 0.99483118 -0.08211217 -0.05973698 0.54575181] [ 0.08256526 0.99657234 0.00515215 0.08504221] [ 0.05910916 -0.01005772 0.99820086 0.02444885] [ 0. 0. 0. 1. ]] SLAMing on 26.704860624 meters Centerline goodness [0,1] 0.6614959299646752 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.02 [[ 0.99484503 -0.08185264 -0.0598624 0.54648936] [ 0.08234642 0.99658675 0.00582452 0.08212759] [ 0.05918132 -0.01072395 0.99818965 0.02407547] [ 0. 0. 0. 1. ]] SLAMing on 26.734860624 meters Centerline goodness [0,1] 0.6545199898141074 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.02 [[ 0.99484629 -0.08180482 -0.05990686 0.54676811] [ 0.08232021 0.99658676 0.00618217 0.0797727 ] [ 0.05919665 -0.01108186 0.99818483 0.02398395] [ 0. 0. 0. 1. ]] SLAMing on 26.764860623999997 meters Centerline goodness [0,1] 0.6596302042269641 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.02 [[ 0.9948367 -0.08196327 -0.05984943 0.54647631] [ 0.0824887 0.99657172 0.00635783 0.07800103] [ 0.05912314 -0.01126191 0.99818717 0.02418817] [ 0. 0. 0. 1. ]] SLAMing on 26.794860624 meters Centerline goodness [0,1] 0.6518921655486647 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:0.03 [[ 0.99481643 -0.08226944 -0.05976624 0.54574358] [ 0.08279796 0.99654569 0.00641698 0.07561796] [ 0.05903186 -0.01133224 0.99819177 0.02503425] [ 0. 0. 0. 1. ]] SLAMing on 26.824860624 meters Centerline goodness [0,1] 0.6546199984815124 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.03 [[ 0.99481537 -0.08226354 -0.05979207 0.54585923] [ 0.08280477 0.99654375 0.0066271 0.07444839] [ 0.05904024 -0.01154381 0.99818886 0.02503342] [ 0. 0. 0. 1. ]] SLAMing on 26.854860623999997 meters Centerline goodness [0,1] 0.6562476291631895 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.03 [[ 0.99481373 -0.08231583 -0.05974734 0.5457187 ] [ 0.08286597 0.9965376 0.00678495 0.07340726] [ 0.05898196 -0.01170079 0.99819047 0.0251207 ] [ 0. 0. 0. 1. ]] SLAMing on 26.884860623999998 meters Centerline goodness [0,1] 0.6584657354315593 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99481636 -0.08232065 -0.05969695 0.54579714] [ 0.08288493 0.9965343 0.00703441 0.07217465] [ 0.05891098 -0.01194592 0.99819176 0.02496961] [ 0. 0. 0. 1. ]] SLAMing on 26.914860624 meters Centerline goodness [0,1] 0.652702736662227 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99481622 -0.08233034 -0.05968581 0.54612735] [ 0.08292443 0.9965273 0.00754177 0.06938184] [ 0.05885762 -0.01245209 0.99818872 0.02460855] [ 0. 0. 0. 1. ]] SLAMing on 26.944860623999997 meters Centerline goodness [0,1] 0.637747911003725 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99483096 -0.0821113 -0.05974188 0.54682789] [ 0.08272456 0.99654144 0.00786116 0.06832514] [ 0.05888976 -0.01276264 0.9981829 0.02403992] [ 0. 0. 0. 1. ]] SLAMing on 26.974860623999998 meters Centerline goodness [0,1] 0.6530750678323787 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99484665 -0.08180705 -0.05989787 0.54796677] [ 0.08244879 0.99656059 0.00831782 0.06727917] [ 0.0590114 -0.01321347 0.99816985 0.02322554] [ 0. 0. 0. 1. ]] SLAMing on 27.004860624 meters Centerline goodness [0,1] 0.6548639207900887 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99484297 -0.08182084 -0.05994004 0.5482413 ] [ 0.08246442 0.99655912 0.00833913 0.0670372 ] [ 0.05905148 -0.01323904 0.99816715 0.02307457] [ 0. 0. 0. 1. ]] SLAMing on 27.034860623999997 meters Centerline goodness [0,1] 0.6563959620310381 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.9948555 -0.08156624 -0.06007888 0.54893614] [ 0.08221721 0.9965787 0.00843999 0.06713805] [ 0.05918492 -0.01333609 0.99815795 0.0227904 ] [ 0. 0. 0. 1. ]] SLAMing on 27.064860623999998 meters Centerline goodness [0,1] 0.6567726382401687 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.9949221 -0.08064546 -0.06021903 0.55032877] [ 0.08130401 0.99665257 0.00856286 0.06794535] [ 0.05932689 -0.01341542 0.99814846 0.02220247] [ 0. 0. 0. 1. ]] SLAMing on 27.094860624 meters Centerline goodness [0,1] 0.6578649281345181 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99493736 -0.08035808 -0.06035083 0.55076051] [ 0.08101125 0.99667736 0.00845117 0.06820123] [ 0.05947118 -0.01329748 0.99814145 0.02239312] [ 0. 0. 0. 1. ]] SLAMing on 27.124860623999997 meters Centerline goodness [0,1] 0.6552443684633951 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99494465 -0.08025619 -0.06036631 0.55096703] [ 0.08090167 0.99668735 0.00832173 0.06873266] [ 0.05949847 -0.01316339 0.9981416 0.02234222] [ 0. 0. 0. 1. ]] SLAMing on 27.154860623999998 meters Centerline goodness [0,1] 0.6573884980964627 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99499645 -0.0794365 -0.06059625 0.5519131 ] [ 0.08007173 0.996756 0.00812404 0.07054902] [ 0.05975433 -0.01293544 0.9981293 0.0225959 ] [ 0. 0. 0. 1. ]] SLAMing on 27.184860624 meters Centerline goodness [0,1] 0.6586891556501038 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505542 -0.07844807 -0.06091483 0.55335379] [ 0.07908962 0.99683387 0.00818953 0.07242202] [ 0.06007952 -0.01296677 0.99810937 0.02233892] [ 0. 0. 0. 1. ]] SLAMing on 27.214860623999996 meters Centerline goodness [0,1] 0.6633603084806818 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505336 -0.07844205 -0.06095624 0.5534826 ] [ 0.0790765 0.99683594 0.00806284 0.07293261] [ 0.0601309 -0.01284316 0.99810787 0.0223839 ] [ 0. 0. 0. 1. ]] SLAMing on 27.244860623999998 meters Centerline goodness [0,1] 0.6615984998226141 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505209 -0.07840151 -0.06102898 0.55384772] [ 0.07903681 0.99683909 0.00806261 0.0728014 ] [ 0.06020395 -0.01284626 0.99810343 0.02219911] [ 0. 0. 0. 1. ]] SLAMing on 27.274860624 meters Centerline goodness [0,1] 0.6565372635417458 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99506208 -0.07829217 -0.06100652 0.55429426] [ 0.07894122 0.99684473 0.00829872 0.07133474] [ 0.0601643 -0.01307367 0.99810287 0.02177095] [ 0. 0. 0. 1. ]] SLAMing on 27.304860624 meters Centerline goodness [0,1] 0.6614692577897956 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505834 -0.07840826 -0.06091833 0.55443764] [ 0.07906615 0.99683346 0.00846132 0.07036229] [ 0.060062 -0.01323609 0.99810689 0.02133019] [ 0. 0. 0. 1. ]] SLAMing on 27.334860623999997 meters Centerline goodness [0,1] 0.6583916879439795 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505105 -0.07852197 -0.06089095 0.55458472] [ 0.07919263 0.99682157 0.00867635 0.06929753] [ 0.06001613 -0.01345553 0.99810671 0.02096982] [ 0. 0. 0. 1. ]] SLAMing on 27.364860624 meters Centerline goodness [0,1] 0.6583205027890658 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99504902 -0.07861653 -0.06080207 0.55486381] [ 0.07930291 0.99681034 0.00895545 0.06824101] [ 0.05990409 -0.01373289 0.99810967 0.02036751] [ 0. 0. 0. 1. ]] SLAMing on 27.394860624 meters Centerline goodness [0,1] 0.6559592546834422 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99505151 -0.07852871 -0.06087467 0.55511745] [ 0.07922159 0.99681595 0.00904948 0.06777145] [ 0.0599702 -0.01382729 0.99810439 0.02035468] [ 0. 0. 0. 1. ]] SLAMing on 27.424860623999997 meters Centerline goodness [0,1] 0.6562563016737246 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99505142 -0.07848641 -0.06093071 0.55530757] [ 0.07918144 0.99681893 0.00907358 0.06740471] [ 0.06002473 -0.01385326 0.99810076 0.02037016] [ 0. 0. 0. 1. ]] SLAMing on 27.454860624 meters Centerline goodness [0,1] 0.6553494576296781 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99506183 -0.07832946 -0.06096272 0.55545978] [ 0.07903911 0.99682801 0.00931385 0.06592646] [ 0.0600398 -0.0140863 0.99809659 0.02048298] [ 0. 0. 0. 1. ]] SLAMing on 27.484860624 meters Centerline goodness [0,1] 0.6514626925585829 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99505558 -0.07840469 -0.06096802 0.55530988] [ 0.07911294 0.9968224 0.00928719 0.06531581] [ 0.06004613 -0.01406463 0.99809651 0.02073881] [ 0. 0. 0. 1. ]] SLAMing on 27.514860623999997 meters Centerline goodness [0,1] 0.6520115302669507 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.02 [[ 0.99505313 -0.0785256 -0.06085229 0.55491426] [ 0.07922316 0.99681507 0.00913282 0.06521057] [ 0.05994132 -0.01390856 0.998105 0.02103525] [ 0. 0. 0. 1. ]] SLAMing on 27.544860624 meters Centerline goodness [0,1] 0.6603295628401595 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99505886 -0.07824436 -0.06112021 0.55543196] [ 0.07893997 0.99683832 0.00904675 0.06577837] [ 0.06021911 -0.01382688 0.99808941 0.02142311] [ 0. 0. 0. 1. ]] SLAMing on 27.574860624 meters Centerline goodness [0,1] 0.6486248458770539 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99505979 -0.0780074 -0.06140738 0.55605268] [ 0.07869507 0.99685939 0.00885701 0.06675749] [ 0.06052361 -0.01364571 0.99807349 0.02166384] [ 0. 0. 0. 1. ]] SLAMing on 27.604860623999997 meters Centerline goodness [0,1] 0.6613771250377225 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99506948 -0.07763805 -0.06171764 0.55705765] [ 0.07832824 0.99688843 0.00883965 0.06709427] [ 0.06083931 -0.0136303 0.9980545 0.02155806] [ 0. 0. 0. 1. ]] SLAMing on 27.634860623999998 meters Centerline goodness [0,1] 0.6634973337357883 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99509509 -0.07711671 -0.06195787 0.55826934] [ 0.07782342 0.99692589 0.0090716 0.06698903] [ 0.06106783 -0.01384888 0.99803754 0.02100896] [ 0. 0. 0. 1. ]] SLAMing on 27.664860624 meters Centerline goodness [0,1] 0.6642080354445675 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99515248 -0.07604634 -0.06235773 0.56043803] [ 0.07677247 0.997005 0.00932886 0.06778343] [ 0.06146154 -0.014071 0.99801026 0.02009592] [ 0. 0. 0. 1. ]] SLAMing on 27.694860623999997 meters Centerline goodness [0,1] 0.6639402201353125 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99515908 -0.0756977 -0.0626759 0.56126917] [ 0.07641028 0.99703541 0.00904799 0.06911547] [ 0.06180518 -0.01379328 0.99799292 0.02033635] [ 0. 0. 0. 1. ]] SLAMing on 27.724860623999998 meters Centerline goodness [0,1] 0.6639402201353125 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99515908 -0.0756977 -0.0626759 0.56126917] [ 0.07641028 0.99703541 0.00904799 0.06911547] [ 0.06180518 -0.01379328 0.99799292 0.02033635] [ 0. 0. 0. 1. ]] SLAMing on 27.754860624 meters Centerline goodness [0,1] 0.6694844473690871 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99544887 -0.07164669 -0.06283554 0.56093912] [ 0.07257781 0.9972824 0.01266039 0.06990084] [ 0.0617577 -0.01716324 0.99794359 0.02045779] [ 0. 0. 0. 1. ]] SLAMing on 27.784860623999997 meters Centerline goodness [0,1] 0.6709597429214849 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99547366 -0.07100594 -0.06316922 0.56198266] [ 0.07192467 0.99733314 0.01238783 0.07138098] [ 0.06212115 -0.01687518 0.99792594 0.02073024] [ 0. 0. 0. 1. ]] SLAMing on 27.814860623999998 meters Centerline goodness [0,1] 0.6746816460361437 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99576401 -0.0666414 -0.0633479 0.56185104] [ 0.06777932 0.99757228 0.01598472 0.07227051] [ 0.06212886 -0.02021069 0.99786348 0.02101978] [ 0. 0. 0. 1. ]] SLAMing on 27.844860624 meters Centerline goodness [0,1] 0.6749700720817096 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.02 [[ 0.99579037 -0.06586766 -0.06374158 0.56314842] [ 0.06700085 0.99762774 0.01580437 0.07396163] [ 0.06254937 -0.02000858 0.99784129 0.02112838] [ 0. 0. 0. 1. ]] SLAMing on 27.874860623999997 meters Centerline goodness [0,1] 0.6835597929997196 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.02 [[ 0.99585128 -0.06472155 -0.06396364 0.56460953] [ 0.06586035 0.99770285 0.01585662 0.07583085] [ 0.06279044 -0.0200035 0.99782625 0.02072423] [ 0. 0. 0. 1. ]] SLAMing on 27.904860623999998 meters Centerline goodness [0,1] 0.6881968473663975 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99588733 -0.06383946 -0.06428798 0.5659093 ] [ 0.06497102 0.99776418 0.01566527 0.07772443] [ 0.06314418 -0.0197777 0.99780843 0.02076594] [ 0. 0. 0. 1. ]] SLAMing on 27.934860624 meters Centerline goodness [0,1] 0.6909610483227351 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99615037 -0.05942116 -0.06444813 0.5659622 ] [ 0.06077937 0.99796421 0.01932105 0.07911737] [ 0.06316884 -0.02316379 0.997734 0.02072808] [ 0. 0. 0. 1. ]] SLAMing on 27.964860623999996 meters Centerline goodness [0,1] 0.6975459964389854 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99617404 -0.05862023 -0.06481471 0.56747435] [ 0.05998277 0.99801324 0.01927819 0.08073442] [ 0.06355585 -0.0230922 0.99771108 0.02037105] [ 0. 0. 0. 1. ]] SLAMing on 27.994860623999998 meters Centerline goodness [0,1] 0.7001109362503548 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99623507 -0.05718356 -0.06515927 0.56955599] [ 0.05856791 0.99809226 0.01953581 0.08246703] [ 0.06391783 -0.0232785 0.99768363 0.01969607] [ 0. 0. 0. 1. ]] SLAMing on 28.024860624 meters Centerline goodness [0,1] 0.7166640734401742 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.99623555 -0.05701748 -0.06529732 0.57004083] [ 0.05839183 0.99810649 0.01933465 0.08346551] [ 0.06407126 -0.0230747 0.99767852 0.01968034] [ 0. 0. 0. 1. ]] SLAMing on 28.054860624 meters Centerline goodness [0,1] 0.7174263291928694 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:0.02 [[ 0.9962331 -0.0568437 -0.0654859 0.57061857] [ 0.05820847 0.99812127 0.01912317 0.0846014 ] [ 0.06427584 -0.02286297 0.99767024 0.01968319] [ 0. 0. 0. 1. ]] SLAMing on 28.084860623999997 meters Centerline goodness [0,1] 0.7176321045941529 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99622648 -0.05675002 -0.06566754 0.57120834] [ 0.05808623 0.99813792 0.01861935 0.08634774] [ 0.06448861 -0.02236347 0.99766783 0.0198694 ] [ 0. 0. 0. 1. ]] SLAMing on 28.114860624 meters Centerline goodness [0,1] 0.7016914802400811 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99621429 -0.05690512 -0.06571838 0.57108169] [ 0.05821421 0.9981386 0.01817804 0.08747304] [ 0.06456163 -0.02193497 0.99767262 0.02026116] [ 0. 0. 0. 1. ]] SLAMing on 28.144860624 meters Centerline goodness [0,1] 0.7006609763713958 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.9962047 -0.0571539 -0.06564776 0.57072089] [ 0.05843405 0.99813351 0.01774706 0.08829422] [ 0.06451092 -0.02151577 0.99768503 0.02061967] [ 0. 0. 0. 1. ]] SLAMing on 28.174860623999997 meters Centerline goodness [0,1] 0.7075697004309226 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.9961706 -0.05790404 -0.06550765 0.57006054] [ 0.05913971 0.99810355 0.01708219 0.08884189] [ 0.06439429 -0.02089088 0.99770584 0.02098375] [ 0. 0. 0. 1. ]] SLAMing on 28.204860624 meters Centerline goodness [0,1] 0.7052738283991371 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99614377 -0.05859151 -0.06530406 0.56915668] [ 0.05979519 0.99807212 0.0166307 0.08904938] [ 0.06420375 -0.02047144 0.99772682 0.02136174] [ 0. 0. 0. 1. ]] SLAMing on 28.234860624 meters Centerline goodness [0,1] 0.6930190153685856 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99611204 -0.0592614 -0.06518351 0.56831869] [ 0.06044586 0.99803756 0.01634994 0.0886842 ] [ 0.06408667 -0.02022645 0.99773934 0.02178928] [ 0. 0. 0. 1. ]] SLAMing on 28.264860623999997 meters Centerline goodness [0,1] 0.6892942273810758 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99582488 -0.06410355 -0.06498874 0.56787354] [ 0.06499013 0.99781826 0.01161874 0.08991199] [ 0.06410215 -0.01579386 0.99781835 0.02262529] [ 0. 0. 0. 1. ]] SLAMing on 28.294860624 meters Centerline goodness [0,1] 0.6823733374734773 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99553706 -0.06829601 -0.06512766 0.56858893] [ 0.06890409 0.99759778 0.00713401 0.09142141] [ 0.06448399 -0.01158974 0.99785144 0.02321032] [ 0. 0. 0. 1. ]] SLAMing on 28.324860624 meters Centerline goodness [0,1] 0.6812572759022119 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99547991 -0.06935479 -0.06488197 0.56731881] [ 0.06993962 0.99752816 0.00678361 0.09067235] [ 0.06425112 -0.01129077 0.99786989 0.02361888] [ 0. 0. 0. 1. ]] SLAMing on 28.354860623999997 meters Centerline goodness [0,1] 0.6704893951498596 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.9951389 -0.07436574 -0.06456246 0.5668396 ] [ 0.07468006 0.9972045 0.00246547 0.09100865] [ 0.06419863 -0.00727501 0.99791062 0.02384712] [ 0. 0. 0. 1. ]] SLAMing on 28.384860623999998 meters Centerline goodness [0,1] 0.6696017095337401 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.02 [[ 0.99507754 -0.07540049 -0.06430756 0.56560857] [ 0.07570056 0.99712808 0.002239 0.09025555] [ 0.06395405 -0.00709609 0.99792761 0.02408937] [ 0. 0. 0. 1. ]] SLAMing on 28.414860624 meters Centerline goodness [0,1] 0.6706277911811509 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99501981 -0.07645212 -0.06395816 0.56415323] [ 0.07673111 0.99704999 0.00191361 0.08919483] [ 0.06362318 -0.00681166 0.99795075 0.02452958] [ 0. 0. 0. 1. ]] SLAMing on 28.444860623999997 meters Centerline goodness [0,1] 0.6692228776609387 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.9946736 -0.08086947 -0.06391061 0.56467634] [ 0.08089522 0.99672021 -0.00218892 0.08916501] [ 0.06387801 -0.0029928 0.99795323 0.02473622] [ 0. 0. 0. 1. ]] SLAMing on 28.474860623999998 meters Centerline goodness [0,1] 0.6641764314588343 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99464348 -0.08136909 -0.063745 0.56422528] [ 0.08139804 0.99667936 -0.00214708 0.08840041] [ 0.06370803 -0.00305314 0.99796391 0.02452239] [ 0. 0. 0. 1. ]] SLAMing on 28.504860624 meters Centerline goodness [0,1] 0.6676843347529375 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.99462033 -0.08176797 -0.06359551 0.56372975] [ 0.08179323 0.99664687 -0.00221065 0.0880309 ] [ 0.06356302 -0.00300292 0.99797331 0.02454237] [ 0. 0. 0. 1. ]] SLAMing on 28.534860623999997 meters Centerline goodness [0,1] 0.6650465568402742 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.02 [[ 0.994598 -0.08210768 -0.06350704 0.56335305] [ 0.08212357 0.99661935 -0.00236448 0.08806562] [ 0.06348648 -0.00286372 0.99797859 0.02467089] [ 0. 0. 0. 1. ]] SLAMing on 28.564860623999998 meters Centerline goodness [0,1] 0.6607380149238475 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99455677 -0.08284667 -0.06319219 0.56195801] [ 0.08284418 0.99655895 -0.00266403 0.08755029] [ 0.06319545 -0.00258558 0.99799782 0.02533093] [ 0. 0. 0. 1. ]] SLAMing on 28.594860624 meters Centerline goodness [0,1] 0.6609309676761497 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99454815 -0.08309059 -0.06300747 0.5612689 ] [ 0.08308891 0.99653861 -0.00265136 0.08681047] [ 0.06300968 -0.00259831 0.99800953 0.02561567] [ 0. 0. 0. 1. ]] SLAMing on 28.624860623999997 meters Centerline goodness [0,1] 0.6606697541859636 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99452674 -0.08341488 -0.06291676 0.56049903] [ 0.08340171 0.99651196 -0.00284013 0.08631925] [ 0.06293421 -0.00242278 0.99801474 0.02630645] [ 0. 0. 0. 1. ]] SLAMing on 28.654860623999998 meters Centerline goodness [0,1] 0.6589536712843151 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99451489 -0.08356393 -0.06290633 0.559982 ] [ 0.08353802 0.99649993 -0.0030465 0.08629627] [ 0.06294073 -0.00222528 0.99801479 0.02705794] [ 0. 0. 0. 1. ]] SLAMing on 28.684860624 meters Centerline goodness [0,1] 0.6583793973049392 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99451249 -0.08354948 -0.06296339 0.56003657] [ 0.08351505 0.99650143 -0.00318309 0.08688446] [ 0.06300906 -0.00209277 0.99801076 0.02724342] [ 0. 0. 0. 1. ]] SLAMing on 28.714860623999996 meters Centerline goodness [0,1] 0.6627960275019098 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99451746 -0.08330069 -0.06321411 0.56077259] [ 0.08327224 0.99652205 -0.00308926 0.08712845] [ 0.0632516 -0.00219165 0.99799521 0.02709287] [ 0. 0. 0. 1. ]] SLAMing on 28.744860623999998 meters Centerline goodness [0,1] 0.6614349775784754 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99459061 -0.08214175 -0.06357875 0.56287985] [ 0.0821402 0.99661728 -0.00264264 0.08765043] [ 0.06358075 -0.00259402 0.99797333 0.02618497] [ 0. 0. 0. 1. ]] SLAMing on 28.774860624 meters Centerline goodness [0,1] 0.6629946960424317 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99461307 -0.0816756 -0.06382741 0.56397242] [ 0.0816802 0.99665535 -0.00254163 0.08806486] [ 0.06382152 -0.0026855 0.99795772 0.02579294] [ 0. 0. 0. 1. ]] SLAMing on 28.804860623999996 meters Centerline goodness [0,1] 0.6683056072147352 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.03 [[ 0.99463041 -0.08126267 -0.06408378 0.56501694] [ 0.08127421 0.99668881 -0.00243112 0.08840654] [ 0.06406914 -0.0027903 0.99794156 0.02543525] [ 0. 0. 0. 1. ]] SLAMing on 28.834860623999997 meters Centerline goodness [0,1] 0.6655219780219781 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:0.03 [[ 0.99463043 -0.08115479 -0.06421993 0.56546329] [ 0.08116232 0.99669777 -0.00249581 0.08896797] [ 0.06421041 -0.00272983 0.99793265 0.02535078] [ 0. 0. 0. 1. ]] SLAMing on 28.864860624 meters Centerline goodness [0,1] 0.6745681406445357 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94865199e-01 -7.82879756e-02 -6.41422556e-02 5.63534827e-01] [ 7.84911703e-02 9.96914597e-01 6.50244467e-04 8.94354171e-02] [ 6.38934445e-02 -5.68150630e-03 9.97940553e-01 2.61132195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894860624 meters Centerline goodness [0,1] 0.67602321241404 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94860542e-01 -7.83450054e-02 -6.41448558e-02 5.63369409e-01] [ 7.85276072e-02 9.96911886e-01 3.26616347e-04 9.06667371e-02] [ 6.39211804e-02 -5.36207976e-03 9.97940545e-01 2.64142963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924860623999997 meters Centerline goodness [0,1] 0.6769041769041769 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94853472e-01 -7.83015284e-02 -6.43073828e-02 5.63609728e-01] [ 7.84710697e-02 9.96916385e-01 1.11021301e-04 9.12683654e-02] [ 6.41003905e-02 -5.15671905e-03 9.97930132e-01 2.66940704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954860624 meters Centerline goodness [0,1] 0.6780862223359345 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94853719e-01 -7.83572501e-02 -6.42356559e-02 5.63603411e-01] [ 7.85204302e-02 9.96912505e-01 1.58723659e-05 9.13150196e-02] [ 6.40360849e-02 -5.05960202e-03 9.97934758e-01 2.65821156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984860624 meters Centerline goodness [0,1] 0.6795513770374534 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94839560e-01 -7.87931552e-02 -6.39209627e-02 5.63128461e-01] [ 7.89430414e-02 9.96879112e-01 -1.81318484e-04 9.10107544e-02] [ 6.37357592e-02 -4.86573241e-03 9.97954948e-01 2.63171291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014860623999997 meters Centerline goodness [0,1] 0.6823059389965939 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94825896e-01 -7.90511804e-02 -6.38149418e-02 5.62789861e-01] [ 7.91955824e-02 9.96859061e-01 -2.67479555e-04 9.10836721e-02] [ 6.36356475e-02 -4.78776589e-03 9.97961714e-01 2.62897516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044860624 meters Centerline goodness [0,1] 0.6802700136033469 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94773852e-01 -7.98358676e-02 -6.36491757e-02 5.61660192e-01] [ 7.99496068e-02 9.96798615e-01 -7.62050714e-04 9.17974362e-02] [ 6.35062492e-02 -4.33065845e-03 9.97972045e-01 2.69084701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074860624 meters Centerline goodness [0,1] 0.675754149750758 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94751800e-01 -8.02120441e-02 -6.35207354e-02 5.61001976e-01] [ 8.03112398e-02 9.96769340e-01 -9.94256155e-04 9.22258995e-02] [ 6.33952727e-02 -4.11239091e-03 9.97980024e-01 2.71911329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104860623999997 meters Centerline goodness [0,1] 0.6734132997714022 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99473934 -0.08050576 -0.06334402 0.56061799] [ 0.08059945 0.99674599 -0.00107899 0.09238162] [ 0.06322476 -0.00403217 0.99799117 0.02704919] [ 0. 0. 0. 1. ]] SLAMing on 29.134860623999998 meters Centerline goodness [0,1] 0.6693192319539993 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99471212 -0.08103902 -0.06309105 0.56025617] [ 0.08113617 0.9967025 -0.00102489 0.09096339] [ 0.06296606 -0.00409949 0.99800725 0.02657687] [ 0. 0. 0. 1. ]] SLAMing on 29.164860624 meters Centerline goodness [0,1] 0.6854279105628374 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99470174 -0.08134061 -0.06286612 0.55977491] [ 0.08143828 0.99667787 -0.00101135 0.09049438] [ 0.06273954 -0.00411372 0.99802146 0.02639601] [ 0. 0. 0. 1. ]] SLAMing on 29.194860623999997 meters Centerline goodness [0,1] 0.6801523574222772 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99468146 -0.08173352 -0.06267718 0.55913921] [ 0.08182363 0.99664618 -0.00113195 0.09041224] [ 0.06255949 -0.00400255 0.99803321 0.02646408] [ 0. 0. 0. 1. ]] SLAMing on 29.224860623999998 meters Centerline goodness [0,1] 0.6833697749196141 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99465471 -0.08224658 -0.06243005 0.55808939] [ 0.08231782 0.9966051 -0.00143457 0.09051669] [ 0.06233609 -0.0037122 0.99804831 0.0269375 ] [ 0. 0. 0. 1. ]] SLAMing on 29.254860624 meters Centerline goodness [0,1] 0.683123024337591 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99463721 -0.08276769 -0.06201887 0.55696586] [ 0.08283347 0.99656225 -0.00151402 0.08973292] [ 0.06193098 -0.00363133 0.99807383 0.02704755] [ 0. 0. 0. 1. ]] SLAMing on 29.284860623999997 meters Centerline goodness [0,1] 0.6754196827352533 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99463157 -0.08289931 -0.06193334 0.55681809] [ 0.08297267 0.99655085 -0.00139083 0.08925044] [ 0.06183503 -0.00375541 0.99807932 0.02686163] [ 0. 0. 0. 1. ]] SLAMing on 29.314860623999998 meters Centerline goodness [0,1] 0.6805295430638582 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99463498 -0.08281005 -0.06199798 0.55713264] [ 0.08289498 0.99655756 -0.00120542 0.08883387] [ 0.06188438 -0.00394037 0.99807555 0.02665856] [ 0. 0. 0. 1. ]] SLAMing on 29.344860624 meters Centerline goodness [0,1] 0.6850097807062699 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99462217 -0.08300322 -0.06194522 0.55713221] [ 0.08308609 0.9965416 -0.00124129 0.08882698] [ 0.06183402 -0.00391217 0.99807878 0.02651194] [ 0. 0. 0. 1. ]] SLAMing on 29.374860623999997 meters Centerline goodness [0,1] 0.674389930644747 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 0.99462837 -0.08293679 -0.06193465 0.55729604] [ 0.08303414 0.9965462 -0.00100481 0.08845724] [ 0.06180407 -0.00414328 0.9980797 0.02622978] [ 0. 0. 0. 1. ]] SLAMing on 29.404860623999998 meters Centerline goodness [0,1] 0.6847265354310499 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94626571e-01 -8.30235495e-02 -6.18471826e-02 5.57138826e-01] [ 8.31279414e-02 9.96538488e-01 -8.87722085e-04 8.78336428e-02] [ 6.17067996e-02 -4.25827700e-03 9.98085236e-01 2.61044797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434860624 meters Centerline goodness [0,1] 0.6830949686181707 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94627087e-01 -8.31656433e-02 -6.16476610e-02 5.56791622e-01] [ 8.32773236e-02 9.96526121e-01 -7.60032151e-04 8.70810829e-02] [ 6.14967130e-02 -4.37790365e-03 9.98097685e-01 2.59101207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464860623999996 meters Centerline goodness [0,1] 0.6867111339148282 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:0.03 [[ 9.94617976e-01 -8.33959815e-02 -6.14832645e-02 5.56502067e-01] [ 8.35271360e-02 9.96505407e-01 -4.38420479e-04 8.50805507e-02] [ 6.13049680e-02 -4.69946010e-03 9.98108018e-01 2.56293278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494860623999998 meters Centerline goodness [0,1] 0.6840700926187239 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94619333e-01 -8.34228413e-02 -6.14248430e-02 5.56325127e-01] [ 8.35593693e-02 9.96502740e-01 -3.47185283e-04 8.44213844e-02] [ 6.12389875e-02 -4.78730394e-03 9.98111651e-01 2.56852052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524860624 meters Centerline goodness [0,1] 0.6734903288697347 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94617416e-01 -8.35057602e-02 -6.13431607e-02 5.56081287e-01] [ 8.36405637e-02 9.96495920e-01 -3.71483233e-04 8.41408148e-02] [ 6.11592303e-02 -4.76129285e-03 9.98116666e-01 2.57840437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554860623999996 meters Centerline goodness [0,1] 0.6821854559445941 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94623118e-01 -8.34389934e-02 -6.13415702e-02 5.55905793e-01] [ 8.35782173e-02 9.96501176e-01 -2.97156088e-04 8.37461951e-02] [ 6.11517412e-02 -4.83126077e-03 9.98116788e-01 2.61503371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584860623999997 meters Centerline goodness [0,1] 0.6695638797015614 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94622771e-01 -8.33879821e-02 -6.14165106e-02 5.56006878e-01] [ 8.35276522e-02 9.96505416e-01 -2.94234526e-04 8.35096383e-02] [ 6.12264211e-02 -4.83732458e-03 9.98112181e-01 2.63284162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614860624 meters Centerline goodness [0,1] 0.6759048180118337 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94640052e-01 -8.31109500e-02 -6.15120875e-02 5.56454821e-01] [ 8.32656883e-02 9.96527382e-01 -4.79395713e-05 8.28908128e-02] [ 6.13024638e-02 -5.07416369e-03 9.98106337e-01 2.61691916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644860624 meters Centerline goodness [0,1] 0.6759048180118337 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94640052e-01 -8.31109500e-02 -6.15120875e-02 5.56454821e-01] [ 8.32656883e-02 9.96527382e-01 -4.79395713e-05 8.28908128e-02] [ 6.13024638e-02 -5.07416369e-03 9.98106337e-01 2.61691916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674860623999997 meters Centerline goodness [0,1] 0.6762588091104076 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94638722e-01 -8.30711615e-02 -6.15872952e-02 5.56630497e-01] [ 8.32507391e-02 9.96528570e-01 3.51093912e-04 8.11438913e-02] [ 6.13443334e-02 -5.47639944e-03 9.98101639e-01 2.60732791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704860624 meters Centerline goodness [0,1] 0.6721617816459746 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94652970e-01 -8.28152579e-02 -6.17017238e-02 5.57240214e-01] [ 8.30217403e-02 9.96547426e-01 7.85852452e-04 7.98608932e-02] [ 6.14236135e-02 -5.90423496e-03 9.98094324e-01 2.56767800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734860624 meters Centerline goodness [0,1] 0.6755237608584568 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94656272e-01 -8.28610962e-02 -6.15868512e-02 5.57136184e-01] [ 8.30731865e-02 9.96543054e-01 8.86813883e-04 7.95515054e-02] [ 6.13004664e-02 -5.99829096e-03 9.98101334e-01 2.54553397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764860623999997 meters Centerline goodness [0,1] 0.6796803186599939 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 9.94661978e-01 -8.27471897e-02 -6.16478100e-02 5.57345654e-01] [ 8.29634992e-02 9.96552131e-01 9.52993354e-04 7.92394052e-02] [ 6.13563989e-02 -6.06242429e-03 9.98097510e-01 2.55365189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794860624 meters Centerline goodness [0,1] 0.6763782141306846 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 0.99466294 -0.08270425 -0.06168993 0.55732402] [ 0.08293696 0.99655405 0.00121677 0.07807638] [ 0.06137671 -0.00632665 0.99809462 0.02567233] [ 0. 0. 0. 1. ]] SLAMing on 29.824860624 meters Centerline goodness [0,1] 0.6770424044496607 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 0.99467022 -0.08261805 -0.06168805 0.55751119] [ 0.08286577 0.99655964 0.00146383 0.07704107] [ 0.06135489 -0.00656785 0.9980944 0.02548967] [ 0. 0. 0. 1. ]] SLAMing on 29.854860623999997 meters Centerline goodness [0,1] 0.6639841083889371 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 0.99467341 -0.08257368 -0.06169596 0.55762777] [ 0.08283378 0.99656199 0.00166572 0.07598641] [ 0.06134631 -0.00676735 0.9980936 0.0254227 ] [ 0. 0. 0. 1. ]] SLAMing on 29.884860623999998 meters Centerline goodness [0,1] 0.6731268782152499 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:0.03 [[ 0.99466514 -0.08276173 -0.06157717 0.55703569] [ 0.08301967 0.99654656 0.00163777 0.07542679] [ 0.06122897 -0.00674115 0.99810098 0.02578473] [ 0. 0. 0. 1. ]] SLAMing on 29.914860624 meters Centerline goodness [0,1] 0.6719338422391857 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99464733 -0.08320026 -0.06127322 0.55578682] [ 0.08345112 0.99651068 0.0015421 0.07443848] [ 0.06093111 -0.00664716 0.99811984 0.02647784] [ 0. 0. 0. 1. ]] SLAMing on 29.944860623999997 meters Centerline goodness [0,1] 0.669488724480716 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99463751 -0.08326149 -0.06134939 0.55579979] [ 0.08352018 0.9965047 0.00166004 0.07353959] [ 0.06099673 -0.00677505 0.99811497 0.02661775] [ 0. 0. 0. 1. ]] SLAMing on 29.974860623999998 meters Centerline goodness [0,1] 0.6706881257128374 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99462828 -0.0834099 -0.06129747 0.5557027 ] [ 0.08367873 0.99649111 0.00182735 0.07239499] [ 0.06092997 -0.00694683 0.99811787 0.02651612] [ 0. 0. 0. 1. ]] SLAMing on 30.004860624 meters Centerline goodness [0,1] 0.6671633874674816 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99459586 -0.08379679 -0.06129579 0.55541974] [ 0.08407803 0.99645713 0.00201888 0.0701967 ] [ 0.06090945 -0.0071616 0.9981176 0.0266968 ] [ 0. 0. 0. 1. ]] SLAMing on 30.034860623999997 meters Centerline goodness [0,1] 0.657996511716084 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99458904 -0.08389294 -0.06127497 0.55528416] [ 0.08418519 0.9964477 0.00219889 0.06921508] [ 0.06087283 -0.00734544 0.9981185 0.02674031] [ 0. 0. 0. 1. ]] SLAMing on 30.064860623999998 meters Centerline goodness [0,1] 0.6573062005742205 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.03 [[ 0.99457583 -0.08411698 -0.06118211 0.55478679] [ 0.08440959 0.99642869 0.00220923 0.06853283] [ 0.06077778 -0.00736161 0.99812417 0.02703506] [ 0. 0. 0. 1. ]] SLAMing on 30.094860624 meters Centerline goodness [0,1] 0.6567965324328411 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:0.03 [[ 0.99457256 -0.08421391 -0.06110181 0.55445165] [ 0.0845112 0.99641989 0.00229298 0.06779658] [ 0.06068996 -0.00744432 0.9981289 0.0272314 ] [ 0. 0. 0. 1. ]] SLAMing on 30.124860623999997 meters Centerline goodness [0,1] 0.6546859758385233 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:0.03 [[ 0.99457969 -0.08403199 -0.06123621 0.55500837] [ 0.08436231 0.99643114 0.00282424 0.06558245] [ 0.06078034 -0.00797496 0.99811931 0.02694762] [ 0. 0. 0. 1. ]] SLAMing on 30.154860623999998 meters Centerline goodness [0,1] 0.6545941481240458 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99459026 -0.08386866 -0.06128836 0.55545271] [ 0.08422027 0.99644211 0.00317178 0.06450939] [ 0.06080429 -0.00831634 0.99811506 0.02654294] [ 0. 0. 0. 1. ]] SLAMing on 30.184860624 meters Centerline goodness [0,1] 0.6519015884150925 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.9945899 -0.08392507 -0.06121686 0.55513359] [ 0.08429342 0.99643499 0.00345493 0.06274913] [ 0.06070866 -0.00859642 0.99811851 0.02671428] [ 0. 0. 0. 1. ]] SLAMing on 30.214860623999996 meters Centerline goodness [0,1] 0.6508735637913416 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99460495 -0.08378197 -0.06116846 0.55543077] [ 0.08416911 0.99644433 0.00377544 0.06159016] [ 0.06063465 -0.00890356 0.99812032 0.02631426] [ 0. 0. 0. 1. ]] SLAMing on 30.244860623999998 meters Centerline goodness [0,1] 0.645310633213859 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99462093 -0.08343025 -0.06138896 0.55643757] [ 0.08384258 0.9964703 0.00416723 0.06066994] [ 0.06082461 -0.00929182 0.99810522 0.02576182] [ 0. 0. 0. 1. ]] SLAMing on 30.274860624 meters Centerline goodness [0,1] 0.6537742667032174 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.9946424 -0.08307763 -0.0615191 0.55727745] [ 0.08351466 0.9964961 0.00456248 0.06000138] [ 0.06092451 -0.00967578 0.99809548 0.02515049] [ 0. 0. 0. 1. ]] SLAMing on 30.304860623999996 meters Centerline goodness [0,1] 0.6449154441981519 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.02 [[ 0.99467379 -0.08246859 -0.06183025 0.55837481] [ 0.08293553 0.99654227 0.00501956 0.05920338] [ 0.0612025 -0.01012075 0.99807406 0.02492266] [ 0. 0. 0. 1. ]] SLAMing on 30.334860623999997 meters Centerline goodness [0,1] 0.6592727363357676 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99468108 -0.08232543 -0.06190378 0.55850001] [ 0.08279778 0.99655332 0.00509992 0.05886768] [ 0.06127057 -0.01019829 0.99806909 0.02507707] [ 0. 0. 0. 1. ]] SLAMing on 30.364860624 meters Centerline goodness [0,1] 0.6590497007029135 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99470471 -0.08200256 -0.06195263 0.55869269] [ 0.08249375 0.99657691 0.00540833 0.05751604] [ 0.06129707 -0.01049039 0.99806444 0.02521176] [ 0. 0. 0. 1. ]] SLAMing on 30.394860624 meters Centerline goodness [0,1] 0.6511460249589818 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99470998 -0.08183617 -0.06208781 0.55889213] [ 0.08233277 0.99658984 0.00547828 0.05697562] [ 0.06142776 -0.01056116 0.99805566 0.02549739] [ 0. 0. 0. 1. ]] SLAMing on 30.424860623999997 meters Centerline goodness [0,1] 0.6564535704555025 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99471868 -0.08157185 -0.06229596 0.5592954 ] [ 0.08207597 0.9966105 0.00557241 0.05643334] [ 0.06163025 -0.01065598 0.99804216 0.02577548] [ 0. 0. 0. 1. ]] SLAMing on 30.454860624 meters Centerline goodness [0,1] 0.6542903881425668 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:0.03 [[ 0.99472742 -0.08137685 -0.06241127 0.55961597] [ 0.08189127 0.99662483 0.00572496 0.05572442] [ 0.06173474 -0.01080572 0.9980341 0.0258168 ] [ 0. 0. 0. 1. ]] SLAMing on 30.484860624 meters Centerline goodness [0,1] 0.6577026793003637 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.9947343 -0.08117166 -0.0625687 0.559816 ] [ 0.081704 0.99663862 0.0059927 0.05439673] [ 0.06187195 -0.01107325 0.99802267 0.02614584] [ 0. 0. 0. 1. ]] SLAMing on 30.514860623999997 meters Centerline goodness [0,1] 0.6570425668660701 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99473431 -0.08117133 -0.06256886 0.55970673] [ 0.08170536 0.99663835 0.00602003 0.05407952] [ 0.06186987 -0.01110054 0.99802249 0.02634399] [ 0. 0. 0. 1. ]] SLAMing on 30.544860624 meters Centerline goodness [0,1] 0.6567629029068618 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99473748 -0.08111461 -0.06259201 0.55980222] [ 0.08165301 0.99664222 0.00608805 0.05365144] [ 0.06188801 -0.01116684 0.99802063 0.02639165] [ 0. 0. 0. 1. ]] SLAMing on 30.574860624 meters Centerline goodness [0,1] 0.654453491241056 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99474855 -0.08083321 -0.06277989 0.56055611] [ 0.08139139 0.99666179 0.00638094 0.05286857] [ 0.06205453 -0.01145717 0.998007 0.02610465] [ 0. 0. 0. 1. ]] SLAMing on 30.604860623999997 meters Centerline goodness [0,1] 0.6590466806256928 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99476212 -0.08052811 -0.06295664 0.56130322] [ 0.0811083 0.9966827 0.00671083 0.05213723] [ 0.06220738 -0.01178198 0.9979937 0.02573346] [ 0. 0. 0. 1. ]] SLAMing on 30.634860623999998 meters Centerline goodness [0,1] 0.6554673634391639 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99477109 -0.08022929 -0.06319608 0.56171243] [ 0.08081663 0.99670586 0.00678909 0.05173846] [ 0.06244322 -0.01186088 0.99797804 0.02613325] [ 0. 0. 0. 1. ]] SLAMing on 30.664860624 meters Centerline goodness [0,1] 0.6556798261857146 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99476558 -0.08021519 -0.06330059 0.56157433] [ 0.08078864 0.99670975 0.00654802 0.05221458] [ 0.06256706 -0.01162771 0.99797303 0.02674534] [ 0. 0. 0. 1. ]] SLAMing on 30.694860623999997 meters Centerline goodness [0,1] 0.657277458500851 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.9947541 -0.08038245 -0.06326882 0.56122373] [ 0.08094497 0.99669819 0.00637437 0.05257597] [ 0.06254753 -0.01146222 0.99797616 0.02704741] [ 0. 0. 0. 1. ]] SLAMing on 30.724860623999998 meters Centerline goodness [0,1] 0.6584289061536565 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99474317 -0.0806334 -0.06312109 0.56106162] [ 0.08120737 0.99667553 0.00657694 0.05083895] [ 0.06238092 -0.01166827 0.9979842 0.026775 ] [ 0. 0. 0. 1. ]] SLAMing on 30.754860624 meters Centerline goodness [0,1] 0.655219983248756 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99473324 -0.08076231 -0.06311288 0.56123719] [ 0.08134707 0.996663 0.00674717 0.04976319] [ 0.06235735 -0.01184569 0.99798359 0.02647981] [ 0. 0. 0. 1. ]] SLAMing on 30.784860623999997 meters Centerline goodness [0,1] 0.6551223354502043 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99471842 -0.08100963 -0.06302947 0.56091021] [ 0.08159348 0.9966429 0.00674082 0.04907962] [ 0.0622718 -0.01184801 0.9979889 0.02660964] [ 0. 0. 0. 1. ]] SLAMing on 30.814860623999998 meters Centerline goodness [0,1] 0.6550050506294809 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99470033 -0.0813496 -0.06287687 0.56034366] [ 0.08192446 0.99661659 0.00661496 0.04879536] [ 0.062126 -0.01173106 0.99799937 0.02680109] [ 0. 0. 0. 1. ]] SLAMing on 30.844860624 meters Centerline goodness [0,1] 0.6537761825154882 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99466422 -0.08195768 -0.06265797 0.55943861] [ 0.08252303 0.99656806 0.00648434 0.04743332] [ 0.06191149 -0.01162047 0.99801399 0.0272167 ] [ 0. 0. 0. 1. ]] SLAMing on 30.874860623999997 meters Centerline goodness [0,1] 0.6504713738583914 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99465329 -0.08211242 -0.062629 0.55941233] [ 0.08269047 0.99655282 0.00668994 0.04621328] [ 0.06186378 -0.01183299 0.99801446 0.02706818] [ 0. 0. 0. 1. ]] SLAMing on 30.904860623999998 meters Centerline goodness [0,1] 0.6502448579823703 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:0.03 [[ 0.99464543 -0.08226538 -0.06255291 0.55933512] [ 0.08285422 0.99653797 0.00687399 0.0452653 ] [ 0.06177085 -0.01201995 0.99801798 0.02686514] [ 0. 0. 0. 1. ]] SLAMing on 30.934860624 meters Centerline goodness [0,1] 0.6484922775189997 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 0.99457899 -0.08340558 -0.06209788 0.55740011] [ 0.08396657 0.99644753 0.00647533 0.04467141] [ 0.0613372 -0.01165438 0.99804906 0.02764579] [ 0. 0. 0. 1. ]] SLAMing on 30.964860623999996 meters Centerline goodness [0,1] 0.6469712863799371 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 0.99454314 -0.08401904 -0.06184453 0.55644586] [ 0.08457051 0.99639727 0.00634956 0.04376781] [ 0.06108823 -0.01154514 0.9980656 0.02795147] [ 0. 0. 0. 1. ]] SLAMing on 30.994860623999998 meters Centerline goodness [0,1] 0.6438422806548125 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 0.99421313 -0.08795783 -0.06167396 0.55708184] [ 0.08829221 0.99609092 0.00271218 0.04227781] [ 0.06119432 -0.00814181 0.99809266 0.02792104] [ 0. 0. 0. 1. ]] SLAMing on 31.024860624 meters Centerline goodness [0,1] 0.641266205283166 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 0.99418871 -0.08839791 -0.06143793 0.55658085] [ 0.08874089 0.99605061 0.00287119 0.04032328] [ 0.06094148 -0.00830656 0.99810678 0.02776308] [ 0. 0. 0. 1. ]] SLAMing on 31.054860623999996 meters Centerline goodness [0,1] 0.6326253515662884 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 0.9941551 -0.08879226 -0.06141309 0.55649631] [ 0.08914496 0.99601408 0.00302173 0.03840674] [ 0.06089999 -0.00847874 0.99810786 0.02765998] [ 0. 0. 0. 1. ]] SLAMing on 31.084860623999997 meters Centerline goodness [0,1] 0.6351488743645606 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 9.93821910e-01 -9.25157225e-02 -6.13094821e-02 5.57783479e-01] [ 9.26779253e-02 9.95696120e-01 -1.98879086e-04 3.66504515e-02] [ 6.10640129e-02 -5.48438521e-03 9.98118784e-01 2.69271385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114860624 meters Centerline goodness [0,1] 0.6203255183104049 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:0.03 [[ 9.93805614e-01 -9.27553511e-02 -6.12114946e-02 5.57554559e-01] [ 9.29312888e-02 9.95672524e-01 2.74781793e-05 3.55696893e-02] [ 6.09440546e-02 -5.71577105e-03 9.98124818e-01 2.67731907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144860624 meters Centerline goodness [0,1] 0.6342847483821115 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.03 [[ 9.93777084e-01 -9.31066169e-02 -6.11413606e-02 5.57092123e-01] [ 9.32863335e-02 9.95639319e-01 8.52425671e-05 3.47378193e-02] [ 6.08668060e-02 -5.78836547e-03 9.98129113e-01 2.70050127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174860623999997 meters Centerline goodness [0,1] 0.6405799908014814 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.03 [[ 9.93756850e-01 -9.34501874e-02 -6.09457670e-02 5.56468710e-01] [ 9.36423140e-02 9.95605860e-01 2.97587482e-04 3.34089677e-02] [ 6.06501531e-02 -6.00283224e-03 9.98141035e-01 2.70494516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204860624 meters Centerline goodness [0,1] 0.6253959873284055 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.03 [[ 0.99343074 -0.09679088 -0.06104827 0.55795736] [ 0.09680449 0.99529964 -0.00274167 0.03075225] [ 0.06102669 -0.00318609 0.99813105 0.02691569] [ 0. 0. 0. 1. ]] SLAMing on 31.234860624 meters Centerline goodness [0,1] 0.6305970149253731 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.03 [[ 0.99341495 -0.09695188 -0.06104982 0.55746817] [ 0.09698486 0.99528289 -0.00242971 0.02838744] [ 0.0609974 -0.0035072 0.99813176 0.0275059 ] [ 0. 0. 0. 1. ]] SLAMing on 31.264860623999997 meters Centerline goodness [0,1] 0.6291866028708134 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.03 [[ 0.99341243 -0.09700113 -0.06101252 0.55732287] [ 0.09705843 0.99527661 -0.00203096 0.02627884] [ 0.06092134 -0.00390419 0.99813493 0.02755323] [ 0. 0. 0. 1. ]] SLAMing on 31.294860624 meters Centerline goodness [0,1] 0.6160533523877576 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 0.99341213 -0.09708766 -0.06087965 0.55696021] [ 0.09716387 0.99526692 -0.00171448 0.02456124] [ 0.06075796 -0.00421212 0.99814364 0.02760814] [ 0. 0. 0. 1. ]] SLAMing on 31.324860624 meters Centerline goodness [0,1] 0.6267330252399573 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 0.99343534 -0.09676436 -0.06101541 0.55701723] [ 0.09687874 0.9952956 -0.00108784 0.02198549] [ 0.06083363 -0.0048304 0.99813623 0.02801623] [ 0. 0. 0. 1. ]] SLAMing on 31.354860623999997 meters Centerline goodness [0,1] 0.6280102598204531 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 9.93460060e-01 -9.64868348e-02 -6.10524283e-02 5.57162186e-01] [ 9.66139004e-02 9.95321551e-01 -8.74243135e-04 2.13993812e-02] [ 6.08511506e-02 -5.02998759e-03 9.98134178e-01 2.80819975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384860623999998 meters Centerline goodness [0,1] 0.6254387629257186 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 9.93493454e-01 -9.59609476e-02 -6.13372182e-02 5.57834664e-01] [ 9.61072886e-02 9.95370819e-01 -5.66783878e-04 2.07149758e-02] [ 6.11076663e-02 -5.33185766e-03 9.98116939e-01 2.82460598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414860624 meters Centerline goodness [0,1] 0.6283692642639089 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 9.93587522e-01 -9.45294158e-02 -6.20324596e-02 5.59740709e-01] [ 9.47338792e-02 9.95502569e-01 3.56651097e-04 1.91870433e-02] [ 6.17197589e-02 -6.23093961e-03 9.98074069e-01 2.82146837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444860623999997 meters Centerline goodness [0,1] 0.626136014918679 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 9.93620655e-01 -9.40127186e-02 -6.22864646e-02 5.60508715e-01] [ 9.42477000e-02 9.95548425e-01 8.38823287e-04 1.80097160e-02] [ 6.19303317e-02 -6.70382817e-03 9.98057961e-01 2.80958458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474860623999998 meters Centerline goodness [0,1] 0.6251588908243491 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 0.9936574 -0.0934834 -0.06249668 0.56121087] [ 0.09375171 0.99559467 0.00136811 0.01672899] [ 0.06209347 -0.00721861 0.99804423 0.02794845] [ 0. 0. 0. 1. ]] SLAMing on 31.504860624 meters Centerline goodness [0,1] 0.6271042780119134 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 0.99367683 -0.09314991 -0.06268532 0.56168308] [ 0.09344009 0.99562344 0.00170725 0.01583553] [ 0.06225195 -0.00755378 0.99803188 0.02795812] [ 0. 0. 0. 1. ]] SLAMing on 31.534860623999997 meters Centerline goodness [0,1] 0.6271042780119134 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.03 [[ 0.99367683 -0.09314991 -0.06268532 0.56168308] [ 0.09344009 0.99562344 0.00170725 0.01583553] [ 0.06225195 -0.00755378 0.99803188 0.02795812] [ 0. 0. 0. 1. ]] SLAMing on 31.564860623999998 meters Centerline goodness [0,1] 0.6227230046948357 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99373906 -0.09229819 -0.0629581 0.56248408] [ 0.09263884 0.99569662 0.00250694 0.01390286] [ 0.06245578 -0.00832361 0.99801302 0.02796475] [ 0. 0. 0. 1. ]] SLAMing on 31.594860624 meters Centerline goodness [0,1] 0.6313456984078598 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99376317 -0.09188105 -0.06318725 0.56312771] [ 0.09224374 0.99573241 0.00284064 0.0131625 ] [ 0.06265659 -0.00865155 0.99799765 0.02789797] [ 0. 0. 0. 1. ]] SLAMing on 31.624860623999997 meters Centerline goodness [0,1] 0.6355779786513442 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99379615 -0.0914106 -0.06335066 0.56391791] [ 0.09180229 0.99577181 0.00329379 0.01242634] [ 0.06278171 -0.00908909 0.99798589 0.02746167] [ 0. 0. 0. 1. ]] SLAMing on 31.654860623999998 meters Centerline goodness [0,1] 0.6394099690070608 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:0.03 [[ 0.99385264 -0.09054968 -0.06369993 0.56528296] [ 0.09099991 0.99584206 0.0041966 0.01043964] [ 0.06305506 -0.00996749 0.99796027 0.02686942] [ 0. 0. 0. 1. ]] SLAMing on 31.684860624 meters Centerline goodness [0,1] 0.6321094312455003 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:0.03 [[ 0.99385148 -0.09054414 -0.06372595 0.56523165] [ 0.09100412 0.99584103 0.00434687 0.00966426] [ 0.06306733 -0.01011947 0.99795797 0.02701755] [ 0. 0. 0. 1. ]] SLAMing on 31.714860623999996 meters Centerline goodness [0,1] 0.6389031027585245 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:0.03 [[ 0.99385441 -0.09051956 -0.0637152 0.56519911] [ 0.09099446 0.99584084 0.0045856 0.008662 ] [ 0.06303511 -0.01035515 0.99795759 0.02699661] [ 0. 0. 0. 1. ]] SLAMing on 31.744860623999998 meters Centerline goodness [0,1] 0.6348286057470203 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99383304 -0.09075398 -0.06371504 0.56479789] [ 0.09125288 0.99581541 0.00495829 0.00601304] [ 0.06299844 -0.01074189 0.99795581 0.02741505] [ 0. 0. 0. 1. ]] SLAMing on 31.774860624 meters Centerline goodness [0,1] 0.6314418132767645 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 0.99382839 -0.090841 -0.06366348 0.56462049] [ 0.09135838 0.9958042 0.00525727 0.00458009] [ 0.06291879 -0.01104102 0.99795758 0.02741823] [ 0. 0. 0. 1. ]] SLAMing on 31.804860623999996 meters Centerline goodness [0,1] 0.6311530214649667 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 0.99381491 -0.09105423 -0.06356932 0.56421392] [ 0.09157899 0.99578326 0.00538436 0.0035195 ] [ 0.06281099 -0.01117267 0.9979629 0.02760611] [ 0. 0. 0. 1. ]] SLAMing on 31.834860623999997 meters Centerline goodness [0,1] 0.6307441208248086 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 0.99380117 -0.09126216 -0.06348582 0.56388606] [ 0.09179418 0.99576277 0.00550844 0.00251026] [ 0.0627141 -0.01130192 0.99796754 0.02775135] [ 0. 0. 0. 1. ]] SLAMing on 31.864860624 meters Centerline goodness [0,1] 0.6322453379819712 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 9.93757230e-01 -9.19019691e-02 -6.32502617e-02 5.62840791e-01] [ 9.24313303e-02 9.95703935e-01 5.48852310e-03 4.44997639e-04] [ 6.24741283e-02 -1.13005653e-02 9.97982605e-01 2.82826003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894860624 meters Centerline goodness [0,1] 0.6225978606930989 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 9.93738580e-01 -9.21900304e-02 -6.31239454e-02 5.62427238e-01] [ 9.27242464e-02 9.95676190e-01 5.58017593e-03 -9.93877674e-04] [ 6.23365729e-02 -1.13983564e-02 9.97990095e-01 2.84237394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924860623999997 meters Centerline goodness [0,1] 0.6246548458501632 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 0.9934054 -0.09562102 -0.06326394 0.56412964] [ 0.09595859 0.99538264 0.00231206 -0.00209 ] [ 0.06275075 -0.00836753 0.99799415 0.02793237] [ 0. 0. 0. 1. ]] SLAMing on 31.954860624 meters Centerline goodness [0,1] 0.6298120780879402 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 0.99338998 -0.0958579 -0.06314749 0.5638658 ] [ 0.09620766 0.99535811 0.00251453 -0.00322857] [ 0.06261333 -0.00857318 0.99800104 0.02782904] [ 0. 0. 0. 1. ]] SLAMing on 31.984860624 meters Centerline goodness [0,1] 0.6203145269578278 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 0.99337428 -0.0961589 -0.06293652 0.56339227] [ 0.09651611 0.99532789 0.00265328 -0.00411045] [ 0.06238734 -0.00871008 0.99801401 0.02771061] [ 0. 0. 0. 1. ]] SLAMing on 32.014860624 meters Centerline goodness [0,1] 0.6283300401989507 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99332165 -0.09686042 -0.06269092 0.56219319] [ 0.09721849 0.99525946 0.00267955 -0.0058143 ] [ 0.06213419 -0.00875637 0.99802939 0.02829256] [ 0. 0. 0. 1. ]] SLAMing on 32.044860624 meters Centerline goodness [0,1] 0.627305770104498 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.9933017 -0.09715739 -0.06254738 0.56165218] [ 0.0975154 0.99523038 0.00268959 -0.00692498] [ 0.06198774 -0.00877091 0.99803837 0.0285795 ] [ 0. 0. 0. 1. ]] SLAMing on 32.074860624 meters Centerline goodness [0,1] 0.6180450105387213 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99329437 -0.09732001 -0.06241083 0.56139806] [ 0.09769469 0.99521199 0.00297292 -0.0085048 ] [ 0.06182268 -0.00905019 0.99804612 0.02844804] [ 0. 0. 0. 1. ]] SLAMing on 32.104860624000004 meters Centerline goodness [0,1] 0.6202758495531056 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99328306 -0.09747537 -0.06234836 0.56170266] [ 0.09787612 0.9951928 0.00339869 -0.01066224] [ 0.06171735 -0.00947828 0.99804866 0.02783718] [ 0. 0. 0. 1. ]] SLAMing on 32.134860624 meters Centerline goodness [0,1] 0.6194388959506083 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327182 -0.09759999 -0.06233246 0.56166083] [ 0.09800675 0.99517962 0.00349442 -0.01111446] [ 0.06169094 -0.00957991 0.99804932 0.0277767 ] [ 0. 0. 0. 1. ]] SLAMing on 32.164860624 meters Centerline goodness [0,1] 0.6165933517754296 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99326941 -0.09763851 -0.06231047 0.56164021] [ 0.09805187 0.99517478 0.00360363 -0.01132279] [ 0.06165796 -0.00968903 0.99805031 0.02769008] [ 0. 0. 0. 1. ]] SLAMing on 32.194860624 meters Centerline goodness [0,1] 0.6144086070317998 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99326077 -0.09771723 -0.06232489 0.56146912] [ 0.09812959 0.9951672 0.00358252 -0.01137914] [ 0.06167361 -0.00967429 0.99804948 0.02787552] [ 0. 0. 0. 1. ]] SLAMing on 32.224860624 meters Centerline goodness [0,1] 0.6102006537134557 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99325822 -0.09782904 -0.06218986 0.56091008] [ 0.0982506 0.99515464 0.00374978 -0.01257177] [ 0.06152169 -0.00983469 0.99805729 0.02818786] [ 0. 0. 0. 1. ]] SLAMing on 32.254860624 meters Centerline goodness [0,1] 0.6056440105995062 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99325455 -0.09783107 -0.06224541 0.56108617] [ 0.09826101 0.99515313 0.00387665 -0.0133727 ] [ 0.06156445 -0.00996679 0.99805335 0.0281534 ] [ 0. 0. 0. 1. ]] SLAMing on 32.284860624000004 meters Centerline goodness [0,1] 0.605489627683667 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.9932682 -0.09771261 -0.06221351 0.56126593] [ 0.09816088 0.99516177 0.00418283 -0.01425363] [ 0.06150379 -0.01026161 0.9980541 0.02783231] [ 0. 0. 0. 1. ]] SLAMing on 32.314860624000005 meters Centerline goodness [0,1] 0.6056807362741987 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327884 -0.09758686 -0.06224111 0.56150431] [ 0.09804596 0.99517235 0.00435772 -0.01465413] [ 0.06151538 -0.01043092 0.99805163 0.02766408] [ 0. 0. 0. 1. ]] SLAMing on 32.344860624 meters Centerline goodness [0,1] 0.5962231642900864 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327348 -0.09767609 -0.06218668 0.56123821] [ 0.09812511 0.99516522 0.00420071 -0.0139371 ] [ 0.06147571 -0.01027453 0.9980557 0.02787433] [ 0. 0. 0. 1. ]] SLAMing on 32.374860624 meters Centerline goodness [0,1] 0.6233356771837504 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.9932709 -0.09768834 -0.06220864 0.56138563] [ 0.09814144 0.99516335 0.00426274 -0.01387716] [ 0.06149134 -0.0103393 0.99805406 0.02769968] [ 0. 0. 0. 1. ]] SLAMing on 32.404860624 meters Centerline goodness [0,1] 0.589392119990031 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327383 -0.09763081 -0.06225202 0.56186159] [ 0.09809736 0.99516676 0.00447527 -0.01457141] [ 0.06151421 -0.01055193 0.99805043 0.02723476] [ 0. 0. 0. 1. ]] SLAMing on 32.434860624 meters Centerline goodness [0,1] 0.5935425399342925 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327932 -0.09751906 -0.06233955 0.56221458] [ 0.09798749 0.9951775 0.00449433 -0.01453846] [ 0.06160063 -0.01057262 0.99804488 0.02711949] [ 0. 0. 0. 1. ]] SLAMing on 32.464860624 meters Centerline goodness [0,1] 0.5871638612627716 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99328244 -0.09749202 -0.06233221 0.56220029] [ 0.09795787 0.99518059 0.00445464 -0.0141038 ] [ 0.06159752 -0.01053065 0.99804552 0.02711059] [ 0. 0. 0. 1. ]] SLAMing on 32.494860624000005 meters Centerline goodness [0,1] 0.5838774029742474 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327424 -0.09756358 -0.06235084 0.56217627] [ 0.09801738 0.99517561 0.00425399 -0.01353773] [ 0.061635 -0.01033685 0.99804523 0.02726533] [ 0. 0. 0. 1. ]] SLAMing on 32.524860624 meters Centerline goodness [0,1] 0.6140295119182747 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99327013 -0.09765588 -0.06227183 0.56184657] [ 0.09809533 0.99516885 0.00403193 -0.01255774] [ 0.06157724 -0.01011337 0.99805108 0.0274681 ] [ 0. 0. 0. 1. ]] SLAMing on 32.554860624 meters Centerline goodness [0,1] 0.6219160670918541 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99326107 -0.09775379 -0.06226275 0.56158552] [ 0.09818053 0.99516127 0.00382438 -0.01190782] [ 0.06158763 -0.00991159 0.99805247 0.02778893] [ 0. 0. 0. 1. ]] SLAMing on 32.584860624 meters Centerline goodness [0,1] 0.6158199795431298 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99325588 -0.09788143 -0.0621448 0.56154223] [ 0.09830313 0.99514942 0.00375747 -0.0116408 ] [ 0.06147558 -0.00984116 0.99806007 0.02752581] [ 0. 0. 0. 1. ]] SLAMing on 32.614860624 meters Centerline goodness [0,1] 0.6189115646258503 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99325436 -0.09795538 -0.06205253 0.56160948] [ 0.09837469 0.99514245 0.00373134 -0.01177009] [ 0.06138561 -0.00981057 0.99806591 0.02727379] [ 0. 0. 0. 1. ]] SLAMing on 32.644860624 meters Centerline goodness [0,1] 0.6188793767269103 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99324798 -0.09802217 -0.06204925 0.56183901] [ 0.09843835 0.99513635 0.00367881 -0.01168228] [ 0.06138686 -0.009762 0.99806631 0.02703288] [ 0. 0. 0. 1. ]] SLAMing on 32.674860624000004 meters Centerline goodness [0,1] 0.6121298884268411 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99323336 -0.09819626 -0.06200789 0.56152629] [ 0.09859374 0.99512204 0.00337583 -0.01082743] [ 0.06137392 -0.00946657 0.99806995 0.02732376] [ 0. 0. 0. 1. ]] SLAMing on 32.704860624 meters Centerline goodness [0,1] 0.6117350186414476 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99356409 -0.09468376 -0.06217225 0.5606828 ] [ 0.09526835 0.9954304 0.00650008 -0.00895513] [ 0.0612727 -0.01238129 0.99804427 0.02760726] [ 0. 0. 0. 1. ]] SLAMing on 32.734860624 meters Centerline goodness [0,1] 0.6236311370688081 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99391215 -0.09089994 -0.06225623 0.55999598] [ 0.09169685 0.99573616 0.01005944 -0.00843404] [ 0.06107637 -0.0157069 0.9980095 0.02762481] [ 0. 0. 0. 1. ]] SLAMing on 32.764860624 meters Centerline goodness [0,1] 0.6192071981086602 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.03 [[ 0.99424364 -0.08708635 -0.0624143 0.55955738] [ 0.0880986 0.99601825 0.01364883 -0.00779206] [ 0.06097715 -0.01906888 0.997957 0.02746833] [ 0. 0. 0. 1. ]] SLAMing on 32.794860624 meters Centerline goodness [0,1] 0.639542656923538 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 0.99470289 -0.08147075 -0.06267909 0.56051358] [ 0.08271103 0.99642079 0.01744999 -0.00399055] [ 0.06103308 -0.02254181 0.99788117 0.02682598] [ 0. 0. 0. 1. ]] SLAMing on 32.824860624 meters Centerline goodness [0,1] 0.6312544902546988 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 0.99501671 -0.07742392 -0.06282738 0.56019786] [ 0.07887413 0.9966647 0.02093659 -0.00256795] [ 0.06099684 -0.02578771 0.99780478 0.02676465] [ 0. 0. 0. 1. ]] SLAMing on 32.854860624000004 meters Centerline goodness [0,1] 0.633538927033632 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:0.03 [[ 9.95312486e-01 -7.33356838e-02 -6.30470609e-02 5.59997735e-01] [ 7.49897920e-02 9.96888673e-01 2.42797008e-02 -8.14374352e-04] [ 6.10703325e-02 -2.88937754e-02 9.97715172e-01 2.68595509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884860624 meters Centerline goodness [0,1] 0.6564363875452026 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 0.9958946 -0.06472924 -0.06327766 0.55997589] [ 0.06681845 0.99726856 0.03147553 0.00236758] [ 0.06106743 -0.03557443 0.99749949 0.02620872] [ 0. 0. 0. 1. ]] SLAMing on 32.914860624 meters Centerline goodness [0,1] 0.6639257356925758 Centerline is valid? [False, False] Translation: X:0.56, Y:0.00, Z:0.03 [[ 0.99614346 -0.06060459 -0.06344512 0.55996975] [ 0.06290394 0.99740945 0.03489251 0.00420504] [ 0.06116611 -0.03874889 0.99737517 0.02601514] [ 0. 0. 0. 1. ]] SLAMing on 32.944860624 meters Centerline goodness [0,1] 0.683737220749716 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99637055 -0.0566604 -0.06352425 0.55966835] [ 0.05916648 0.99751358 0.03828813 0.00592633] [ 0.06119688 -0.04190767 0.99724555 0.02591182] [ 0. 0. 0. 1. ]] SLAMing on 32.974860624 meters Centerline goodness [0,1] 0.6782101630370105 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.03 [[ 0.99644534 -0.05528401 -0.06356385 0.56079594] [ 0.05780208 0.99758612 0.0384819 0.00904395] [ 0.06128298 -0.04201923 0.99723557 0.02520233] [ 0. 0. 0. 1. ]] SLAMing on 33.004860624 meters Centerline goodness [0,1] 0.6874820556991099 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:0.02 [[ 0.99649476 -0.0543426 -0.06360094 0.56179344] [ 0.05684995 0.99764784 0.03829974 0.01221925] [ 0.06137003 -0.0417812 0.99724022 0.02458399] [ 0. 0. 0. 1. ]] SLAMing on 33.034860624000004 meters Centerline goodness [0,1] 0.7037135150756189 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.02 [[ 0.99670713 -0.05006774 -0.06378177 0.56255987] [ 0.05279031 0.99773291 0.04173996 0.01533976] [ 0.06154734 -0.04496957 0.9970906 0.02350671] [ 0. 0. 0. 1. ]] SLAMing on 33.064860624000005 meters Centerline goodness [0,1] 0.7082475973758745 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.02 [[ 0.99670436 -0.05000917 -0.06387095 0.56296115] [ 0.05269394 0.99776603 0.04106451 0.01800042] [ 0.06167466 -0.04429479 0.99711294 0.02347229] [ 0. 0. 0. 1. ]] SLAMing on 33.094860624 meters Centerline goodness [0,1] 0.7067705678149201 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:0.02 [[ 0.99669203 -0.05009864 -0.06399311 0.5633656 ] [ 0.05274352 0.9977933 0.04033179 0.02049748] [ 0.06183133 -0.0435736 0.99713501 0.02348357] [ 0. 0. 0. 1. ]] SLAMing on 33.124860624 meters Centerline goodness [0,1] 0.6929935377289733 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:0.02 [[ 0.9966825 -0.05022948 -0.06403904 0.56385869] [ 0.05279653 0.99784174 0.03904351 0.02545783] [ 0.06193969 -0.04229502 0.99718334 0.02342353] [ 0. 0. 0. 1. ]] SLAMing on 33.154860624 meters Centerline goodness [0,1] 0.6522509500384679 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:0.03 [[ 0.99657225 -0.05141878 -0.06480634 0.60215914] [ 0.05324123 0.99822428 0.02671445 0.03426097] [ 0.06331764 -0.03007325 0.99754021 0.03011985] [ 0. 0. 0. 1. ]] SLAMing on 33.184860624 meters Centerline goodness [0,1] 0.6522509500384679 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:0.03 [[ 0.99657225 -0.05141878 -0.06480634 0.60215914] [ 0.05324123 0.99822428 0.02671445 0.03426097] [ 0.06331764 -0.03007325 0.99754021 0.03011985] [ 0. 0. 0. 1. ]] SLAMing on 33.214860624 meters Centerline goodness [0,1] 0.6950838236380197 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.03 [[ 0.99676928 -0.05034317 -0.06258255 0.53284882] [ 0.05161108 0.9984901 0.01881008 0.03953344] [ 0.0615411 -0.02197926 0.99786252 0.02568689] [ 0. 0. 0. 1. ]] SLAMing on 33.244860624000005 meters Centerline goodness [0,1] 0.7031943212067435 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.03 [[ 0.99674823 -0.05083555 -0.06251968 0.53262871] [ 0.05205959 0.99847981 0.01810693 0.04136398] [ 0.06150417 -0.0213028 0.99787947 0.02575893] [ 0. 0. 0. 1. ]] SLAMing on 33.274860624 meters Centerline goodness [0,1] 0.6853757096462305 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.996726 -0.0516581 -0.06219905 0.5318891 ] [ 0.05279781 0.99846355 0.01682045 0.0452564 ] [ 0.06123458 -0.02004935 0.99792202 0.02584296] [ 0. 0. 0. 1. ]] SLAMing on 33.304860624 meters Centerline goodness [0,1] 0.6924432749118713 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99670244 -0.05217055 -0.06214884 0.53152208] [ 0.05326603 0.99845054 0.01610114 0.04711142] [ 0.06121254 -0.01935847 0.99793701 0.02612386] [ 0. 0. 0. 1. ]] SLAMing on 33.334860624 meters Centerline goodness [0,1] 0.695389435989257 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99668408 -0.05257311 -0.06210408 0.53128527] [ 0.05363628 0.99843904 0.01557673 0.04863476] [ 0.06118822 -0.01885611 0.99794812 0.02623391] [ 0. 0. 0. 1. ]] SLAMing on 33.364860624 meters Centerline goodness [0,1] 0.6791973077402468 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99665834 -0.05320251 -0.061981 0.5312818 ] [ 0.05420739 0.9984223 0.01464451 0.05149166] [ 0.06110409 -0.0179554 0.99796989 0.02597087] [ 0. 0. 0. 1. ]] SLAMing on 33.394860624 meters Centerline goodness [0,1] 0.6806056056056056 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99664676 -0.05342924 -0.06197215 0.53141266] [ 0.0544064 0.99841808 0.0141877 0.05299926] [ 0.06111607 -0.01751181 0.99797703 0.02584489] [ 0. 0. 0. 1. ]] SLAMing on 33.424860624000004 meters Centerline goodness [0,1] 0.676516290726817 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99663129 -0.05371901 -0.06197047 0.53145925] [ 0.05466066 0.99841236 0.01360013 0.0547343 ] [ 0.0611415 -0.01694166 0.99798532 0.0258977 ] [ 0. 0. 0. 1. ]] SLAMing on 33.454860624 meters Centerline goodness [0,1] 0.676516290726817 Centerline is valid? [False, False] Translation: X:0.53, Y:0.05, Z:0.03 [[ 0.99663129 -0.05371901 -0.06197047 0.53145925] [ 0.05466066 0.99841236 0.01360013 0.0547343 ] [ 0.0611415 -0.01694166 0.99798532 0.0258977 ] [ 0. 0. 0. 1. ]] SLAMing on 33.484860624 meters Centerline goodness [0,1] 0.6985379379884044 Centerline is valid? [False, False] Translation: X:0.53, Y:0.06, Z:0.03 [[ 0.99660588 -0.05434661 -0.06183169 0.53090552] [ 0.05520795 0.99839903 0.01230693 0.05900398] [ 0.06106386 -0.01567876 0.99801071 0.02632878] [ 0. 0. 0. 1. ]] SLAMing on 33.514860624 meters Centerline goodness [0,1] 0.6858261748357757 Centerline is valid? [False, False] Translation: X:0.53, Y:0.06, Z:0.03 [[ 0.99658838 -0.05467968 -0.06182011 0.5306373 ] [ 0.05549249 0.99839279 0.01150708 0.0614757 ] [ 0.06109155 -0.01489837 0.99802097 0.02675874] [ 0. 0. 0. 1. ]] SLAMing on 33.544860624 meters Centerline goodness [0,1] 0.6835571063743711 Centerline is valid? [False, False] Translation: X:0.53, Y:0.06, Z:0.03 [[ 0.99657473 -0.05482724 -0.06190951 0.53083362] [ 0.05560194 0.99839396 0.01085952 0.06370792] [ 0.06121468 -0.01426461 0.99802269 0.0269273 ] [ 0. 0. 0. 1. ]] SLAMing on 33.574860624 meters Centerline goodness [0,1] 0.6987091875474564 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:0.03 [[ 0.99657231 -0.0549489 -0.06184056 0.53108733] [ 0.05569912 0.99839268 0.01047242 0.06556723] [ 0.06116571 -0.01388099 0.9980311 0.02643831] [ 0. 0. 0. 1. ]] SLAMing on 33.604860624000004 meters Centerline goodness [0,1] 0.683384701597086 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:0.03 [[ 0.9965809 -0.05469482 -0.06192729 0.5322313 ] [ 0.05541734 0.99841311 0.01000911 0.06823578] [ 0.06128157 -0.01340674 0.99803047 0.02567848] [ 0. 0. 0. 1. ]] SLAMing on 33.634860624 meters Centerline goodness [0,1] 0.6808277479038711 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:0.03 [[ 0.99656913 -0.05489101 -0.06194306 0.53232093] [ 0.05558637 0.99840814 0.0095577 0.06990195] [ 0.06131982 -0.0129681 0.99803392 0.02565683] [ 0. 0. 0. 1. ]] SLAMing on 33.664860624 meters Centerline goodness [0,1] 0.6816126312562275 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:0.03 [[ 0.99655483 -0.05534904 -0.06176535 0.53168867] [ 0.05596939 0.9983975 0.00835786 0.07405227] [ 0.06120378 -0.01178604 0.9980557 0.02624127] [ 0. 0. 0. 1. ]] SLAMing on 33.694860624 meters Centerline goodness [0,1] 0.6808630586305864 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99653446 -0.05576612 -0.06171873 0.53122011] [ 0.0563407 0.99838262 0.00760743 0.07615141] [ 0.06119467 -0.01105835 0.99806459 0.02677039] [ 0. 0. 0. 1. ]] SLAMing on 33.724860624 meters Centerline goodness [0,1] 0.6783833089236619 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99651756 -0.0562486 -0.06155361 0.5305761 ] [ 0.05679044 0.99836096 0.00708741 0.07743758] [ 0.06105407 -0.01055839 0.99807861 0.02705051] [ 0. 0. 0. 1. ]] SLAMing on 33.754860624 meters Centerline goodness [0,1] 0.7025518341307815 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99649232 -0.05700858 -0.06126237 0.52988075] [ 0.05750487 0.99832492 0.00636733 0.07889943] [ 0.06079676 -0.00986788 0.99810139 0.02698009] [ 0. 0. 0. 1. ]] SLAMing on 33.784860624000004 meters Centerline goodness [0,1] 0.701418750160929 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99647878 -0.05729133 -0.06121885 0.52985766] [ 0.05777205 0.9983111 0.00611007 0.07978908] [ 0.06076541 -0.00962529 0.99810567 0.0267668 ] [ 0. 0. 0. 1. ]] SLAMing on 33.814860624000005 meters Centerline goodness [0,1] 0.7048191217801614 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99646764 -0.05770502 -0.06101133 0.52938145] [ 0.05815672 0.99829146 0.00565247 0.08119954] [ 0.06058092 -0.00918072 0.99812107 0.02673444] [ 0. 0. 0. 1. ]] SLAMing on 33.844860624 meters Centerline goodness [0,1] 0.7072698150253178 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.99645133 -0.05812226 -0.06088147 0.52878913] [ 0.05854119 0.99827187 0.00511866 0.08274944] [ 0.06047875 -0.00866457 0.99813188 0.02705743] [ 0. 0. 0. 1. ]] SLAMing on 33.874860624 meters Centerline goodness [0,1] 0.7048161574313827 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.03 [[ 0.9964228 -0.05894136 -0.06056 0.52772365] [ 0.05931582 0.99822956 0.00440266 0.08471669] [ 0.06019328 -0.00797907 0.99815485 0.02725147] [ 0. 0. 0. 1. ]] SLAMing on 33.904860624 meters Centerline goodness [0,1] 0.6947761000751081 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:0.03 [[ 0.99640336 -0.05943636 -0.06039594 0.52723658] [ 0.05979148 0.99820252 0.00408807 0.08524957] [ 0.0600444 -0.00768453 0.99816613 0.02722429] [ 0. 0. 0. 1. ]] SLAMing on 33.934860624 meters Centerline goodness [0,1] 0.6994582264043342 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:0.03 [[ 0.996356 -0.06054786 -0.0600723 0.52633828] [ 0.06087152 0.99813922 0.00357081 0.08632941] [ 0.05974431 -0.00721449 0.99818764 0.02685998] [ 0. 0. 0. 1. ]] SLAMing on 33.964860624 meters Centerline goodness [0,1] 0.6926248638556092 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:0.03 [[ 0.99633359 -0.06121881 -0.05976308 0.52553439] [ 0.06152644 0.99809993 0.00331929 0.08663883] [ 0.05944632 -0.00698413 0.99820707 0.02667693] [ 0. 0. 0. 1. ]] SLAMing on 33.994860624000005 meters Centerline goodness [0,1] 0.6894736842105262 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 0.99630396 -0.06189161 -0.0595639 0.52491877] [ 0.06217796 0.99806068 0.00296434 0.08701153] [ 0.05926492 -0.00665695 0.99822009 0.02659803] [ 0. 0. 0. 1. ]] SLAMing on 34.024860624 meters Centerline goodness [0,1] 0.6853775054522795 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 0.99627887 -0.06250455 -0.05934295 0.52419638] [ 0.06276535 0.99802508 0.00253926 0.08761073] [ 0.05906704 -0.00625449 0.99823442 0.02672106] [ 0. 0. 0. 1. ]] SLAMing on 34.054860624 meters Centerline goodness [0,1] 0.6766009277736025 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 0.99622616 -0.06368473 -0.05897202 0.52297228] [ 0.06389419 0.99795528 0.00167128 0.08898423] [ 0.058745 -0.00543294 0.99825824 0.0268607 ] [ 0. 0. 0. 1. ]] SLAMing on 34.084860624 meters Centerline goodness [0,1] 0.6763192097738497 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 0.99621402 -0.06402714 -0.05880597 0.5225533 ] [ 0.06421641 0.99793511 0.00133249 0.08972272] [ 0.05859922 -0.00510375 0.99826854 0.02688835] [ 0. 0. 0. 1. ]] SLAMing on 34.114860624 meters Centerline goodness [0,1] 0.6744942854911353 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 9.96189785e-01 -6.45272964e-02 -5.86697570e-02 5.21711297e-01] [ 6.46808873e-02 9.97905739e-01 7.20640712e-04 9.09588810e-02] [ 5.85003862e-02 -4.51270686e-03 9.98277186e-01 2.75258825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144860624 meters Centerline goodness [0,1] 0.6707278975320212 Centerline is valid? [False, False] Translation: X:0.52, Y:0.09, Z:0.03 [[ 9.96162665e-01 -6.49946618e-02 -5.86143233e-02 5.21199508e-01] [ 6.51062250e-02 9.97878339e-01 -6.39045136e-06 9.31456430e-02] [ 5.84903789e-02 -3.80979139e-03 9.98280703e-01 2.80213326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174860624000004 meters Centerline goodness [0,1] 0.680894415129826 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.03 [[ 0.99635556 -0.06233709 -0.05822099 0.51878737] [ 0.06260358 0.99803465 0.0027628 0.0957796 ] [ 0.05793434 -0.00639757 0.9982999 0.02864768] [ 0. 0. 0. 1. ]] SLAMing on 34.204860624 meters Centerline goodness [0,1] 0.6931101534580618 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.03 [[ 0.9963446 -0.0623301 -0.05841565 0.51924142] [ 0.06256364 0.99803861 0.00217567 0.09802018] [ 0.05816546 -0.00582241 0.99828998 0.02890303] [ 0. 0. 0. 1. ]] SLAMing on 34.234860624 meters Centerline goodness [0,1] 0.6789757058437295 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.03 [[ 0.99635108 -0.06212124 -0.05852755 0.51985729] [ 0.06233713 0.9980534 0.00186833 0.09974628] [ 0.05829756 -0.00550995 0.99828405 0.0287325 ] [ 0. 0. 0. 1. ]] SLAMing on 34.264860624 meters Centerline goodness [0,1] 0.6823232057290296 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.03 [[ 0.99637071 -0.06188463 -0.05844394 0.52044488] [ 0.06206848 0.998071 0.00133402 0.10227578] [ 0.05824865 -0.0049567 0.9982898 0.02832063] [ 0. 0. 0. 1. ]] SLAMing on 34.294860624 meters Centerline goodness [0,1] 0.6770896446352836 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.03 [[ 9.96354452e-01 -6.23179307e-02 -5.82604649e-02 5.19697534e-01] [ 6.24739880e-02 9.98046223e-01 8.59257570e-04 1.03518137e-01] [ 5.80930898e-02 -4.49588869e-03 9.98301047e-01 2.86589778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324860624 meters Centerline goodness [0,1] 0.6873155564924115 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96337162e-01 -6.27291564e-02 -5.81146429e-02 5.19090793e-01] [ 6.28517275e-02 9.98022836e-01 2.81879451e-04 1.05197751e-01] [ 5.79820587e-02 -3.93345268e-03 9.98309876e-01 2.90168632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354860624000004 meters Centerline goodness [0,1] 0.6759847187458833 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96314541e-01 -6.31429642e-02 -5.80543049e-02 5.18570530e-01] [ 6.32289303e-02 9.97998986e-01 -3.56761945e-04 1.07120151e-01] [ 5.79606644e-02 -3.31526449e-03 9.98313363e-01 2.95229276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384860624 meters Centerline goodness [0,1] 0.6814124338415357 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96302331e-01 -6.34075446e-02 -5.79754171e-02 5.18842722e-01] [ 6.34805189e-02 9.97982907e-01 -5.83984958e-04 1.08889378e-01] [ 5.78955044e-02 -3.09848399e-03 9.98317840e-01 2.88555450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414860624 meters Centerline goodness [0,1] 0.6797851896701503 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96290016e-01 -6.37599774e-02 -5.78002476e-02 5.18822456e-01] [ 6.38227924e-02 9.97960958e-01 -7.60502120e-04 1.09156270e-01] [ 5.77308800e-02 -2.93129253e-03 9.98327879e-01 2.83032410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444860624 meters Centerline goodness [0,1] 0.6730419183791911 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96279706e-01 -6.40024722e-02 -5.77098871e-02 5.18592242e-01] [ 6.40586198e-02 9.97945751e-01 -8.78398202e-04 1.09295933e-01] [ 5.76475563e-02 -2.82168542e-03 9.98333009e-01 2.82414898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474860624 meters Centerline goodness [0,1] 0.6730419183791911 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 9.96279706e-01 -6.40024722e-02 -5.77098871e-02 5.18592242e-01] [ 6.40586198e-02 9.97945751e-01 -8.78398202e-04 1.09295933e-01] [ 5.76475563e-02 -2.82168542e-03 9.98333009e-01 2.82414898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504860624 meters Centerline goodness [0,1] 0.6702565726955971 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.99623842 -0.06498345 -0.05732512 0.51707839] [ 0.06500155 0.99788396 -0.0015508 0.11039932] [ 0.05730459 -0.00218126 0.99835436 0.02873778] [ 0. 0. 0. 1. ]] SLAMing on 34.534860624000004 meters Centerline goodness [0,1] 0.6692362522769872 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.9962239 -0.06531541 -0.05719994 0.51661451] [ 0.065322 0.99786269 -0.0017564 0.1110871 ] [ 0.05719241 -0.00198665 0.9983612 0.02883577] [ 0. 0. 0. 1. ]] SLAMing on 34.564860624000005 meters Centerline goodness [0,1] 0.6758453341773487 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.99621699 -0.06538652 -0.05723903 0.5167473 ] [ 0.06538972 0.99785814 -0.00181914 0.11150166] [ 0.05723538 -0.00193059 0.99835885 0.02875102] [ 0. 0. 0. 1. ]] SLAMing on 34.594860624 meters Centerline goodness [0,1] 0.6676694110196326 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.99619823 -0.06585709 -0.05702578 0.51621225] [ 0.0658558 0.99782733 -0.00190394 0.1112373 ] [ 0.05702727 -0.00185878 0.99837089 0.02852575] [ 0. 0. 0. 1. ]] SLAMing on 34.624860624 meters Centerline goodness [0,1] 0.6770435195192028 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.99619822 -0.06605717 -0.05679405 0.51579128] [ 0.06605695 0.99781408 -0.00188325 0.11054676] [ 0.05679431 -0.00187555 0.99838414 0.02839024] [ 0. 0. 0. 1. ]] SLAMing on 34.654860624 meters Centerline goodness [0,1] 0.6751817128410408 Centerline is valid? [False, False] Translation: X:0.52, Y:0.11, Z:0.03 [[ 0.99618908 -0.06633906 -0.05662556 0.51528026] [ 0.0663398 0.99779534 -0.00186889 0.10985182] [ 0.0566247 -0.00189476 0.99839374 0.02841312] [ 0. 0. 0. 1. ]] SLAMing on 34.684860624 meters Centerline goodness [0,1] 0.6740771922439422 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99617808 -0.06658278 -0.05653291 0.51478638] [ 0.06657927 0.99777924 -0.00194759 0.10958941] [ 0.05653704 -0.00182377 0.99839884 0.02866055] [ 0. 0. 0. 1. ]] SLAMing on 34.714860624 meters Centerline goodness [0,1] 0.6699006152389967 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99615735 -0.06699978 -0.05640533 0.51400414] [ 0.06697883 0.99775183 -0.00226393 0.11022945] [ 0.05643021 -0.00152274 0.99840539 0.02919293] [ 0. 0. 0. 1. ]] SLAMing on 34.744860624000005 meters Centerline goodness [0,1] 0.6749967083607636 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99614202 -0.06723084 -0.05640108 0.51368647] [ 0.06719865 0.99773656 -0.00246912 0.11065302] [ 0.05643942 -0.00133048 0.99840514 0.02954905] [ 0. 0. 0. 1. ]] SLAMing on 34.774860624 meters Centerline goodness [0,1] 0.6721195066144177 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99613437 -0.06737045 -0.05636974 0.51353977] [ 0.06733996 0.9977271 -0.00244235 0.11052974] [ 0.05640616 -0.00136302 0.99840697 0.02950535] [ 0. 0. 0. 1. ]] SLAMing on 34.804860624 meters Centerline goodness [0,1] 0.6464638482813118 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99613467 -0.0675776 -0.05611587 0.51303909] [ 0.06756064 0.99771274 -0.00220156 0.10839542] [ 0.05613629 -0.00159818 0.99842184 0.02930144] [ 0. 0. 0. 1. ]] SLAMing on 34.834860624 meters Centerline goodness [0,1] 0.6669639578196317 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99613678 -0.06763983 -0.05600328 0.51290123] [ 0.0676398 0.997708 -0.00189812 0.10667346] [ 0.05600331 -0.00189726 0.99842878 0.02910101] [ 0. 0. 0. 1. ]] SLAMing on 34.864860624 meters Centerline goodness [0,1] 0.663344262295082 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99613446 -0.0678425 -0.05579909 0.51246749] [ 0.06785204 0.9976939 -0.00172571 0.10549479] [ 0.05578749 -0.00206704 0.99844053 0.02891887] [ 0. 0. 0. 1. ]] SLAMing on 34.894860624 meters Centerline goodness [0,1] 0.6602912239275875 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99611015 -0.06820517 -0.05579088 0.51183371] [ 0.06821433 0.99766917 -0.00174237 0.10483828] [ 0.05577967 -0.00207015 0.99844096 0.02946716] [ 0. 0. 0. 1. ]] SLAMing on 34.924860624000004 meters Centerline goodness [0,1] 0.6691599539700805 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99611044 -0.06809778 -0.05591669 0.51202126] [ 0.06811331 0.99767626 -0.00163017 0.10466056] [ 0.05589777 -0.00218484 0.99843411 0.02966388] [ 0. 0. 0. 1. ]] SLAMing on 34.954860624 meters Centerline goodness [0,1] 0.6714184823834062 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99611169 -0.06798043 -0.0560371 0.51217677] [ 0.06799855 0.99768416 -0.00158541 0.10445025] [ 0.0560151 -0.00223119 0.99842743 0.02991692] [ 0. 0. 0. 1. ]] SLAMing on 34.984860624 meters Centerline goodness [0,1] 0.6569119723834929 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99611047 -0.06811218 -0.05589865 0.51115132] [ 0.06813958 0.99767479 -0.00141785 0.1024521 ] [ 0.05586525 -0.00239657 0.99843544 0.03076358] [ 0. 0. 0. 1. ]] SLAMing on 35.014860624 meters Centerline goodness [0,1] 0.6704906919747614 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99610861 -0.06827079 -0.05573804 0.51045883] [ 0.06830677 0.99766357 -0.0012615 0.10082118] [ 0.05569394 -0.00255069 0.99844463 0.03115379] [ 0. 0. 0. 1. ]] SLAMing on 35.044860624 meters Centerline goodness [0,1] 0.6715885416666667 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 0.99610392 -0.06844152 -0.05561238 0.51001968] [ 0.06849181 0.99765117 -0.00100335 0.09941957] [ 0.05555042 -0.00280955 0.99845193 0.03113228] [ 0. 0. 0. 1. ]] SLAMing on 35.074860624 meters Centerline goodness [0,1] 0.6626258955456339 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 9.96085957e-01 -6.89085446e-02 -5.53568262e-02 5.09105836e-01] [ 6.89804470e-02 9.97617824e-01 -6.13072470e-04 9.71308122e-02] [ 5.52672025e-02 -3.20786574e-03 9.98466447e-01 3.11526863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104860624000004 meters Centerline goodness [0,1] 0.6677727084197429 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.03 [[ 9.96073735e-01 -6.91854154e-02 -5.52312662e-02 5.08445672e-01] [ 6.92687168e-02 9.97597955e-01 -4.07005422e-04 9.53725012e-02] [ 5.51267570e-02 -3.42039153e-03 9.98473506e-01 3.14157142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134860624 meters Centerline goodness [0,1] 0.6620848541326914 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.03 [[ 9.96062025e-01 -6.95307748e-02 -5.50083087e-02 5.07749556e-01] [ 6.96298510e-02 9.97572890e-01 -1.15719601e-04 9.32570997e-02] [ 5.48828435e-02 -3.71495644e-03 9.98485890e-01 3.13969293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164860624 meters Centerline goodness [0,1] 0.6573757424596951 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.03 [[ 9.95813104e-01 -7.29307893e-02 -5.51122712e-02 5.09114158e-01] [ 7.28704720e-02 9.97336577e-01 -3.10589428e-03 8.96294039e-02] [ 5.51919993e-02 -9.23166992e-04 9.98475333e-01 3.11735171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194860624 meters Centerline goodness [0,1] 0.6535259046052632 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.03 [[ 0.99580436 -0.07314491 -0.05498641 0.50875451] [ 0.07310983 0.99732037 -0.00265208 0.08710104] [ 0.05503306 -0.0013791 0.99848358 0.03103547] [ 0. 0. 0. 1. ]] SLAMing on 35.224860624 meters Centerline goodness [0,1] 0.6572738683812793 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 0.99580126 -0.07319271 -0.05497894 0.50851984] [ 0.07318961 0.99731589 -0.00207253 0.08471186] [ 0.05498306 -0.00196006 0.99848536 0.03109662] [ 0. 0. 0. 1. ]] SLAMing on 35.254860624 meters Centerline goodness [0,1] 0.6520036849378167 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 0.9957987 -0.07313132 -0.05510686 0.50849676] [ 0.07313401 0.99732018 -0.00197052 0.08413863] [ 0.05510329 -0.00206795 0.99847852 0.03151857] [ 0. 0. 0. 1. ]] SLAMing on 35.284860624000004 meters Centerline goodness [0,1] 0.6545952447981982 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 0.99580187 -0.07304925 -0.05515841 0.50837961] [ 0.0730709 0.99732542 -0.00162695 0.08269262] [ 0.05512974 -0.00241036 0.99847629 0.03171282] [ 0. 0. 0. 1. ]] SLAMing on 35.314860624 meters Centerline goodness [0,1] 0.65820392317123 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 0.99581046 -0.07306996 -0.05497547 0.50799141] [ 0.07311093 0.99732301 -0.00126838 0.08075019] [ 0.05492098 -0.00275624 0.9984869 0.03164936] [ 0. 0. 0. 1. ]] SLAMing on 35.344860624 meters Centerline goodness [0,1] 0.65820392317123 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 0.99581046 -0.07306996 -0.05497547 0.50799141] [ 0.07311093 0.99732301 -0.00126838 0.08075019] [ 0.05492098 -0.00275624 0.9984869 0.03164936] [ 0. 0. 0. 1. ]] SLAMing on 35.374860624 meters Centerline goodness [0,1] 0.6478944956464179 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.03 [[ 9.95829139e-01 -7.28624376e-02 -5.49125765e-02 5.08011247e-01] [ 7.29278352e-02 9.97336888e-01 -8.14629104e-04 7.84584411e-02] [ 5.48256940e-02 -3.19342393e-03 9.98490834e-01 3.15577540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404860624 meters Centerline goodness [0,1] 0.6618644713773916 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 9.95854891e-01 -7.25393395e-02 -5.48733087e-02 5.08043535e-01] [ 7.26432432e-02 9.97357984e-01 -1.01331109e-04 7.48786856e-02] [ 5.47356830e-02 -3.88526402e-03 9.98493320e-01 3.14842279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434860624 meters Centerline goodness [0,1] 0.6621480973777067 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 9.95848475e-01 -7.26071278e-02 -5.49000807e-02 5.07851164e-01] [ 7.27208599e-02 9.97352330e-01 7.41225122e-05 7.39846639e-02] [ 5.47493416e-02 -4.06619587e-03 9.98491851e-01 3.17038584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464860624 meters Centerline goodness [0,1] 0.6570248980522276 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 9.95862271e-01 -7.22708881e-02 -5.50931602e-02 5.08436619e-01] [ 7.24207296e-02 9.97373908e-01 7.25574014e-04 7.21093639e-02] [ 5.48960426e-02 -4.71245865e-03 9.98480955e-01 3.14962774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494860624000005 meters Centerline goodness [0,1] 0.6586069098082856 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99587926 -0.0719525 -0.05520277 0.50903742] [ 0.07212712 0.99739476 0.00117485 0.07076887] [ 0.05497442 -0.00515163 0.99847447 0.03113141] [ 0. 0. 0. 1. ]] SLAMing on 35.524860624 meters Centerline goodness [0,1] 0.6567513789889933 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99590829 -0.07143871 -0.05534615 0.50986695] [ 0.07164342 0.99742882 0.00172085 0.06898869] [ 0.05508091 -0.005679 0.99846574 0.03074015] [ 0. 0. 0. 1. ]] SLAMing on 35.554860624 meters Centerline goodness [0,1] 0.6552878684892883 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99593181 -0.0709774 -0.05551606 0.51079025] [ 0.07120919 0.99745896 0.00220578 0.06744543] [ 0.05521843 -0.00615006 0.99845536 0.03025711] [ 0. 0. 0. 1. ]] SLAMing on 35.584860624 meters Centerline goodness [0,1] 0.6576379457773753 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99594751 -0.07069521 -0.05559449 0.51119738] [ 0.07094543 0.99747697 0.0025377 0.06633662] [ 0.05527482 -0.00647159 0.99845021 0.03006631] [ 0. 0. 0. 1. ]] SLAMing on 35.614860624 meters Centerline goodness [0,1] 0.6634938972324075 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99596795 -0.07028198 -0.05575194 0.51131767] [ 0.07053812 0.9975056 0.00263724 0.06592415] [ 0.05542752 -0.00655924 0.99844117 0.03073101] [ 0. 0. 0. 1. ]] SLAMing on 35.644860624 meters Centerline goodness [0,1] 0.6620412267471091 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99597885 -0.06997676 -0.05594084 0.511593 ] [ 0.0702338 0.99752707 0.00263966 0.06604334] [ 0.05561778 -0.00655798 0.9984306 0.03116646] [ 0. 0. 0. 1. ]] SLAMing on 35.674860624000004 meters Centerline goodness [0,1] 0.6598811702474366 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.03 [[ 0.99603754 -0.06882885 -0.05631886 0.51284745] [ 0.06911599 0.99760361 0.00316432 0.06559117] [ 0.0559661 -0.00704432 0.99840782 0.03125728] [ 0. 0. 0. 1. ]] SLAMing on 35.704860624 meters Centerline goodness [0,1] 0.6566942979150967 Centerline is valid? [False, False] Translation: X:0.51, Y:0.06, Z:0.03 [[ 0.99606079 -0.06827628 -0.05657961 0.51387138] [ 0.06858403 0.99763916 0.00351307 0.06490476] [ 0.05620618 -0.00737969 0.99839191 0.03095275] [ 0. 0. 0. 1. ]] SLAMing on 35.734860624 meters Centerline goodness [0,1] 0.6684407400898753 Centerline is valid? [False, False] Translation: X:0.51, Y:0.06, Z:0.03 [[ 0.99608579 -0.06773095 -0.05679457 0.51481554] [ 0.06806143 0.9976735 0.00390261 0.0640417 ] [ 0.05639811 -0.00775286 0.99837826 0.03063143] [ 0. 0. 0. 1. ]] SLAMing on 35.764860624 meters Centerline goodness [0,1] 0.6699388961234098 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:0.03 [[ 0.99611965 -0.06713612 -0.05690683 0.51547978] [ 0.06749572 0.99770978 0.00441861 0.06276781] [ 0.05647986 -0.00824243 0.99836972 0.03040412] [ 0. 0. 0. 1. ]] SLAMing on 35.794860624 meters Centerline goodness [0,1] 0.665 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:0.03 [[ 0.9961328 -0.06698553 -0.05685405 0.51542829] [ 0.06736591 0.9977168 0.0047983 0.06162306] [ 0.05640282 -0.00860976 0.99837097 0.03033708] [ 0. 0. 0. 1. ]] SLAMing on 35.824860624 meters Centerline goodness [0,1] 0.6581382553021209 Centerline is valid? [False, False] Translation: X:0.51, Y:0.06, Z:0.03 [[ 0.99612873 -0.06719374 -0.05667949 0.5148792 ] [ 0.06758238 0.99770134 0.00496602 0.06044204] [ 0.05621552 -0.00877733 0.99838007 0.03042423] [ 0. 0. 0. 1. ]] SLAMing on 35.854860624000004 meters Centerline goodness [0,1] 0.6637757510996247 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:0.03 [[ 0.99610968 -0.0674391 -0.05672269 0.51504313] [ 0.0678522 0.99768084 0.00538648 0.05732697] [ 0.05622788 -0.00921428 0.99837544 0.03018797] [ 0. 0. 0. 1. ]] SLAMing on 35.884860624 meters Centerline goodness [0,1] 0.6542958568130477 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:0.03 [[ 0.9958818 -0.07053201 -0.05696208 0.51726832] [ 0.0707915 0.99748788 0.00254803 0.05510684] [ 0.05663927 -0.00656997 0.99837309 0.02918593] [ 0. 0. 0. 1. ]] SLAMing on 35.914860624 meters Centerline goodness [0,1] 0.6532623498823821 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99588207 -0.07048638 -0.05701387 0.51749345] [ 0.07075756 0.99748975 0.00274912 0.05450248] [ 0.05667698 -0.00677196 0.9983696 0.02906345] [ 0. 0. 0. 1. ]] SLAMing on 35.944860624 meters Centerline goodness [0,1] 0.6532623498823821 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99588207 -0.07048638 -0.05701387 0.51749345] [ 0.07075756 0.99748975 0.00274912 0.05450248] [ 0.05667698 -0.00677196 0.9983696 0.02906345] [ 0. 0. 0. 1. ]] SLAMing on 35.974860624 meters Centerline goodness [0,1] 0.666311907531619 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99587669 -0.07055907 -0.05701778 0.51744999] [ 0.07083214 0.99748438 0.00278 0.05411916] [ 0.05667819 -0.00680723 0.99836929 0.02913435] [ 0. 0. 0. 1. ]] SLAMing on 36.004860624 meters Centerline goodness [0,1] 0.666311907531619 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99587669 -0.07055907 -0.05701778 0.51744999] [ 0.07083214 0.99748438 0.00278 0.05411916] [ 0.05667819 -0.00680723 0.99836929 0.02913435] [ 0. 0. 0. 1. ]] SLAMing on 36.034860624000004 meters Centerline goodness [0,1] 0.656895485466914 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.995871 -0.07066648 -0.05698412 0.5172507 ] [ 0.07094941 0.99747554 0.00295468 0.0529787 ] [ 0.05663146 -0.00698547 0.99837071 0.02925192] [ 0. 0. 0. 1. ]] SLAMing on 36.064860624 meters Centerline goodness [0,1] 0.659535663232612 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99586743 -0.07076565 -0.05692348 0.51712797] [ 0.07106081 0.99746693 0.00317545 0.05142796] [ 0.05655458 -0.00720736 0.99837349 0.02920322] [ 0. 0. 0. 1. ]] SLAMing on 36.094860624 meters Centerline goodness [0,1] 0.6560328102360078 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99584494 -0.07121953 -0.05675068 0.51624489] [ 0.0715171 0.99743415 0.00322723 0.04846171] [ 0.05637522 -0.00727246 0.99838317 0.02984975] [ 0. 0. 0. 1. ]] SLAMing on 36.124860624 meters Centerline goodness [0,1] 0.6508833749327069 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.03 [[ 0.99583194 -0.0715746 -0.05653162 0.51532219] [ 0.07186384 0.99740964 0.00309746 0.04779554] [ 0.05616348 -0.00714712 0.998396 0.03035184] [ 0. 0. 0. 1. ]] SLAMing on 36.154860624 meters Centerline goodness [0,1] 0.6432629671352305 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99580039 -0.07227917 -0.05618986 0.51365495] [ 0.07255894 0.99735976 0.00295231 0.04629398] [ 0.05582811 -0.00701699 0.99841574 0.03132665] [ 0. 0. 0. 1. ]] SLAMing on 36.184860624 meters Centerline goodness [0,1] 0.6492356610003669 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.03 [[ 0.99579844 -0.07230464 -0.05619176 0.51378923] [ 0.07259983 0.99735593 0.00322705 0.04498499] [ 0.05580986 -0.007293 0.99841478 0.03111372] [ 0. 0. 0. 1. ]] SLAMing on 36.214860624 meters Centerline goodness [0,1] 0.6473358056016395 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.03 [[ 0.99580331 -0.07224098 -0.05618719 0.51411141] [ 0.07255784 0.99735765 0.00361734 0.04347354] [ 0.0557774 -0.00767898 0.9984137 0.03066826] [ 0. 0. 0. 1. ]] SLAMing on 36.244860624000005 meters Centerline goodness [0,1] 0.6500243072435585 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.03 [[ 0.99581505 -0.07201214 -0.05627287 0.51475619] [ 0.07236564 0.99736904 0.00426699 0.04085659] [ 0.05581754 -0.00832136 0.99840631 0.0301318 ] [ 0. 0. 0. 1. ]] SLAMing on 36.274860624 meters Centerline goodness [0,1] 0.642916020170675 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99582852 -0.0717859 -0.0563236 0.51509467] [ 0.07215491 0.99738309 0.00454303 0.03983603] [ 0.05585008 -0.0085881 0.99840223 0.02999339] [ 0. 0. 0. 1. ]] SLAMing on 36.304860624 meters Centerline goodness [0,1] 0.6497733827770911 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.9958399 -0.07158804 -0.05637422 0.51541978] [ 0.07196729 0.99739581 0.00472352 0.03928057] [ 0.05588926 -0.00876097 0.99839854 0.02983728] [ 0. 0. 0. 1. ]] SLAMing on 36.334860624 meters Centerline goodness [0,1] 0.6452253517715725 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99585551 -0.07124715 -0.05653006 0.51588262] [ 0.07163947 0.99741835 0.00494153 0.03870609] [ 0.05603205 -0.00897084 0.99838867 0.02986573] [ 0. 0. 0. 1. ]] SLAMing on 36.364860624 meters Centerline goodness [0,1] 0.6498623121889946 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.995941 -0.06980822 -0.05681845 0.51738543] [ 0.07023835 0.99751448 0.00560622 0.03853278] [ 0.05628587 -0.0095743 0.99836879 0.02947816] [ 0. 0. 0. 1. ]] SLAMing on 36.394860624 meters Centerline goodness [0,1] 0.6498246462691982 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99597793 -0.06895231 -0.05721494 0.51879189] [ 0.06939991 0.99757164 0.005871 0.03908277] [ 0.05667118 -0.0098181 0.99834462 0.02919894] [ 0. 0. 0. 1. ]] SLAMing on 36.424860624000004 meters Centerline goodness [0,1] 0.6507563838799468 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99602355 -0.06797326 -0.05759096 0.52034999] [ 0.06844037 0.9976361 0.00617527 0.0396318 ] [ 0.05703506 -0.01009226 0.99832116 0.02873515] [ 0. 0. 0. 1. ]] SLAMing on 36.454860624 meters Centerline goodness [0,1] 0.6538321742712447 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99631578 -0.06327021 -0.05789424 0.52100067] [ 0.06398206 0.99789556 0.01052395 0.03844195] [ 0.05710655 -0.01418937 0.99826725 0.02826802] [ 0. 0. 0. 1. ]] SLAMing on 36.484860624 meters Centerline goodness [0,1] 0.6619226572917929 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99632737 -0.06281875 -0.05818568 0.52175524] [ 0.06353232 0.9979246 0.01049431 0.03909886] [ 0.05740568 -0.01415244 0.99825062 0.02835498] [ 0. 0. 0. 1. ]] SLAMing on 36.514860624 meters Centerline goodness [0,1] 0.6600412071264089 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:0.03 [[ 0.99632914 -0.06276584 -0.05821252 0.52160448] [ 0.06347522 0.99792905 0.01041627 0.03914821] [ 0.05743818 -0.01407308 0.99824987 0.02868738] [ 0. 0. 0. 1. ]] SLAMing on 36.544860624 meters Centerline goodness [0,1] 0.6012761705799536 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:0.04 [[ 0.99612617 -0.06775357 -0.05605455 0.57107358] [ 0.06805277 0.99767578 0.00344401 0.04025112] [ 0.05569092 -0.00724534 0.99842177 0.03537159] [ 0. 0. 0. 1. ]] SLAMing on 36.574860624 meters Centerline goodness [0,1] 0.654512504530627 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99626381 -0.06811592 -0.05309093 0.49441226] [ 0.06836865 0.99765574 0.00295665 0.03892338] [ 0.05276507 -0.00657536 0.99858531 0.02763372] [ 0. 0. 0. 1. ]] SLAMing on 36.604860624000004 meters Centerline goodness [0,1] 0.6533281845827099 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99614013 -0.07004691 -0.05289865 0.49401832] [ 0.07022656 0.99752987 0.0015426 0.0365272 ] [ 0.05265993 -0.00525153 0.99859869 0.02786394] [ 0. 0. 0. 1. ]] SLAMing on 36.634860624 meters Centerline goodness [0,1] 0.6533208291251864 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99585866 -0.07393349 -0.05290911 0.49490975] [ 0.07393033 0.99726136 -0.00201953 0.03551767] [ 0.05291352 -0.00190042 0.99859729 0.02769087] [ 0. 0. 0. 1. ]] SLAMing on 36.664860624 meters Centerline goodness [0,1] 0.6471626132570338 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.03 [[ 0.99550368 -0.07885751 -0.05247775 0.49399509] [ 0.07867224 0.99688486 -0.00559008 0.03151248] [ 0.05275509 0.0014364 0.99860645 0.02823817] [ 0. 0. 0. 1. ]] SLAMing on 36.694860624 meters Centerline goodness [0,1] 0.6376023738872403 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.03 [[ 0.99547073 -0.07938924 -0.05230072 0.49348928] [ 0.07922261 0.9968431 -0.00525477 0.02869582] [ 0.05255278 0.00108757 0.99861756 0.0280951 ] [ 0. 0. 0. 1. ]] SLAMing on 36.724860624 meters Centerline goodness [0,1] 0.6437959667852906 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.03 [[ 9.95462090e-01 -7.95461384e-02 -5.22268051e-02 4.93364820e-01] [ 7.94037605e-02 9.96830986e-01 -4.79872822e-03 2.63957710e-02] [ 5.24430180e-02 6.29947292e-04 9.98623719e-01 2.79406992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754860624 meters Centerline goodness [0,1] 0.6438935627185934 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.03 [[ 9.95462644e-01 -7.95990200e-02 -5.21355956e-02 4.93472935e-01] [ 7.94852116e-02 9.96826960e-01 -4.25602150e-03 2.43392897e-02] [ 5.23089423e-02 9.27015714e-05 9.98630946e-01 2.74090233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784860624000004 meters Centerline goodness [0,1] 0.6375509819176274 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.03 [[ 9.95418377e-01 -8.02562344e-02 -5.19729973e-02 4.92397349e-01] [ 8.01581791e-02 9.96774243e-01 -3.97173193e-03 2.07254058e-02] [ 5.21241012e-02 -2.12525866e-04 9.98640592e-01 2.80781052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814860624 meters Centerline goodness [0,1] 0.6370679939894817 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.03 [[ 9.95420801e-01 -8.03430822e-02 -5.17920684e-02 4.91881977e-01] [ 8.02664655e-02 9.96767081e-01 -3.56097377e-03 1.88565673e-02] [ 5.19107284e-02 -6.12498907e-04 9.98651541e-01 2.81650332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844860624 meters Centerline goodness [0,1] 0.6390295358649789 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.03 [[ 9.95416342e-01 -8.04458729e-02 -5.17181568e-02 4.91463602e-01] [ 8.03858663e-02 9.96758545e-01 -3.24269593e-03 1.68896373e-02] [ 5.18113762e-02 -9.29576317e-04 9.98656456e-01 2.84608946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874860624 meters Centerline goodness [0,1] 0.6281105239879885 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.03 [[ 9.95289024e-01 -8.21298163e-02 -5.15213658e-02 4.90145952e-01] [ 8.20261795e-02 9.96621633e-01 -4.12635545e-03 1.25801136e-02] [ 5.16862046e-02 -1.19184512e-04 9.98663368e-01 2.97143322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904860624 meters Centerline goodness [0,1] 0.63339074574062 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.03 [[ 9.95294772e-01 -8.21200396e-02 -5.14258281e-02 4.89826190e-01] [ 8.20437088e-02 9.96622241e-01 -3.59709080e-03 1.01588224e-02] [ 5.15475172e-02 -6.38999992e-04 9.98670339e-01 2.98152881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934860624 meters Centerline goodness [0,1] 0.6381106737670756 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.03 [[ 0.99528924 -0.08222773 -0.05136084 0.48908089] [ 0.0821723 0.99661302 -0.00319341 0.00706842] [ 0.05144947 -0.00104207 0.99867506 0.03059261] [ 0. 0. 0. 1. ]] SLAMing on 36.964860624 meters Centerline goodness [0,1] 0.6302582856091447 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.03 [[ 0.99531839 -0.08172922 -0.05159098 0.48987965] [ 0.08171358 0.99665293 -0.00241604 0.00491175] [ 0.05161577 -0.00181095 0.99866538 0.03026276] [ 0. 0. 0. 1. ]] SLAMing on 36.994860624000005 meters Centerline goodness [0,1] 0.6272299820218503 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.03 [[ 0.99534027 -0.08132221 -0.05181163 0.49044894] [ 0.0813346 0.99668509 -0.00187273 0.00306637] [ 0.05179217 -0.00235008 0.99865512 0.03020849] [ 0. 0. 0. 1. ]] SLAMing on 37.024860624 meters Centerline goodness [0,1] 0.6353724319981637 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.03 [[ 9.95404649e-01 -8.02996903e-02 -5.21684249e-02 4.91449360e-01] [ 8.03601485e-02 9.96765449e-01 -9.41018093e-04 7.81388353e-04] [ 5.20752469e-02 -3.25556859e-03 9.98637857e-01 3.01365700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054860624 meters Centerline goodness [0,1] 0.6416159761276254 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.03 [[ 9.95442681e-01 -7.97369851e-02 -5.23056561e-02 4.91957223e-01] [ 7.98202076e-02 9.96809152e-01 -4.99277862e-04 1.38419186e-04] [ 5.21785676e-02 -3.67804584e-03 9.98630997e-01 3.00250380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084860624 meters Centerline goodness [0,1] 0.6394893070804777 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.03 [[ 9.95477064e-01 -7.91080670e-02 -5.26054042e-02 4.92768476e-01] [ 7.92173121e-02 9.96857371e-01 -8.40852335e-06 -6.67137312e-04] [ 5.24407501e-02 -4.15888823e-03 9.98615377e-01 2.99401151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114860624 meters Centerline goodness [0,1] 0.6439371479395197 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.03 [[ 0.99556584 -0.07772772 -0.05298171 0.4940404 ] [ 0.07789463 0.996961 0.00108959 -0.00245791] [ 0.05273601 -0.00521175 0.99859489 0.02969271] [ 0. 0. 0. 1. ]] SLAMing on 37.144860624 meters Centerline goodness [0,1] 0.6442191593575578 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.03 [[ 0.99558907 -0.07735691 -0.05308768 0.49415919] [ 0.07754108 0.99698815 0.00141505 -0.00323674] [ 0.05281833 -0.00552529 0.99858885 0.02993437] [ 0. 0. 0. 1. ]] SLAMing on 37.174860624000004 meters Centerline goodness [0,1] 0.6442669812604928 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.03 [[ 0.995613 -0.07695948 -0.05321637 0.49457267] [ 0.07716821 0.99701632 0.0018756 -0.00442002] [ 0.05291325 -0.00597399 0.99858124 0.02982951] [ 0. 0. 0. 1. ]] SLAMing on 37.204860624 meters Centerline goodness [0,1] 0.6444767243922922 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.03 [[ 0.99562995 -0.07668452 -0.05329626 0.4949594 ] [ 0.07691444 0.99703511 0.00227323 -0.00571491] [ 0.05296393 -0.00636255 0.99857616 0.0296308 ] [ 0. 0. 0. 1. ]] SLAMing on 37.234860624 meters Centerline goodness [0,1] 0.6645041705282669 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99568295 -0.07587222 -0.05346842 0.49595863] [ 0.0761556 0.99709055 0.00327959 -0.00807841] [ 0.05306403 -0.00733735 0.99856416 0.02891722] [ 0. 0. 0. 1. ]] SLAMing on 37.264860624 meters Centerline goodness [0,1] 0.6460975940053266 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.9956953 -0.07569062 -0.05349587 0.49625971] [ 0.0759872 0.99710255 0.00352912 -0.00879978] [ 0.05307375 -0.00757893 0.99856183 0.02868763] [ 0. 0. 0. 1. ]] SLAMing on 37.294860624 meters Centerline goodness [0,1] 0.6460975940053266 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.9956953 -0.07569062 -0.05349587 0.49625971] [ 0.0759872 0.99710255 0.00352912 -0.00879978] [ 0.05307375 -0.00757893 0.99856183 0.02868763] [ 0. 0. 0. 1. ]] SLAMing on 37.324860624 meters Centerline goodness [0,1] 0.6623883425065415 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99571006 -0.07547424 -0.05352672 0.49661901] [ 0.07579034 0.99711616 0.00389762 -0.00973253] [ 0.05307819 -0.0079377 0.99855881 0.02833531] [ 0. 0. 0. 1. ]] SLAMing on 37.354860624000004 meters Centerline goodness [0,1] 0.6416782526797327 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99572234 -0.0753301 -0.05350135 0.49687043] [ 0.07566623 0.99712401 0.00428215 -0.01142721] [ 0.0530249 -0.00831208 0.9985586 0.0280068 ] [ 0. 0. 0. 1. ]] SLAMing on 37.384860624 meters Centerline goodness [0,1] 0.662066325956278 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99572544 -0.07526269 -0.05353859 0.49695117] [ 0.07560824 0.99712765 0.0044555 -0.01218813] [ 0.05304948 -0.00848441 0.99855584 0.02805671] [ 0. 0. 0. 1. ]] SLAMing on 37.414860624 meters Centerline goodness [0,1] 0.6613933269097183 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99572737 -0.07525132 -0.05351859 0.49698622] [ 0.07560679 0.99712689 0.00464575 -0.01312079] [ 0.05301523 -0.00867227 0.99855605 0.02798048] [ 0. 0. 0. 1. ]] SLAMing on 37.444860624 meters Centerline goodness [0,1] 0.6642908213423899 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99571765 -0.07546572 -0.05339751 0.49649139] [ 0.0758327 0.99710863 0.00487741 -0.01493566] [ 0.05287504 -0.0089058 0.99856142 0.02823522] [ 0. 0. 0. 1. ]] SLAMing on 37.474860624 meters Centerline goodness [0,1] 0.6323838953826861 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99571459 -0.07555551 -0.05332742 0.49625892] [ 0.07592992 0.99710048 0.00502726 -0.01601206] [ 0.05279296 -0.00905486 0.99856443 0.0283112 ] [ 0. 0. 0. 1. ]] SLAMing on 37.504860624 meters Centerline goodness [0,1] 0.6546563316728841 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99571225 -0.07558632 -0.05332746 0.49619621] [ 0.07597512 0.99709563 0.00529874 -0.01758793] [ 0.05277206 -0.00932758 0.99856302 0.02838596] [ 0. 0. 0. 1. ]] SLAMing on 37.534860624000004 meters Centerline goodness [0,1] 0.6661466458658346 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99572168 -0.07551731 -0.05324916 0.49603686] [ 0.07593098 0.99709629 0.00578592 -0.01977071] [ 0.0526576 -0.00980442 0.99856449 0.02841508] [ 0. 0. 0. 1. ]] SLAMing on 37.564860624 meters Centerline goodness [0,1] 0.6646759960780818 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99572207 -0.0755143 -0.05324621 0.49596724] [ 0.07593922 0.9970944 0.00599984 -0.02074802] [ 0.05263842 -0.01001765 0.99856339 0.02848758] [ 0. 0. 0. 1. ]] SLAMing on 37.594860624 meters Centerline goodness [0,1] 0.663005047697405 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99571474 -0.07564958 -0.05319121 0.49573063] [ 0.07608371 0.99708227 0.00618183 -0.0218518 ] [ 0.05256836 -0.01020232 0.99856521 0.02860127] [ 0. 0. 0. 1. ]] SLAMing on 37.624860624 meters Centerline goodness [0,1] 0.6601842601842602 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99566808 -0.07632186 -0.05310409 0.49518672] [ 0.07675998 0.99702997 0.00625717 -0.02488576] [ 0.05246881 -0.01030633 0.99856938 0.02896186] [ 0. 0. 0. 1. ]] SLAMing on 37.654860624 meters Centerline goodness [0,1] 0.6655522097245594 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99566333 -0.07643123 -0.05303591 0.49525076] [ 0.07688151 0.99701905 0.00649961 -0.02644685] [ 0.05238104 -0.0105489 0.99857145 0.0287273 ] [ 0. 0. 0. 1. ]] SLAMing on 37.684860624 meters Centerline goodness [0,1] 0.6512338841876745 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99566183 -0.07654776 -0.0528957 0.4951478 ] [ 0.07700947 0.99700756 0.0067432 -0.02778766] [ 0.05222124 -0.01078742 0.99857727 0.02849186] [ 0. 0. 0. 1. ]] SLAMing on 37.714860624 meters Centerline goodness [0,1] 0.6649288680745781 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99566385 -0.07654684 -0.05285909 0.49536678] [ 0.07701858 0.99700548 0.0069428 -0.02866379] [ 0.05216936 -0.01098382 0.99857785 0.02816651] [ 0. 0. 0. 1. ]] SLAMing on 37.744860624000005 meters Centerline goodness [0,1] 0.6667478360967835 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99567128 -0.07648123 -0.05281403 0.49519087] [ 0.07696463 0.99700799 0.00717748 -0.02979583] [ 0.05210707 -0.01121122 0.99857857 0.02829018] [ 0. 0. 0. 1. ]] SLAMing on 37.774860624 meters Centerline goodness [0,1] 0.6630660481555114 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99568027 -0.07637059 -0.05280468 0.49532892] [ 0.07686 0.99701519 0.00729753 -0.03010129] [ 0.05208975 -0.01132458 0.9985782 0.02813028] [ 0. 0. 0. 1. ]] SLAMing on 37.804860624 meters Centerline goodness [0,1] 0.6562119838092499 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99568533 -0.0762824 -0.05283669 0.4953405 ] [ 0.07677411 0.99702152 0.00733704 -0.03026619] [ 0.05211963 -0.01136188 0.99857621 0.02825091] [ 0. 0. 0. 1. ]] SLAMing on 37.834860624 meters Centerline goodness [0,1] 0.6595965392425178 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99569352 -0.07612668 -0.05290692 0.49547216] [ 0.07662211 0.99703277 0.00739675 -0.03018157] [ 0.05218684 -0.01141874 0.99857205 0.02833274] [ 0. 0. 0. 1. ]] SLAMing on 37.864860624 meters Centerline goodness [0,1] 0.6657534851865763 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99570024 -0.0760026 -0.05295887 0.49579633] [ 0.0765051 0.9970408 0.00752383 -0.03028668] [ 0.05223032 -0.0115431 0.99856835 0.02809893] [ 0. 0. 0. 1. ]] SLAMing on 37.894860624 meters Centerline goodness [0,1] 0.6697042755081728 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99571901 -0.07570928 -0.053026 0.49607578] [ 0.07621808 0.99706193 0.00763689 -0.03027765] [ 0.05229202 -0.01164573 0.99856393 0.02803399] [ 0. 0. 0. 1. ]] SLAMing on 37.924860624000004 meters Centerline goodness [0,1] 0.669500507883231 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99571708 -0.07573386 -0.05302725 0.49598047] [ 0.07623797 0.99706109 0.00754649 -0.03007336] [ 0.05229988 -0.01155686 0.99856455 0.02819924] [ 0. 0. 0. 1. ]] SLAMing on 37.954860624 meters Centerline goodness [0,1] 0.667997881823397 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99570706 -0.07591833 -0.05295139 0.4956206 ] [ 0.07640891 0.99704984 0.00729976 -0.0297016 ] [ 0.05224099 -0.01131439 0.99857041 0.02848937] [ 0. 0. 0. 1. ]] SLAMing on 37.984860624 meters Centerline goodness [0,1] 0.6672118466128854 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99570354 -0.07606919 -0.0528009 0.49534429] [ 0.07654921 0.99704034 0.00712612 -0.02944718] [ 0.05210255 -0.01113737 0.99857963 0.02851216] [ 0. 0. 0. 1. ]] SLAMing on 38.014860624 meters Centerline goodness [0,1] 0.661689674213142 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99568907 -0.07625234 -0.05280966 0.49519073] [ 0.07671126 0.99703073 0.00671538 -0.0283513 ] [ 0.05214079 -0.01073752 0.99858202 0.0287679 ] [ 0. 0. 0. 1. ]] SLAMing on 38.044860624 meters Centerline goodness [0,1] 0.6613699236472281 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.9956786 -0.07638261 -0.05281877 0.49518129] [ 0.07682703 0.99702368 0.00643267 -0.02736249] [ 0.05217023 -0.01046278 0.9985834 0.0287816 ] [ 0. 0. 0. 1. ]] SLAMing on 38.074860624 meters Centerline goodness [0,1] 0.6633873969688913 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.03 [[ 0.99571143 -0.07583211 -0.05299275 0.49650229] [ 0.07627478 0.99706643 0.00637866 -0.02538417] [ 0.05235358 -0.01039331 0.99857452 0.02777514] [ 0. 0. 0. 1. ]] SLAMing on 38.104860624000004 meters Centerline goodness [0,1] 0.6604698626794152 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99571143 -0.07576563 -0.0530879 0.49696237] [ 0.07619827 0.99707359 0.00617052 -0.02414815] [ 0.05246503 -0.01018926 0.99857078 0.0274957 ] [ 0. 0. 0. 1. ]] SLAMing on 38.134860624 meters Centerline goodness [0,1] 0.6620128498699451 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.9957142 -0.07560292 -0.0532675 0.49754802] [ 0.07602448 0.99708832 0.00592982 -0.02275301] [ 0.05266409 -0.00995404 0.99856267 0.02730875] [ 0. 0. 0. 1. ]] SLAMing on 38.164860624 meters Centerline goodness [0,1] 0.6605400347547119 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99573645 -0.0751646 -0.05347146 0.49837474] [ 0.07557594 0.9971237 0.00570988 -0.02095671] [ 0.05288848 -0.00972669 0.99855305 0.0270414 ] [ 0. 0. 0. 1. ]] SLAMing on 38.194860624 meters Centerline goodness [0,1] 0.6711802297001386 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99600253 -0.0714016 -0.0536728 0.49807599] [ 0.07197029 0.99736852 0.00873597 -0.01833146] [ 0.0529078 -0.01256389 0.99852036 0.02717023] [ 0. 0. 0. 1. ]] SLAMing on 38.224860624 meters Centerline goodness [0,1] 0.6736299450857335 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:0.03 [[ 0.99604801 -0.07066028 -0.05380969 0.49874599] [ 0.07121515 0.99742508 0.00846253 -0.01536748] [ 0.05307317 -0.01226115 0.99851535 0.02706132] [ 0. 0. 0. 1. ]] SLAMing on 38.254860624 meters Centerline goodness [0,1] 0.6809094384599816 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99609807 -0.06985623 -0.05393271 0.49932397] [ 0.07039488 0.9974859 0.00815091 -0.01202709] [ 0.05322772 -0.0119157 0.9985113 0.02711682] [ 0. 0. 0. 1. ]] SLAMing on 38.284860624000004 meters Centerline goodness [0,1] 0.6837786044414385 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99632791 -0.06646196 -0.05397692 0.49833305] [ 0.06715665 0.99768005 0.01115795 -0.0102859 ] [ 0.05311012 -0.01474189 0.99847984 0.02763651] [ 0. 0. 0. 1. ]] SLAMing on 38.314860624 meters Centerline goodness [0,1] 0.7000227531285552 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.03 [[ 0.99659269 -0.06228214 -0.05407355 0.49791304] [ 0.0631201 0.99790874 0.01392813 -0.00571186] [ 0.053093 -0.0172938 0.99843981 0.02799872] [ 0. 0. 0. 1. ]] SLAMing on 38.344860624 meters Centerline goodness [0,1] 0.6843113117220627 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.03 [[ 0.99662187 -0.06171243 -0.05418872 0.49854924] [ 0.06252081 0.99795437 0.0133499 -0.00230237] [ 0.05325401 -0.01669273 0.99844147 0.02796961] [ 0. 0. 0. 1. ]] SLAMing on 38.374860624 meters Centerline goodness [0,1] 0.6898959505707789 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.03 [[ 0.99669334 -0.06048749 -0.0542554 0.49940727] [ 0.06130194 0.99802833 0.01347341 0.00102741] [ 0.05333345 -0.01675482 0.99843619 0.02750645] [ 0. 0. 0. 1. ]] SLAMing on 38.404860624 meters Centerline goodness [0,1] 0.7071587022830206 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.03 [[ 0.99693172 -0.05631521 -0.05436675 0.49927209] [ 0.05725664 0.99823262 0.01591565 0.00643794] [ 0.05337437 -0.01897968 0.99839419 0.02787806] [ 0. 0. 0. 1. ]] SLAMing on 38.434860624 meters Centerline goodness [0,1] 0.7258698940998487 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.03 [[ 0.99713296 -0.05252727 -0.05446786 0.49922458] [ 0.05364941 0.99837238 0.0193476 0.00809077] [ 0.05336293 -0.0222143 0.99832806 0.02748585] [ 0. 0. 0. 1. ]] SLAMing on 38.464860624 meters Centerline goodness [0,1] 0.7378344785535049 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.03 [[ 0.99718925 -0.05127866 -0.05462694 0.50077708] [ 0.05240943 0.99843583 0.01947146 0.01147017] [ 0.05354302 -0.0222797 0.99831696 0.02647394] [ 0. 0. 0. 1. ]] SLAMing on 38.494860624000005 meters Centerline goodness [0,1] 0.7493401811826806 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.9974168 -0.04653421 -0.0547202 0.50189911] [ 0.04783618 0.99859657 0.02272864 0.01666299] [ 0.05358574 -0.02528753 0.99824301 0.02516498] [ 0. 0. 0. 1. ]] SLAMing on 38.524860624 meters Centerline goodness [0,1] 0.7544661006815736 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.02 [[ 0.99744215 -0.04568188 -0.05497559 0.50312884] [ 0.04697118 0.99864523 0.02239243 0.02027594] [ 0.05387818 -0.02491742 0.99823658 0.02483293] [ 0. 0. 0. 1. ]] SLAMing on 38.554860624 meters Centerline goodness [0,1] 0.7557809037479526 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.02 [[ 0.99745371 -0.04529732 -0.05508408 0.50370754] [ 0.04654901 0.99868124 0.02165592 0.0241717 ] [ 0.05403048 -0.02416489 0.99824685 0.02480488] [ 0. 0. 0. 1. ]] SLAMing on 38.584860624 meters Centerline goodness [0,1] 0.7623255249423474 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.02 [[ 0.99760492 -0.04207281 -0.05490271 0.50270193] [ 0.04345462 0.99876174 0.02422158 0.02796478] [ 0.05381565 -0.02654935 0.99819788 0.02497039] [ 0. 0. 0. 1. ]] SLAMing on 38.614860624 meters Centerline goodness [0,1] 0.7625860768425919 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.9975882 -0.04240313 -0.05495238 0.50259316] [ 0.04373126 0.99877402 0.02319537 0.03088108] [ 0.05390146 -0.02554257 0.99821952 0.02543634] [ 0. 0. 0. 1. ]] SLAMing on 38.644860624 meters Centerline goodness [0,1] 0.7662143260288091 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99761736 -0.04200946 -0.0547248 0.50254963] [ 0.04328361 0.99881371 0.0223091 0.03694407] [ 0.05372269 -0.02462463 0.99825222 0.0252843 ] [ 0. 0. 0. 1. ]] SLAMing on 38.674860624000004 meters Centerline goodness [0,1] 0.7659296828835926 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99760717 -0.04222688 -0.05474322 0.50256579] [ 0.04344774 0.99882849 0.02130606 0.04029817] [ 0.0537794 -0.02363354 0.99827312 0.02553268] [ 0. 0. 0. 1. ]] SLAMing on 38.704860624 meters Centerline goodness [0,1] 0.7829633657981905 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99759588 -0.04229936 -0.05489277 0.50285268] [ 0.04348181 0.9988433 0.02052803 0.04312201] [ 0.05396095 -0.02286552 0.99828121 0.02579053] [ 0. 0. 0. 1. ]] SLAMing on 38.734860624 meters Centerline goodness [0,1] 0.7833110351320549 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99758293 -0.04257611 -0.05491421 0.50274283] [ 0.04370903 0.99885208 0.01959695 0.04586035] [ 0.05401681 -0.02194983 0.99829875 0.02616357] [ 0. 0. 0. 1. ]] SLAMing on 38.764860624 meters Centerline goodness [0,1] 0.7844272684345255 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.9975784 -0.04278977 -0.05483043 0.50257644] [ 0.04387484 0.99886125 0.01874035 0.04863191] [ 0.05396609 -0.02110065 0.9983198 0.02636816] [ 0. 0. 0. 1. ]] SLAMing on 38.794860624 meters Centerline goodness [0,1] 0.7944422150882825 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99760181 -0.04229233 -0.05479045 0.50293615] [ 0.04333363 0.99889925 0.01795797 0.05329879] [ 0.05397065 -0.02028917 0.99833638 0.02642351] [ 0. 0. 0. 1. ]] SLAMing on 38.824860624 meters Centerline goodness [0,1] 0.7910354168756898 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99759183 -0.04235553 -0.05492312 0.50324201] [ 0.04336199 0.99891025 0.01726392 0.05560733] [ 0.05413204 -0.01960393 0.99834133 0.02667017] [ 0. 0. 0. 1. ]] SLAMing on 38.854860624000004 meters Centerline goodness [0,1] 0.8022491786707101 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99759364 -0.04252582 -0.05475843 0.50264707] [ 0.04346733 0.99892481 0.01611885 0.06044918] [ 0.05401408 -0.01846027 0.99836952 0.02726679] [ 0. 0. 0. 1. ]] SLAMing on 38.884860624 meters Centerline goodness [0,1] 0.8013954899383153 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99758657 -0.04285385 -0.05463142 0.50211908] [ 0.04375504 0.99892347 0.01540742 0.06264133] [ 0.05391234 -0.01776064 0.99838771 0.02763831] [ 0. 0. 0. 1. ]] SLAMing on 38.914860624 meters Centerline goodness [0,1] 0.8032521967478032 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99757453 -0.04300567 -0.05473178 0.50236277] [ 0.04388012 0.99892604 0.01487619 0.06419629] [ 0.05403324 -0.01724174 0.99839027 0.02775017] [ 0. 0. 0. 1. ]] SLAMing on 38.944860624 meters Centerline goodness [0,1] 0.8018018018018018 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.9975721 -0.0432287 -0.05460027 0.50254333] [ 0.04406409 0.99892793 0.01418952 0.06683629] [ 0.05392834 -0.01656098 0.99840747 0.02730558] [ 0. 0. 0. 1. ]] SLAMing on 38.974860624 meters Centerline goodness [0,1] 0.7982398295627473 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99756095 -0.0434743 -0.05460899 0.50259091] [ 0.04428402 0.99892496 0.01370562 0.06825516] [ 0.05395444 -0.01609049 0.99841375 0.02733446] [ 0. 0. 0. 1. ]] SLAMing on 39.004860624 meters Centerline goodness [0,1] 0.7991818897837851 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99754711 -0.04378669 -0.05461224 0.50242964] [ 0.04456764 0.99891963 0.01316439 0.06964891] [ 0.05397681 -0.01556604 0.99842085 0.02757023] [ 0. 0. 0. 1. ]] SLAMing on 39.034860624000004 meters Centerline goodness [0,1] 0.7971742623243477 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99752951 -0.04437967 -0.05445468 0.50207823] [ 0.04511979 0.99890416 0.01243753 0.07166499] [ 0.05384304 -0.01486378 0.99843878 0.02749713] [ 0. 0. 0. 1. ]] SLAMing on 39.064860624 meters Centerline goodness [0,1] 0.8028126033110393 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99751083 -0.0449251 -0.05434964 0.50159167] [ 0.04563418 0.99888762 0.01187601 0.07272333] [ 0.05375566 -0.01432665 0.99845134 0.02774382] [ 0. 0. 0. 1. ]] SLAMing on 39.094860624 meters Centerline goodness [0,1] 0.7935569375063717 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99748805 -0.04577206 -0.05406021 0.50025149] [ 0.04643775 0.99885927 0.01112204 0.07378559] [ 0.05348947 -0.01360453 0.99847574 0.02846033] [ 0. 0. 0. 1. ]] SLAMing on 39.124860624 meters Centerline goodness [0,1] 0.7840399510803098 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99727009 -0.05034498 -0.05401617 0.50010751] [ 0.05074931 0.99869256 0.006139 0.07688762] [ 0.05363648 -0.00886352 0.99852119 0.02934817] [ 0. 0. 0. 1. ]] SLAMing on 39.154860624 meters Centerline goodness [0,1] 0.7796939270841318 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99724579 -0.05125645 -0.05360612 0.49878052] [ 0.05163753 0.99864935 0.00574727 0.07706274] [ 0.05323913 -0.00849953 0.99854562 0.02945964] [ 0. 0. 0. 1. ]] SLAMing on 39.184860624 meters Centerline goodness [0,1] 0.7796939270841318 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99724579 -0.05125645 -0.05360612 0.49878052] [ 0.05163753 0.99864935 0.00574727 0.07706274] [ 0.05323913 -0.00849953 0.99854562 0.02945964] [ 0. 0. 0. 1. ]] SLAMing on 39.214860624 meters Centerline goodness [0,1] 0.7707977026164645 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99721428 -0.05224133 -0.05324025 0.4974942 ] [ 0.05259767 0.99860165 0.00531317 0.07695065] [ 0.05288823 -0.00809868 0.9985676 0.02968956] [ 0. 0. 0. 1. ]] SLAMing on 39.244860624000005 meters Centerline goodness [0,1] 0.7491013842506438 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99718005 -0.05314012 -0.05299136 0.49650155] [ 0.05348181 0.99855605 0.00504992 0.0762995 ] [ 0.05264649 -0.00786975 0.9985822 0.02981207] [ 0. 0. 0. 1. ]] SLAMing on 39.274860624 meters Centerline goodness [0,1] 0.7487333553988339 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 9.96926104e-01 -5.79464194e-02 -5.27309668e-02 4.96317836e-01] [ 5.80618862e-02 9.98312768e-01 6.59189471e-04 7.76084079e-02] [ 5.26037998e-02 -3.71882259e-03 9.98608537e-01 2.97595741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304860624 meters Centerline goodness [0,1] 0.7272103832770314 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 9.96894767e-01 -5.87952857e-02 -5.23826100e-02 4.95431322e-01] [ 5.89024606e-02 9.98263616e-01 5.03225748e-04 7.75020711e-02] [ 5.22620664e-02 -3.58712774e-03 9.98626962e-01 2.94421488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334860624 meters Centerline goodness [0,1] 0.7258827719548184 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 9.96820555e-01 -6.03837401e-02 -5.19863890e-02 4.94198308e-01] [ 6.04722002e-02 9.98169874e-01 1.28919131e-04 7.74128836e-02] [ 5.18834627e-02 -3.27224056e-03 9.98647785e-01 2.89913268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364860624 meters Centerline goodness [0,1] 0.7200711382113821 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 9.96796394e-01 -6.09462390e-02 -5.17929121e-02 4.93819647e-01] [ 6.10286225e-02 9.98136016e-01 9.16304441e-06 7.71868025e-02] [ 5.16958125e-02 -3.16998377e-03 9.98657846e-01 2.86698170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394860624 meters Centerline goodness [0,1] 0.7079861816703922 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 9.96773169e-01 -6.16186044e-02 -5.14431430e-02 4.92937670e-01] [ 6.16900982e-02 9.98095332e-01 -1.98407858e-04 7.72446099e-02] [ 5.13573865e-02 -2.97576491e-03 9.98675905e-01 2.84979120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424860624000004 meters Centerline goodness [0,1] 0.7079248158496316 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 0.99671611 -0.06283079 -0.05108115 0.49138775] [ 0.06285892 0.99802186 -0.00105731 0.07843591] [ 0.05104654 -0.00215706 0.99869395 0.02904261] [ 0. 0. 0. 1. ]] SLAMing on 39.454860624 meters Centerline goodness [0,1] 0.697138193133704 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 0.99670151 -0.06324229 -0.0508577 0.49056235] [ 0.06324221 0.99799691 -0.00161238 0.0797257 ] [ 0.0508578 -0.00160929 0.99870461 0.02947524] [ 0. 0. 0. 1. ]] SLAMing on 39.484860624 meters Centerline goodness [0,1] 0.7060982136031192 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 0.99670066 -0.06313479 -0.0510077 0.49098045] [ 0.06311659 0.99800422 -0.00196924 0.08147199] [ 0.05103023 -0.00125669 0.99869632 0.02959097] [ 0. 0. 0. 1. ]] SLAMing on 39.514860624 meters Centerline goodness [0,1] 0.7153518670496513 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.03 [[ 0.9969365 -0.05940192 -0.05088241 0.4902872 ] [ 0.05954383 0.99822488 0.00127635 0.08389761] [ 0.05071627 -0.00430218 0.99870384 0.02941219] [ 0. 0. 0. 1. ]] SLAMing on 39.544860624 meters Centerline goodness [0,1] 0.7226023873224943 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:0.03 [[ 0.99696229 -0.05872283 -0.05116468 0.49149189] [ 0.05885416 0.99826603 0.00106265 0.08603647] [ 0.05101356 -0.00407067 0.99868966 0.02921721] [ 0. 0. 0. 1. ]] SLAMing on 39.574860624 meters Centerline goodness [0,1] 0.7295483870967743 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:0.03 [[ 0.99717445 -0.05522463 -0.05092502 0.49017471] [ 0.05553363 0.99844589 0.00467181 0.08633923] [ 0.05058788 -0.00748666 0.99869155 0.02925672] [ 0. 0. 0. 1. ]] SLAMing on 39.604860624000004 meters Centerline goodness [0,1] 0.7386140151123073 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:0.03 [[ 0.99738564 -0.05135387 -0.05083958 0.48928859] [ 0.05180286 0.99862877 0.0075529 0.08981699] [ 0.05038199 -0.01016679 0.99867827 0.02988105] [ 0. 0. 0. 1. ]] SLAMing on 39.634860624 meters Centerline goodness [0,1] 0.7482885181039645 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:0.03 [[ 0.99757403 -0.04775529 -0.05065056 0.48829439] [ 0.04838025 0.99876637 0.01118468 0.09010571] [ 0.05005395 -0.01360804 0.99865381 0.02981888] [ 0. 0. 0. 1. ]] SLAMing on 39.664860624 meters Centerline goodness [0,1] 0.754663814021447 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:0.03 [[ 0.99758071 -0.04727737 -0.05096648 0.48928363] [ 0.04788739 0.9987942 0.01081446 0.09214953] [ 0.05039374 -0.01322895 0.99864181 0.02992868] [ 0. 0. 0. 1. ]] SLAMing on 39.694860624 meters Centerline goodness [0,1] 0.7653904492912809 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99763968 -0.04606303 -0.05092418 0.49055987] [ 0.04667074 0.99885184 0.0108091 0.09512846] [ 0.05036781 -0.01316026 0.99864403 0.02920023] [ 0. 0. 0. 1. ]] SLAMing on 39.724860624 meters Centerline goodness [0,1] 0.7815770196735036 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99764118 -0.04595192 -0.05099506 0.49106377] [ 0.04654635 0.99886063 0.01053038 0.09664672] [ 0.05045307 -0.01287917 0.99864339 0.02898144] [ 0. 0. 0. 1. ]] SLAMing on 39.754860624 meters Centerline goodness [0,1] 0.7795246704923617 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99764 -0.04596473 -0.05100654 0.49123038] [ 0.04654368 0.99886397 0.01022067 0.09800108] [ 0.05047881 -0.01257058 0.99864602 0.02893196] [ 0. 0. 0. 1. ]] SLAMing on 39.784860624000004 meters Centerline goodness [0,1] 0.7748502679415783 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99763114 -0.04632505 -0.05085379 0.49095217] [ 0.04686761 0.99885566 0.00952835 0.10064603] [ 0.0503542 -0.01188917 0.99866065 0.02890128] [ 0. 0. 0. 1. ]] SLAMing on 39.814860624 meters Centerline goodness [0,1] 0.7674076409690472 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99762352 -0.04645201 -0.05088737 0.49126585] [ 0.04698599 0.99885181 0.0093472 0.10145462] [ 0.05039474 -0.01171598 0.99866066 0.0285862 ] [ 0. 0. 0. 1. ]] SLAMing on 39.844860624 meters Centerline goodness [0,1] 0.7638651709008748 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.9976216 -0.04658959 -0.05079916 0.49161919] [ 0.04711559 0.99884702 0.00920588 0.10202942] [ 0.05031169 -0.01157741 0.99866646 0.02792336] [ 0. 0. 0. 1. ]] SLAMing on 39.874860624 meters Centerline goodness [0,1] 0.7574546410728372 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99760928 -0.04720691 -0.05047015 0.49124853] [ 0.04770647 0.99882317 0.00873918 0.10310797] [ 0.0499982 -0.01112604 0.99868733 0.02733318] [ 0. 0. 0. 1. ]] SLAMing on 39.904860624 meters Centerline goodness [0,1] 0.7589165855070938 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99758908 -0.04771471 -0.05039184 0.49077322] [ 0.04818706 0.99880467 0.00819984 0.10421157] [ 0.04994035 -0.0106083 0.99869586 0.0276348 ] [ 0. 0. 0. 1. ]] SLAMing on 39.934860624 meters Centerline goodness [0,1] 0.7390879564838531 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99757153 -0.0483626 -0.05012081 0.48988876] [ 0.04880359 0.99877939 0.00761172 0.10553148] [ 0.04969151 -0.01003931 0.99871416 0.02785041] [ 0. 0. 0. 1. ]] SLAMing on 39.964860624 meters Centerline goodness [0,1] 0.7544248371185144 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99753459 -0.04938983 -0.04985367 0.488792 ] [ 0.04978536 0.99873731 0.00672279 0.1072696 ] [ 0.04945868 -0.0091882 0.99873391 0.02821813] [ 0. 0. 0. 1. ]] SLAMing on 39.994860624000005 meters Centerline goodness [0,1] 0.7409382507457958 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99751925 -0.04997722 -0.04957438 0.48796257] [ 0.05035194 0.99871143 0.00633809 0.10768727] [ 0.04919374 -0.00881853 0.99875032 0.02835264] [ 0. 0. 0. 1. ]] SLAMing on 40.024860624 meters Centerline goodness [0,1] 0.7394256836785724 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99750237 -0.05036217 -0.04952441 0.48784132] [ 0.05072855 0.99869343 0.0061683 0.10765558] [ 0.04914905 -0.0086652 0.99875387 0.02822533] [ 0. 0. 0. 1. ]] SLAMing on 40.054860624 meters Centerline goodness [0,1] 0.7282301702520786 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99748493 -0.05111819 -0.04909935 0.48657115] [ 0.05146054 0.99865857 0.00573306 0.10814106] [ 0.04874042 -0.00824532 0.99877745 0.0283928 ] [ 0. 0. 0. 1. ]] SLAMing on 40.084860624 meters Centerline goodness [0,1] 0.7165572343960129 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 0.9974112 -0.05295075 -0.04865309 0.48424989] [ 0.05324456 0.99857015 0.00476193 0.10887151] [ 0.04833137 -0.00734012 0.99880439 0.0292005 ] [ 0. 0. 0. 1. ]] SLAMing on 40.114860624 meters Centerline goodness [0,1] 0.7104250158194474 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 0.99737985 -0.05391117 -0.04823912 0.48260999] [ 0.05418401 0.99852142 0.00436545 0.10878412] [ 0.04793245 -0.0069678 0.99882628 0.02965419] [ 0. 0. 0. 1. ]] SLAMing on 40.144860624 meters Centerline goodness [0,1] 0.7005895047107742 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 9.97118668e-01 -5.88707147e-02 -4.78393222e-02 4.81442767e-01] [ 5.89223482e-02 9.98262514e-01 -3.31408485e-04 1.09790461e-01] [ 4.77757123e-02 -2.48835161e-03 9.98854989e-01 3.06291578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174860624000004 meters Centerline goodness [0,1] 0.6959047418778257 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 9.97088974e-01 -5.97702810e-02 -4.73401643e-02 4.79930960e-01] [ 5.98169448e-02 9.98209270e-01 -4.31609186e-04 1.08862728e-01] [ 4.72811883e-02 -2.40139123e-03 9.98878733e-01 3.06061599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204860624 meters Centerline goodness [0,1] 0.698061160151324 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 9.97053883e-01 -6.08169669e-02 -4.67423906e-02 4.78266393e-01] [ 6.08617668e-02 9.98146096e-01 -4.65469222e-04 1.08050793e-01] [ 4.66840432e-02 -2.38072658e-03 9.98906869e-01 3.03034012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234860624 meters Centerline goodness [0,1] 0.6943657538558388 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 0.99677154 -0.06549991 -0.04643553 0.47787409] [ 0.06535622 0.99785136 -0.00460755 0.10846565] [ 0.04663755 0.00155783 0.99891066 0.03036754] [ 0. 0. 0. 1. ]] SLAMing on 40.264860624 meters Centerline goodness [0,1] 0.6876464767460029 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 0.99673809 -0.06614008 -0.04624574 0.47749685] [ 0.06601073 0.99780956 -0.00432033 0.10728102] [ 0.04643019 0.00125352 0.99892075 0.02963522] [ 0. 0. 0. 1. ]] SLAMing on 40.294860624 meters Centerline goodness [0,1] 0.6843972556283098 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:0.03 [[ 0.99669907 -0.06704168 -0.04578612 0.47602315] [ 0.06691485 0.99774943 -0.00429881 0.10603527] [ 0.04597127 0.00122085 0.99894202 0.029581 ] [ 0. 0. 0. 1. ]] SLAMing on 40.324860624 meters Centerline goodness [0,1] 0.6813080697358807 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99660777 -0.06869004 -0.04532807 0.47423613] [ 0.06856294 0.99763729 -0.00435453 0.10414397] [ 0.04552008 0.00123193 0.99896266 0.02927406] [ 0. 0. 0. 1. ]] SLAMing on 40.354860624000004 meters Centerline goodness [0,1] 0.6750214726321543 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 9.96594046e-01 -6.89765571e-02 -4.51944873e-02 4.74154075e-01] [ 6.88604563e-02 9.97617783e-01 -4.12260867e-03 1.03543907e-01] [ 4.53711876e-02 9.96454234e-04 9.98969700e-01 2.86685444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384860624 meters Centerline goodness [0,1] 0.6651999583420121 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.996578 -0.0692632 -0.04510985 0.47400025] [ 0.0691446 0.99759787 -0.00418607 0.10365082] [ 0.04529143 0.00105264 0.99897326 0.0284773 ] [ 0. 0. 0. 1. ]] SLAMing on 40.414860624 meters Centerline goodness [0,1] 0.6750306796522103 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99657075 -0.06942594 -0.04501978 0.47392708] [ 0.06930301 0.99758644 -0.00428749 0.10420709] [ 0.04520879 0.00115278 0.99897689 0.02825085] [ 0. 0. 0. 1. ]] SLAMing on 40.444860624 meters Centerline goodness [0,1] 0.6679896597644723 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99655873 -0.06958031 -0.04504745 0.47393392] [ 0.06945081 0.99757552 -0.00443519 0.10485613] [ 0.04524684 0.00129135 0.998975 0.02824849] [ 0. 0. 0. 1. ]] SLAMing on 40.474860624 meters Centerline goodness [0,1] 0.6738738738738739 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99654635 -0.06983831 -0.04492189 0.47353206] [ 0.06969169 0.99755692 -0.0048239 0.10618451] [ 0.04514903 0.00167656 0.99897886 0.02839016] [ 0. 0. 0. 1. ]] SLAMing on 40.504860624 meters Centerline goodness [0,1] 0.6724056850245586 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99654383 -0.06982841 -0.04499316 0.47372483] [ 0.06967419 0.99755733 -0.00498874 0.10660046] [ 0.04523161 0.00183664 0.99897484 0.02841934] [ 0. 0. 0. 1. ]] SLAMing on 40.534860624000004 meters Centerline goodness [0,1] 0.6738057304045759 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99656228 -0.06955131 -0.04501379 0.47415688] [ 0.06938597 0.9975762 -0.00522696 0.10790484] [ 0.04526823 0.00208566 0.99897269 0.02829739] [ 0. 0. 0. 1. ]] SLAMing on 40.564860624 meters Centerline goodness [0,1] 0.6625513326881327 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99655441 -0.06955774 -0.04517768 0.47428244] [ 0.06936652 0.99757445 -0.0057885 0.10990438] [ 0.04547073 0.00263473 0.9989622 0.02889357] [ 0. 0. 0. 1. ]] SLAMing on 40.594860624 meters Centerline goodness [0,1] 0.6779354297254059 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96795111e-01 -6.61978273e-02 -4.49149572e-02 4.72505354e-01] [ 6.61524425e-02 9.97806402e-01 -2.49771010e-03 1.11896172e-01] [ 4.49817748e-02 -4.81528903e-04 9.98987692e-01 2.92954598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624860624 meters Centerline goodness [0,1] 0.6809042581188484 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96799614e-01 -6.59852363e-02 -4.51273585e-02 4.72963008e-01] [ 6.59202285e-02 9.97820598e-01 -2.92881309e-03 1.13590081e-01] [ 4.52222663e-02 -5.53660347e-05 9.98976948e-01 2.96939570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654860624 meters Centerline goodness [0,1] 0.6816914009051679 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96804111e-01 -6.58047134e-02 -4.52913250e-02 4.73431702e-01] [ 6.57259824e-02 9.97832492e-01 -3.22692490e-03 1.14864356e-01] [ 4.54055025e-02 2.39795181e-04 9.98968610e-01 2.98713162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684860624 meters Centerline goodness [0,1] 0.6818253592294331 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96828850e-01 -6.53633351e-02 -4.53858827e-02 4.74343090e-01] [ 6.52791932e-02 9.97861465e-01 -3.33518288e-03 1.16381929e-01] [ 4.55068220e-02 3.61852708e-04 9.98963962e-01 2.93931611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714860624 meters Centerline goodness [0,1] 0.6762690055408209 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96824114e-01 -6.53773082e-02 -4.54696915e-02 4.74622237e-01] [ 6.52864668e-02 9.97860489e-01 -3.48162443e-03 1.17055994e-01] [ 4.56000278e-02 5.02011690e-04 9.98959652e-01 2.93341938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744860624000005 meters Centerline goodness [0,1] 0.6819915309960285 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96825644e-01 -6.54531593e-02 -4.53268078e-02 4.74619608e-01] [ 6.53701264e-02 9.97855585e-01 -3.31331893e-03 1.17325627e-01] [ 4.54464755e-02 3.39782125e-04 9.98966717e-01 2.87344435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774860624 meters Centerline goodness [0,1] 0.6723107307439105 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96810479e-01 -6.58057783e-02 -4.51494061e-02 4.74303058e-01] [ 6.57214900e-02 9.97832381e-01 -3.35035377e-03 1.17597670e-01] [ 4.52720121e-02 3.72381502e-04 9.98974627e-01 2.83730644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804860624 meters Centerline goodness [0,1] 0.6806457550022349 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96785841e-01 -6.62815057e-02 -4.49972221e-02 4.74409546e-01] [ 6.62197722e-02 9.97800955e-01 -2.86280824e-03 1.16516471e-01] [ 4.50880225e-02 -1.26099082e-04 9.98983010e-01 2.70895719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834860624 meters Centerline goodness [0,1] 0.6687536170884412 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96770247e-01 -6.66297044e-02 -4.48280758e-02 4.74191819e-01] [ 6.65795645e-02 9.97777699e-01 -2.61229537e-03 1.15491995e-01] [ 4.49025108e-02 -3.80775465e-04 9.98991301e-01 2.65057419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864860624 meters Centerline goodness [0,1] 0.6694808268896955 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96745842e-01 -6.72446706e-02 -4.44508781e-02 4.73234886e-01] [ 6.71995029e-02 9.97736398e-01 -2.51131977e-03 1.14637625e-01] [ 4.45191319e-02 -4.83929365e-04 9.99008415e-01 2.61351864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894860624 meters Centerline goodness [0,1] 0.6622041031036296 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96680608e-01 -6.85574527e-02 -4.39049041e-02 4.71188994e-01] [ 6.85029121e-02 9.97647134e-01 -2.74734983e-03 1.14126708e-01] [ 4.39899530e-02 -2.69383482e-04 9.99031937e-01 2.63027644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924860624000004 meters Centerline goodness [0,1] 0.668591830305576 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96650914e-01 -6.91367141e-02 -4.36700107e-02 4.70185189e-01] [ 6.90714193e-02 9.97607194e-01 -3.00412505e-03 1.14325023e-01] [ 4.37732122e-02 -2.22856442e-05 9.99041493e-01 2.66380495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954860624 meters Centerline goodness [0,1] 0.6624852381577221 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96634503e-01 -6.95338981e-02 -4.34131849e-02 4.69383975e-01] [ 6.94637628e-02 9.97579585e-01 -3.12380847e-03 1.14499528e-01] [ 4.35253175e-02 9.76521271e-05 9.99052320e-01 2.67442042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984860624 meters Centerline goodness [0,1] 0.6607990765759857 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96606513e-01 -7.00768435e-02 -4.31821103e-02 4.68468105e-01] [ 6.99984619e-02 9.97541553e-01 -3.32638424e-03 1.14419613e-01] [ 4.33090519e-02 2.92414893e-04 9.99061680e-01 2.69698442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014860624 meters Centerline goodness [0,1] 0.6634206520027298 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96596218e-01 -7.03319749e-02 -4.30045465e-02 4.67939539e-01] [ 7.02492257e-02 9.97523560e-01 -3.43426993e-03 1.14112278e-01] [ 4.31395873e-02 4.01544329e-04 9.99068974e-01 2.70932456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044860624 meters Centerline goodness [0,1] 0.6604309732417712 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 9.96580361e-01 -7.05903961e-02 -4.29485725e-02 4.67402786e-01] [ 7.04943674e-02 9.97505135e-01 -3.74821570e-03 1.14743229e-01] [ 4.31060096e-02 7.07765711e-04 9.99070253e-01 2.76043560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074860624 meters Centerline goodness [0,1] 0.6631778256982065 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96577574e-01 -7.05171558e-02 -4.31331569e-02 4.67779528e-01] [ 7.04120076e-02 9.97510158e-01 -3.95407030e-03 1.15744786e-01] [ 4.33045919e-02 9.03445616e-04 9.99061508e-01 2.77922346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104860624000004 meters Centerline goodness [0,1] 0.6631778256982065 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96577574e-01 -7.05171558e-02 -4.31331569e-02 4.67779528e-01] [ 7.04120076e-02 9.97510158e-01 -3.95407030e-03 1.15744786e-01] [ 4.33045919e-02 9.03445616e-04 9.99061508e-01 2.77922346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134860624 meters Centerline goodness [0,1] 0.6576348842720594 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96596812e-01 -7.01165566e-02 -4.33412421e-02 4.68646353e-01] [ 7.00154997e-02 9.97538485e-01 -3.84714140e-03 1.16445705e-01] [ 4.35043053e-02 7.99490133e-04 9.99052920e-01 2.74624185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164860624 meters Centerline goodness [0,1] 0.6728836744357343 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96869861e-01 -6.60454600e-02 -4.34566257e-02 4.68812219e-01] [ 6.61184505e-02 9.97811752e-01 2.42872283e-04 1.16246532e-01] [ 4.33454912e-02 -3.11539681e-03 9.99055285e-01 2.66626530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194860624 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96885081e-01 -6.56114246e-02 -4.37638627e-02 4.69651583e-01] [ 6.56771848e-02 9.97840921e-01 6.49253690e-05 1.17390871e-01] [ 4.36651132e-02 -2.93901043e-03 9.99041901e-01 2.69019610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224860624 meters Centerline goodness [0,1] 0.6743239313753998 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 9.96908811e-01 -6.50388210e-02 -4.40769128e-02 4.70702561e-01] [ 6.51006856e-02 9.97878700e-01 -3.19234638e-05 1.18318971e-01] [ 4.39854887e-02 -2.83761246e-03 9.99028140e-01 2.70071483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254860624 meters Centerline goodness [0,1] 0.67578011274912 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99717175 -0.06081348 -0.04416122 0.47056453] [ 0.0610396 0.99812815 0.00378874 0.11866119] [ 0.04384815 -0.0064736 0.99901723 0.02686813] [ 0. 0. 0. 1. ]] SLAMing on 41.284860624000004 meters Centerline goodness [0,1] 0.68355808027182 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99721307 -0.05979082 -0.04462237 0.4723335 ] [ 0.06001465 0.99819067 0.00369203 0.12054256] [ 0.04432088 -0.00635973 0.9989971 0.02681992] [ 0. 0. 0. 1. ]] SLAMing on 41.314860624 meters Centerline goodness [0,1] 0.6838063350340136 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99726225 -0.05859284 -0.04510979 0.47432104] [ 0.05881715 0.99826206 0.00366016 0.1223656 ] [ 0.04481694 -0.00630337 0.99897533 0.02670252] [ 0. 0. 0. 1. ]] SLAMing on 41.344860624 meters Centerline goodness [0,1] 0.6996561558760028 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 0.99751794 -0.05384669 -0.04537073 0.4750892 ] [ 0.05423768 0.99850041 0.00743021 0.12390326] [ 0.0449026 -0.00987257 0.99894259 0.02647448] [ 0. 0. 0. 1. ]] SLAMing on 41.374860624 meters Centerline goodness [0,1] 0.7034945948838702 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.9975416 -0.05310826 -0.04571943 0.47635261] [ 0.05349016 0.99854264 0.00716967 0.12555404] [ 0.04527203 -0.00959758 0.99892859 0.02666038] [ 0. 0. 0. 1. ]] SLAMing on 41.404860624 meters Centerline goodness [0,1] 0.7061223394261481 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.9975531 -0.05257637 -0.04608196 0.47731629] [ 0.05295062 0.99857303 0.00693772 0.12698714] [ 0.04565144 -0.00936082 0.99891357 0.02698263] [ 0. 0. 0. 1. ]] SLAMing on 41.434860624 meters Centerline goodness [0,1] 0.7050251391390854 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.9977553 -0.04864935 -0.04601734 0.47657912] [ 0.04919476 0.99873087 0.01079434 0.12706266] [ 0.0454338 -0.01303392 0.99888232 0.02700584] [ 0. 0. 0. 1. ]] SLAMing on 41.464860624 meters Centerline goodness [0,1] 0.7135941912061314 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99775741 -0.04845999 -0.04617119 0.47690917] [ 0.04899723 0.99874293 0.01057535 0.12816665] [ 0.04560066 -0.0128139 0.99887756 0.02724958] [ 0. 0. 0. 1. ]] SLAMing on 41.494860624000005 meters Centerline goodness [0,1] 0.7162379852870107 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99775477 -0.04841622 -0.04627409 0.47703192] [ 0.04894009 0.99874907 0.01025518 0.12895846] [ 0.04571968 -0.01249682 0.99887614 0.02770615] [ 0. 0. 0. 1. ]] SLAMing on 41.524860624 meters Centerline goodness [0,1] 0.7168757218446993 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99776231 -0.04818781 -0.04634978 0.47772089] [ 0.04871732 0.99875885 0.01036245 0.12894614] [ 0.04579291 -0.0125973 0.99887152 0.02724069] [ 0. 0. 0. 1. ]] SLAMing on 41.554860624 meters Centerline goodness [0,1] 0.7160062368944566 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99775835 -0.04820122 -0.04642106 0.47810261] [ 0.04873852 0.99875625 0.01051238 0.12815035] [ 0.04585661 -0.01275131 0.99886665 0.0269255 ] [ 0. 0. 0. 1. ]] SLAMing on 41.584860624 meters Centerline goodness [0,1] 0.7108514458767722 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99775158 -0.04836496 -0.04639625 0.47817705] [ 0.04890471 0.99874753 0.01056912 0.12742644] [ 0.04582696 -0.01281436 0.9988672 0.02670301] [ 0. 0. 0. 1. ]] SLAMing on 41.614860624 meters Centerline goodness [0,1] 0.7114461224818263 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.9977253 -0.04924061 -0.04603889 0.47678407] [ 0.04976758 0.99870699 0.01037029 0.12645363] [ 0.04546873 -0.01263794 0.99888582 0.02697231] [ 0. 0. 0. 1. ]] SLAMing on 41.644860624 meters Centerline goodness [0,1] 0.7046694480102695 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99771178 -0.04966947 -0.04587092 0.4762192 ] [ 0.05019439 0.99868571 0.01036262 0.12556173] [ 0.04529593 -0.01264138 0.99889363 0.02700235] [ 0. 0. 0. 1. ]] SLAMing on 41.674860624000004 meters Centerline goodness [0,1] 0.6936030530276747 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 0.99749723 -0.053739 -0.04594999 0.47669147] [ 0.0540899 0.99851539 0.00642681 0.12493587] [ 0.0455364 -0.00889615 0.99892307 0.02743421] [ 0. 0. 0. 1. ]] SLAMing on 41.704860624 meters Centerline goodness [0,1] 0.687684807799888 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 0.997473 -0.05430126 -0.04581462 0.4760663 ] [ 0.05465905 0.99848332 0.00659224 0.12345482] [ 0.04538717 -0.00907976 0.99892821 0.02733432] [ 0. 0. 0. 1. ]] SLAMing on 41.734860624 meters Centerline goodness [0,1] 0.6894074448553867 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 0.99745188 -0.05480869 -0.04567014 0.47560086] [ 0.05517003 0.99845457 0.00668849 0.12240207] [ 0.04523298 -0.00919107 0.99893418 0.02715086] [ 0. 0. 0. 1. ]] SLAMing on 41.764860624 meters Centerline goodness [0,1] 0.6883317363994463 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99743508 -0.05521709 -0.04554493 0.47493071] [ 0.05557597 0.99843231 0.00665058 0.12182395] [ 0.04510631 -0.00916472 0.99894015 0.02740019] [ 0. 0. 0. 1. ]] SLAMing on 41.794860624 meters Centerline goodness [0,1] 0.6837252557459812 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.9973877 -0.05623562 -0.04533582 0.47311898] [ 0.05657213 0.99837943 0.00617305 0.12116415] [ 0.04491521 -0.00872167 0.99895273 0.02866328] [ 0. 0. 0. 1. ]] SLAMing on 41.824860624 meters Centerline goodness [0,1] 0.6849369608493696 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99737711 -0.05648392 -0.0452601 0.47256799] [ 0.05681615 0.9983661 0.00608696 0.12047686] [ 0.04484234 -0.0086425 0.99895669 0.02909146] [ 0. 0. 0. 1. ]] SLAMing on 41.854860624000004 meters Centerline goodness [0,1] 0.6847183565275017 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99737771 -0.05653172 -0.04518714 0.47235685] [ 0.05686566 0.99836297 0.006138 0.11970945] [ 0.04476618 -0.0086915 0.99895968 0.0292049 ] [ 0. 0. 0. 1. ]] SLAMing on 41.884860624 meters Centerline goodness [0,1] 0.6835198048677025 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99737981 -0.05643747 -0.04525837 0.47245194] [ 0.05677865 0.99836699 0.00628767 0.1187323 ] [ 0.0448296 -0.0088409 0.99895553 0.02935521] [ 0. 0. 0. 1. ]] SLAMing on 41.914860624 meters Centerline goodness [0,1] 0.6815009420693682 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99738124 -0.05635434 -0.04533048 0.47250862] [ 0.05669469 0.99837196 0.00625692 0.11865833] [ 0.04490408 -0.00881053 0.99895245 0.02963292] [ 0. 0. 0. 1. ]] SLAMing on 41.944860624 meters Centerline goodness [0,1] 0.6797951113352265 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99738637 -0.05611969 -0.04550827 0.47294869] [ 0.05646552 0.99838436 0.00634883 0.11843429] [ 0.04507845 -0.00890188 0.99894379 0.02974191] [ 0. 0. 0. 1. ]] SLAMing on 41.974860624 meters Centerline goodness [0,1] 0.6818940618458359 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99738313 -0.0560824 -0.04562521 0.47304708] [ 0.05643027 0.99838621 0.00637155 0.11781959] [ 0.04519425 -0.00892952 0.99893831 0.03003615] [ 0. 0. 0. 1. ]] SLAMing on 42.004860624 meters Centerline goodness [0,1] 0.6829610046265697 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.997391 -0.05584136 -0.04574858 0.47329818] [ 0.05620377 0.99839702 0.00667307 0.11620677] [ 0.04530262 -0.0092269 0.9989307 0.03027115] [ 0. 0. 0. 1. ]] SLAMing on 42.034860624000004 meters Centerline goodness [0,1] 0.6837455363047216 Centerline is valid? [False, False] Translation: X:0.47, Y:0.12, Z:0.03 [[ 0.99739402 -0.05578628 -0.04574992 0.47317528] [ 0.05615358 0.99839911 0.006782 0.11545261] [ 0.04529834 -0.00933335 0.9989299 0.03052813] [ 0. 0. 0. 1. ]] SLAMing on 42.064860624 meters Centerline goodness [0,1] 0.68842361276337 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.9973969 -0.05587523 -0.04557841 0.47258372] [ 0.05625441 0.99839137 0.00707846 0.11388399] [ 0.04510958 -0.00962402 0.99893569 0.03068916] [ 0. 0. 0. 1. ]] SLAMing on 42.094860624 meters Centerline goodness [0,1] 0.6845195776390973 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99739454 -0.05594093 -0.0455493 0.47235402] [ 0.05632878 0.99838577 0.00727546 0.11246328] [ 0.04506878 -0.00982224 0.9989356 0.03087254] [ 0. 0. 0. 1. ]] SLAMing on 42.124860624 meters Centerline goodness [0,1] 0.6742837653478855 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99738487 -0.05613968 -0.04551659 0.47198905] [ 0.0565341 0.99837307 0.00742397 0.11072319] [ 0.04502576 -0.0099778 0.998936 0.03115502] [ 0. 0. 0. 1. ]] SLAMing on 42.154860624 meters Centerline goodness [0,1] 0.6717142707952588 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99718205 -0.05940521 -0.0458147 0.47339702] [ 0.05966211 0.99820954 0.00425939 0.1081601 ] [ 0.04547964 -0.00698079 0.99894087 0.03135328] [ 0. 0. 0. 1. ]] SLAMing on 42.184860624 meters Centerline goodness [0,1] 0.679271891567209 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:0.03 [[ 0.99717318 -0.05966768 -0.0456663 0.47286804] [ 0.05994043 0.99819124 0.00462543 0.10613814] [ 0.04530772 -0.00734961 0.99894604 0.03134316] [ 0. 0. 0. 1. ]] SLAMing on 42.214860624 meters Centerline goodness [0,1] 0.6782427323686612 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99716807 -0.05977357 -0.04563939 0.4727226 ] [ 0.06006555 0.99818165 0.00505209 0.10431852] [ 0.04525442 -0.00777914 0.9989452 0.03125823] [ 0. 0. 0. 1. ]] SLAMing on 42.244860624 meters Centerline goodness [0,1] 0.6768126121907438 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99715125 -0.06004332 -0.04565287 0.47253985] [ 0.0603621 0.99816064 0.00563539 0.10102018] [ 0.04523053 -0.00837504 0.99894147 0.03121849] [ 0. 0. 0. 1. ]] SLAMing on 42.274860624 meters Centerline goodness [0,1] 0.674208262063961 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99714079 -0.06030453 -0.04553693 0.47209986] [ 0.06063536 0.99814244 0.00591787 0.09889572] [ 0.04509547 -0.0086621 0.99894513 0.03125087] [ 0. 0. 0. 1. ]] SLAMing on 42.304860624 meters Centerline goodness [0,1] 0.6690428224598378 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99712406 -0.06067721 -0.04540797 0.47147076] [ 0.06101997 0.99811729 0.00619943 0.09649125] [ 0.04494631 -0.00895239 0.99894929 0.03142951] [ 0. 0. 0. 1. ]] SLAMing on 42.334860624 meters Centerline goodness [0,1] 0.6541624771186223 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.03 [[ 0.99687418 -0.06462525 -0.04544709 0.47147121] [ 0.06480279 0.9978951 0.0024425 0.09442152] [ 0.04519359 -0.00537996 0.99896376 0.03256306] [ 0. 0. 0. 1. ]] SLAMing on 42.364860624 meters Centerline goodness [0,1] 0.6644445014230405 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.03 [[ 0.99686179 -0.06493574 -0.04527603 0.47077495] [ 0.06512367 0.99787358 0.00268669 0.09238323] [ 0.04500529 -0.0056268 0.9989709 0.03278719] [ 0. 0. 0. 1. ]] SLAMing on 42.394860624 meters Centerline goodness [0,1] 0.6602373125128416 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.03 [[ 0.9968508 -0.06521347 -0.04511867 0.47009065] [ 0.06540783 0.99785456 0.00284343 0.09070817] [ 0.04483644 -0.00578559 0.99897759 0.03310311] [ 0. 0. 0. 1. ]] SLAMing on 42.424860624000004 meters Centerline goodness [0,1] 0.6652751811918969 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.03 [[ 0.99683629 -0.06562598 -0.0448401 0.46897843] [ 0.06582316 0.99782699 0.00293359 0.08931131] [ 0.04455014 -0.00587582 0.99898987 0.0335311 ] [ 0. 0. 0. 1. ]] SLAMing on 42.454860624 meters Centerline goodness [0,1] 0.659769820971867 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.03 [[ 0.99682861 -0.0657937 -0.04476498 0.46854701] [ 0.06600101 0.99781453 0.00316733 0.0880286 ] [ 0.04445876 -0.00611182 0.99899252 0.0337189 ] [ 0. 0. 0. 1. ]] SLAMing on 42.484860624 meters Centerline goodness [0,1] 0.6521639452836436 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99683724 -0.06556425 -0.04490921 0.4690772 ] [ 0.06580769 0.99782446 0.00396251 0.08459914] [ 0.04455171 -0.00690534 0.99898321 0.03340601] [ 0. 0. 0. 1. ]] SLAMing on 42.514860624 meters Centerline goodness [0,1] 0.6542324611590002 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99685043 -0.06535889 -0.04491578 0.46942549] [ 0.0656235 0.99783457 0.0044406 0.08273088] [ 0.04452829 -0.00737414 0.99898091 0.03308923] [ 0. 0. 0. 1. ]] SLAMing on 42.544860624 meters Centerline goodness [0,1] 0.6609145815358067 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99686353 -0.0650505 -0.04507257 0.46965033] [ 0.06534564 0.99784964 0.00510425 0.08007415] [ 0.04464362 -0.00803354 0.99897068 0.0333121 ] [ 0. 0. 0. 1. ]] SLAMing on 42.574860624 meters Centerline goodness [0,1] 0.6526161319704483 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99686707 -0.06495853 -0.04512691 0.46963712] [ 0.06526395 0.99785382 0.00532646 0.07892321] [ 0.04468406 -0.00825493 0.99896706 0.03353137] [ 0. 0. 0. 1. ]] SLAMing on 42.604860624000004 meters Centerline goodness [0,1] 0.6564815985835335 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99687046 -0.06487593 -0.04517081 0.46945562] [ 0.06518847 0.99785793 0.00547921 0.07776233] [ 0.04471858 -0.00840668 0.99896425 0.03399077] [ 0. 0. 0. 1. ]] SLAMing on 42.634860624 meters Centerline goodness [0,1] 0.6581930174437685 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 0.99690131 -0.06429996 -0.04531324 0.46955648] [ 0.0646342 0.99789129 0.0059486 0.07567734] [ 0.04483519 -0.00885895 0.99895512 0.03464089] [ 0. 0. 0. 1. ]] SLAMing on 42.664860624 meters Centerline goodness [0,1] 0.6592804083076457 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.03 [[ 0.99693334 -0.06365562 -0.04551792 0.4704177 ] [ 0.06401069 0.99792879 0.00638468 0.07470606] [ 0.04501722 -0.00927873 0.99894312 0.03444909] [ 0. 0. 0. 1. ]] SLAMing on 42.694860624 meters Centerline goodness [0,1] 0.6652626800171505 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.03 [[ 0.99703765 -0.0616209 -0.04603033 0.47316885] [ 0.06203762 0.99804427 0.0076787 0.07275507] [ 0.04546713 -0.01051157 0.99891053 0.03337247] [ 0. 0. 0. 1. ]] SLAMing on 42.724860624 meters Centerline goodness [0,1] 0.6614181150489222 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.03 [[ 0.99706515 -0.06086116 -0.04644352 0.47454887] [ 0.06130067 0.9980865 0.0080971 0.07224725] [ 0.04586185 -0.01092035 0.9988881 0.03313006] [ 0. 0. 0. 1. ]] SLAMing on 42.754860624 meters Centerline goodness [0,1] 0.6665072492952074 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.03 [[ 0.99709588 -0.06011081 -0.04675999 0.47562589] [ 0.0605715 0.99812769 0.00849729 0.07171565] [ 0.04616166 -0.01130493 0.99887001 0.03305053] [ 0. 0. 0. 1. ]] SLAMing on 42.784860624000004 meters Centerline goodness [0,1] 0.6644761688949317 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.03 [[ 0.9971153 -0.0595189 -0.0471017 0.47655658] [ 0.05999698 0.99815976 0.0088009 0.07128343] [ 0.0464912 -0.01160147 0.99885133 0.03313022] [ 0. 0. 0. 1. ]] SLAMing on 42.814860624 meters Centerline goodness [0,1] 0.6623357078358583 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.03 [[ 0.99717635 -0.05818865 -0.0474701 0.47798763] [ 0.05871273 0.99822759 0.00972051 0.06938204] [ 0.04682034 -0.01248016 0.99882536 0.03297504] [ 0. 0. 0. 1. ]] SLAMing on 42.844860624 meters Centerline goodness [0,1] 0.6613918495297806 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.03 [[ 0.99719222 -0.05776707 -0.04765125 0.47862857] [ 0.05830939 0.99824778 0.01006935 0.06838346] [ 0.04698608 -0.01281959 0.99881328 0.03288271] [ 0. 0. 0. 1. ]] SLAMing on 42.874860624 meters Centerline goodness [0,1] 0.6622321138313036 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.03 [[ 0.99720952 -0.05739744 -0.04773571 0.479021 ] [ 0.0579575 0.99826455 0.01043133 0.06698027] [ 0.04705413 -0.01316887 0.99880553 0.03285569] [ 0. 0. 0. 1. ]] SLAMing on 42.904860624 meters Centerline goodness [0,1] 0.6567695370831259 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99721159 -0.05745986 -0.04761734 0.47845618] [ 0.0580376 0.99825555 0.01083931 0.0641752 ] [ 0.04691145 -0.01357268 0.99880684 0.03326902] [ 0. 0. 0. 1. ]] SLAMing on 42.934860624 meters Centerline goodness [0,1] 0.6579869307029096 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99721449 -0.05742618 -0.04759712 0.47854807] [ 0.05802239 0.99825201 0.01123952 0.06253152] [ 0.04686848 -0.01396991 0.99880338 0.03306541] [ 0. 0. 0. 1. ]] SLAMing on 42.964860624 meters Centerline goodness [0,1] 0.6477267105328255 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99701903 -0.06054028 -0.04783223 0.48041871] [ 0.06099565 0.99810503 0.00811723 0.06078287] [ 0.04725017 -0.01101059 0.9988224 0.03253885] [ 0. 0. 0. 1. ]] SLAMing on 42.994860624 meters Centerline goodness [0,1] 0.6477267105328255 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99701903 -0.06054028 -0.04783223 0.48041871] [ 0.06099565 0.99810503 0.00811723 0.06078287] [ 0.04725017 -0.01101059 0.9988224 0.03253885] [ 0. 0. 0. 1. ]] SLAMing on 43.024860624 meters Centerline goodness [0,1] 0.6444225560206845 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.9970194 -0.06057479 -0.04778087 0.48036626] [ 0.06104833 0.99809851 0.00851312 0.05869453] [ 0.04717433 -0.01140468 0.99882156 0.03243296] [ 0. 0. 0. 1. ]] SLAMing on 43.054860624 meters Centerline goodness [0,1] 0.6479088201265293 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99701073 -0.06076749 -0.04771702 0.4800344 ] [ 0.06124635 0.99808531 0.00863683 0.05692504] [ 0.04710082 -0.0115335 0.99882355 0.03272891] [ 0. 0. 0. 1. ]] SLAMing on 43.084860624 meters Centerline goodness [0,1] 0.644906179388938 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.03 [[ 0.99700251 -0.06092707 -0.04768522 0.47976369] [ 0.06141511 0.9980732 0.00883588 0.05526009] [ 0.04705499 -0.01173799 0.99882333 0.03294925] [ 0. 0. 0. 1. ]] SLAMing on 43.114860624 meters Centerline goodness [0,1] 0.6385474313139723 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.03 [[ 0.99696913 -0.06155269 -0.04757958 0.47864317] [ 0.06204447 0.99803346 0.00892768 0.05282093] [ 0.04693649 -0.01185267 0.99882755 0.03384651] [ 0. 0. 0. 1. ]] SLAMing on 43.144860624 meters Centerline goodness [0,1] 0.6435418398787108 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.03 [[ 0.99695993 -0.06172854 -0.04754463 0.47821832] [ 0.06222536 0.99802119 0.00903973 0.05160679] [ 0.04689254 -0.01197073 0.99882821 0.03425685] [ 0. 0. 0. 1. ]] SLAMing on 43.174860624000004 meters Centerline goodness [0,1] 0.6353409146371223 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.03 [[ 0.99696084 -0.06178708 -0.04744927 0.47799881] [ 0.06229155 0.99801535 0.00922624 0.05040288] [ 0.04678503 -0.01215389 0.99883104 0.03431325] [ 0. 0. 0. 1. ]] SLAMing on 43.204860624 meters Centerline goodness [0,1] 0.6382501948558067 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.03 [[ 0.99694174 -0.06210368 -0.04743729 0.47762638] [ 0.06262158 0.99799204 0.00950914 0.04749751] [ 0.04675149 -0.01245065 0.99882895 0.0346861 ] [ 0. 0. 0. 1. ]] SLAMing on 43.234860624 meters Centerline goodness [0,1] 0.6353876354118702 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.03 [[ 0.99693015 -0.0623121 -0.04740765 0.4774298 ] [ 0.0628382 0.99797671 0.00968775 0.04594205] [ 0.04670806 -0.01263702 0.99882865 0.03479808] [ 0. 0. 0. 1. ]] SLAMing on 43.264860624 meters Centerline goodness [0,1] 0.6319846791592931 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99692232 -0.06257281 -0.04722853 0.47691052] [ 0.06310353 0.99795858 0.00982962 0.04435565] [ 0.04651705 -0.01277966 0.99883574 0.03494052] [ 0. 0. 0. 1. ]] SLAMing on 43.294860624 meters Centerline goodness [0,1] 0.6276211485782163 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99690999 -0.06286948 -0.04709458 0.47649714] [ 0.06340926 0.99793695 0.01005508 0.04267103] [ 0.04636526 -0.01301025 0.99883982 0.03494325] [ 0. 0. 0. 1. ]] SLAMing on 43.324860624 meters Centerline goodness [0,1] 0.6227727075184702 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.04 [[ 0.99685509 -0.06386296 -0.04691961 0.4752631 ] [ 0.06439226 0.99787599 0.00985604 0.04010178] [ 0.04619051 -0.01284631 0.99885004 0.03580049] [ 0. 0. 0. 1. ]] SLAMing on 43.354860624000004 meters Centerline goodness [0,1] 0.6225512583227171 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.04 [[ 0.99684039 -0.06411711 -0.04688539 0.47498002] [ 0.06465309 0.99785765 0.01000453 0.03855977] [ 0.04614349 -0.01300421 0.99885017 0.03599184] [ 0. 0. 0. 1. ]] SLAMing on 43.384860624 meters Centerline goodness [0,1] 0.6167131053036126 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.04 [[ 0.99683048 -0.06435499 -0.0467699 0.4746505 ] [ 0.06489622 0.99784044 0.01014566 0.0372258 ] [ 0.04601597 -0.01314869 0.99885416 0.03602913] [ 0. 0. 0. 1. ]] SLAMing on 43.414860624 meters Centerline goodness [0,1] 0.6214854620477881 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.04 [[ 0.99683271 -0.06433314 -0.04675244 0.47468749] [ 0.06488995 0.99783729 0.01048965 0.0351595 ] [ 0.0459765 -0.01349019 0.99885143 0.03603639] [ 0. 0. 0. 1. ]] SLAMing on 43.444860624 meters Centerline goodness [0,1] 0.6161543617734367 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.04 [[ 0.99684401 -0.06413062 -0.04678981 0.47493911] [ 0.06469607 0.99784796 0.01067082 0.03468553] [ 0.04600479 -0.01366426 0.99884776 0.03598249] [ 0. 0. 0. 1. ]] SLAMing on 43.474860624 meters Centerline goodness [0,1] 0.6201224636811142 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.04 [[ 0.99685051 -0.06399512 -0.04683672 0.47505179] [ 0.06456101 0.99785672 0.01066944 0.03490684] [ 0.04605354 -0.01365967 0.99884558 0.03606876] [ 0. 0. 0. 1. ]] SLAMing on 43.504860624 meters Centerline goodness [0,1] 0.62028052646748 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.04 [[ 0.99689771 -0.06316691 -0.04695634 0.47550042] [ 0.06373981 0.99790807 0.01080356 0.0352165 ] [ 0.04617569 -0.01376303 0.99883852 0.03645032] [ 0. 0. 0. 1. ]] SLAMing on 43.534860624000004 meters Centerline goodness [0,1] 0.6257970180737331 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.04 [[ 0.99692136 -0.06260759 -0.04720258 0.47641833] [ 0.0631915 0.99794102 0.01097978 0.03528997] [ 0.04641797 -0.01392878 0.99882499 0.03627654] [ 0. 0. 0. 1. ]] SLAMing on 43.564860624 meters Centerline goodness [0,1] 0.6341082289588191 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.04 [[ 0.99695061 -0.06196801 -0.0474283 0.47752283] [ 0.0625662 0.99797761 0.01123207 0.03510471] [ 0.04663635 -0.01416523 0.99881149 0.03586844] [ 0. 0. 0. 1. ]] SLAMing on 43.594860624 meters Centerline goodness [0,1] 0.6256188416246095 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.04 [[ 0.99697746 -0.06123486 -0.04781458 0.47894708] [ 0.06184867 0.9980197 0.01146389 0.03534376] [ 0.04701791 -0.01438651 0.99879044 0.03547018] [ 0. 0. 0. 1. ]] SLAMing on 43.624860624 meters Centerline goodness [0,1] 0.6369716361536796 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.03 [[ 0.99725386 -0.05633228 -0.04807719 0.48014176] [ 0.0571554 0.99823835 0.01592035 0.03498479] [ 0.04709566 -0.0186245 0.99871674 0.03431888] [ 0. 0. 0. 1. ]] SLAMing on 43.654860624 meters Centerline goodness [0,1] 0.6492375253353924 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99728617 -0.055457 -0.04842339 0.48165078] [ 0.05629353 0.99828468 0.01608498 0.03603728] [ 0.04744831 -0.01876726 0.99869738 0.03382162] [ 0. 0. 0. 1. ]] SLAMing on 43.684860624 meters Centerline goodness [0,1] 0.6440555220277611 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99731809 -0.05454798 -0.04879691 0.48316913] [ 0.05539737 0.99833253 0.01622613 0.03701877] [ 0.04783044 -0.01888583 0.99867691 0.03339006] [ 0. 0. 0. 1. ]] SLAMing on 43.714860624 meters Centerline goodness [0,1] 0.6521602475762192 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99755769 -0.04977585 -0.0490002 0.483638 ] [ 0.05082434 0.99849947 0.02038878 0.03696815] [ 0.0479118 -0.02282939 0.99859065 0.03308499] [ 0. 0. 0. 1. ]] SLAMing on 43.744860624 meters Centerline goodness [0,1] 0.6610935272656986 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.03 [[ 0.99758408 -0.04906991 -0.04917457 0.48440252] [ 0.050117 0.99853722 0.0202908 0.03801821] [ 0.04810698 -0.02270626 0.99858407 0.03314742] [ 0. 0. 0. 1. ]] SLAMing on 43.774860624 meters Centerline goodness [0,1] 0.6619649923526985 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99761436 -0.04817565 -0.04944382 0.48552192] [ 0.04923255 0.9985793 0.02038461 0.03874185] [ 0.04839153 -0.02277023 0.99856886 0.03307503] [ 0. 0. 0. 1. ]] SLAMing on 43.804860624 meters Centerline goodness [0,1] 0.6790894293141566 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99763877 -0.04736857 -0.0497304 0.48653694] [ 0.04843149 0.99861836 0.02039016 0.03971536] [ 0.04869583 -0.02275053 0.99855452 0.03310858] [ 0. 0. 0. 1. ]] SLAMing on 43.834860624 meters Centerline goodness [0,1] 0.6866257250085295 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99784608 -0.04249646 -0.04997251 0.48744592] [ 0.04376475 0.99873981 0.02456505 0.04003148] [ 0.04886561 -0.02669917 0.99844845 0.03249483] [ 0. 0. 0. 1. ]] SLAMing on 43.864860624 meters Centerline goodness [0,1] 0.6936723108544582 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99786941 -0.04157644 -0.05027959 0.48880301] [ 0.04286135 0.99877436 0.02475243 0.0408114 ] [ 0.04918884 -0.02685474 0.99842841 0.03210544] [ 0. 0. 0. 1. ]] SLAMing on 43.894860624 meters Centerline goodness [0,1] 0.7025322643723113 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99788368 -0.04081864 -0.05061622 0.49008716] [ 0.04211697 0.9988035 0.02485437 0.04156129] [ 0.04954114 -0.02693357 0.99840886 0.03187323] [ 0. 0. 0. 1. ]] SLAMing on 43.924860624000004 meters Centerline goodness [0,1] 0.7237597526865891 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99805738 -0.03592152 -0.05090288 0.49131671] [ 0.03744854 0.99886689 0.02936913 0.04080435] [ 0.04979022 -0.03121832 0.99827168 0.03086713] [ 0. 0. 0. 1. ]] SLAMing on 43.954860624 meters Centerline goodness [0,1] 0.7283908102523737 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99806392 -0.03522225 -0.05126221 0.49255559] [ 0.03676465 0.99888953 0.02946283 0.04146081] [ 0.05016754 -0.03129043 0.99825053 0.03069328] [ 0. 0. 0. 1. ]] SLAMing on 43.984860624 meters Centerline goodness [0,1] 0.7351582465107136 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.9980741 -0.03460197 -0.0514859 0.49339731] [ 0.03615099 0.99891186 0.02946539 0.04200795] [ 0.05041031 -0.0312699 0.99823895 0.03072433] [ 0. 0. 0. 1. ]] SLAMing on 44.014860624 meters Centerline goodness [0,1] 0.7390930529625627 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.03 [[ 0.99808247 -0.03387244 -0.05180772 0.49443679] [ 0.03543518 0.99893504 0.02954899 0.04241517] [ 0.05075165 -0.03132815 0.99821982 0.03075826] [ 0. 0. 0. 1. ]] SLAMing on 44.044860624 meters Centerline goodness [0,1] 0.7463800236406619 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99809582 -0.03299623 -0.05211518 0.49570858] [ 0.03457509 0.99896099 0.02969025 0.04324145] [ 0.05108137 -0.0314356 0.99819963 0.03050262] [ 0. 0. 0. 1. ]] SLAMing on 44.074860624 meters Centerline goodness [0,1] 0.7568462679189323 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99823576 -0.02825678 -0.05221984 0.49591473] [ 0.03003885 0.99898173 0.03366249 0.04336033] [ 0.05121548 -0.03517173 0.9980681 0.03062967] [ 0. 0. 0. 1. ]] SLAMing on 44.104860624000004 meters Centerline goodness [0,1] 0.7669074358086381 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99824928 -0.02735533 -0.052441 0.49689981] [ 0.02914781 0.99900598 0.0337263 0.04444856] [ 0.05146628 -0.0351958 0.99805435 0.03056609] [ 0. 0. 0. 1. ]] SLAMing on 44.134860624 meters Centerline goodness [0,1] 0.7701620873690452 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99825499 -0.02656213 -0.05273926 0.49818833] [ 0.02836016 0.99903148 0.03364214 0.04561729] [ 0.05179457 -0.03507913 0.99804147 0.03039963] [ 0. 0. 0. 1. ]] SLAMing on 44.164860624 meters Centerline goodness [0,1] 0.7738597920833642 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.03 [[ 0.99836369 -0.02120802 -0.05310529 0.50022667] [ 0.02325828 0.9989959 0.03829167 0.04462895] [ 0.05223988 -0.03946415 0.99785449 0.02910193] [ 0. 0. 0. 1. ]] SLAMing on 44.194860624 meters Centerline goodness [0,1] 0.7762744564545252 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99837347 -0.02006516 -0.05336483 0.50182845] [ 0.02213879 0.99901122 0.03855464 0.04539564] [ 0.05253846 -0.03967336 0.99783051 0.02851875] [ 0. 0. 0. 1. ]] SLAMing on 44.224860624 meters Centerline goodness [0,1] 0.7788672907352978 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.9983771 -0.0190103 -0.05368218 0.50335137] [ 0.02110462 0.99902721 0.0387199 0.04638473] [ 0.05289388 -0.03979001 0.99780709 0.02812745] [ 0. 0. 0. 1. ]] SLAMing on 44.254860624 meters Centerline goodness [0,1] 0.7793005671077504 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99845806 -0.014334 -0.05362878 0.50360583] [ 0.01663911 0.99894569 0.04278614 0.0462795 ] [ 0.05295894 -0.0436125 0.99764387 0.02783177] [ 0. 0. 0. 1. ]] SLAMing on 44.284860624000004 meters Centerline goodness [0,1] 0.7812756638379414 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99844852 -0.01394911 -0.05390703 0.50421038] [ 0.01624983 0.99896519 0.04247939 0.04747128] [ 0.0532587 -0.04328946 0.99764199 0.02824962] [ 0. 0. 0. 1. ]] SLAMing on 44.314860624 meters Centerline goodness [0,1] 0.7817723036950058 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 0.99844155 -0.0136275 -0.05411811 0.50467338] [ 0.01592371 0.99898111 0.0422276 0.04847287] [ 0.05348751 -0.04302355 0.99764125 0.0285788 ] [ 0. 0. 0. 1. ]] SLAMing on 44.344860624 meters Centerline goodness [0,1] 0.7830612550546653 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99843398 -0.0134165 -0.05431014 0.50515512] [ 0.01570927 0.99899361 0.04201183 0.04921085] [ 0.05369183 -0.04279921 0.99763992 0.0287784 ] [ 0. 0. 0. 1. ]] SLAMing on 44.374860624 meters Centerline goodness [0,1] 0.7824829168537084 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99843131 -0.01286335 -0.0544926 0.50605611] [ 0.01516919 0.99899763 0.04211459 0.04907369] [ 0.05389624 -0.04287514 0.99762564 0.02861714] [ 0. 0. 0. 1. ]] SLAMing on 44.404860624 meters Centerline goodness [0,1] 0.7828717999800777 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99842025 -0.01259455 -0.05475747 0.50723706] [ 0.01492467 0.99899115 0.04235496 0.04838227] [ 0.05416879 -0.04310528 0.99760096 0.02798863] [ 0. 0. 0. 1. ]] SLAMing on 44.434860624 meters Centerline goodness [0,1] 0.7819230960553152 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99837113 -0.0152682 -0.05497239 0.50912161] [ 0.0174208 0.99909148 0.03889394 0.04967384] [ 0.0543286 -0.03978825 0.99773007 0.02731527] [ 0. 0. 0. 1. ]] SLAMing on 44.464860624 meters Centerline goodness [0,1] 0.7811636417955038 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99836442 -0.0154868 -0.05503318 0.50925468] [ 0.01764003 0.99908902 0.03885811 0.0490622 ] [ 0.05438126 -0.03976534 0.99772812 0.02727279] [ 0. 0. 0. 1. ]] SLAMing on 44.494860624 meters Centerline goodness [0,1] 0.7800515949794116 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99828056 -0.01974512 -0.05519103 0.50954884] [ 0.02167373 0.99916734 0.0345669 0.04974858] [ 0.05446254 -0.03570366 0.99787729 0.02782058] [ 0. 0. 0. 1. ]] SLAMing on 44.524860624 meters Centerline goodness [0,1] 0.7774722552516845 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99818066 -0.02370223 -0.05543983 0.51027464] [ 0.02541825 0.99921289 0.03045514 0.05038435] [ 0.05467434 -0.03180891 0.99799745 0.02814504] [ 0. 0. 0. 1. ]] SLAMing on 44.554860624 meters Centerline goodness [0,1] 0.7718026826512062 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99804755 -0.02882954 -0.05540705 0.50936812] [ 0.03031653 0.99919726 0.0261868 0.0487743 ] [ 0.05460762 -0.02781542 0.99812039 0.02923876] [ 0. 0. 0. 1. ]] SLAMing on 44.584860624 meters Centerline goodness [0,1] 0.7682174338883447 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99790708 -0.0329274 -0.05565284 0.50993164] [ 0.03419665 0.99917273 0.02201005 0.04920268] [ 0.05488206 -0.02386713 0.99820755 0.02984564] [ 0. 0. 0. 1. ]] SLAMing on 44.614860624 meters Centerline goodness [0,1] 0.7647792283995892 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99776052 -0.03689424 -0.05579207 0.5106706 ] [ 0.03795512 0.99911594 0.01807606 0.04957674] [ 0.05507584 -0.02015317 0.99827877 0.0299312 ] [ 0. 0. 0. 1. ]] SLAMing on 44.644860624 meters Centerline goodness [0,1] 0.7616142885028303 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99759572 -0.04085127 -0.05598168 0.51145695] [ 0.04170654 0.99902906 0.01419499 0.04961875] [ 0.05534744 -0.01649567 0.99833088 0.03011234] [ 0. 0. 0. 1. ]] SLAMing on 44.674860624000004 meters Centerline goodness [0,1] 0.7525805823351835 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99739547 -0.04556157 -0.05591438 0.51114564] [ 0.04620446 0.99887933 0.01025871 0.04793449] [ 0.05538432 -0.01281548 0.99838286 0.03068588] [ 0. 0. 0. 1. ]] SLAMing on 44.704860624 meters Centerline goodness [0,1] 0.7514290579163727 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.9973675 -0.04626169 -0.0558384 0.51060316] [ 0.04689976 0.99884782 0.01017063 0.04640317] [ 0.05530355 -0.01276267 0.99838802 0.03091765] [ 0. 0. 0. 1. ]] SLAMing on 44.734860624 meters Centerline goodness [0,1] 0.7473225102980373 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99719308 -0.04937115 -0.05628906 0.5126192 ] [ 0.04982317 0.99873588 0.00665463 0.04727361] [ 0.05588936 -0.00944045 0.99839234 0.03063173] [ 0. 0. 0. 1. ]] SLAMing on 44.764860624 meters Centerline goodness [0,1] 0.7443592657976832 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99716235 -0.05009477 -0.05619391 0.51165533] [ 0.05053443 0.99870162 0.00642948 0.04609987] [ 0.05579887 -0.00925096 0.99839917 0.03141233] [ 0. 0. 0. 1. ]] SLAMing on 44.794860624 meters Centerline goodness [0,1] 0.750126968004063 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715629 -0.05022573 -0.05618468 0.51157415] [ 0.05066126 0.99869568 0.00635358 0.04607309] [ 0.05579229 -0.0091819 0.99840018 0.03151986] [ 0. 0. 0. 1. ]] SLAMing on 44.824860624 meters Centerline goodness [0,1] 0.7485637039540385 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99714919 -0.05031283 -0.05623275 0.51173089] [ 0.05073944 0.99869278 0.00618383 0.04628509] [ 0.05584811 -0.00901941 0.99839854 0.03157592] [ 0. 0. 0. 1. ]] SLAMing on 44.854860624000004 meters Centerline goodness [0,1] 0.7463871608046283 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99714562 -0.05036437 -0.0562498 0.51156759] [ 0.05077903 0.99869209 0.00596597 0.04665323] [ 0.05587576 -0.00880525 0.9983989 0.03194718] [ 0. 0. 0. 1. ]] SLAMing on 44.884860624 meters Centerline goodness [0,1] 0.7463871608046283 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99714562 -0.05036437 -0.0562498 0.51156759] [ 0.05077903 0.99869209 0.00596597 0.04665323] [ 0.05587576 -0.00880525 0.9983989 0.03194718] [ 0. 0. 0. 1. ]] SLAMing on 44.914860624 meters Centerline goodness [0,1] 0.7514632612586465 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715366 -0.05021605 -0.05623983 0.51144126] [ 0.05061493 0.99870204 0.0056898 0.04746812] [ 0.05588112 -0.00852018 0.99840108 0.03241907] [ 0. 0. 0. 1. ]] SLAMing on 44.944860624 meters Centerline goodness [0,1] 0.7541023282830728 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715465 -0.05003068 -0.05638739 0.51187566] [ 0.05042291 0.99871251 0.00555391 0.04826886] [ 0.05603692 -0.00838132 0.99839352 0.03242088] [ 0. 0. 0. 1. ]] SLAMing on 44.974860624 meters Centerline goodness [0,1] 0.7536864571206829 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715779 -0.04986035 -0.05648266 0.51231581] [ 0.05024239 0.99872265 0.00536316 0.04950569] [ 0.0561431 -0.00818574 0.99838918 0.03234626] [ 0. 0. 0. 1. ]] SLAMing on 45.004860624 meters Centerline goodness [0,1] 0.755196697425935 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715638 -0.04969904 -0.05664953 0.51283702] [ 0.05007297 0.99873203 0.00519965 0.05069507] [ 0.05631928 -0.00802147 0.99838059 0.03229072] [ 0. 0. 0. 1. ]] SLAMing on 45.034860624000004 meters Centerline goodness [0,1] 0.7556539078838578 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99715378 -0.04979125 -0.05661422 0.51276716] [ 0.05015006 0.99872951 0.00493391 0.05192681] [ 0.05629663 -0.00775907 0.99838394 0.03234592] [ 0. 0. 0. 1. ]] SLAMing on 45.064860624 meters Centerline goodness [0,1] 0.7563029288296814 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99714279 -0.04989996 -0.05671198 0.5131706 ] [ 0.05025839 0.99872418 0.00491081 0.05156426] [ 0.05639458 -0.00774703 0.9983785 0.03211313] [ 0. 0. 0. 1. ]] SLAMing on 45.094860624 meters Centerline goodness [0,1] 0.7541043414812112 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99710971 -0.05086183 -0.05643846 0.51230291] [ 0.05119672 0.99867844 0.00450292 0.05109059] [ 0.05613484 -0.00737937 0.99839593 0.03217887] [ 0. 0. 0. 1. ]] SLAMing on 45.124860624 meters Centerline goodness [0,1] 0.7514028226492093 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99708531 -0.05141164 -0.05637136 0.51190483] [ 0.05173604 0.9986515 0.00430955 0.05093497] [ 0.05607378 -0.00721342 0.99840057 0.03227762] [ 0. 0. 0. 1. ]] SLAMing on 45.154860624 meters Centerline goodness [0,1] 0.7450122718767467 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99705924 -0.05216082 -0.05614378 0.51103086] [ 0.05246462 0.99861497 0.00394978 0.05111614] [ 0.05586 -0.00688373 0.99841488 0.03251342] [ 0. 0. 0. 1. ]] SLAMing on 45.184860624 meters Centerline goodness [0,1] 0.7382139123246372 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99702204 -0.05303548 -0.05598468 0.50988375] [ 0.05331329 0.99857177 0.00347938 0.05122127] [ 0.05572019 -0.00645374 0.99842557 0.03320972] [ 0. 0. 0. 1. ]] SLAMing on 45.214860624 meters Centerline goodness [0,1] 0.7300177188766718 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99698704 -0.05393169 -0.05575131 0.50885185] [ 0.05418449 0.99852634 0.00303164 0.05131617] [ 0.05550565 -0.00604336 0.99844008 0.03357961] [ 0. 0. 0. 1. ]] SLAMing on 45.244860624 meters Centerline goodness [0,1] 0.7285974057461511 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99674234 -0.05834531 -0.05568234 0.50937019] [ 0.05836593 0.99829446 -0.00125733 0.0531359 ] [ 0.05566073 -0.00199672 0.99844774 0.03335415] [ 0. 0. 0. 1. ]] SLAMing on 45.274860624 meters Centerline goodness [0,1] 0.7252549781447304 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99671662 -0.05898625 -0.05546714 0.50900251] [ 0.0590039 0.99825688 -0.00132092 0.05248294] [ 0.05544837 -0.0019562 0.99845964 0.03293104] [ 0. 0. 0. 1. ]] SLAMing on 45.304860624 meters Centerline goodness [0,1] 0.7079603076400514 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99669013 -0.05973357 -0.05514241 0.5082531 ] [ 0.05973822 0.99821285 -0.00156537 0.05200031] [ 0.05513737 -0.00173392 0.99847727 0.03273949] [ 0. 0. 0. 1. ]] SLAMing on 45.334860624 meters Centerline goodness [0,1] 0.6807433250957019 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 0.99659101 -0.06152704 -0.05496157 0.50700222] [ 0.06149572 0.99810478 -0.00226261 0.05241913] [ 0.05499662 -0.00112501 0.99848591 0.03293266] [ 0. 0. 0. 1. ]] SLAMing on 45.364860624 meters Centerline goodness [0,1] 0.6717241379310345 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 9.96556529e-01 -6.22025705e-02 -5.48263093e-02 5.06506761e-01] [ 6.21554345e-02 9.98063183e-01 -2.56613020e-03 5.32037433e-02] [ 5.48797407e-02 -8.50459268e-04 9.98492609e-01 3.28589917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394860624 meters Centerline goodness [0,1] 0.6906656316708714 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.03 [[ 9.96488453e-01 -6.34766844e-02 -5.46028803e-02 5.05617469e-01] [ 6.33998240e-02 9.97983266e-01 -3.14042599e-03 5.44310340e-02] [ 5.46921047e-02 -3.32414766e-04 9.98503211e-01 3.27283005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424860624000004 meters Centerline goodness [0,1] 0.6821082773180616 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.03 [[ 9.96465449e-01 -6.40637091e-02 -5.43364510e-02 5.04972125e-01] [ 6.39754589e-02 9.97945803e-01 -3.36376861e-03 5.48731296e-02] [ 5.44403287e-02 -1.24320190e-04 9.98517018e-01 3.25135030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454860624 meters Centerline goodness [0,1] 0.6791946963049624 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 9.96439395e-01 -6.46637138e-02 -5.41030158e-02 5.04333585e-01] [ 6.45549184e-02 9.97907080e-01 -3.75790375e-03 5.57760764e-02] [ 5.42327826e-02 2.51907568e-04 9.98528288e-01 3.24473173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484860624 meters Centerline goodness [0,1] 0.6660498185979693 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 9.96419786e-01 -6.50322634e-02 -5.40223506e-02 5.04347075e-01] [ 6.49117639e-02 9.97883054e-01 -3.98404875e-03 5.67208185e-02] [ 5.41670799e-02 4.63098931e-04 9.98531779e-01 3.20123625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514860624 meters Centerline goodness [0,1] 0.6649246623849179 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99638066 -0.06589758 -0.05369438 0.50359043] [ 0.06572468 0.99782536 -0.00498141 0.06029595] [ 0.05390588 0.00143434 0.99854499 0.03184433] [ 0. 0. 0. 1. ]] SLAMing on 45.544860624 meters Centerline goodness [0,1] 0.6611517502086504 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99636282 -0.06620411 -0.05364845 0.5035045 ] [ 0.0660026 0.99780418 -0.00552116 0.06256721] [ 0.05389617 0.00196015 0.99854462 0.03177981] [ 0. 0. 0. 1. ]] SLAMing on 45.574860624 meters Centerline goodness [0,1] 0.664402775727152 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.03 [[ 0.99634088 -0.06656825 -0.05360529 0.50329881] [ 0.06633283 0.99777853 -0.00616098 0.06499458] [ 0.05389633 0.00258265 0.9985432 0.0318892 ] [ 0. 0. 0. 1. ]] SLAMing on 45.604860624000004 meters Centerline goodness [0,1] 0.6642053705481307 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99634168 -0.06654059 -0.05362474 0.50404426] [ 0.06629771 0.99778001 -0.00629735 0.06701517] [ 0.05392472 0.00271912 0.9985413 0.03097953] [ 0. 0. 0. 1. ]] SLAMing on 45.634860624 meters Centerline goodness [0,1] 0.6643132380360472 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99630507 -0.06720457 -0.05347659 0.50394607] [ 0.0669013 0.99773184 -0.0074431 0.07162485] [ 0.05385551 0.00383795 0.99854136 0.03063862] [ 0. 0. 0. 1. ]] SLAMing on 45.664860624 meters Centerline goodness [0,1] 0.6623557848047643 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99628378 -0.06763671 -0.05332824 0.5035132 ] [ 0.06730066 0.99770007 -0.00807434 0.07429996] [ 0.05375171 0.00445531 0.99854439 0.03068451] [ 0. 0. 0. 1. ]] SLAMing on 45.694860624 meters Centerline goodness [0,1] 0.6623318161356475 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99643551 -0.06552656 -0.05312758 0.50130118] [ 0.06533611 0.99784916 -0.00531551 0.0754027 ] [ 0.05336162 0.00182541 0.99857359 0.03129798] [ 0. 0. 0. 1. ]] SLAMing on 45.724860624 meters Centerline goodness [0,1] 0.66640625 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99638299 -0.06644365 -0.05297346 0.50059666] [ 0.06618199 0.99778521 -0.00668026 0.08108088] [ 0.0533 0.00315021 0.99857358 0.03155809] [ 0. 0. 0. 1. ]] SLAMing on 45.754860624 meters Centerline goodness [0,1] 0.6697505118677485 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99635849 -0.06687506 -0.05289134 0.5002659 ] [ 0.06658031 0.99775424 -0.00731725 0.08354641] [ 0.0532619 0.00376908 0.99857346 0.03167735] [ 0. 0. 0. 1. ]] SLAMing on 45.784860624000004 meters Centerline goodness [0,1] 0.6680260391600598 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99633522 -0.06724242 -0.05286382 0.50036479] [ 0.06692231 0.99772767 -0.00780432 0.08588301] [ 0.05326847 0.00423795 0.99857123 0.03135621] [ 0. 0. 0. 1. ]] SLAMing on 45.814860624 meters Centerline goodness [0,1] 0.6652944016670479 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.9963063 -0.06770412 -0.05281959 0.50021366] [ 0.06735426 0.99769395 -0.00837786 0.08810966] [ 0.053265 0.00478929 0.99856893 0.03128194] [ 0. 0. 0. 1. ]] SLAMing on 45.844860624 meters Centerline goodness [0,1] 0.6694252873563218 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99626679 -0.06848579 -0.05255639 0.50016574] [ 0.06809274 0.99763625 -0.00923538 0.09240924] [ 0.05306465 0.0056222 0.99857525 0.03032125] [ 0. 0. 0. 1. ]] SLAMing on 45.874860624 meters Centerline goodness [0,1] 0.6682943041210758 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99624233 -0.06876544 -0.05265482 0.50055502] [ 0.06834309 0.99761392 -0.00978209 0.09504932] [ 0.05320186 0.00614673 0.99856486 0.0300441 ] [ 0. 0. 0. 1. ]] SLAMing on 45.904860624 meters Centerline goodness [0,1] 0.669224649025999 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99641112 -0.06650921 -0.05235842 0.49880781] [ 0.06624244 0.99778028 -0.00681614 0.09625216] [ 0.05269553 0.00332332 0.9986051 0.02976177] [ 0. 0. 0. 1. ]] SLAMing on 45.934860624 meters Centerline goodness [0,1] 0.6678203373195237 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99638788 -0.06695903 -0.05222727 0.49888887] [ 0.06663854 0.99774626 -0.00785592 0.1019049 ] [ 0.05263559 0.0043472 0.99860432 0.02925155] [ 0. 0. 0. 1. ]] SLAMing on 45.964860624 meters Centerline goodness [0,1] 0.6696844283497154 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99636828 -0.06724446 -0.05223444 0.4988292 ] [ 0.06688996 0.99772409 -0.00850759 0.10440553] [ 0.05268765 0.00498274 0.99859861 0.02938726] [ 0. 0. 0. 1. ]] SLAMing on 45.994860624 meters Centerline goodness [0,1] 0.670937394422932 Centerline is valid? [False, False] Translation: X:0.50, Y:0.11, Z:0.03 [[ 0.99652594 -0.06527639 -0.05172086 0.49610945] [ 0.0650354 0.99786288 -0.00633052 0.10856802] [ 0.05202356 0.00294484 0.99864152 0.02982213] [ 0. 0. 0. 1. ]] SLAMing on 46.024860624 meters Centerline goodness [0,1] 0.6681359380297853 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 9.96717586e-01 -6.25704248e-02 -5.13711612e-02 4.94292159e-01] [ 6.24963539e-02 9.98040536e-01 -3.04850830e-03 1.09448357e-01] [ 5.14612478e-02 -1.72008439e-04 9.98674977e-01 2.96319192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054860624 meters Centerline goodness [0,1] 0.6692628432066714 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 9.96904129e-01 -5.99282330e-02 -5.08995513e-02 4.92781124e-01] [ 5.99857992e-02 9.98199152e-01 -3.97262891e-04 1.13386162e-01] [ 5.08316962e-02 -2.65721724e-03 9.98703699e-01 2.89662192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084860624 meters Centerline goodness [0,1] 0.6726623462504959 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:0.03 [[ 0.99709004 -0.05712052 -0.05048455 0.49134324] [ 0.05730172 0.9983546 0.00214811 0.1178233 ] [ 0.05027878 -0.00503471 0.99872253 0.02857047] [ 0. 0. 0. 1. ]] SLAMing on 46.114860624 meters Centerline goodness [0,1] 0.671231055570327 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:0.03 [[ 0.9972599 -0.05454187 -0.04997879 0.48945919] [ 0.05484503 0.99848375 0.00471353 0.12194696] [ 0.04964593 -0.00744171 0.99873916 0.02828972] [ 0. 0. 0. 1. ]] SLAMing on 46.144860624 meters Centerline goodness [0,1] 0.6742794561530037 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:0.03 [[ 0.99721019 -0.05571997 -0.0496701 0.48837181] [ 0.0559564 0.99842749 0.00338115 0.12607724] [ 0.04940359 -0.00615108 0.99875996 0.02850298] [ 0. 0. 0. 1. ]] SLAMing on 46.174860624000004 meters Centerline goodness [0,1] 0.6692122830440588 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:0.03 [[ 0.99718656 -0.05638353 -0.04939496 0.48744847] [ 0.05659239 0.99839333 0.00283899 0.1275003 ] [ 0.04915552 -0.00562638 0.99877529 0.02863764] [ 0. 0. 0. 1. ]] SLAMing on 46.204860624 meters Centerline goodness [0,1] 0.6692122830440588 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:0.03 [[ 0.99718656 -0.05638353 -0.04939496 0.48744847] [ 0.05659239 0.99839333 0.00283899 0.1275003 ] [ 0.04915552 -0.00562638 0.99877529 0.02863764] [ 0. 0. 0. 1. ]] SLAMing on 46.234860624 meters Centerline goodness [0,1] 0.6632819389145712 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:0.03 [[ 0.99716128 -0.05707184 -0.04911394 0.48663125] [ 0.05725333 0.99835704 0.00229517 0.12895434] [ 0.04890226 -0.00510059 0.99879055 0.02862696] [ 0. 0. 0. 1. ]] SLAMing on 46.264860624 meters Centerline goodness [0,1] 0.6632819389145712 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:0.03 [[ 0.99716128 -0.05707184 -0.04911394 0.48663125] [ 0.05725333 0.99835704 0.00229517 0.12895434] [ 0.04890226 -0.00510059 0.99879055 0.02862696] [ 0. 0. 0. 1. ]] SLAMing on 46.294860624 meters Centerline goodness [0,1] 0.6642097081133238 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99710414 -0.05850441 -0.0485857 0.48496015] [ 0.058643 0.99827799 0.00143058 0.13109033] [ 0.04841834 -0.00427565 0.99881799 0.02844794] [ 0. 0. 0. 1. ]] SLAMing on 46.324860624 meters Centerline goodness [0,1] 0.6603373830021186 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99708166 -0.05910169 -0.04832337 0.48420737] [ 0.05922393 0.99824412 0.00110054 0.13164766] [ 0.04817348 -0.00395923 0.99883114 0.02840549] [ 0. 0. 0. 1. ]] SLAMing on 46.354860624000004 meters Centerline goodness [0,1] 0.6579513086472832 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.97049600e-01 -5.99696386e-02 -4.79138476e-02 4.82835314e-01] [ 6.00663728e-02 9.98194217e-01 5.80346946e-04 1.32381951e-01] [ 4.77925224e-02 -3.45664572e-03 9.98851303e-01 2.86584028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384860624 meters Centerline goodness [0,1] 0.6541288834039813 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.96995058e-01 -6.10952871e-02 -4.76258396e-02 4.81350185e-01] [ 6.11559701e-02 9.98128205e-01 -1.83289802e-04 1.33624308e-01] [ 4.75478919e-02 -2.72986539e-03 9.98865229e-01 2.92798422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414860624 meters Centerline goodness [0,1] 0.65033969762883 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.96977730e-01 -6.14814390e-02 -4.74914485e-02 4.80750695e-01] [ 6.15284967e-02 9.98105216e-01 -4.71746111e-04 1.34191864e-01] [ 4.74304661e-02 -2.45175707e-03 9.98871533e-01 2.95308030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444860624 meters Centerline goodness [0,1] 0.6490281357388317 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.96964962e-01 -6.17918441e-02 -4.73564347e-02 4.80345435e-01] [ 6.18301920e-02 9.98086468e-01 -6.56054992e-04 1.34787059e-01] [ 4.73063554e-02 -2.27399361e-03 9.98877839e-01 2.94936122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474860624 meters Centerline goodness [0,1] 0.665183507267481 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99694706 -0.06210619 -0.04732217 0.48010107] [ 0.06212602 0.99806776 -0.00105307 0.13613663] [ 0.04729613 -0.00189008 0.99887912 0.02968022] [ 0. 0. 0. 1. ]] SLAMing on 46.504860624 meters Centerline goodness [0,1] 0.6595315567268132 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99694479 -0.0619993 -0.04750978 0.48072871] [ 0.06200834 0.9980748 -0.00128502 0.13747945] [ 0.04749799 -0.00166491 0.99886995 0.02963017] [ 0. 0. 0. 1. ]] SLAMing on 46.534860624000004 meters Centerline goodness [0,1] 0.6652019194478891 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99694589 -0.0617626 -0.04779417 0.48157406] [ 0.06175843 0.9980899 -0.00156521 0.13888971] [ 0.04779955 -0.00139126 0.99885598 0.02971987] [ 0. 0. 0. 1. ]] SLAMing on 46.564860624 meters Centerline goodness [0,1] 0.6633612675487053 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99695904 -0.06126782 -0.04815513 0.48289325] [ 0.0612619 0.99812044 -0.00160022 0.14003964] [ 0.04816266 -0.00135472 0.99883859 0.0294575 ] [ 0. 0. 0. 1. ]] SLAMing on 46.594860624 meters Centerline goodness [0,1] 0.6697565999891582 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99720209 -0.0573017 -0.04800534 0.48238263] [ 0.05746288 0.99834567 0.00198301 0.14125951] [ 0.0478123 -0.00473599 0.99884511 0.0290795 ] [ 0. 0. 0. 1. ]] SLAMing on 46.624860624 meters Centerline goodness [0,1] 0.6733757062146892 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99742727 -0.05343859 -0.04778242 0.48162748] [ 0.05378096 0.99853528 0.00590748 0.14103998] [ 0.04739674 -0.00846206 0.9988403 0.02858774] [ 0. 0. 0. 1. ]] SLAMing on 46.654860624 meters Centerline goodness [0,1] 0.6821818970895381 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 0.99746275 -0.05228697 -0.04831283 0.48384735] [ 0.05262504 0.99859778 0.00575134 0.14308204] [ 0.04794436 -0.00827921 0.99881569 0.0284255 ] [ 0. 0. 0. 1. ]] SLAMing on 46.684860624 meters Centerline goodness [0,1] 0.6860639838264624 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 0.99769372 -0.04746229 -0.0485239 0.48472905] [ 0.04796781 0.99880553 0.00930648 0.14627968] [ 0.04802423 -0.0116126 0.99877866 0.02808973] [ 0. 0. 0. 1. ]] SLAMing on 46.714860624 meters Centerline goodness [0,1] 0.6897383864421653 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 0.99787651 -0.04373435 -0.04826777 0.48370245] [ 0.04441325 0.99892758 0.01308292 0.1469019 ] [ 0.04764383 -0.01519887 0.99874875 0.02783247] [ 0. 0. 0. 1. ]] SLAMing on 46.744860624 meters Centerline goodness [0,1] 0.6880488005033236 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.99786885 -0.04329141 -0.04882231 0.48512267] [ 0.04394283 0.99895772 0.01234876 0.1494979 ] [ 0.04823683 -0.01446784 0.99873114 0.02849329] [ 0. 0. 0. 1. ]] SLAMing on 46.774860624 meters Centerline goodness [0,1] 0.6880488005033236 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.99786885 -0.04329141 -0.04882231 0.48512267] [ 0.04394283 0.99895772 0.01234876 0.1494979 ] [ 0.04823683 -0.01446784 0.99873114 0.02849329] [ 0. 0. 0. 1. ]] SLAMing on 46.804860624 meters Centerline goodness [0,1] 0.6989211800968737 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.99786023 -0.04338063 -0.04891913 0.48509564] [ 0.04400474 0.99896218 0.01175343 0.15119392] [ 0.04835848 -0.01388096 0.99873359 0.02907318] [ 0. 0. 0. 1. ]] SLAMing on 46.834860624 meters Centerline goodness [0,1] 0.6881876800658526 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.9976839 -0.04704762 -0.04912602 0.48563306] [ 0.04744763 0.99884915 0.00700762 0.15432011] [ 0.04873979 -0.0093223 0.998768 0.03060477] [ 0. 0. 0. 1. ]] SLAMing on 46.864860624 meters Centerline goodness [0,1] 0.6845938221391668 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 0.99766204 -0.04795693 -0.04868877 0.48424944] [ 0.04834482 0.99880742 0.00681989 0.15436483] [ 0.04830364 -0.00915779 0.99879072 0.03044845] [ 0. 0. 0. 1. ]] SLAMing on 46.894860624 meters Centerline goodness [0,1] 0.688863910516504 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 0.99743184 -0.0525601 -0.0486535 0.48451224] [ 0.05275427 0.99860383 0.00271449 0.15476835] [ 0.04844289 -0.0052742 0.99881203 0.03037179] [ 0. 0. 0. 1. ]] SLAMing on 46.924860624000004 meters Centerline goodness [0,1] 0.671135818617833 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.99720718 -0.05648933 -0.04885494 0.48569339] [ 0.05649606 0.99840205 -0.00124419 0.15482015] [ 0.04884716 -0.0015194 0.99880511 0.03040867] [ 0. 0. 0. 1. ]] SLAMing on 46.954860624 meters Centerline goodness [0,1] 0.6643303242697793 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 0.99712559 -0.05821603 -0.04849179 0.4836529 ] [ 0.05819828 0.99830346 -0.00177895 0.15275358] [ 0.04851309 -0.00104831 0.998822 0.03090234] [ 0. 0. 0. 1. ]] SLAMing on 46.984860624 meters Centerline goodness [0,1] 0.6702342047930283 Centerline is valid? [False, False] Translation: X:0.48, Y:0.15, Z:0.03 [[ 9.97060850e-01 -5.96178617e-02 -4.81183084e-02 4.81755125e-01] [ 5.95924892e-02 9.98220858e-01 -1.96297761e-03 1.50455394e-01] [ 4.81497277e-02 -9.10281655e-04 9.98839714e-01 3.12421340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014860624 meters Centerline goodness [0,1] 0.6631544733064276 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.9969624 -0.06527475 -0.0424875 0.4909225 ] [ 0.06557206 0.99783189 0.00564065 0.14616188] [ 0.04202719 -0.00840951 0.99908108 0.02726425] [ 0. 0. 0. 1. ]] SLAMing on 47.044860624 meters Centerline goodness [0,1] 0.6524126365898517 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:0.03 [[ 0.99690492 -0.06643962 -0.04202816 0.48892574] [ 0.06672553 0.99775656 0.00543535 0.14526609] [ 0.04157275 -0.00822287 0.99910164 0.02773093] [ 0. 0. 0. 1. ]] SLAMing on 47.074860624 meters Centerline goodness [0,1] 0.6528918918918919 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.03 [[ 0.99683201 -0.06771752 -0.04171666 0.48704333] [ 0.06798985 0.99767276 0.00514243 0.14387738] [ 0.04127134 -0.00796245 0.99911625 0.02843647] [ 0. 0. 0. 1. ]] SLAMing on 47.104860624000004 meters Centerline goodness [0,1] 0.6456432205442946 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.03 [[ 0.99656237 -0.07147195 -0.04189502 0.48817499] [ 0.07159117 0.99743315 0.00135029 0.14327611] [ 0.04169097 -0.00434496 0.99912111 0.02866081] [ 0. 0. 0. 1. ]] SLAMing on 47.134860624 meters Centerline goodness [0,1] 0.6449014659292274 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.03 [[ 9.96213263e-01 -7.64425357e-02 -4.14206786e-02 4.86871841e-01] [ 7.64058256e-02 9.97073741e-01 -2.47094348e-03 1.39886481e-01] [ 4.14883561e-02 -7.03194475e-04 9.99138740e-01 2.93760651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164860624 meters Centerline goodness [0,1] 0.6354667949951877 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:0.03 [[ 9.96167231e-01 -7.71989230e-02 -4.11238828e-02 4.85553563e-01] [ 7.71731443e-02 9.97015242e-01 -2.21636158e-03 1.37669778e-01] [ 4.11722387e-02 -9.65792560e-04 9.99151597e-01 2.95356459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194860624 meters Centerline goodness [0,1] 0.6322349416925217 Centerline is valid? [False, False] Translation: X:0.48, Y:0.14, Z:0.03 [[ 9.96104685e-01 -7.82336670e-02 -4.06810787e-02 4.83374186e-01] [ 7.81977291e-02 9.96934794e-01 -2.47634624e-03 1.36539177e-01] [ 4.07501165e-02 -7.14467878e-04 9.99169114e-01 3.04378760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224860624 meters Centerline goodness [0,1] 0.6364315042926465 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.96014126e-01 -7.95367534e-02 -4.03703658e-02 4.81305671e-01] [ 7.95048507e-02 9.96831596e-01 -2.39766052e-03 1.33802617e-01] [ 4.04331583e-02 -8.21536157e-04 9.99181908e-01 3.11296166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254860624 meters Centerline goodness [0,1] 0.6330297219558965 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99600932 -0.07966735 -0.04023126 0.48097677] [ 0.07965002 0.99682081 -0.00203583 0.1319449 ] [ 0.04026554 -0.00117672 0.99918832 0.03098185] [ 0. 0. 0. 1. ]] SLAMing on 47.284860624000004 meters Centerline goodness [0,1] 0.6250033206705098 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99601451 -0.07967161 -0.040094 0.48093457] [ 0.07967308 0.99681982 -0.00156382 0.12985782] [ 0.04009109 -0.00163682 0.99919469 0.03055207] [ 0. 0. 0. 1. ]] SLAMing on 47.314860624 meters Centerline goodness [0,1] 0.6336901947241187 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 0.99600872 -0.07981286 -0.03995675 0.48047067] [ 0.07983507 0.99680754 -0.00104212 0.12633416] [ 0.03991236 -0.00215199 0.99920087 0.03059883] [ 0. 0. 0. 1. ]] SLAMing on 47.344860624 meters Centerline goodness [0,1] 0.611142017007073 Centerline is valid? [False, False] Translation: X:0.48, Y:0.13, Z:0.03 [[ 9.96009518e-01 -7.97774532e-02 -4.00074807e-02 4.80319270e-01] [ 7.98068379e-02 9.96809972e-01 -8.64609385e-04 1.25143237e-01] [ 3.99488321e-02 -2.33171135e-03 9.99199006e-01 3.09427099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374860624 meters Centerline goodness [0,1] 0.6319426060253084 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 9.96016291e-01 -7.96663782e-02 -4.00601485e-02 4.80223382e-01] [ 7.96993098e-02 9.96818648e-01 -7.76841043e-04 1.24504009e-01] [ 3.99945912e-02 -2.41901986e-03 9.99196968e-01 3.13553522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404860624 meters Centerline goodness [0,1] 0.6317305913140017 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 9.96040023e-01 -7.92546838e-02 -4.02860724e-02 4.80783281e-01] [ 7.92984767e-02 9.96850786e-01 -5.12267922e-04 1.23858683e-01] [ 4.01998026e-02 -2.68438482e-03 9.99188055e-01 3.15372492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434860624 meters Centerline goodness [0,1] 0.6334815285275749 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 9.96108946e-01 -7.81462434e-02 -4.07447268e-02 4.82538044e-01] [ 7.82282163e-02 9.96935389e-01 4.18960113e-04 1.21550760e-01] [ 4.05871199e-02 -3.60471722e-03 9.99169501e-01 3.10968886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464860624 meters Centerline goodness [0,1] 0.6172141328189001 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 9.96143247e-01 -7.75982131e-02 -4.09530172e-02 4.83430595e-01] [ 7.77020892e-02 9.96976171e-01 9.48454132e-04 1.19664297e-01] [ 4.07555839e-02 -4.12693117e-03 9.99160623e-01 3.08227799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494860624 meters Centerline goodness [0,1] 0.624322824449671 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:0.03 [[ 0.99616963 -0.07716246 -0.04113421 0.48399467] [ 0.07728111 0.9970085 0.00129978 0.11805554] [ 0.04091087 -0.0044737 0.99915278 0.03093634] [ 0. 0. 0. 1. ]] SLAMing on 47.524860624 meters Centerline goodness [0,1] 0.629355136489516 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:0.03 [[ 0.99623909 -0.07591716 -0.04176436 0.48590557] [ 0.0760699 0.99710032 0.00207803 0.1159273 ] [ 0.0414855 -0.00524723 0.99912533 0.03101237] [ 0. 0. 0. 1. ]] SLAMing on 47.554860624 meters Centerline goodness [0,1] 0.6246704629336708 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:0.03 [[ 0.99626695 -0.07533199 -0.04215742 0.48686848] [ 0.07549654 0.99714336 0.00232256 0.11560124] [ 0.04186203 -0.00549663 0.99910828 0.03125625] [ 0. 0. 0. 1. ]] SLAMing on 47.584860624 meters Centerline goodness [0,1] 0.6395718831356667 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99632675 -0.0741775 -0.04278673 0.48833141] [ 0.07436683 0.99722689 0.00284806 0.1143016 ] [ 0.04245682 -0.00601951 0.99908017 0.03193578] [ 0. 0. 0. 1. ]] SLAMing on 47.614860624 meters Centerline goodness [0,1] 0.6390130990583408 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99634934 -0.07376687 -0.04297024 0.48872056] [ 0.07396878 0.99725566 0.00312583 0.11289979] [ 0.04262173 -0.00629288 0.99907146 0.03230322] [ 0. 0. 0. 1. ]] SLAMing on 47.644860624 meters Centerline goodness [0,1] 0.6530339200923424 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99637278 -0.07339678 -0.0430603 0.48909144] [ 0.0736139 0.99728076 0.00347625 0.11119437] [ 0.04268807 -0.00663348 0.99906643 0.03239302] [ 0. 0. 0. 1. ]] SLAMing on 47.674860624000004 meters Centerline goodness [0,1] 0.6248070937197563 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.9964338 -0.07227533 -0.04354255 0.49071007] [ 0.072545 0.99735433 0.00464324 0.10719651] [ 0.04309176 -0.00778547 0.99904078 0.03218017] [ 0. 0. 0. 1. ]] SLAMing on 47.704860624 meters Centerline goodness [0,1] 0.6451958224543082 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:0.03 [[ 0.99646029 -0.0717239 -0.04384704 0.49183474] [ 0.07201747 0.99739007 0.0051506 0.10581424] [ 0.04336318 -0.00829012 0.99902498 0.03190031] [ 0. 0. 0. 1. ]] SLAMing on 47.734860624 meters Centerline goodness [0,1] 0.6558414500755247 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.03 [[ 0.99653008 -0.07039269 -0.04441465 0.49408426] [ 0.07074296 0.99747429 0.00636258 0.10332528] [ 0.04385459 -0.00948252 0.99899292 0.03115904] [ 0. 0. 0. 1. ]] SLAMing on 47.764860624 meters Centerline goodness [0,1] 0.6513541666666667 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.9965647 -0.06970562 -0.04472046 0.49528279] [ 0.07008422 0.99751685 0.0069526 0.1019138 ] [ 0.04412478 -0.01006291 0.99897535 0.03083466] [ 0. 0. 0. 1. ]] SLAMing on 47.794860624 meters Centerline goodness [0,1] 0.6577019020891799 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99660016 -0.06902967 -0.04497817 0.496332 ] [ 0.06943916 0.99755721 0.00760431 0.10005043] [ 0.04434337 -0.0107017 0.99895903 0.03052433] [ 0. 0. 0. 1. ]] SLAMing on 47.824860624 meters Centerline goodness [0,1] 0.6483385254413292 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.99662095 -0.06864473 -0.04510632 0.49681485] [ 0.0690762 0.9975787 0.00807562 0.0983029 ] [ 0.04444276 -0.01116411 0.99894955 0.03044177] [ 0. 0. 0. 1. ]] SLAMing on 47.854860624000004 meters Centerline goodness [0,1] 0.6489046926910299 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.03 [[ 0.9966449 -0.06820359 -0.04524624 0.49740069] [ 0.06865657 0.99760387 0.00853245 0.09664584] [ 0.04455588 -0.01161028 0.99893942 0.03038872] [ 0. 0. 0. 1. ]] SLAMing on 47.884860624 meters Centerline goodness [0,1] 0.6575905670622915 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99666573 -0.06779407 -0.04540252 0.49771296] [ 0.06827351 0.99762521 0.00909194 0.09419501] [ 0.04467832 -0.01216141 0.9989274 0.03071886] [ 0. 0. 0. 1. ]] SLAMing on 47.914860624 meters Centerline goodness [0,1] 0.6503592288210058 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99667486 -0.06757212 -0.04553276 0.49803283] [ 0.06806462 0.99763708 0.00935247 0.09320262] [ 0.0447932 -0.01242055 0.99891907 0.03080303] [ 0. 0. 0. 1. ]] SLAMing on 47.944860624 meters Centerline goodness [0,1] 0.6614220017568335 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99668787 -0.06729799 -0.04565389 0.49853235] [ 0.06780693 0.9976514 0.00969044 0.09210957] [ 0.04489452 -0.012754 0.99891032 0.03066448] [ 0. 0. 0. 1. ]] SLAMing on 47.974860624 meters Centerline goodness [0,1] 0.6458145466725067 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99671991 -0.06664218 -0.0459155 0.49955921] [ 0.06718221 0.99768736 0.01031875 0.09001056] [ 0.04512165 -0.0133696 0.99889203 0.03048502] [ 0. 0. 0. 1. ]] SLAMing on 48.004860624 meters Centerline goodness [0,1] 0.6570110558461975 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99673382 -0.06640093 -0.04596318 0.49991884] [ 0.06695023 0.99770091 0.01051462 0.08913803] [ 0.04515933 -0.01355752 0.9988878 0.03038877] [ 0. 0. 0. 1. ]] SLAMing on 48.034860624000004 meters Centerline goodness [0,1] 0.6557494498746226 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99674383 -0.066192 -0.04604738 0.50051259] [ 0.06674985 0.99771255 0.01068268 0.08835514] [ 0.04523494 -0.01372155 0.99888213 0.03013637] [ 0. 0. 0. 1. ]] SLAMing on 48.064860624 meters Centerline goodness [0,1] 0.6657424522489217 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99674991 -0.06605674 -0.04610984 0.50057774] [ 0.06661661 0.99772115 0.01071133 0.08775058] [ 0.0452972 -0.0137482 0.99887895 0.03043564] [ 0. 0. 0. 1. ]] SLAMing on 48.094860624 meters Centerline goodness [0,1] 0.6689126870260299 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99676381 -0.06583275 -0.04612986 0.50034887] [ 0.06638651 0.99773794 0.0105753 0.08730683] [ 0.04532931 -0.01360348 0.99887947 0.03124346] [ 0. 0. 0. 1. ]] SLAMing on 48.124860624 meters Centerline goodness [0,1] 0.668677327446803 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99677671 -0.06559461 -0.04619017 0.50056889] [ 0.0661509 0.99775313 0.0106181 0.08729047] [ 0.04538989 -0.0136394 0.99887623 0.03137485] [ 0. 0. 0. 1. ]] SLAMing on 48.154860624 meters Centerline goodness [0,1] 0.6692063003437484 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99681738 -0.06481345 -0.04641466 0.50148899] [ 0.06538699 0.99779995 0.0109455 0.08699711] [ 0.04560313 -0.01394558 0.99886229 0.03134091] [ 0. 0. 0. 1. ]] SLAMing on 48.184860624 meters Centerline goodness [0,1] 0.6696709768275508 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99682783 -0.06461134 -0.04647195 0.50171429] [ 0.06518705 0.99781265 0.0109798 0.08667348] [ 0.04566088 -0.01397433 0.99885925 0.03143441] [ 0. 0. 0. 1. ]] SLAMing on 48.214860624 meters Centerline goodness [0,1] 0.6695676658048992 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99683801 -0.06438619 -0.04656601 0.50212167] [ 0.06496788 0.99782577 0.01108634 0.08627977] [ 0.04575096 -0.01407658 0.99885369 0.0313837 ] [ 0. 0. 0. 1. ]] SLAMing on 48.244860624 meters Centerline goodness [0,1] 0.6681239453903973 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99685736 -0.06397762 -0.04671486 0.50252636] [ 0.06457307 0.99784844 0.01134929 0.08552383] [ 0.04588825 -0.01433015 0.99884379 0.0315443 ] [ 0. 0. 0. 1. ]] SLAMing on 48.274860624 meters Centerline goodness [0,1] 0.6707395005240152 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.03 [[ 0.99685809 -0.06397978 -0.04669613 0.50245573] [ 0.06457681 0.99784774 0.01138933 0.0851222 ] [ 0.04586694 -0.01436904 0.99884421 0.0316342 ] [ 0. 0. 0. 1. ]] SLAMing on 48.304860624 meters Centerline goodness [0,1] 0.6670761042018527 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99685878 -0.06397656 -0.04668583 0.502371 ] [ 0.06458022 0.99784583 0.01153703 0.08432872] [ 0.04584716 -0.01451577 0.998843 0.03173012] [ 0. 0. 0. 1. ]] SLAMing on 48.334860624 meters Centerline goodness [0,1] 0.6761873216469629 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99685343 -0.06408263 -0.04665455 0.50232364] [ 0.06468955 0.99783783 0.01161565 0.08334477] [ 0.04580932 -0.01459717 0.99884355 0.03175668] [ 0. 0. 0. 1. ]] SLAMing on 48.364860624 meters Centerline goodness [0,1] 0.6707043973941368 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99683287 -0.06442234 -0.0466261 0.50233959] [ 0.06505082 0.99780874 0.01208796 0.08034919] [ 0.0457452 -0.01508274 0.99883927 0.03137907] [ 0. 0. 0. 1. ]] SLAMing on 48.394860624 meters Centerline goodness [0,1] 0.6708963763509218 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99682513 -0.06462464 -0.04651152 0.50217829] [ 0.06525827 0.99779341 0.01223427 0.07917735] [ 0.04561826 -0.01523069 0.99884283 0.03120129] [ 0. 0. 0. 1. ]] SLAMing on 48.424860624000004 meters Centerline goodness [0,1] 0.6718432805521721 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99680823 -0.06496139 -0.04640451 0.50181145] [ 0.06559286 0.99777169 0.01221578 0.07821682] [ 0.04550755 -0.01522059 0.99884803 0.0312915 ] [ 0. 0. 0. 1. ]] SLAMing on 48.454860624 meters Centerline goodness [0,1] 0.6684623166413759 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99655448 -0.06872439 -0.04643404 0.50278478] [ 0.06919364 0.99756641 0.00857324 0.07785733] [ 0.04573185 -0.01175664 0.99888457 0.03112755] [ 0. 0. 0. 1. ]] SLAMing on 48.484860624 meters Centerline goodness [0,1] 0.6614480915645642 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.03 [[ 0.99651799 -0.06947701 -0.04609606 0.50155545] [ 0.06993828 0.99751537 0.00846861 0.07647054] [ 0.04539315 -0.011663 0.99890111 0.03148372] [ 0. 0. 0. 1. ]] SLAMing on 48.514860624 meters Centerline goodness [0,1] 0.6592295668834771 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99647827 -0.07025563 -0.04577338 0.50017549] [ 0.07070718 0.99746242 0.00831956 0.07469185] [ 0.04507273 -0.01152677 0.99891721 0.03212867] [ 0. 0. 0. 1. ]] SLAMing on 48.544860624 meters Centerline goodness [0,1] 0.6586745080298575 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99642214 -0.07121884 -0.04550594 0.4988321 ] [ 0.07165781 0.99739649 0.00808713 0.07279698] [ 0.04481151 -0.01131905 0.99893133 0.03275492] [ 0. 0. 0. 1. ]] SLAMing on 48.574860624 meters Centerline goodness [0,1] 0.6445489376523859 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.99610174 -0.07587869 -0.04498608 0.49792071] [ 0.07614478 0.9970878 0.00422886 0.07093468] [ 0.0445342 -0.00763783 0.99897866 0.03320388] [ 0. 0. 0. 1. ]] SLAMing on 48.604860624000004 meters Centerline goodness [0,1] 0.6454789615040286 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.9960521 -0.07675532 -0.04459644 0.4964415 ] [ 0.07701555 0.99702128 0.00414399 0.06947066] [ 0.04414553 -0.00756225 0.99899649 0.03363959] [ 0. 0. 0. 1. ]] SLAMing on 48.634860624 meters Centerline goodness [0,1] 0.6330553073180418 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.03 [[ 0.9960041 -0.07754162 -0.0443073 0.49514278] [ 0.07779554 0.99696118 0.0040329 0.06817387] [ 0.04385994 -0.00746369 0.99900981 0.03416177] [ 0. 0. 0. 1. ]] SLAMing on 48.664860624 meters Centerline goodness [0,1] 0.6146548093834379 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.03 [[ 0.995861 -0.07944444 -0.04415267 0.49490458] [ 0.07964031 0.99682003 0.00269214 0.06558891] [ 0.0437984 -0.00619733 0.99902117 0.03437141] [ 0. 0. 0. 1. ]] SLAMing on 48.694860624 meters Centerline goodness [0,1] 0.6146548093834379 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.03 [[ 0.995861 -0.07944444 -0.04415267 0.49490458] [ 0.07964031 0.99682003 0.00269214 0.06558891] [ 0.0437984 -0.00619733 0.99902117 0.03437141] [ 0. 0. 0. 1. ]] SLAMing on 48.724860624 meters Centerline goodness [0,1] 0.6410211965134707 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.03 [[ 0.99584286 -0.07978049 -0.04395527 0.49446991] [ 0.0799793 0.99679265 0.00278034 0.06391361] [ 0.04359248 -0.00628429 0.99902963 0.03432951] [ 0. 0. 0. 1. ]] SLAMing on 48.754860624 meters Centerline goodness [0,1] 0.634578331110123 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.03 [[ 0.99582596 -0.08003793 -0.04387021 0.49422607] [ 0.08024493 0.99677074 0.00297505 0.06228205] [ 0.04349043 -0.00648299 0.99903281 0.03429535] [ 0. 0. 0. 1. ]] SLAMing on 48.784860624000004 meters Centerline goodness [0,1] 0.6317510263280808 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.03 [[ 0.99579136 -0.08059384 -0.04363723 0.49315991] [ 0.08080286 0.99672545 0.00304463 0.05997727] [ 0.04324896 -0.00655783 0.9990428 0.03487492] [ 0. 0. 0. 1. ]] SLAMing on 48.814860624 meters Centerline goodness [0,1] 0.6323576396569097 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.04 [[ 0.99577581 -0.08080012 -0.04361059 0.49269762] [ 0.08100764 0.99670894 0.00300953 0.05922786] [ 0.0432239 -0.00652961 0.99904407 0.0353962 ] [ 0. 0. 0. 1. ]] SLAMing on 48.844860624 meters Centerline goodness [0,1] 0.6287776495716004 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.04 [[ 0.99577977 -0.08077342 -0.04356961 0.49249319] [ 0.08099297 0.99670923 0.00329461 0.05789584] [ 0.04316012 -0.00680954 0.99904496 0.03553492] [ 0. 0. 0. 1. ]] SLAMing on 48.874860624 meters Centerline goodness [0,1] 0.6331229203366608 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 0.9958019 -0.08040624 -0.04374268 0.49277963] [ 0.08065829 0.99673368 0.00402511 0.05457401] [ 0.04327616 -0.00753642 0.99903472 0.03576626] [ 0. 0. 0. 1. ]] SLAMing on 48.904860624 meters Centerline goodness [0,1] 0.628544192412984 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 0.99581255 -0.08026577 -0.04375814 0.4929244 ] [ 0.08053752 0.99674151 0.00448026 0.05306546] [ 0.04325595 -0.00798567 0.99903211 0.03557602] [ 0. 0. 0. 1. ]] SLAMing on 48.934860624 meters Centerline goodness [0,1] 0.6303548379240642 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 0.99583165 -0.07997049 -0.04386401 0.49332997] [ 0.08026601 0.99676086 0.00501493 0.05128803] [ 0.04332088 -0.00851482 0.99902492 0.0354239 ] [ 0. 0. 0. 1. ]] SLAMing on 48.964860624 meters Centerline goodness [0,1] 0.620962665246235 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 0.99584383 -0.07976748 -0.04395699 0.49348121] [ 0.08009815 0.99677005 0.00581036 0.04693261] [ 0.04335153 -0.00930709 0.99901653 0.03555397] [ 0. 0. 0. 1. ]] SLAMing on 48.994860624 meters Centerline goodness [0,1] 0.6262007047352416 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99586588 -0.07943245 -0.04406409 0.49384805] [ 0.07979157 0.99679071 0.00644904 0.04453581] [ 0.04341041 -0.00993833 0.99900789 0.03547519] [ 0. 0. 0. 1. ]] SLAMing on 49.024860624 meters Centerline goodness [0,1] 0.6391579149744058 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99589554 -0.07893754 -0.04428243 0.49415512] [ 0.07933312 0.99682183 0.00724505 0.04091009] [ 0.04356979 -0.01072837 0.99899278 0.03591627] [ 0. 0. 0. 1. ]] SLAMing on 49.054860624 meters Centerline goodness [0,1] 0.6367302844796543 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99591784 -0.07853751 -0.04449175 0.4947054 ] [ 0.07895591 0.99684819 0.00772348 0.03927236] [ 0.04374493 -0.01120484 0.9989799 0.03593689] [ 0. 0. 0. 1. ]] SLAMing on 49.084860624 meters Centerline goodness [0,1] 0.6392744328515363 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99594112 -0.07816515 -0.04462628 0.49518761] [ 0.07860963 0.996871 0.00829092 0.03756669] [ 0.04383859 -0.01176532 0.99896935 0.03574191] [ 0. 0. 0. 1. ]] SLAMing on 49.114860624 meters Centerline goodness [0,1] 0.6413212466215408 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99596362 -0.07780022 -0.04476158 0.49575382] [ 0.07826912 0.99689328 0.00881719 0.03593692] [ 0.04393653 -0.01228505 0.99895879 0.03550814] [ 0. 0. 0. 1. ]] SLAMing on 49.144860624 meters Centerline goodness [0,1] 0.6340074799304414 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99602929 -0.07672423 -0.04515583 0.49743101] [ 0.07724695 0.9969624 0.0099444 0.03345866] [ 0.04425569 -0.01339306 0.99893046 0.03472302] [ 0. 0. 0. 1. ]] SLAMing on 49.174860624000004 meters Centerline goodness [0,1] 0.6419782469000643 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99605872 -0.07615798 -0.04546409 0.49835978] [ 0.07670141 0.99700062 0.01032794 0.03271433] [ 0.04454117 -0.0137744 0.99891258 0.03460959] [ 0. 0. 0. 1. ]] SLAMing on 49.204860624 meters Centerline goodness [0,1] 0.645329089570319 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.996087 -0.07561695 -0.04574677 0.49933422] [ 0.07618069 0.99703656 0.01070531 0.03202833] [ 0.0448017 -0.01414844 0.9988957 0.03432318] [ 0. 0. 0. 1. ]] SLAMing on 49.234860624 meters Centerline goodness [0,1] 0.6346422731473802 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99614544 -0.07459317 -0.04615324 0.50067155] [ 0.07519391 0.99710356 0.01141749 0.0305472 ] [ 0.0451679 -0.01484392 0.99886912 0.03414042] [ 0. 0. 0. 1. ]] SLAMing on 49.264860624 meters Centerline goodness [0,1] 0.6367339206213887 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99616636 -0.07419986 -0.0463353 0.50129516] [ 0.0748133 0.99712955 0.01164607 0.03004547] [ 0.04533816 -0.01506792 0.99885805 0.03403979] [ 0. 0. 0. 1. ]] SLAMing on 49.294860624 meters Centerline goodness [0,1] 0.6411401829398 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99620625 -0.073529 -0.04654672 0.50187228] [ 0.07416185 0.99717382 0.01201602 0.02897849] [ 0.04553165 -0.01542243 0.99884384 0.03427086] [ 0. 0. 0. 1. ]] SLAMing on 49.324860624 meters Centerline goodness [0,1] 0.6374823196605375 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99621393 -0.07332803 -0.04669903 0.50212697] [ 0.07396725 0.99718717 0.01210796 0.02864583] [ 0.04567982 -0.01551631 0.99883562 0.03447726] [ 0. 0. 0. 1. ]] SLAMing on 49.354860624000004 meters Centerline goodness [0,1] 0.6466578612198688 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.9962191 -0.07323865 -0.04672905 0.50220421] [ 0.07387939 0.99719337 0.01213298 0.02845947] [ 0.0457093 -0.01553942 0.99883391 0.03455227] [ 0. 0. 0. 1. ]] SLAMing on 49.384860624 meters Centerline goodness [0,1] 0.6425521877579903 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.9962253 -0.07303542 -0.04691455 0.50265885] [ 0.07368522 0.99720605 0.0122715 0.0279962 ] [ 0.04588722 -0.01568209 0.99882353 0.03457407] [ 0. 0. 0. 1. ]] SLAMing on 49.414860624 meters Centerline goodness [0,1] 0.6415143051611237 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99623092 -0.07291843 -0.04697719 0.50301797] [ 0.07357256 0.99721343 0.01234683 0.02756015] [ 0.04594597 -0.01575653 0.99881965 0.03442955] [ 0. 0. 0. 1. ]] SLAMing on 49.444860624 meters Centerline goodness [0,1] 0.6386296487361065 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99624308 -0.07273328 -0.04700624 0.50345432] [ 0.07339995 0.99722282 0.01261322 0.02617816] [ 0.0459583 -0.01601609 0.99881496 0.03414901] [ 0. 0. 0. 1. ]] SLAMing on 49.474860624 meters Centerline goodness [0,1] 0.6367583552384528 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99624749 -0.0726382 -0.04705978 0.50383629] [ 0.07331133 0.99722777 0.01273689 0.02580139] [ 0.04600413 -0.01613911 0.99881087 0.03387414] [ 0. 0. 0. 1. ]] SLAMing on 49.504860624 meters Centerline goodness [0,1] 0.637671313107649 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99626041 -0.07235124 -0.04722813 0.50424111] [ 0.07303255 0.99724663 0.01286095 0.02543961] [ 0.04616759 -0.01626205 0.99880133 0.03402341] [ 0. 0. 0. 1. ]] SLAMing on 49.534860624000004 meters Centerline goodness [0,1] 0.6425825206301575 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99626081 -0.07231077 -0.04728159 0.50412637] [ 0.07298827 0.99725116 0.01276095 0.02565973] [ 0.04622886 -0.01616424 0.99880008 0.03438408] [ 0. 0. 0. 1. ]] SLAMing on 49.564860624 meters Centerline goodness [0,1] 0.6353291029573607 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99626678 -0.07225554 -0.04724019 0.50397228] [ 0.07292611 0.99725741 0.01262668 0.02596784] [ 0.04619829 -0.01602458 0.99880375 0.03461322] [ 0. 0. 0. 1. ]] SLAMing on 49.594860624 meters Centerline goodness [0,1] 0.6373924429479985 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99627325 -0.07215515 -0.0472572 0.50387976] [ 0.0728266 0.99726449 0.01264201 0.02556751] [ 0.04621574 -0.01603648 0.99880275 0.03497104] [ 0. 0. 0. 1. ]] SLAMing on 49.624860624 meters Centerline goodness [0,1] 0.6399203933505033 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.03 [[ 0.99627162 -0.0721234 -0.04734001 0.50407051] [ 0.0727972 0.99726635 0.01266479 0.02536216] [ 0.04629718 -0.01606379 0.99879854 0.03499599] [ 0. 0. 0. 1. ]] SLAMing on 49.654860624 meters Centerline goodness [0,1] 0.6337216061007649 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99628138 -0.07192246 -0.04744012 0.50476259] [ 0.07261109 0.99727621 0.01295372 0.02427616] [ 0.04637924 -0.01635023 0.99879009 0.03454343] [ 0. 0. 0. 1. ]] SLAMing on 49.684860624 meters Centerline goodness [0,1] 0.6354578891009823 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99626987 -0.07205124 -0.04748647 0.50481303] [ 0.07273886 0.99726743 0.01291273 0.02403153] [ 0.04642633 -0.01631867 0.99878841 0.0345829 ] [ 0. 0. 0. 1. ]] SLAMing on 49.714860624 meters Centerline goodness [0,1] 0.6337860820539105 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99626932 -0.07208108 -0.0474528 0.50493886] [ 0.07276817 0.99726529 0.01291243 0.02409968] [ 0.04639229 -0.01631731 0.99879002 0.03436635] [ 0. 0. 0. 1. ]] SLAMing on 49.744860624 meters Centerline goodness [0,1] 0.6467453280271824 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99626078 -0.07217259 -0.047493 0.50504999] [ 0.07285631 0.99726 0.01282397 0.0240745 ] [ 0.04643733 -0.01623619 0.99878925 0.0343561 ] [ 0. 0. 0. 1. ]] SLAMing on 49.774860624 meters Centerline goodness [0,1] 0.6373289342224494 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99625095 -0.07242251 -0.0473183 0.50462723] [ 0.07310519 0.99724135 0.01285753 0.02283543] [ 0.04625659 -0.01626854 0.99879711 0.0344647 ] [ 0. 0. 0. 1. ]] SLAMing on 49.804860624 meters Centerline goodness [0,1] 0.6343701363562453 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99624383 -0.07256944 -0.04724299 0.50443458] [ 0.07325215 0.99723026 0.01288138 0.02218022] [ 0.04617734 -0.01629365 0.99880037 0.03451403] [ 0. 0. 0. 1. ]] SLAMing on 49.834860624 meters Centerline goodness [0,1] 0.625534188034188 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.99623729 -0.07268864 -0.04719772 0.50445515] [ 0.07337041 0.99722166 0.01287452 0.02196899] [ 0.04613076 -0.016289 0.99880259 0.03439108] [ 0. 0. 0. 1. ]] SLAMing on 49.864860624 meters Centerline goodness [0,1] 0.6319797543590815 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99623279 -0.07266702 -0.04732582 0.50503762] [ 0.07335771 0.99722067 0.01302244 0.0216486 ] [ 0.04624798 -0.01644509 0.99879462 0.03395129] [ 0. 0. 0. 1. ]] SLAMing on 49.894860624 meters Centerline goodness [0,1] 0.6278757268957209 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99620993 -0.0729863 -0.04731569 0.50533823] [ 0.07368043 0.99719594 0.01309373 0.0206755 ] [ 0.04622735 -0.01653034 0.99879416 0.03349405] [ 0. 0. 0. 1. ]] SLAMing on 49.924860624000004 meters Centerline goodness [0,1] 0.6296304860565138 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99619608 -0.07325474 -0.04719232 0.50505975] [ 0.07394684 0.9971763 0.01308815 0.02002533] [ 0.0461003 -0.01652809 0.99880007 0.03346702] [ 0. 0. 0. 1. ]] SLAMing on 49.954860624 meters Centerline goodness [0,1] 0.6141351861224865 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99592274 -0.07689408 -0.04717207 0.50565251] [ 0.07740672 0.99695774 0.00913617 0.02043574] [ 0.04632604 -0.01275035 0.998845 0.03393639] [ 0. 0. 0. 1. ]] SLAMing on 49.984860624 meters Centerline goodness [0,1] 0.6128630418233407 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.03 [[ 0.99590051 -0.0771985 -0.04714417 0.50520114] [ 0.0777049 0.99693576 0.00900238 0.01988097] [ 0.04630474 -0.0126288 0.99884753 0.03441182] [ 0. 0. 0. 1. ]] SLAMing on 50.014860624 meters Centerline goodness [0,1] 0.629029282914457 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.03 [[ 0.9958785 -0.07748504 -0.04713901 0.50482153] [ 0.07798444 0.99691533 0.00884607 0.01962616] [ 0.04630816 -0.01248572 0.99884917 0.03484918] [ 0. 0. 0. 1. ]] SLAMing on 50.044860624 meters Centerline goodness [0,1] 0.6300384872438984 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.9958353 -0.07813294 -0.04698199 0.50392985] [ 0.0786223 0.99686689 0.00865699 0.01886726] [ 0.0461584 -0.01231477 0.99885822 0.03538592] [ 0. 0. 0. 1. ]] SLAMing on 50.074860624 meters Centerline goodness [0,1] 0.6194857169143015 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99582155 -0.0783639 -0.04688864 0.50374563] [ 0.07885505 0.99684799 0.00871553 0.01797979] [ 0.04605786 -0.01237652 0.9988621 0.03532631] [ 0. 0. 0. 1. ]] SLAMing on 50.104860624000004 meters Centerline goodness [0,1] 0.6188548160758242 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99580953 -0.07852937 -0.0468671 0.50369011] [ 0.07902428 0.99683385 0.00879943 0.01718497] [ 0.0460277 -0.0124662 0.99886238 0.03528357] [ 0. 0. 0. 1. ]] SLAMing on 50.134860624 meters Centerline goodness [0,1] 0.6199641692314759 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99578686 -0.07887144 -0.04677409 0.50338638] [ 0.0793655 0.99680676 0.00879827 0.01632761] [ 0.04593079 -0.01247345 0.99886675 0.03535979] [ 0. 0. 0. 1. ]] SLAMing on 50.164860624 meters Centerline goodness [0,1] 0.6132309103416648 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99578037 -0.07897991 -0.04672924 0.50326506] [ 0.07947638 0.99679737 0.00886072 0.01533155] [ 0.04587976 -0.0125372 0.99886829 0.03543284] [ 0. 0. 0. 1. ]] SLAMing on 50.194860624 meters Centerline goodness [0,1] 0.6146446485421773 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.04 [[ 0.99577549 -0.07910588 -0.04662014 0.50315169] [ 0.07960348 0.99678676 0.0089126 0.01448831] [ 0.0457653 -0.01258607 0.99887293 0.03534472] [ 0. 0. 0. 1. ]] SLAMing on 50.224860624 meters Centerline goodness [0,1] 0.6297059631766969 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.04 [[ 0.99577389 -0.07916683 -0.04655071 0.50291599] [ 0.07966368 0.99678194 0.00891383 0.01399656] [ 0.04569523 -0.01258456 0.99887616 0.03551032] [ 0. 0. 0. 1. ]] SLAMing on 50.254860624 meters Centerline goodness [0,1] 0.632699358386801 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.04 [[ 0.99580612 -0.07860837 -0.04680694 0.5036674 ] [ 0.07911464 0.99682435 0.00906067 0.01455513] [ 0.04594605 -0.01272578 0.99886286 0.03546399] [ 0. 0. 0. 1. ]] SLAMing on 50.284860624000004 meters Centerline goodness [0,1] 0.6403032593508784 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99582154 -0.07829792 -0.04699885 0.50421543] [ 0.07880249 0.99684982 0.0089779 0.01558003] [ 0.04614785 -0.01264401 0.9988546 0.03544699] [ 0. 0. 0. 1. ]] SLAMing on 50.314860624 meters Centerline goodness [0,1] 0.6276391115182047 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99610913 -0.07436766 -0.04728696 0.50400173] [ 0.0750504 0.99709723 0.01282815 0.01560933] [ 0.0461957 -0.01632714 0.99879897 0.03552132] [ 0. 0. 0. 1. ]] SLAMing on 50.344860624 meters Centerline goodness [0,1] 0.6493187196985364 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99612719 -0.07398703 -0.04750304 0.50471243] [ 0.07467198 0.9971259 0.01280753 0.01634657] [ 0.04641892 -0.01630507 0.99878898 0.0353857 ] [ 0. 0. 0. 1. ]] SLAMing on 50.374860624 meters Centerline goodness [0,1] 0.6467402576452423 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.996159 -0.07341552 -0.0477221 0.5052936 ] [ 0.07410014 0.99716947 0.01273626 0.01713495] [ 0.04665198 -0.01622355 0.99877945 0.03558692] [ 0. 0. 0. 1. ]] SLAMing on 50.404860624 meters Centerline goodness [0,1] 0.6518949498666176 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99616025 -0.07337988 -0.04775087 0.50541914] [ 0.07405536 0.99717539 0.01253156 0.01775934] [ 0.04669642 -0.01601965 0.99878066 0.0356151 ] [ 0. 0. 0. 1. ]] SLAMing on 50.434860624 meters Centerline goodness [0,1] 0.6523312360275646 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99616413 -0.07331062 -0.04777628 0.50548942] [ 0.07397622 0.99718399 0.01231324 0.01853 ] [ 0.04673905 -0.01580031 0.99878216 0.03572344] [ 0. 0. 0. 1. ]] SLAMing on 50.464860624 meters Centerline goodness [0,1] 0.6518848542210116 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99617151 -0.073065 -0.04799823 0.50623545] [ 0.07371716 0.99720749 0.01195829 0.02056973] [ 0.04699046 -0.01545081 0.99877584 0.03560507] [ 0. 0. 0. 1. ]] SLAMing on 50.494860624 meters Centerline goodness [0,1] 0.6618923108961752 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.9961632 -0.07308328 -0.0481427 0.5066185 ] [ 0.0737218 0.99721113 0.0116214 0.02176578] [ 0.04715911 -0.01512598 0.99877286 0.03559953] [ 0. 0. 0. 1. ]] SLAMing on 50.524860624 meters Centerline goodness [0,1] 0.6512878508124077 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99614828 -0.07321136 -0.04825659 0.50677875] [ 0.07383621 0.99720644 0.01129325 0.02247684] [ 0.04729499 -0.01481284 0.99877113 0.0357904 ] [ 0. 0. 0. 1. ]] SLAMing on 50.554860624 meters Centerline goodness [0,1] 0.6699791521890202 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99612383 -0.07347926 -0.04835407 0.50678331] [ 0.07408373 0.99719325 0.01082731 0.02363587] [ 0.04742277 -0.01436759 0.99877157 0.03607706] [ 0. 0. 0. 1. ]] SLAMing on 50.584860624 meters Centerline goodness [0,1] 0.6650565476881634 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99610937 -0.07362143 -0.04843557 0.50686491] [ 0.07421353 0.99718668 0.01053954 0.02443508] [ 0.04752337 -0.01409311 0.9987707 0.03620988] [ 0. 0. 0. 1. ]] SLAMing on 50.614860624 meters Centerline goodness [0,1] 0.6650565476881634 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.04 [[ 0.99610937 -0.07362143 -0.04843557 0.50686491] [ 0.07421353 0.99718668 0.01053954 0.02443508] [ 0.04752337 -0.01409311 0.9987707 0.03620988] [ 0. 0. 0. 1. ]] SLAMing on 50.644860624 meters Centerline goodness [0,1] 0.6460897689461805 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99607324 -0.07412708 -0.04840731 0.50614557] [ 0.07469249 0.99715672 0.00997518 0.02523699] [ 0.04753024 -0.01355168 0.99877787 0.03699222] [ 0. 0. 0. 1. ]] SLAMing on 50.674860624 meters Centerline goodness [0,1] 0.6607917191215555 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99605678 -0.07435958 -0.04838946 0.50580367] [ 0.07491082 0.99714328 0.00967703 0.02569605] [ 0.04753165 -0.01326376 0.99878167 0.03738114] [ 0. 0. 0. 1. ]] SLAMing on 50.704860624 meters Centerline goodness [0,1] 0.6563358636427141 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99603799 -0.07458242 -0.04843328 0.50562083] [ 0.07511949 0.99713059 0.00936249 0.02614769] [ 0.04759603 -0.01296368 0.99878254 0.0377782 ] [ 0. 0. 0. 1. ]] SLAMing on 50.734860624 meters Centerline goodness [0,1] 0.6566819739387865 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99601705 -0.07491918 -0.04834413 0.50514183] [ 0.07544215 0.99710881 0.00908276 0.02642028] [ 0.04752389 -0.01269377 0.99878944 0.03812282] [ 0. 0. 0. 1. ]] SLAMing on 50.764860624 meters Centerline goodness [0,1] 0.6592806829313803 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99600361 -0.07502139 -0.0484623 0.50530292] [ 0.07553499 0.99710386 0.00885241 0.02728863] [ 0.04765783 -0.01247763 0.99878578 0.03828 ] [ 0. 0. 0. 1. ]] SLAMing on 50.794860624 meters Centerline goodness [0,1] 0.6571301685248814 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99600473 -0.07492085 -0.04859463 0.50577555] [ 0.0754358 0.9971114 0.00884813 0.02756968] [ 0.04779135 -0.01247855 0.99877939 0.03810028] [ 0. 0. 0. 1. ]] SLAMing on 50.824860624 meters Centerline goodness [0,1] 0.6574662011762225 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99600835 -0.07477135 -0.04875047 0.50622952] [ 0.07528366 0.99712371 0.00875618 0.02801529] [ 0.04795554 -0.01239134 0.99877261 0.03808307] [ 0. 0. 0. 1. ]] SLAMing on 50.854860624000004 meters Centerline goodness [0,1] 0.6828817445832749 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99601358 -0.07461252 -0.04888688 0.50648406] [ 0.07512371 0.99713626 0.00870137 0.02825058] [ 0.04809765 -0.01233924 0.99876642 0.03824858] [ 0. 0. 0. 1. ]] SLAMing on 50.884860624 meters Centerline goodness [0,1] 0.673435964624959 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99603262 -0.07429858 -0.04897692 0.50646219] [ 0.07479611 0.99716344 0.00840281 0.02926589] [ 0.04821368 -0.01203276 0.99876456 0.03892055] [ 0. 0. 0. 1. ]] SLAMing on 50.914860624 meters Centerline goodness [0,1] 0.6816774556712637 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99602766 -0.07437095 -0.04896789 0.50615021] [ 0.0748488 0.99716284 0.00799546 0.0305143 ] [ 0.04823433 -0.01162889 0.99876835 0.03939992] [ 0. 0. 0. 1. ]] SLAMing on 50.944860624 meters Centerline goodness [0,1] 0.6899319408589533 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.9960289 -0.07424231 -0.04913762 0.50612492] [ 0.07470185 0.9971771 0.00758026 0.03214134] [ 0.04843613 -0.01122083 0.99876325 0.04015074] [ 0. 0. 0. 1. ]] SLAMing on 50.974860624 meters Centerline goodness [0,1] 0.6837456245448352 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99602956 -0.07420747 -0.04917697 0.50634687] [ 0.07466986 0.99717911 0.00763054 0.03214451] [ 0.04847201 -0.01127228 0.99876093 0.03999455] [ 0. 0. 0. 1. ]] SLAMing on 51.004860624 meters Centerline goodness [0,1] 0.6855174998828656 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99601741 -0.07442255 -0.04909787 0.50613332] [ 0.07488148 0.99716369 0.00757251 0.0316254 ] [ 0.04839505 -0.01121887 0.99876527 0.04003608] [ 0. 0. 0. 1. ]] SLAMing on 51.034860624000004 meters Centerline goodness [0,1] 0.6834809845492158 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99598874 -0.07488667 -0.04897365 0.50570798] [ 0.07534066 0.99712974 0.00748828 0.0305902 ] [ 0.04827231 -0.01114795 0.998772 0.04015614] [ 0. 0. 0. 1. ]] SLAMing on 51.064860624 meters Centerline goodness [0,1] 0.6748818049899359 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99597049 -0.07523562 -0.04880967 0.5053016 ] [ 0.07568778 0.99710351 0.0074799 0.03015777] [ 0.04810554 -0.01114405 0.99878009 0.04010477] [ 0. 0. 0. 1. ]] SLAMing on 51.094860624 meters Centerline goodness [0,1] 0.6780960816764178 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.04 [[ 0.99594389 -0.07556027 -0.04885101 0.50531379] [ 0.07601381 0.99707862 0.00749131 0.02968462] [ 0.04814225 -0.01117427 0.99877798 0.04003725] [ 0. 0. 0. 1. ]] SLAMing on 51.124860624 meters Centerline goodness [0,1] 0.6743888539994882 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99586907 -0.07656557 -0.04881099 0.50485629] [ 0.07700785 0.99700418 0.00724327 0.02845449] [ 0.04811017 -0.01097218 0.99878177 0.04014586] [ 0. 0. 0. 1. ]] SLAMing on 51.154860624 meters Centerline goodness [0,1] 0.6782075493693316 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99584332 -0.07695808 -0.0487189 0.50455903] [ 0.07739916 0.99697397 0.00723002 0.02769445] [ 0.04801507 -0.01097077 0.99878636 0.04013318] [ 0. 0. 0. 1. ]] SLAMing on 51.184860624 meters Centerline goodness [0,1] 0.6686211550095398 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99581408 -0.07733432 -0.04872089 0.50449056] [ 0.07777554 0.99694473 0.00722343 0.02713579] [ 0.04801342 -0.01098249 0.99878631 0.04004223] [ 0. 0. 0. 1. ]] SLAMing on 51.214860624 meters Centerline goodness [0,1] 0.6816848964393762 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99578743 -0.07775975 -0.04858818 0.50416282] [ 0.0781912 0.99691352 0.00704024 0.02710283] [ 0.04789077 -0.01080975 0.99879408 0.03995786] [ 0. 0. 0. 1. ]] SLAMing on 51.244860624 meters Centerline goodness [0,1] 0.6701184464663859 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99574496 -0.07835261 -0.04850605 0.50353648] [ 0.07876653 0.99687072 0.00667866 0.0267877 ] [ 0.04783097 -0.0104709 0.99880056 0.04044203] [ 0. 0. 0. 1. ]] SLAMing on 51.274860624 meters Centerline goodness [0,1] 0.6525832537111697 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.9957113 -0.07891131 -0.0482909 0.50251198] [ 0.07930502 0.99683056 0.00628886 0.02677689] [ 0.04764158 -0.0100916 0.99881352 0.04107375] [ 0. 0. 0. 1. ]] SLAMing on 51.304860624 meters Centerline goodness [0,1] 0.6460366136976117 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99568851 -0.07926977 -0.04817369 0.50194409] [ 0.0796524 0.9968042 0.00607268 0.02651336] [ 0.04753835 -0.00988364 0.99882051 0.04147662] [ 0. 0. 0. 1. ]] SLAMing on 51.334860624 meters Centerline goodness [0,1] 0.6702199307926333 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99566232 -0.07968661 -0.04802693 0.50137683] [ 0.08005751 0.9967731 0.0058464 0.02642232] [ 0.04740607 -0.00966596 0.99882893 0.0417462 ] [ 0. 0. 0. 1. ]] SLAMing on 51.364860624 meters Centerline goodness [0,1] 0.6590369853454292 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99565452 -0.07979032 -0.04801642 0.50128095] [ 0.08016306 0.99676439 0.00588473 0.02616513] [ 0.04739151 -0.0097083 0.99882921 0.04176969] [ 0. 0. 0. 1. ]] SLAMing on 51.394860624 meters Centerline goodness [0,1] 0.6491775052932828 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99563063 -0.08016428 -0.04788882 0.5005651 ] [ 0.08053045 0.99673549 0.0057635 0.02569593] [ 0.04727046 -0.00959483 0.99883604 0.04223958] [ 0. 0. 0. 1. ]] SLAMing on 51.424860624 meters Centerline goodness [0,1] 0.6504379663530611 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99557461 -0.08099981 -0.04764685 0.49934727] [ 0.08135838 0.996669 0.0056318 0.02387478] [ 0.04703196 -0.00948335 0.99884837 0.04294241] [ 0. 0. 0. 1. ]] SLAMing on 51.454860624 meters Centerline goodness [0,1] 0.646703678001388 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99555736 -0.08129046 -0.04751223 0.49892526] [ 0.08164872 0.99664518 0.00564558 0.02311678] [ 0.0468939 -0.00949981 0.9988547 0.04304874] [ 0. 0. 0. 1. ]] SLAMing on 51.484860624 meters Centerline goodness [0,1] 0.6434601595929224 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99553852 -0.08163831 -0.04731016 0.49817343] [ 0.08199275 0.99661721 0.00559698 0.02259949] [ 0.04669319 -0.0094511 0.99886457 0.04333151] [ 0. 0. 0. 1. ]] SLAMing on 51.514860624 meters Centerline goodness [0,1] 0.6399787420860483 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99548148 -0.08252202 -0.04697601 0.49687498] [ 0.08286757 0.99654565 0.00545329 0.02102161] [ 0.04636372 -0.00932143 0.99888113 0.04387836] [ 0. 0. 0. 1. ]] SLAMing on 51.544860624 meters Centerline goodness [0,1] 0.6367174008151235 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99548232 -0.08252176 -0.0469585 0.49716783] [ 0.0828823 0.99654258 0.00577995 0.01989892] [ 0.04631918 -0.00964587 0.99888012 0.04337037] [ 0. 0. 0. 1. ]] SLAMing on 51.574860624 meters Centerline goodness [0,1] 0.6390174275387343 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99548692 -0.08250391 -0.04689246 0.49734408] [ 0.08287648 0.99654144 0.00605406 0.01895011] [ 0.04623079 -0.00991302 0.9988816 0.04293984] [ 0. 0. 0. 1. ]] SLAMing on 51.604860624000004 meters Centerline goodness [0,1] 0.6391170666789041 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99549778 -0.08240413 -0.04683731 0.49752221] [ 0.08279072 0.99654659 0.00637146 0.01794012] [ 0.04615053 -0.01022047 0.99888221 0.04260548] [ 0. 0. 0. 1. ]] SLAMing on 51.634860624 meters Centerline goodness [0,1] 0.639323185710678 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99549862 -0.08236229 -0.04689299 0.497736 ] [ 0.08275295 0.99654923 0.00644807 0.01776764] [ 0.04620009 -0.01029958 0.99887911 0.04246938] [ 0. 0. 0. 1. ]] SLAMing on 51.664860624 meters Centerline goodness [0,1] 0.6443499252787677 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99552813 -0.08199134 -0.0469165 0.49821227] [ 0.08239021 0.9965781 0.0066288 0.01814641] [ 0.04621246 -0.01046462 0.99887682 0.04206687] [ 0. 0. 0. 1. ]] SLAMing on 51.694860624 meters Centerline goodness [0,1] 0.6406296679305987 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99553462 -0.08185243 -0.04702119 0.49841414] [ 0.0822466 0.99659077 0.00650695 0.01895172] [ 0.04632828 -0.01034523 0.9988727 0.04218303] [ 0. 0. 0. 1. ]] SLAMing on 51.724860624 meters Centerline goodness [0,1] 0.6455024022436266 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99553489 -0.08184615 -0.04702657 0.49834169] [ 0.08222933 0.99659372 0.00626913 0.01982638] [ 0.04635328 -0.0101081 0.99887397 0.042372 ] [ 0. 0. 0. 1. ]] SLAMing on 51.754860624 meters Centerline goodness [0,1] 0.6503728251864126 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99553709 -0.08180623 -0.04704931 0.49824418] [ 0.08218348 0.99659832 0.00613716 0.020076 ] [ 0.0463872 -0.00997644 0.99887371 0.04263417] [ 0. 0. 0. 1. ]] SLAMing on 51.784860624000004 meters Centerline goodness [0,1] 0.6467166375425366 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99554215 -0.08182644 -0.04690699 0.49771336] [ 0.08218669 0.99660007 0.00580023 0.02075945] [ 0.04627289 -0.0096295 0.99888242 0.04313374] [ 0. 0. 0. 1. ]] SLAMing on 51.814860624 meters Centerline goodness [0,1] 0.6402965487072042 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99553716 -0.08190107 -0.04688251 0.49750793] [ 0.0822468 0.99659687 0.00549013 0.02164651] [ 0.04627331 -0.00932157 0.99888532 0.04340569] [ 0. 0. 0. 1. ]] SLAMing on 51.844860624 meters Centerline goodness [0,1] 0.6372942315672984 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99554229 -0.0818711 -0.04682591 0.4975418 ] [ 0.0822077 0.9966011 0.00530504 0.02259597] [ 0.04623243 -0.00913085 0.99888898 0.04329059] [ 0. 0. 0. 1. ]] SLAMing on 51.874860624 meters Centerline goodness [0,1] 0.6402178679406403 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.04 [[ 0.99554592 -0.08181101 -0.04685383 0.49787085] [ 0.08214021 0.99660752 0.00514125 0.02345578] [ 0.04627427 -0.00896693 0.99888853 0.04305621] [ 0. 0. 0. 1. ]] SLAMing on 51.904860624 meters Centerline goodness [0,1] 0.6338878733890188 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99556439 -0.08159476 -0.04683854 0.49829896] [ 0.08190576 0.99662873 0.00475616 0.02548128] [ 0.04629256 -0.00857141 0.99889115 0.04275387] [ 0. 0. 0. 1. ]] SLAMing on 51.934860624 meters Centerline goodness [0,1] 0.6518664502666358 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99557284 -0.08146799 -0.04687948 0.49868202] [ 0.08177032 0.99664075 0.00456469 0.02643842] [ 0.04635013 -0.00837783 0.99889012 0.04250516] [ 0. 0. 0. 1. ]] SLAMing on 51.964860624 meters Centerline goodness [0,1] 0.6546468401486989 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99557003 -0.08147858 -0.04692069 0.4989073 ] [ 0.08177069 0.99664173 0.00433702 0.02715763] [ 0.04640974 -0.00815454 0.9988892 0.04246177] [ 0. 0. 0. 1. ]] SLAMing on 51.994860624 meters Centerline goodness [0,1] 0.647428438445427 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99556963 -0.0815293 -0.0468411 0.49868143] [ 0.08180396 0.99664052 0.00397379 0.02837996] [ 0.04635976 -0.00778797 0.99889445 0.04267115] [ 0. 0. 0. 1. ]] SLAMing on 52.024860624 meters Centerline goodness [0,1] 0.6486669152605575 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99556475 -0.08162616 -0.04677598 0.49854486] [ 0.08188884 0.99663451 0.00372398 0.02928468] [ 0.04631458 -0.0075379 0.99889846 0.04269161] [ 0. 0. 0. 1. ]] SLAMing on 52.054860624 meters Centerline goodness [0,1] 0.6493182612749097 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99556825 -0.08161302 -0.04672446 0.49845019] [ 0.08186448 0.99663736 0.00349043 0.03026524] [ 0.04628248 -0.00730003 0.99890172 0.0427971 ] [ 0. 0. 0. 1. ]] SLAMing on 52.084860624 meters Centerline goodness [0,1] 0.6421853903813026 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99556495 -0.08167296 -0.04669004 0.49824103] [ 0.08191587 0.99663375 0.00330977 0.03067553] [ 0.04626255 -0.00711975 0.99890394 0.04299233] [ 0. 0. 0. 1. ]] SLAMing on 52.114860624 meters Centerline goodness [0,1] 0.6552415594105577 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.9955586 -0.08181033 -0.04658485 0.497909 ] [ 0.08203952 0.99662448 0.00302608 0.03119811] [ 0.04618004 -0.00683444 0.99890975 0.04323745] [ 0. 0. 0. 1. ]] SLAMing on 52.144860624 meters Centerline goodness [0,1] 0.6515459106288648 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99554654 -0.08204512 -0.04642931 0.49754572] [ 0.08226288 0.99660674 0.00279579 0.03207918] [ 0.04604238 -0.00660274 0.99891767 0.04329841] [ 0. 0. 0. 1. ]] SLAMing on 52.174860624 meters Centerline goodness [0,1] 0.6356837357141187 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99553401 -0.08219012 -0.0464415 0.49742806] [ 0.08240077 0.99659579 0.00263654 0.03229277] [ 0.0460667 -0.00645158 0.99891753 0.04350467] [ 0. 0. 0. 1. ]] SLAMing on 52.204860624 meters Centerline goodness [0,1] 0.6488449463474064 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99552847 -0.08228205 -0.04639751 0.49757585] [ 0.08249335 0.99658808 0.00265451 0.03222617] [ 0.04602079 -0.00647013 0.99891953 0.04319402] [ 0. 0. 0. 1. ]] SLAMing on 52.234860624 meters Centerline goodness [0,1] 0.6438813638486689 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99552629 -0.08234154 -0.0463388 0.49798931] [ 0.0825585 0.99658233 0.00278459 0.03207457] [ 0.04595114 -0.00659779 0.9989219 0.04245067] [ 0. 0. 0. 1. ]] SLAMing on 52.264860624 meters Centerline goodness [0,1] 0.6379568533857457 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.9954951 -0.08285879 -0.0460861 0.49779173] [ 0.08307529 0.99653934 0.00279907 0.03147762] [ 0.04569468 -0.00661508 0.99893355 0.04179398] [ 0. 0. 0. 1. ]] SLAMing on 52.294860624 meters Centerline goodness [0,1] 0.6352443696850761 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99546979 -0.08331045 -0.0458177 0.49718993] [ 0.08351823 0.99650276 0.00263602 0.0312387 ] [ 0.04543785 -0.00645069 0.99894634 0.04175195] [ 0. 0. 0. 1. ]] SLAMing on 52.324860624 meters Centerline goodness [0,1] 0.6343414497228265 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99543503 -0.08388202 -0.0455291 0.49621957] [ 0.08407555 0.99645661 0.0023492 0.03116397] [ 0.04517072 -0.00616636 0.99896025 0.04205804] [ 0. 0. 0. 1. ]] SLAMing on 52.354860624000004 meters Centerline goodness [0,1] 0.6297639379547528 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.04 [[ 0.99540648 -0.08439853 -0.04519756 0.49538168] [ 0.08458339 0.996414 0.00218985 0.0309889 ] [ 0.04485066 -0.00600275 0.99897567 0.04208936] [ 0. 0. 0. 1. ]] SLAMing on 52.384860624 meters Centerline goodness [0,1] 0.6357820738137083 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 0.99531951 -0.08559813 -0.04485578 0.49380368] [ 0.08575444 0.99631507 0.00156854 0.0310355 ] [ 0.04455622 -0.00540778 0.99899224 0.04280095] [ 0. 0. 0. 1. ]] SLAMing on 52.414860624 meters Centerline goodness [0,1] 0.6198984961526768 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 0.99529759 -0.08591216 -0.04474148 0.49366402] [ 0.0860635 0.99628858 0.00146387 0.03095541] [ 0.04444966 -0.0053076 0.99899753 0.04264027] [ 0. 0. 0. 1. ]] SLAMing on 52.444860624 meters Centerline goodness [0,1] 0.6189193620160667 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 0.99526202 -0.08638698 -0.0446185 0.49321329] [ 0.08652354 0.99624916 0.00113481 0.03155997] [ 0.04435311 -0.00498998 0.99900345 0.04275122] [ 0. 0. 0. 1. ]] SLAMing on 52.474860624 meters Centerline goodness [0,1] 0.6302916274694261 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 9.95242554e-01 -8.66480854e-02 -4.45462565e-02 4.92753356e-01] [ 8.67692861e-02 9.96228119e-01 7.90787244e-04 3.21603592e-02] [ 4.43097131e-02 -4.65227199e-03 9.99007010e-01 4.31577832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504860624 meters Centerline goodness [0,1] 0.6252903770795692 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 9.95228038e-01 -8.68250695e-02 -4.45259440e-02 4.92594088e-01] [ 8.69337859e-02 9.96213963e-01 5.07447591e-04 3.28552856e-02] [ 4.43133080e-02 -4.37583495e-03 9.99008099e-01 4.33294465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534860624000004 meters Centerline goodness [0,1] 0.6252903770795692 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 9.95228038e-01 -8.68250695e-02 -4.45259440e-02 4.92594088e-01] [ 8.69337859e-02 9.96213963e-01 5.07447591e-04 3.28552856e-02] [ 4.43133080e-02 -4.37583495e-03 9.99008099e-01 4.33294465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564860624 meters Centerline goodness [0,1] 0.6249646859402957 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 9.95215640e-01 -8.69390639e-02 -4.45805932e-02 4.92576544e-01] [ 8.70342148e-02 9.96205304e-01 1.94146997e-04 3.37838243e-02] [ 4.43945444e-02 -4.07325505e-03 9.99005772e-01 4.35535467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594860624 meters Centerline goodness [0,1] 0.6262678558821453 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.04 [[ 9.95214560e-01 -8.68737768e-02 -4.47317083e-02 4.92692469e-01] [ 8.69561810e-02 9.96212132e-01 -1.04020454e-04 3.49996448e-02] [ 4.45713071e-02 -3.78617585e-03 9.98999031e-01 4.39528121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624860624 meters Centerline goodness [0,1] 0.629287598944591 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95201552e-01 -8.69805711e-02 -4.48135122e-02 4.92702316e-01] [ 8.70543925e-02 9.96203513e-01 -3.05353969e-04 3.52965027e-02] [ 4.46699381e-02 -3.59732433e-03 9.98995323e-01 4.42041114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654860624 meters Centerline goodness [0,1] 0.6233900779355325 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95223235e-01 -8.66513751e-02 -4.49694514e-02 4.93250535e-01] [ 8.67280548e-02 9.96231993e-01 -2.46763910e-04 3.52763818e-02] [ 4.48213887e-02 -3.65452787e-03 9.98988332e-01 4.41810269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684860624 meters Centerline goodness [0,1] 0.6393731912190301 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95240370e-01 -8.63781345e-02 -4.51156764e-02 4.93824999e-01] [ 8.64596054e-02 9.96255346e-01 -1.46038198e-04 3.54028397e-02] [ 4.49593484e-02 -3.75534047e-03 9.98981759e-01 4.39705157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714860624 meters Centerline goodness [0,1] 0.6354749259764064 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95252139e-01 -8.61900662e-02 -4.52156300e-02 4.94241295e-01] [ 8.62732104e-02 9.96271509e-01 -1.13018507e-04 3.57565933e-02] [ 4.50567850e-02 -3.78841565e-03 9.98977244e-01 4.37874776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744860624 meters Centerline goodness [0,1] 0.6363486338024849 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95278379e-01 -8.57771446e-02 -4.54227930e-02 4.95010321e-01] [ 8.58673367e-02 9.96306579e-01 3.45675906e-05 3.59920260e-02] [ 4.52520624e-02 -3.93473864e-03 9.98967852e-01 4.35997371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774860624 meters Centerline goodness [0,1] 0.6419901482476609 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95289303e-01 -8.56325776e-02 -4.54561899e-02 4.95208373e-01] [ 8.57292034e-02 9.96318459e-01 1.76903206e-04 3.59023208e-02] [ 4.52736924e-02 -4.07299282e-03 9.98966318e-01 4.34686760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804860624 meters Centerline goodness [0,1] 0.6370225684230344 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95289491e-01 -8.55717970e-02 -4.55663970e-02 4.95471768e-01] [ 8.56692877e-02 9.96323611e-01 1.87418109e-04 3.58628562e-02] [ 4.53828395e-02 -4.09017605e-03 9.98961295e-01 4.35172105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834860624 meters Centerline goodness [0,1] 0.6385976486110784 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95291901e-01 -8.55517428e-02 -4.55514197e-02 4.95178395e-01] [ 8.56532879e-02 9.96324965e-01 2.78509338e-04 3.52778203e-02] [ 4.53601897e-02 -4.17882695e-03 9.98961957e-01 4.39558821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864860624 meters Centerline goodness [0,1] 0.6397591494966601 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95290614e-01 -8.55706755e-02 -4.55439598e-02 4.95271976e-01] [ 8.56712668e-02 9.96323425e-01 2.57756501e-04 3.50737220e-02] [ 4.53544576e-02 -4.15835136e-03 9.98962302e-01 4.39524379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894860624 meters Centerline goodness [0,1] 0.6321898375032242 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 9.95277597e-01 -8.57601906e-02 -4.54719128e-02 4.95106570e-01] [ 8.58549364e-02 9.96307640e-01 1.31106775e-04 3.50826105e-02] [ 4.52927704e-02 -4.03447582e-03 9.98965609e-01 4.40068560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924860624 meters Centerline goodness [0,1] 0.6399727661172936 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95264559e-01 -8.59549675e-02 -4.53894453e-02 4.94936328e-01] [ 8.60441319e-02 9.96291326e-01 1.07158350e-05 3.50619161e-02] [ 4.52201896e-02 -3.91616051e-03 9.98969368e-01 4.40347422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954860624 meters Centerline goodness [0,1] 0.6338044703230654 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95240165e-01 -8.63056414e-02 -4.52587042e-02 4.94597077e-01] [ 8.63836141e-02 9.96261922e-01 -2.33808295e-04 3.54931553e-02] [ 4.51097026e-02 -3.67691503e-03 9.98975272e-01 4.40753975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984860624 meters Centerline goodness [0,1] 0.6306280808509634 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95222318e-01 -8.65142591e-02 -4.52528607e-02 4.94454708e-01] [ 8.65777935e-02 9.96244937e-01 -5.57760864e-04 3.62686797e-02] [ 4.51311876e-02 -3.36279677e-03 9.98975409e-01 4.42526015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014860624 meters Centerline goodness [0,1] 0.6367372000755716 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95216590e-01 -8.66179046e-02 -4.51805022e-02 4.94545811e-01] [ 8.66628603e-02 9.96237228e-01 -9.66452743e-04 3.77557023e-02] [ 4.50942104e-02 -2.95364175e-03 9.98978372e-01 4.41219453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044860624 meters Centerline goodness [0,1] 0.6344574606555438 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.9952266 -0.08641852 -0.04534155 0.49529059] [ 0.08645799 0.9962549 -0.00109341 0.03854205] [ 0.04526623 -0.00283195 0.99897094 0.04380316] [ 0. 0. 0. 1. ]] SLAMing on 53.074860624 meters Centerline goodness [0,1] 0.6436988311012257 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99523752 -0.08621365 -0.04549154 0.49599542] [ 0.08625118 0.99627277 -0.00114092 0.03930288] [ 0.04542035 -0.00278821 0.99896407 0.04345024] [ 0. 0. 0. 1. ]] SLAMing on 53.104860624000004 meters Centerline goodness [0,1] 0.6446351524346878 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99525589 -0.08596325 -0.04556346 0.4965492 ] [ 0.08598924 0.99629509 -0.00139306 0.0415457 ] [ 0.0455144 -0.00253152 0.99896048 0.04319139] [ 0. 0. 0. 1. ]] SLAMing on 53.134860624 meters Centerline goodness [0,1] 0.6423595425473739 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.9952372 -0.0861924 -0.04553881 0.49616067] [ 0.08619127 0.99627662 -0.00199209 0.04325393] [ 0.04554095 -0.00194245 0.99896058 0.04373724] [ 0. 0. 0. 1. ]] SLAMing on 53.164860624 meters Centerline goodness [0,1] 0.6394450800915332 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99522678 -0.08633675 -0.04549305 0.49570618] [ 0.08631566 0.99626487 -0.00243155 0.04457758] [ 0.04553306 -0.00150681 0.9989617 0.04429673] [ 0. 0. 0. 1. ]] SLAMing on 53.194860624 meters Centerline goodness [0,1] 0.6445998854087089 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99521611 -0.08651717 -0.04538365 0.49510572] [ 0.08647697 0.99624977 -0.00285205 0.04571203] [ 0.0454602 -0.00108623 0.99896556 0.04481507] [ 0. 0. 0. 1. ]] SLAMing on 53.224860624 meters Centerline goodness [0,1] 0.6449515279994283 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 9.95215066e-01 -8.66035965e-02 -4.52414513e-02 4.94615520e-01] [ 8.65438625e-02 9.96242638e-01 -3.28105302e-03 4.67984355e-02] [ 4.53556138e-02 -6.50016543e-04 9.98970693e-01 4.52885125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254860624 meters Centerline goodness [0,1] 0.6467703349282297 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 9.95212766e-01 -8.66533322e-02 -4.51967950e-02 4.94672460e-01] [ 8.65879728e-02 9.96238388e-01 -3.40555294e-03 4.71721246e-02] [ 4.53218847e-02 -5.24249092e-04 9.98972298e-01 4.51436820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284860624000004 meters Centerline goodness [0,1] 0.6451967938748654 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 9.95214389e-01 -8.66671828e-02 -4.51344630e-02 4.94708477e-01] [ 8.66018789e-02 9.96237185e-01 -3.40392287e-03 4.74722417e-02] [ 4.52596388e-02 -5.21096274e-04 9.98975122e-01 4.49129489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314860624 meters Centerline goodness [0,1] 0.6465206277919782 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 9.95222616e-01 -8.65676200e-02 -4.51441179e-02 4.95235860e-01] [ 8.65099865e-02 9.96245739e-01 -3.23248059e-03 4.75884237e-02] [ 4.52544633e-02 -6.88379241e-04 9.98975255e-01 4.42241988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344860624 meters Centerline goodness [0,1] 0.6403565215318987 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 9.95227419e-01 -8.64610459e-02 -4.52423602e-02 4.95900799e-01] [ 8.64145695e-02 9.96254790e-01 -2.98574422e-03 4.76395931e-02] [ 4.53310686e-02 -9.38104567e-04 9.98971578e-01 4.36022788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374860624 meters Centerline goodness [0,1] 0.6427787846990365 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 9.95222296e-01 -8.65616713e-02 -4.51625840e-02 4.95777786e-01] [ 8.65169752e-02 9.96246018e-01 -2.94707710e-03 4.74919650e-02] [ 4.52481483e-02 -9.74333326e-04 9.98975303e-01 4.34822839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404860624 meters Centerline goodness [0,1] 0.6384800706056342 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99521733 -0.08664496 -0.04511236 0.49563076] [ 0.08660449 0.99623868 -0.00285441 0.04695064] [ 0.04519 -0.00106618 0.99897784 0.04347039] [ 0. 0. 0. 1. ]] SLAMing on 53.434860624 meters Centerline goodness [0,1] 0.6406780471477072 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99521137 -0.08678009 -0.04498393 0.49545724] [ 0.08674927 0.99622668 -0.00264056 0.04608038] [ 0.04504334 -0.00127441 0.99898422 0.04322488] [ 0. 0. 0. 1. ]] SLAMing on 53.464860624 meters Centerline goodness [0,1] 0.6309830282227307 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.04 [[ 0.99517987 -0.08732438 -0.04462592 0.4950359 ] [ 0.08730807 0.99617866 -0.00231814 0.04450995] [ 0.04465782 -0.00158924 0.99900108 0.04248303] [ 0. 0. 0. 1. ]] SLAMing on 53.494860624 meters Centerline goodness [0,1] 0.6295439366472665 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99515656 -0.08761535 -0.04457536 0.49486697] [ 0.08760106 0.99615303 -0.00227758 0.04391218] [ 0.04460343 -0.0016383 0.99900343 0.04243268] [ 0. 0. 0. 1. ]] SLAMing on 53.524860624 meters Centerline goodness [0,1] 0.6241220577069096 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99511399 -0.08821799 -0.04433655 0.49420164] [ 0.08820734 0.99609971 -0.00220032 0.04259672] [ 0.04435773 -0.00172124 0.99901423 0.04233864] [ 0. 0. 0. 1. ]] SLAMing on 53.554860624 meters Centerline goodness [0,1] 0.6206036714241612 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99509494 -0.08850338 -0.04419526 0.4936985 ] [ 0.08848975 0.9960745 -0.00226867 0.04202506] [ 0.04422256 -0.00165329 0.99902034 0.04251994] [ 0. 0. 0. 1. ]] SLAMing on 53.584860624 meters Centerline goodness [0,1] 0.6243025712861179 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99507893 -0.08872679 -0.04410754 0.49331376] [ 0.08870927 0.99605477 -0.00235838 0.04134028] [ 0.04414278 -0.00156597 0.99902401 0.04276444] [ 0. 0. 0. 1. ]] SLAMing on 53.614860624 meters Centerline goodness [0,1] 0.6344290328709861 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99508416 -0.08864203 -0.04415999 0.49355856] [ 0.08862609 0.99606226 -0.00232252 0.04147335] [ 0.04419197 -0.00160263 0.99902177 0.04263315] [ 0. 0. 0. 1. ]] SLAMing on 53.644860624 meters Centerline goodness [0,1] 0.6347747404514716 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 0.99508238 -0.08861074 -0.04426281 0.49381084] [ 0.08858896 0.99606524 -0.00245724 0.04227097] [ 0.04430639 -0.00147604 0.9990169 0.04264301] [ 0. 0. 0. 1. ]] SLAMing on 53.674860624 meters Centerline goodness [0,1] 0.6200066976032148 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95371272e-01 -8.53214113e-02 -4.42299381e-02 4.92610699e-01] [ 8.54477560e-02 9.96342180e-01 9.70398141e-04 4.23693243e-02] [ 4.39853572e-02 -4.74525539e-03 9.99020906e-01 4.28651463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704860624 meters Centerline goodness [0,1] 0.6521520923451951 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95383467e-01 -8.50949308e-02 -4.43915170e-02 4.92991599e-01] [ 8.52118181e-02 9.96362581e-01 7.44061082e-04 4.32356058e-02] [ 4.41667306e-02 -4.52330797e-03 9.99013934e-01 4.30705455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734860624 meters Centerline goodness [0,1] 0.6380589868811644 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.04 [[ 9.95403653e-01 -8.47590246e-02 -4.45811055e-02 4.93321065e-01] [ 8.48695820e-02 9.96391894e-01 5.89643809e-04 4.39882718e-02] [ 4.43702745e-02 -4.37051339e-03 9.99005594e-01 4.34164779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764860624 meters Centerline goodness [0,1] 0.6440730720425216 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 9.95420247e-01 -8.44940784e-02 -4.47133293e-02 4.93536487e-01] [ 8.45890590e-02 9.96415895e-01 2.33022164e-04 4.51699028e-02] [ 4.45333831e-02 -4.01421343e-03 9.98999832e-01 4.38726068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794860624 meters Centerline goodness [0,1] 0.6450640181883451 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 9.95446361e-01 -8.40458744e-02 -4.49759184e-02 4.94161837e-01] [ 8.41324603e-02 9.96454579e-01 3.23505914e-05 4.65222508e-02] [ 4.48137409e-02 -3.81613795e-03 9.98988071e-01 4.41003694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824860624 meters Centerline goodness [0,1] 0.6376947489901904 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.04 [[ 0.995779 -0.07995155 -0.04507693 0.49397304] [ 0.08020478 0.99677103 0.00383463 0.0468589 ] [ 0.0446248 -0.00743383 0.99897616 0.0437569 ] [ 0. 0. 0. 1. ]] SLAMing on 53.854860624000004 meters Centerline goodness [0,1] 0.6629483604192711 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99581342 -0.07936184 -0.04535777 0.49507177] [ 0.07962204 0.99681727 0.0039562 0.04764037] [ 0.04489943 -0.00755111 0.99896297 0.04338358] [ 0. 0. 0. 1. ]] SLAMing on 53.884860624 meters Centerline goodness [0,1] 0.6560448281667108 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99583856 -0.07891205 -0.04558995 0.49576083] [ 0.07917418 0.99685289 0.00397006 0.04816583] [ 0.04513319 -0.00756309 0.99895235 0.04335286] [ 0. 0. 0. 1. ]] SLAMing on 53.914860624 meters Centerline goodness [0,1] 0.6615477193404742 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99590975 -0.07784011 -0.04587682 0.4969003 ] [ 0.07812094 0.99693436 0.00435794 0.04873779] [ 0.04539696 -0.00792405 0.9989376 0.04317593] [ 0. 0. 0. 1. ]] SLAMing on 53.944860624 meters Centerline goodness [0,1] 0.6597389461516232 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99593186 -0.07744017 -0.04607324 0.49757654] [ 0.07772891 0.99696435 0.00450602 0.04881591] [ 0.04558443 -0.00806891 0.9989279 0.04302664] [ 0. 0. 0. 1. ]] SLAMing on 53.974860624 meters Centerline goodness [0,1] 0.6573663938372654 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99595608 -0.07705379 -0.04619744 0.49825856] [ 0.07735421 0.99699237 0.00474826 0.04866751] [ 0.04569263 -0.00830262 0.99892104 0.04264444] [ 0. 0. 0. 1. ]] SLAMing on 54.004860624 meters Centerline goodness [0,1] 0.6639367885104952 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99597618 -0.07667659 -0.04639118 0.49908108] [ 0.07699025 0.99701926 0.00500997 0.0484198 ] [ 0.04586875 -0.00856148 0.99891079 0.04227289] [ 0. 0. 0. 1. ]] SLAMing on 54.034860624000004 meters Centerline goodness [0,1] 0.6638828893688504 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99598075 -0.076637 -0.04635857 0.49906975] [ 0.07694981 0.99702244 0.00499836 0.04844276] [ 0.04583748 -0.00854556 0.99891236 0.04222163] [ 0. 0. 0. 1. ]] SLAMing on 54.064860624 meters Centerline goodness [0,1] 0.6609961796294961 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99598071 -0.07662061 -0.04638654 0.49908982] [ 0.07693425 0.99702357 0.0050118 0.0482657 ] [ 0.04586447 -0.00856037 0.99891099 0.04230813] [ 0. 0. 0. 1. ]] SLAMing on 54.094860624 meters Centerline goodness [0,1] 0.6579458526174432 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9959857 -0.07663341 -0.0462581 0.49898485] [ 0.07695116 0.99702169 0.00512522 0.04751602] [ 0.04572757 -0.00866426 0.99891637 0.04216814] [ 0. 0. 0. 1. ]] SLAMing on 54.124860624 meters Centerline goodness [0,1] 0.6605341957120614 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99598512 -0.07653621 -0.04643118 0.49958203] [ 0.07685961 0.99702827 0.00521768 0.04723724] [ 0.04589386 -0.00876541 0.99890786 0.04193464] [ 0. 0. 0. 1. ]] SLAMing on 54.154860624 meters Centerline goodness [0,1] 0.6575168107588857 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99598688 -0.07644597 -0.04654181 0.50020731] [ 0.07677934 0.9970334 0.00541528 0.04698603] [ 0.04598977 -0.00896699 0.99890166 0.04140387] [ 0. 0. 0. 1. ]] SLAMing on 54.184860624 meters Centerline goodness [0,1] 0.6673852123302435 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99598485 -0.07650107 -0.04649483 0.50032384] [ 0.07683295 0.99702941 0.00539063 0.04698944] [ 0.04594432 -0.00894132 0.99890399 0.04120849] [ 0. 0. 0. 1. ]] SLAMing on 54.214860624 meters Centerline goodness [0,1] 0.6608381572023154 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99597661 -0.07665363 -0.04641999 0.50021525] [ 0.07698134 0.99701839 0.00531081 0.04710422] [ 0.04587449 -0.00886291 0.99890789 0.0411093 ] [ 0. 0. 0. 1. ]] SLAMing on 54.244860624 meters Centerline goodness [0,1] 0.6600259229033651 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99595515 -0.07695781 -0.04637705 0.49981581] [ 0.07727148 0.99699752 0.00500641 0.04760077] [ 0.04585252 -0.00856978 0.99891146 0.04144925] [ 0. 0. 0. 1. ]] SLAMing on 54.274860624 meters Centerline goodness [0,1] 0.6629585231359386 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9959222 -0.07736129 -0.04641329 0.49958013] [ 0.07765665 0.99696959 0.00459209 0.04820696] [ 0.04591739 -0.00817767 0.99891177 0.04184717] [ 0. 0. 0. 1. ]] SLAMing on 54.304860624 meters Centerline goodness [0,1] 0.6607258665001321 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99588576 -0.07799121 -0.04614021 0.49853459] [ 0.07826695 0.9969236 0.00419737 0.04833633] [ 0.04567091 -0.00779135 0.99892615 0.04229414] [ 0. 0. 0. 1. ]] SLAMing on 54.334860624 meters Centerline goodness [0,1] 0.6579067586737515 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99583698 -0.07873168 -0.04593505 0.49775557] [ 0.07898453 0.99686893 0.00371273 0.04851379] [ 0.04549891 -0.00732543 0.99893753 0.04259234] [ 0. 0. 0. 1. ]] SLAMing on 54.364860624 meters Centerline goodness [0,1] 0.6528610484915344 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99582378 -0.07894943 -0.04584743 0.49770225] [ 0.07919756 0.99685237 0.00361833 0.0485401 ] [ 0.04541745 -0.00723422 0.9989419 0.0423632 ] [ 0. 0. 0. 1. ]] SLAMing on 54.394860624 meters Centerline goodness [0,1] 0.6531452790881445 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99580444 -0.07927086 -0.04571275 0.49750112] [ 0.07951371 0.99682757 0.00351608 0.0485033 ] [ 0.04528901 -0.00713611 0.99894844 0.04214033] [ 0. 0. 0. 1. ]] SLAMing on 54.424860624 meters Centerline goodness [0,1] 0.6531452790881445 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99580444 -0.07927086 -0.04571275 0.49750112] [ 0.07951371 0.99682757 0.00351608 0.0485033 ] [ 0.04528901 -0.00713611 0.99894844 0.04214033] [ 0. 0. 0. 1. ]] SLAMing on 54.454860624 meters Centerline goodness [0,1] 0.6514741455703782 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99579025 -0.07949891 -0.04562559 0.4973835 ] [ 0.07973753 0.99680999 0.0034312 0.04835893] [ 0.04520727 -0.00705483 0.99895272 0.04205152] [ 0. 0. 0. 1. ]] SLAMing on 54.484860624 meters Centerline goodness [0,1] 0.6475356601640487 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9957882 -0.07955435 -0.04557364 0.49756101] [ 0.07979011 0.99680597 0.00337471 0.04865696] [ 0.0451596 -0.00699683 0.99895528 0.04166433] [ 0. 0. 0. 1. ]] SLAMing on 54.514860624 meters Centerline goodness [0,1] 0.6516053174641263 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99579297 -0.07942467 -0.04569549 0.49797708] [ 0.0796632 0.99681597 0.0034198 0.04876878] [ 0.04527837 -0.00704566 0.99894956 0.04152535] [ 0. 0. 0. 1. ]] SLAMing on 54.544860624 meters Centerline goodness [0,1] 0.6541867179980752 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578773 -0.07945592 -0.04575527 0.4978425 ] [ 0.07968529 0.99681491 0.00320809 0.04910503] [ 0.04535464 -0.0068406 0.99894753 0.04195232] [ 0. 0. 0. 1. ]] SLAMing on 54.574860624 meters Centerline goodness [0,1] 0.6507226510833755 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578147 -0.07962015 -0.04560592 0.4968703 ] [ 0.07983482 0.99680388 0.00290239 0.04960737] [ 0.04522907 -0.00653108 0.99895529 0.04288238] [ 0. 0. 0. 1. ]] SLAMing on 54.604860624000004 meters Centerline goodness [0,1] 0.6538618520563733 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9957837 -0.07956945 -0.0456457 0.49680458] [ 0.07978212 0.99680824 0.00285348 0.04983518] [ 0.04527296 -0.00648316 0.99895362 0.04313835] [ 0. 0. 0. 1. ]] SLAMing on 54.634860624 meters Centerline goodness [0,1] 0.6519649080639347 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578907 -0.07948867 -0.04566919 0.49695921] [ 0.07970378 0.99681436 0.00290582 0.0499867 ] [ 0.04529272 -0.00653359 0.99895239 0.04301944] [ 0. 0. 0. 1. ]] SLAMing on 54.664860624 meters Centerline goodness [0,1] 0.6520635224795803 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99581077 -0.07911089 -0.04585172 0.49797845] [ 0.07935364 0.9968404 0.00349572 0.04846017] [ 0.0454303 -0.00711958 0.99894214 0.04228084] [ 0. 0. 0. 1. ]] SLAMing on 54.694860624 meters Centerline goodness [0,1] 0.6492222008834261 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99580959 -0.07904161 -0.04599647 0.49844318] [ 0.07929073 0.99684498 0.0036141 0.04798364] [ 0.04556569 -0.00724605 0.99893506 0.04210765] [ 0. 0. 0. 1. ]] SLAMing on 54.724860624 meters Centerline goodness [0,1] 0.6509881991749016 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99581256 -0.07905469 -0.04590977 0.4984635 ] [ 0.07930723 0.99684334 0.00370277 0.04783648] [ 0.04547213 -0.00732825 0.99893873 0.041833 ] [ 0. 0. 0. 1. ]] SLAMing on 54.754860624 meters Centerline goodness [0,1] 0.6483329335572079 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9958178 -0.07901843 -0.04585839 0.49848727] [ 0.07927784 0.99684507 0.00386294 0.04750676] [ 0.04540847 -0.00748234 0.99894048 0.04165177] [ 0. 0. 0. 1. ]] SLAMing on 54.784860624000004 meters Centerline goodness [0,1] 0.6576665069477718 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99580911 -0.07908131 -0.04593878 0.49866387] [ 0.07934334 0.99683969 0.00390595 0.04709523] [ 0.04548471 -0.00753451 0.99893662 0.04160434] [ 0. 0. 0. 1. ]] SLAMing on 54.814860624 meters Centerline goodness [0,1] 0.6380385690730519 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99579342 -0.07932251 -0.04586285 0.49872459] [ 0.07959047 0.99681945 0.0040436 0.04613615] [ 0.04539623 -0.00767684 0.99893956 0.04117627] [ 0. 0. 0. 1. ]] SLAMing on 54.844860624 meters Centerline goodness [0,1] 0.6549268852145655 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578481 -0.07948617 -0.04576638 0.49864678] [ 0.07975435 0.99680628 0.00406088 0.04581872] [ 0.04529744 -0.00769383 0.99894392 0.04098679] [ 0. 0. 0. 1. ]] SLAMing on 54.874860624 meters Centerline goodness [0,1] 0.6549268852145655 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578481 -0.07948617 -0.04576638 0.49864678] [ 0.07975435 0.99680628 0.00406088 0.04581872] [ 0.04529744 -0.00769383 0.99894392 0.04098679] [ 0. 0. 0. 1. ]] SLAMing on 54.904860624 meters Centerline goodness [0,1] 0.6378674710332279 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99575966 -0.0798897 -0.04561059 0.49822597] [ 0.08014735 0.99677561 0.00384547 0.04586288] [ 0.04515631 -0.00748473 0.99895189 0.04101597] [ 0. 0. 0. 1. ]] SLAMing on 54.934860624 meters Centerline goodness [0,1] 0.6390772757665488 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99574673 -0.0800975 -0.04552857 0.49798944] [ 0.08034564 0.9967604 0.00364363 0.04616814] [ 0.04508923 -0.00728616 0.99895639 0.04109037] [ 0. 0. 0. 1. ]] SLAMing on 54.964860624 meters Centerline goodness [0,1] 0.6512663379135347 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99572796 -0.08036526 -0.04546708 0.49763871] [ 0.08059335 0.99674192 0.00320312 0.04699822] [ 0.04506152 -0.00685378 0.9989607 0.04146004] [ 0. 0. 0. 1. ]] SLAMing on 54.994860624 meters Centerline goodness [0,1] 0.6614587083303334 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99570939 -0.0805997 -0.04545875 0.49714465] [ 0.08079812 0.99672725 0.00254146 0.04889084] [ 0.04510513 -0.00620353 0.99896298 0.04218105] [ 0. 0. 0. 1. ]] SLAMing on 55.024860624 meters Centerline goodness [0,1] 0.6547490328936303 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9957034 -0.08066278 -0.04547801 0.49716846] [ 0.08085135 0.99672347 0.00231918 0.04975481] [ 0.04514193 -0.00598617 0.99896265 0.04224229] [ 0. 0. 0. 1. ]] SLAMing on 55.054860624 meters Centerline goodness [0,1] 0.636083936254597 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99570564 -0.08062988 -0.04548746 0.49732052] [ 0.08081551 0.99672653 0.00225398 0.05029766] [ 0.04515682 -0.00592039 0.99896237 0.04207147] [ 0. 0. 0. 1. ]] SLAMing on 55.084860624 meters Centerline goodness [0,1] 0.6601219012744224 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99570281 -0.08064708 -0.04551886 0.49718205] [ 0.08081719 0.99672712 0.00190629 0.05098739] [ 0.04521614 -0.00557681 0.99896166 0.04252399] [ 0. 0. 0. 1. ]] SLAMing on 55.114860624 meters Centerline goodness [0,1] 0.6597344386341182 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9957024 -0.08057559 -0.04565418 0.49738417] [ 0.08073843 0.99673382 0.0017312 0.051578 ] [ 0.04536557 -0.00540981 0.9989558 0.04273157] [ 0. 0. 0. 1. ]] SLAMing on 55.144860624 meters Centerline goodness [0,1] 0.6586106358882918 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99571266 -0.08045971 -0.04563488 0.49719083] [ 0.08061499 0.99674408 0.00156966 0.05214058] [ 0.04536001 -0.00524179 0.99895695 0.04307212] [ 0. 0. 0. 1. ]] SLAMing on 55.174860624 meters Centerline goodness [0,1] 0.6585924871528868 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99572376 -0.08026688 -0.04573207 0.497518 ] [ 0.08042628 0.99675919 0.0016534 0.05200072] [ 0.04545115 -0.00532439 0.99895237 0.04302989] [ 0. 0. 0. 1. ]] SLAMing on 55.204860624 meters Centerline goodness [0,1] 0.668072492408541 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99573742 -0.0800573 -0.04580194 0.49798487] [ 0.08022263 0.99677538 0.00178017 0.05178359] [ 0.04551174 -0.00544693 0.99894895 0.04274503] [ 0. 0. 0. 1. ]] SLAMing on 55.234860624 meters Centerline goodness [0,1] 0.6653835975653764 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99577182 -0.07950553 -0.04601464 0.49898298] [ 0.0796853 0.99681789 0.00208272 0.05170603] [ 0.04570263 -0.0057406 0.99893859 0.04228909] [ 0. 0. 0. 1. ]] SLAMing on 55.264860624 meters Centerline goodness [0,1] 0.6626030921637933 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99578468 -0.07931429 -0.04606647 0.49940521] [ 0.07950086 0.99683231 0.00222908 0.05186928] [ 0.04574375 -0.00588201 0.99893589 0.04190326] [ 0. 0. 0. 1. ]] SLAMing on 55.294860624 meters Centerline goodness [0,1] 0.6656002694056238 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99579763 -0.07903009 -0.04627438 0.50013882] [ 0.079222 0.99685429 0.002325 0.05185416] [ 0.04594507 -0.00598118 0.99892606 0.04170002] [ 0. 0. 0. 1. ]] SLAMing on 55.324860624 meters Centerline goodness [0,1] 0.6648630449943487 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99582124 -0.07859211 -0.0465118 0.50113511] [ 0.07879977 0.99688695 0.00264526 0.05152099] [ 0.04615911 -0.00629933 0.99891424 0.04120145] [ 0. 0. 0. 1. ]] SLAMing on 55.354860624000004 meters Centerline goodness [0,1] 0.6681597071714107 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99587897 -0.07766404 -0.04683357 0.50294058] [ 0.07789861 0.99695615 0.00320163 0.05146019] [ 0.04644237 -0.00683671 0.99889758 0.04010382] [ 0. 0. 0. 1. ]] SLAMing on 55.384860624 meters Centerline goodness [0,1] 0.6662012518054887 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.9958757 -0.07773382 -0.04678714 0.50263845] [ 0.07796028 0.99695185 0.00303231 0.05208165] [ 0.04640881 -0.00666734 0.99890028 0.04038799] [ 0. 0. 0. 1. ]] SLAMing on 55.414860624 meters Centerline goodness [0,1] 0.6712289086827432 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99586213 -0.07796159 -0.04669707 0.50216075] [ 0.07817569 0.99693574 0.00277338 0.05289713] [ 0.04633777 -0.00641248 0.99890525 0.0406951 ] [ 0. 0. 0. 1. ]] SLAMing on 55.444860624 meters Centerline goodness [0,1] 0.674533891132445 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99586636 -0.07786471 -0.04676827 0.50241452] [ 0.0780741 0.996944 0.00266442 0.05371942] [ 0.04641788 -0.00630479 0.99890221 0.04060141] [ 0. 0. 0. 1. ]] SLAMing on 55.474860624 meters Centerline goodness [0,1] 0.6730848211050178 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99588373 -0.0775903 -0.04685443 0.50288339] [ 0.07779849 0.99696563 0.00263347 0.05412362] [ 0.04650792 -0.00626784 0.99889826 0.04042128] [ 0. 0. 0. 1. ]] SLAMing on 55.504860624 meters Centerline goodness [0,1] 0.6748838784594542 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99588895 -0.07749034 -0.04690892 0.50306505] [ 0.07769349 0.99697411 0.00252022 0.05434619] [ 0.04657168 -0.00615438 0.99889599 0.04046791] [ 0. 0. 0. 1. ]] SLAMing on 55.534860624000004 meters Centerline goodness [0,1] 0.6707434980179832 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.04 [[ 0.99590709 -0.077179 -0.04703693 0.50357003] [ 0.07738192 0.99699838 0.00250564 0.05488794] [ 0.04670236 -0.00613519 0.99889001 0.04032464] [ 0. 0. 0. 1. ]] SLAMing on 55.564860624 meters Centerline goodness [0,1] 0.677189063182944 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99618339 -0.07351875 -0.04704945 0.50303189] [ 0.07388289 0.9972486 0.00604534 0.05585645] [ 0.04647555 -0.00949842 0.99887427 0.04001065] [ 0. 0. 0. 1. ]] SLAMing on 55.594860624 meters Centerline goodness [0,1] 0.6793455834162682 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99621826 -0.07285996 -0.04733495 0.50407797] [ 0.07322191 0.99729789 0.00595575 0.05792179] [ 0.04677311 -0.00939918 0.99886132 0.03982347] [ 0. 0. 0. 1. ]] SLAMing on 55.624860624 meters Centerline goodness [0,1] 0.6839045362386105 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99647721 -0.06921271 -0.0473579 0.50323065] [ 0.06974275 0.99751852 0.00963102 0.05795754] [ 0.0465738 -0.01289996 0.99883155 0.03996911] [ 0. 0. 0. 1. ]] SLAMing on 55.654860624 meters Centerline goodness [0,1] 0.6834768147133634 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99649709 -0.06874716 -0.0476171 0.50400057] [ 0.06926314 0.99755535 0.00927028 0.05987289] [ 0.04686339 -0.01253592 0.99882264 0.04012142] [ 0. 0. 0. 1. ]] SLAMing on 55.684860624 meters Centerline goodness [0,1] 0.6943081452404318 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99676094 -0.06479298 -0.04763916 0.50337497] [ 0.06547126 0.99777215 0.01281633 0.06049232] [ 0.04670261 -0.01589381 0.99878239 0.04031251] [ 0. 0. 0. 1. ]] SLAMing on 55.714860624 meters Centerline goodness [0,1] 0.6914580265095729 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99676893 -0.06457757 -0.04776434 0.50359183] [ 0.06523864 0.9977925 0.01241181 0.06204915] [ 0.04685738 -0.01548778 0.99878151 0.04070585] [ 0. 0. 0. 1. ]] SLAMing on 55.744860624 meters Centerline goodness [0,1] 0.6975450001231194 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.04 [[ 0.99680558 -0.06387077 -0.04794962 0.50418141] [ 0.06451324 0.99784504 0.01197142 0.06471595] [ 0.04708166 -0.01502656 0.99877801 0.04110437] [ 0. 0. 0. 1. ]] SLAMing on 55.774860624 meters Centerline goodness [0,1] 0.7016316440049444 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99680901 -0.06373733 -0.04805579 0.50444347] [ 0.06436492 0.99785871 0.0116256 0.06637825] [ 0.0472119 -0.0146816 0.998777 0.04123565] [ 0. 0. 0. 1. ]] SLAMing on 55.804860624 meters Centerline goodness [0,1] 0.7084510532837671 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.04 [[ 0.99685638 -0.06287994 -0.0482024 0.50558286] [ 0.06350033 0.99791616 0.01144754 0.06948734] [ 0.04738213 -0.01447242 0.99877199 0.04077808] [ 0. 0. 0. 1. ]] SLAMing on 55.834860624 meters Centerline goodness [0,1] 0.7178244881733253 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.04 [[ 0.99686095 -0.06258877 -0.04848596 0.50649534] [ 0.06320659 0.99793633 0.01131395 0.07058358] [ 0.04767777 -0.01434306 0.99875978 0.04062537] [ 0. 0. 0. 1. ]] SLAMing on 55.864860624 meters Centerline goodness [0,1] 0.7173556185643934 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.04 [[ 0.99687285 -0.06240963 -0.04847229 0.50690473] [ 0.06302015 0.99794975 0.0111694 0.07122874] [ 0.04767583 -0.0141892 0.99876207 0.04029242] [ 0. 0. 0. 1. ]] SLAMing on 55.894860624 meters Centerline goodness [0,1] 0.7203033693895313 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:0.04 [[ 0.99686644 -0.06260113 -0.04835702 0.50654143] [ 0.06319843 0.99794122 0.01092178 0.0715274 ] [ 0.04757375 -0.01394364 0.9987704 0.04050537] [ 0. 0. 0. 1. ]] SLAMing on 55.924860624 meters Centerline goodness [0,1] 0.7088034995277626 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99677666 -0.06440649 -0.04783403 0.50383003] [ 0.06494516 0.99784079 0.00979224 0.07271751] [ 0.04710006 -0.01286727 0.9988073 0.04188121] [ 0. 0. 0. 1. ]] SLAMing on 55.954860624 meters Centerline goodness [0,1] 0.7088034995277626 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99677666 -0.06440649 -0.04783403 0.50383003] [ 0.06494516 0.99784079 0.00979224 0.07271751] [ 0.04710006 -0.01286727 0.9988073 0.04188121] [ 0. 0. 0. 1. ]] SLAMing on 55.984860624 meters Centerline goodness [0,1] 0.701818001192132 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99673533 -0.06525018 -0.04755096 0.50281354] [ 0.06577369 0.99778908 0.00952771 0.07233158] [ 0.04682415 -0.0126242 0.99882337 0.04203307] [ 0. 0. 0. 1. ]] SLAMing on 56.014860624 meters Centerline goodness [0,1] 0.7002158326924508 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99668437 -0.06621311 -0.04728732 0.50178695] [ 0.06672234 0.99772851 0.00927114 0.07149679] [ 0.04656603 -0.01239552 0.9988383 0.04216557] [ 0. 0. 0. 1. ]] SLAMing on 56.044860624 meters Centerline goodness [0,1] 0.6932841730179155 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99641383 -0.070199 -0.04723962 0.50255405] [ 0.07052109 0.99749682 0.00518437 0.07233372] [ 0.04675744 -0.00849717 0.99887013 0.04206832] [ 0. 0. 0. 1. ]] SLAMing on 56.074860624 meters Centerline goodness [0,1] 0.6814571823204421 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99606428 -0.0752611 -0.04681575 0.50233991] [ 0.07539892 0.99715275 0.00118239 0.0711005 ] [ 0.04659346 -0.00470759 0.99890284 0.04153739] [ 0. 0. 0. 1. ]] SLAMing on 56.104860624000004 meters Centerline goodness [0,1] 0.6814571823204421 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 0.99606428 -0.0752611 -0.04681575 0.50233991] [ 0.07539892 0.99715275 0.00118239 0.0711005 ] [ 0.04659346 -0.00470759 0.99890284 0.04153739] [ 0. 0. 0. 1. ]] SLAMing on 56.134860624 meters Centerline goodness [0,1] 0.6773098494539014 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95715839e-01 -7.98812931e-02 -4.65719489e-02 5.02864465e-01] [ 7.98382683e-02 9.96803937e-01 -2.78620644e-03 7.11588541e-02] [ 4.66456678e-02 -9.43953871e-04 9.98911052e-01 4.08491601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164860624 meters Centerline goodness [0,1] 0.6689292213860607 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95676732e-01 -8.04897806e-02 -4.63598972e-02 5.02174031e-01] [ 8.04410432e-02 9.96755094e-01 -2.91898390e-03 7.10493500e-02] [ 4.64444121e-02 -8.22874140e-04 9.98920537e-01 4.08605880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194860624 meters Centerline goodness [0,1] 0.6765350067675648 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95642058e-01 -8.10152301e-02 -4.61890061e-02 5.01595895e-01] [ 8.09583689e-02 9.96712652e-01 -3.10350541e-03 7.13316864e-02] [ 4.62885980e-02 -6.49406079e-04 9.98927897e-01 4.09110703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224860624 meters Centerline goodness [0,1] 0.6658055945088198 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95610978e-01 -8.14540226e-02 -4.60871293e-02 5.01147605e-01] [ 8.13887122e-02 9.96676989e-01 -3.29494741e-03 7.15555080e-02] [ 4.62023680e-02 -4.70486300e-04 9.98931990e-01 4.10296069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254860624 meters Centerline goodness [0,1] 0.6578655698135514 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95574817e-01 -8.20087887e-02 -4.58840150e-02 5.00703613e-01] [ 8.19323893e-02 9.96631580e-01 -3.54644799e-03 7.20170231e-02] [ 4.60202983e-02 -2.28632672e-04 9.98940479e-01 4.08180842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284860624000004 meters Centerline goodness [0,1] 0.6706635479502647 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95578737e-01 -8.19125117e-02 -4.59708474e-02 5.01252756e-01] [ 8.18389671e-02 9.96639480e-01 -3.48280767e-03 7.21365046e-02] [ 4.61016470e-02 -2.94797405e-04 9.98936710e-01 4.04001973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314860624 meters Centerline goodness [0,1] 0.6706635479502647 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95578737e-01 -8.19125117e-02 -4.59708474e-02 5.01252756e-01] [ 8.18389671e-02 9.96639480e-01 -3.48280767e-03 7.21365046e-02] [ 4.61016470e-02 -2.94797405e-04 9.98936710e-01 4.04001973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344860624 meters Centerline goodness [0,1] 0.6667899134807365 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95564741e-01 -8.20296296e-02 -4.60650124e-02 5.01399969e-01] [ 8.19412750e-02 9.96629891e-01 -3.80628351e-03 7.29656441e-02] [ 4.62219963e-02 1.47758059e-05 9.98931192e-01 4.05523113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374860624 meters Centerline goodness [0,1] 0.6715615868456243 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.04 [[ 9.95820714e-01 -7.90204277e-02 -4.57916759e-02 4.99374774e-01] [ 7.90711628e-02 9.96868725e-01 -7.05174658e-04 7.43598816e-02] [ 4.57040128e-02 -2.91857353e-03 9.98950762e-01 4.11779436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404860624 meters Centerline goodness [0,1] 0.6706825322217549 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99583138 -0.07874761 -0.04602908 0.49989859] [ 0.07878337 0.99689122 -0.00103949 0.07602628] [ 0.04596784 -0.00259117 0.99893956 0.04149417] [ 0. 0. 0. 1. ]] SLAMing on 56.434860624 meters Centerline goodness [0,1] 0.6770623992060538 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99583386 -0.07858875 -0.04624647 0.50027246] [ 0.078606 0.99690471 -0.0014482 0.07741588] [ 0.04621714 -0.00219308 0.99892901 0.04192769] [ 0. 0. 0. 1. ]] SLAMing on 56.464860624 meters Centerline goodness [0,1] 0.6787403534976351 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99611085 -0.07504864 -0.04616142 0.49901741] [ 0.07522368 0.99716455 0.00206411 0.07744259] [ 0.04587563 -0.00552851 0.99893186 0.04228374] [ 0. 0. 0. 1. ]] SLAMing on 56.494860624 meters Centerline goodness [0,1] 0.6923594833175403 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99611858 -0.07477764 -0.04643361 0.4996076 ] [ 0.07493866 0.99718664 0.00173429 0.07871076] [ 0.04617329 -0.00520723 0.99891987 0.04261698] [ 0. 0. 0. 1. ]] SLAMing on 56.524860624 meters Centerline goodness [0,1] 0.6912557396685965 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99612521 -0.07460144 -0.04657466 0.49998251] [ 0.0747517 0.99720106 0.00149063 0.08016688] [ 0.0463331 -0.00496639 0.9989137 0.04270504] [ 0. 0. 0. 1. ]] SLAMing on 56.554860624 meters Centerline goodness [0,1] 0.6922078246323622 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 0.99612005 -0.07458236 -0.04671538 0.50009289] [ 0.07471594 0.99720423 0.00111751 0.08154344] [ 0.04650142 -0.00460356 0.99890762 0.04311583] [ 0. 0. 0. 1. ]] SLAMing on 56.584860624 meters Centerline goodness [0,1] 0.6872275392093 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.96092710e-01 -7.50488900e-02 -4.65507932e-02 4.99174692e-01] [ 7.51619357e-02 9.97171109e-01 6.80362783e-04 8.26069962e-02] [ 4.63680456e-02 -4.17655213e-03 9.98915693e-01 4.36975413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614860624 meters Centerline goodness [0,1] 0.6855167923063438 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.96066387e-01 -7.55033281e-02 -4.63788702e-02 4.98402168e-01] [ 7.56119971e-02 9.97137141e-01 5.90702766e-04 8.25024686e-02] [ 4.62014940e-02 -4.09517817e-03 9.98923747e-01 4.39832362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644860624 meters Centerline goodness [0,1] 0.6794865403788635 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.96023688e-01 -7.61338683e-02 -4.62649751e-02 4.98507570e-01] [ 7.62508493e-02 9.97088372e-01 7.66397041e-04 8.10573645e-02] [ 4.60719199e-02 -4.29109325e-03 9.98928909e-01 4.31125479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674860624 meters Centerline goodness [0,1] 0.674393073679483 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.95998535e-01 -7.65819107e-02 -4.60665705e-02 4.98216104e-01] [ 7.67034895e-02 9.97053564e-01 8.74737973e-04 8.01430723e-02] [ 4.58638492e-02 -4.40470445e-03 9.98937989e-01 4.26750852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704860624 meters Centerline goodness [0,1] 0.6690927218344965 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.95957438e-01 -7.72318656e-02 -4.58696111e-02 4.97671956e-01] [ 7.73564371e-02 9.97003054e-01 9.44264247e-04 7.90852894e-02] [ 4.56592151e-02 -4.48875669e-03 9.98946989e-01 4.24457043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734860624 meters Centerline goodness [0,1] 0.6565249813571961 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.95834125e-01 -7.88882052e-02 -4.57279642e-02 4.96705169e-01] [ 7.89998015e-02 9.96874429e-01 6.35579493e-04 7.83363070e-02] [ 4.55348985e-02 -4.24543185e-03 9.98953727e-01 4.22922363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764860624 meters Centerline goodness [0,1] 0.6607881233497733 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.04 [[ 9.95781284e-01 -7.97654715e-02 -4.53552990e-02 4.95501097e-01] [ 7.98651600e-02 9.96805601e-01 3.87226795e-04 7.82740923e-02] [ 4.51795287e-02 -4.00790140e-03 9.98970844e-01 4.24214182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794860624 meters Centerline goodness [0,1] 0.6463563307043515 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 9.95732323e-01 -8.05144151e-02 -4.51062170e-02 4.94626139e-01] [ 8.06053406e-02 9.96746076e-01 1.97658606e-04 7.80934022e-02] [ 4.49435305e-02 -3.83261705e-03 9.98982177e-01 4.25031880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824860624 meters Centerline goodness [0,1] 0.6383492727634987 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 9.95688518e-01 -8.12092324e-02 -4.48267235e-02 4.93794704e-01] [ 8.12939060e-02 9.96690171e-01 6.61463536e-05 7.75748117e-02] [ 4.46729830e-02 -3.71000061e-03 9.98994775e-01 4.25001360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854860624000004 meters Centerline goodness [0,1] 0.6448351429425241 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 9.95641089e-01 -8.18864905e-02 -4.46477774e-02 4.93106698e-01] [ 8.19661414e-02 9.96635114e-01 -4.68873068e-05 7.66463704e-02] [ 4.45013821e-02 -3.61292310e-03 9.99002790e-01 4.25884324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884860624 meters Centerline goodness [0,1] 0.6420781280983541 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 9.95605608e-01 -8.24252386e-02 -4.44472003e-02 4.92671478e-01] [ 8.24983201e-02 9.96591185e-01 -1.90699960e-04 7.60320068e-02] [ 4.43114065e-02 -3.47695741e-03 9.99011717e-01 4.24200831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914860624 meters Centerline goodness [0,1] 0.6402297143422941 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 9.95572031e-01 -8.29764460e-02 -4.41728524e-02 4.91761929e-01] [ 8.30362515e-02 9.96546410e-01 -4.82419035e-04 7.59415774e-02] [ 4.40603269e-02 -3.18766519e-03 9.99023787e-01 4.26958578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944860624 meters Centerline goodness [0,1] 0.630864993552227 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 0.99552189 -0.08369407 -0.04394858 0.4904544 ] [ 0.08372671 0.99648815 -0.00110095 0.07665326] [ 0.04388638 -0.00258365 0.99903319 0.0436014 ] [ 0. 0. 0. 1. ]] SLAMing on 56.974860624 meters Centerline goodness [0,1] 0.643296402340346 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 0.99546725 -0.08449148 -0.04365945 0.48879071] [ 0.08448182 0.99642287 -0.00206964 0.07894374] [ 0.04367814 -0.00162817 0.99904433 0.0449457 ] [ 0. 0. 0. 1. ]] SLAMing on 57.004860624 meters Centerline goodness [0,1] 0.6409860172976745 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99544849 -0.08471283 -0.04365831 0.48829406] [ 0.08468202 0.99640474 -0.00255796 0.07996353] [ 0.04371804 -0.00115075 0.99904325 0.04569802] [ 0. 0. 0. 1. ]] SLAMing on 57.034860624000004 meters Centerline goodness [0,1] 0.6420314713998061 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99545124 -0.08463497 -0.0437465 0.48839053] [ 0.08460086 0.99641144 -0.00263375 0.08027358] [ 0.04381242 -0.00107922 0.99903919 0.04594209] [ 0. 0. 0. 1. ]] SLAMing on 57.064860624 meters Centerline goodness [0,1] 0.6379121153174723 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99545443 -0.08457718 -0.04378565 0.48850271] [ 0.08454443 0.99641631 -0.00260247 0.08014935] [ 0.04384884 -0.00111119 0.99903756 0.04594288] [ 0. 0. 0. 1. ]] SLAMing on 57.094860624 meters Centerline goodness [0,1] 0.6382364649681529 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99546152 -0.08447424 -0.04382301 0.48878257] [ 0.084448 0.99642487 -0.00245279 0.0797399 ] [ 0.04387354 -0.00125911 0.9990363 0.04572476] [ 0. 0. 0. 1. ]] SLAMing on 57.124860624 meters Centerline goodness [0,1] 0.6320250553056102 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99546956 -0.08441729 -0.04375022 0.48877546] [ 0.08440234 0.99642935 -0.00219212 0.07883408] [ 0.04377905 -0.00151043 0.9990401 0.04555212] [ 0. 0. 0. 1. ]] SLAMing on 57.154860624 meters Centerline goodness [0,1] 0.6376782736391468 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99545413 -0.0846262 -0.04369762 0.48839967] [ 0.08460804 0.99641173 -0.00226812 0.07850082] [ 0.04373276 -0.00143936 0.99904223 0.04585573] [ 0. 0. 0. 1. ]] SLAMing on 57.184860624 meters Centerline goodness [0,1] 0.6319047382290062 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99544017 -0.08485244 -0.04357683 0.4877764 ] [ 0.08483452 0.99639248 -0.00226382 0.07805119] [ 0.04361172 -0.00144332 0.99904751 0.04627067] [ 0. 0. 0. 1. ]] SLAMing on 57.214860624 meters Centerline goodness [0,1] 0.632944099378882 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99544911 -0.08466375 -0.04373929 0.48842496] [ 0.08465839 0.99640807 -0.00197826 0.07743473] [ 0.04374966 -0.00173364 0.99904102 0.0459524 ] [ 0. 0. 0. 1. ]] SLAMing on 57.244860624 meters Centerline goodness [0,1] 0.6360247521061657 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99546897 -0.0842912 -0.04400594 0.48953524] [ 0.08430142 0.99643897 -0.00162687 0.07662339] [ 0.04398636 -0.00209026 0.99902994 0.04543891] [ 0. 0. 0. 1. ]] SLAMing on 57.274860624 meters Centerline goodness [0,1] 0.6300870470947102 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.04 [[ 0.9955036 -0.08380455 -0.04415183 0.4906905 ] [ 0.08383939 0.99647871 -0.00106531 0.07565593] [ 0.04408564 -0.00264114 0.99902426 0.04447111] [ 0. 0. 0. 1. ]] SLAMing on 57.304860624 meters Centerline goodness [0,1] 0.6409633175425977 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.04 [[ 9.95556223e-01 -8.30115760e-02 -4.44621708e-02 4.92219195e-01] [ 8.30750614e-02 9.96543204e-01 -4.21200631e-04 7.42915159e-02] [ 4.43434386e-02 -3.27436866e-03 9.99010980e-01 4.37484175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334860624 meters Centerline goodness [0,1] 0.6367026399624627 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.04 [[ 9.95567538e-01 -8.27745583e-02 -4.46502988e-02 4.92744980e-01] [ 8.28447805e-02 9.96562424e-01 -2.78613730e-04 7.40002997e-02] [ 4.45198722e-02 -3.42166542e-03 9.99002639e-01 4.37288313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364860624 meters Centerline goodness [0,1] 0.6406280958985535 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.04 [[ 9.95583410e-01 -8.25341351e-02 -4.47413621e-02 4.93043409e-01] [ 8.26082911e-02 9.96582076e-01 -1.92115435e-04 7.38729317e-02] [ 4.46042956e-02 -3.50474052e-03 9.98998585e-01 4.37872753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394860624 meters Centerline goodness [0,1] 0.6378517382918748 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.04 [[ 9.95595079e-01 -8.22860400e-02 -4.49382408e-02 4.93311672e-01] [ 8.23583323e-02 9.96602752e-01 -2.43525727e-04 7.38465366e-02] [ 4.48056133e-02 -3.45858555e-03 9.98989737e-01 4.42549741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424860624 meters Centerline goodness [0,1] 0.6460216438424011 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.04 [[ 9.95595712e-01 -8.22195462e-02 -4.50458113e-02 4.93277475e-01] [ 8.22857274e-02 9.96608705e-01 -3.86229987e-04 7.41154945e-02] [ 4.49248033e-02 -3.32209843e-03 9.98984848e-01 4.47698712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454860624 meters Centerline goodness [0,1] 0.6393556209942837 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95614866e-01 -8.19519781e-02 -4.51099932e-02 4.93070085e-01] [ 8.20098720e-02 9.96631355e-01 -5.68901044e-04 7.42136076e-02] [ 4.50046562e-02 -3.13305844e-03 9.98981864e-01 4.57232674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484860624 meters Centerline goodness [0,1] 0.65156458549607 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95627077e-01 -8.17627286e-02 -4.51838430e-02 4.93247336e-01] [ 8.18282632e-02 9.96646364e-01 -4.00401148e-04 7.35683395e-02] [ 4.50650507e-02 -3.29866517e-03 9.98978608e-01 4.58049090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514860624 meters Centerline goodness [0,1] 0.6541160193695029 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95635323e-01 -8.16671532e-02 -4.51749821e-02 4.93261022e-01] [ 8.17402597e-02 9.96653640e-01 -2.29676739e-04 7.26723755e-02] [ 4.50425674e-02 -3.46394049e-03 9.98979063e-01 4.58229059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544860624 meters Centerline goodness [0,1] 0.6501455568164998 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95644736e-01 -8.15101756e-02 -4.52509806e-02 4.93638004e-01] [ 8.15941531e-02 9.96665638e-01 8.79166014e-06 7.17529572e-02] [ 4.50993809e-02 -3.70096881e-03 9.98975650e-01 4.56286276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574860624 meters Centerline goodness [0,1] 0.6551409250209783 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95634301e-01 -8.16906918e-02 -4.51549403e-02 4.93341809e-01] [ 8.17835051e-02 9.96650096e-01 2.08773418e-04 7.03342685e-02] [ 4.49866207e-02 -3.90079126e-03 9.98979974e-01 4.56566291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604860624 meters Centerline goodness [0,1] 0.6522124329379337 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95629688e-01 -8.17603843e-02 -4.51305108e-02 4.93432163e-01] [ 8.18652878e-02 9.96643289e-01 4.78006094e-04 6.92983120e-02] [ 4.49399387e-02 -4.17053931e-03 9.98980985e-01 4.53779753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634860624 meters Centerline goodness [0,1] 0.6491508737386168 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95619223e-01 -8.18865013e-02 -4.51327334e-02 4.93455168e-01] [ 8.20007129e-02 9.96632037e-01 6.81886976e-04 6.81326821e-02] [ 4.49248907e-02 -4.37981610e-03 9.98980766e-01 4.52670652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664860624 meters Centerline goodness [0,1] 0.642688389033814 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 9.95615780e-01 -8.19201089e-02 -4.51476972e-02 4.93613996e-01] [ 8.20480903e-02 9.96627884e-01 9.85844069e-04 6.65921032e-02] [ 4.49146935e-02 -4.68580425e-03 9.98979836e-01 4.50576244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694860624 meters Centerline goodness [0,1] 0.649559178446535 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.04 [[ 0.99560922 -0.08205969 -0.04503876 0.49340931] [ 0.08220277 0.99661474 0.00133083 0.064838 ] [ 0.04477708 -0.0050273 0.99898435 0.04484896] [ 0. 0. 0. 1. ]] SLAMing on 57.724860624 meters Centerline goodness [0,1] 0.6509364400530895 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.04 [[ 0.9956111 -0.08210079 -0.04492223 0.49331043] [ 0.08226185 0.99660922 0.00174528 0.06275606] [ 0.04462662 -0.00543301 0.99898896 0.04464193] [ 0. 0. 0. 1. ]] SLAMing on 57.754860624 meters Centerline goodness [0,1] 0.6438611097507223 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99559495 -0.08241233 -0.04470905 0.49258201] [ 0.08258756 0.99658163 0.00208334 0.05942117] [ 0.04438452 -0.00576658 0.99899788 0.04500808] [ 0. 0. 0. 1. ]] SLAMing on 57.784860624000004 meters Centerline goodness [0,1] 0.6409917517194116 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99558472 -0.08253922 -0.04470274 0.49208109] [ 0.08271398 0.99657118 0.00207077 0.05865039] [ 0.04437854 -0.00575917 0.99899819 0.04565416] [ 0. 0. 0. 1. ]] SLAMing on 57.814860624 meters Centerline goodness [0,1] 0.644273316220511 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99559028 -0.08241802 -0.04480249 0.49202846] [ 0.08260008 0.99658029 0.00222437 0.05803995] [ 0.04446595 -0.00591525 0.99899339 0.04605856] [ 0. 0. 0. 1. ]] SLAMing on 57.844860624 meters Centerline goodness [0,1] 0.6418270401948842 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99560763 -0.08209729 -0.04500532 0.49248564] [ 0.0822941 0.99660486 0.00253477 0.05698974] [ 0.04464443 -0.00622731 0.99898353 0.04620824] [ 0. 0. 0. 1. ]] SLAMing on 57.874860624 meters Centerline goodness [0,1] 0.6429057502551888 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.9956281 -0.08178353 -0.04512363 0.49285967] [ 0.0819964 0.99662845 0.00288378 0.0557119 ] [ 0.04473565 -0.00657115 0.99897725 0.04620889] [ 0. 0. 0. 1. ]] SLAMing on 57.904860624 meters Centerline goodness [0,1] 0.651696510449346 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99568115 -0.08105997 -0.04525837 0.49351224] [ 0.08131489 0.99668115 0.00381699 0.05219762] [ 0.04479876 -0.00748068 0.99896802 0.04604702] [ 0. 0. 0. 1. ]] SLAMing on 57.934860624 meters Centerline goodness [0,1] 0.6507519521835534 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99570138 -0.08080474 -0.04526982 0.49355717] [ 0.08107612 0.99669911 0.00418802 0.05095036] [ 0.04478197 -0.00784031 0.99896602 0.04610504] [ 0. 0. 0. 1. ]] SLAMing on 57.964860624 meters Centerline goodness [0,1] 0.651998074145402 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99571513 -0.08055299 -0.04541586 0.49374167] [ 0.08083011 0.99671864 0.00429577 0.05054656] [ 0.04492079 -0.00794833 0.99895893 0.04645303] [ 0. 0. 0. 1. ]] SLAMing on 57.994860624 meters Centerline goodness [0,1] 0.6515231724337072 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99572674 -0.08027596 -0.04565116 0.49403047] [ 0.08056057 0.99673989 0.00442617 0.05026502] [ 0.04514702 -0.00808494 0.99894764 0.04683529] [ 0. 0. 0. 1. ]] SLAMing on 58.024860624 meters Centerline goodness [0,1] 0.6480708321336021 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99576291 -0.07974815 -0.04578713 0.49465941] [ 0.08005864 0.99677769 0.00498504 0.04862205] [ 0.04524204 -0.00862957 0.99893878 0.04673967] [ 0. 0. 0. 1. ]] SLAMing on 58.054860624 meters Centerline goodness [0,1] 0.6529010647206603 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.05 [[ 0.99578315 -0.07938668 -0.04597464 0.49553415] [ 0.07972674 0.99680098 0.00560803 0.04671349] [ 0.04538236 -0.00924979 0.99892687 0.0461749 ] [ 0. 0. 0. 1. ]] SLAMing on 58.084860624 meters Centerline goodness [0,1] 0.6518799866227127 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99579421 -0.07913707 -0.04616509 0.49627507] [ 0.07950702 0.99681484 0.00623037 0.04434206] [ 0.04552499 -0.00987461 0.99891439 0.04577978] [ 0. 0. 0. 1. ]] SLAMing on 58.114860624 meters Centerline goodness [0,1] 0.6471862502380499 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99579447 -0.07912626 -0.04617801 0.49663353] [ 0.07951488 0.99681158 0.00663747 0.0422407 ] [ 0.04550558 -0.01028139 0.99891117 0.0453884 ] [ 0. 0. 0. 1. ]] SLAMing on 58.144860624 meters Centerline goodness [0,1] 0.6481630147336608 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99576046 -0.07951787 -0.04623872 0.49634581] [ 0.07991506 0.99677846 0.00680278 0.03964261] [ 0.04554882 -0.01046911 0.99890725 0.0458872 ] [ 0. 0. 0. 1. ]] SLAMing on 58.174860624 meters Centerline goodness [0,1] 0.6475074008288928 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99573964 -0.07978914 -0.04621968 0.49570695] [ 0.08018236 0.9967576 0.00671415 0.03900963] [ 0.0455341 -0.01039155 0.99890874 0.04662618] [ 0. 0. 0. 1. ]] SLAMing on 58.204860624 meters Centerline goodness [0,1] 0.6475074008288928 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99573964 -0.07978914 -0.04621968 0.49570695] [ 0.08018236 0.9967576 0.00671415 0.03900963] [ 0.0455341 -0.01039155 0.99890874 0.04662618] [ 0. 0. 0. 1. ]] SLAMing on 58.234860624 meters Centerline goodness [0,1] 0.6323125709958349 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99571915 -0.08007826 -0.04616119 0.49505555] [ 0.0804644 0.99673586 0.00656565 0.03862397] [ 0.04548475 -0.01025188 0.99891243 0.04731544] [ 0. 0. 0. 1. ]] SLAMing on 58.264860624 meters Centerline goodness [0,1] 0.6381762343491614 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.05 [[ 0.99569696 -0.08034869 -0.04616976 0.49454311] [ 0.08073623 0.99671373 0.00658822 0.03699944] [ 0.04548868 -0.01028744 0.99891188 0.04816191] [ 0. 0. 0. 1. ]] SLAMing on 58.294860624 meters Centerline goodness [0,1] 0.6433962264150943 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.05 [[ 0.99570184 -0.0802181 -0.0462914 0.49495156] [ 0.08061747 0.99672176 0.0068229 0.03580302] [ 0.04559232 -0.01052547 0.99890468 0.0480716 ] [ 0. 0. 0. 1. ]] SLAMing on 58.324860624 meters Centerline goodness [0,1] 0.6354061361231926 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99570287 -0.08014724 -0.04639198 0.49535754] [ 0.08055482 0.99672574 0.00698065 0.03468286] [ 0.0456806 -0.01068775 0.99889892 0.04795953] [ 0. 0. 0. 1. ]] SLAMing on 58.354860624 meters Centerline goodness [0,1] 0.6278320197623809 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99570133 -0.08006438 -0.04656785 0.49586751] [ 0.0804815 0.99673046 0.00714933 0.03386762] [ 0.04584319 -0.01086645 0.99888954 0.04787488] [ 0. 0. 0. 1. ]] SLAMing on 58.384860624 meters Centerline goodness [0,1] 0.6328638497652582 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99569785 -0.080087 -0.04660331 0.4958824 ] [ 0.08050497 0.9967285 0.00715904 0.03332649] [ 0.04587751 -0.01088004 0.99888782 0.04806853] [ 0. 0. 0. 1. ]] SLAMing on 58.414860624 meters Centerline goodness [0,1] 0.6586833384257409 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99568937 -0.08012878 -0.04671259 0.49585639] [ 0.08054661 0.99672535 0.00712917 0.03296397] [ 0.04598837 -0.01086098 0.99888293 0.04845782] [ 0. 0. 0. 1. ]] SLAMing on 58.444860624 meters Centerline goodness [0,1] 0.6295505723400263 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99568521 -0.0802176 -0.04664867 0.49531869] [ 0.08062524 0.99672046 0.00692061 0.03272479] [ 0.04594053 -0.01065181 0.99888738 0.04928831] [ 0. 0. 0. 1. ]] SLAMing on 58.474860624 meters Centerline goodness [0,1] 0.6238334193124795 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99569255 -0.08005883 -0.04676452 0.49557197] [ 0.08047245 0.99673206 0.00702713 0.03221918] [ 0.04604912 -0.01076011 0.99888122 0.04940588] [ 0. 0. 0. 1. ]] SLAMing on 58.504860624 meters Centerline goodness [0,1] 0.6578156547870593 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.9957042 -0.07977686 -0.0469978 0.49610752] [ 0.08020185 0.99675246 0.00722463 0.03146407] [ 0.04626881 -0.0109629 0.99886887 0.04951983] [ 0. 0. 0. 1. ]] SLAMing on 58.534860624000004 meters Centerline goodness [0,1] 0.6430992962521335 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99572501 -0.07944755 -0.04711461 0.49659859] [ 0.0798893 0.99677503 0.00756523 0.03045197] [ 0.04636163 -0.01129684 0.99886084 0.04931637] [ 0. 0. 0. 1. ]] SLAMing on 58.564860624 meters Centerline goodness [0,1] 0.6612116260067702 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99574263 -0.07904585 -0.04741706 0.49749097] [ 0.07950392 0.99680364 0.00785044 0.02968994] [ 0.04664495 -0.01158686 0.99884433 0.04918985] [ 0. 0. 0. 1. ]] SLAMing on 58.594860624 meters Centerline goodness [0,1] 0.6613406624120743 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99582642 -0.07770605 -0.04786966 0.49914241] [ 0.07820093 0.99690095 0.00855076 0.02945884] [ 0.04705686 -0.01225853 0.99881699 0.04890001] [ 0. 0. 0. 1. ]] SLAMing on 58.624860624 meters Centerline goodness [0,1] 0.6642046646007596 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99584789 -0.07717811 -0.04827544 0.50018118] [ 0.07767899 0.99694147 0.00858417 0.03006481] [ 0.04746528 -0.01229851 0.99879717 0.04901275] [ 0. 0. 0. 1. ]] SLAMing on 58.654860624 meters Centerline goodness [0,1] 0.6627765848193445 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99587456 -0.07662153 -0.04861078 0.50108576] [ 0.07713817 0.99698122 0.00883978 0.03019028] [ 0.04778672 -0.01255306 0.99877868 0.04895399] [ 0. 0. 0. 1. ]] SLAMing on 58.684860624 meters Centerline goodness [0,1] 0.6686574128076519 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99590308 -0.07605737 -0.04891145 0.50214851] [ 0.07659346 0.99702016 0.00917854 0.02992233] [ 0.04806761 -0.01288724 0.99876094 0.04861052] [ 0. 0. 0. 1. ]] SLAMing on 58.714860624 meters Centerline goodness [0,1] 0.6804171819221168 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99592755 -0.07558742 -0.04914112 0.50292814] [ 0.0761402 0.99705212 0.00947317 0.02933251] [ 0.04828021 -0.01317621 0.99874692 0.04844144] [ 0. 0. 0. 1. ]] SLAMing on 58.744860624 meters Centerline goodness [0,1] 0.6605084039449924 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99596059 -0.07498765 -0.0493898 0.5038237 ] [ 0.07556515 0.99709144 0.00992858 0.0277462 ] [ 0.04850163 -0.01362062 0.99873023 0.04835203] [ 0. 0. 0. 1. ]] SLAMing on 58.774860624 meters Centerline goodness [0,1] 0.6725924893102807 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99596289 -0.07487466 -0.04951466 0.50402625] [ 0.07545752 0.99709881 0.01000609 0.02717946] [ 0.0486218 -0.01370194 0.99872327 0.04855643] [ 0. 0. 0. 1. ]] SLAMing on 58.804860624 meters Centerline goodness [0,1] 0.6670990757256364 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.9959681 -0.07475363 -0.04959277 0.50423644] [ 0.07534555 0.99710559 0.01017293 0.02661098] [ 0.04868876 -0.01386851 0.99871771 0.04854932] [ 0. 0. 0. 1. ]] SLAMing on 58.834860624 meters Centerline goodness [0,1] 0.6644724643055813 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99596225 -0.07478281 -0.04966621 0.50413419] [ 0.07537504 0.99710352 0.01015767 0.02621312] [ 0.04876273 -0.01386025 0.99871422 0.04898853] [ 0. 0. 0. 1. ]] SLAMing on 58.864860624 meters Centerline goodness [0,1] 0.6848222951425799 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99595034 -0.07485586 -0.04979469 0.50426361] [ 0.07545196 0.99709728 0.01019846 0.02570793] [ 0.04888673 -0.01391427 0.9987074 0.04917682] [ 0. 0. 0. 1. ]] SLAMing on 58.894860624 meters Centerline goodness [0,1] 0.6743364058493312 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99593345 -0.07508294 -0.04979078 0.50400828] [ 0.07568335 0.99707889 0.01028224 0.02480515] [ 0.04887331 -0.01400876 0.99870674 0.04938612] [ 0. 0. 0. 1. ]] SLAMing on 58.924860624 meters Centerline goodness [0,1] 0.6741084841341376 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99590345 -0.07553596 -0.04970544 0.50341474] [ 0.07612963 0.99704618 0.0101582 0.02398873] [ 0.04879131 -0.01390064 0.99871226 0.0498321 ] [ 0. 0. 0. 1. ]] SLAMing on 58.954860624 meters Centerline goodness [0,1] 0.6655252453289822 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99557751 -0.07982706 -0.04952849 0.50295281] [ 0.08022069 0.99675902 0.00600807 0.0231354 ] [ 0.04888836 -0.00995471 0.99875464 0.05110205] [ 0. 0. 0. 1. ]] SLAMing on 58.984860624 meters Centerline goodness [0,1] 0.6574850025186609 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99549753 -0.08090568 -0.04938563 0.50171197] [ 0.0812842 0.99667466 0.00570172 0.0211425 ] [ 0.04876011 -0.00969032 0.99876351 0.05200357] [ 0. 0. 0. 1. ]] SLAMing on 59.014860624 meters Centerline goodness [0,1] 0.655122754080373 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99540347 -0.08220069 -0.04914246 0.50013253] [ 0.08255412 0.996573 0.00520254 0.01935652] [ 0.0485464 -0.00923554 0.99877823 0.05305409] [ 0. 0. 0. 1. ]] SLAMing on 59.044860624 meters Centerline goodness [0,1] 0.6607393966885915 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99503915 -0.08667442 -0.04883277 0.49997803] [ 0.08686123 0.99621895 0.0017124 0.01670047] [ 0.04849971 -0.00594558 0.9988055 0.05326003] [ 0. 0. 0. 1. ]] SLAMing on 59.074860624 meters Centerline goodness [0,1] 0.645379941965905 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99498492 -0.08742056 -0.04860705 0.49917044] [ 0.08761018 0.99615324 0.00178036 0.01466915] [ 0.04826443 -0.0060299 0.99881639 0.05343368] [ 0. 0. 0. 1. ]] SLAMing on 59.104860624 meters Centerline goodness [0,1] 0.6500079004988601 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99493306 -0.08808613 -0.04846682 0.49862947] [ 0.08828072 0.99609385 0.00188496 0.01264237] [ 0.04811146 -0.00615409 0.99882301 0.05355408] [ 0. 0. 0. 1. ]] SLAMing on 59.134860624 meters Centerline goodness [0,1] 0.6315040971579493 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99459021 -0.09191576 -0.04839216 0.49933889] [ 0.0919548 0.99576216 -0.00142344 0.01046255] [ 0.04831792 -0.00303415 0.9988274 0.05357393] [ 0. 0. 0. 1. ]] SLAMing on 59.164860624 meters Centerline goodness [0,1] 0.6405610753945061 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.9945764 -0.09211198 -0.04830293 0.49900132] [ 0.09216119 0.99574336 -0.00121196 0.00895702] [ 0.04820896 -0.00324627 0.998832 0.05373348] [ 0. 0. 0. 1. ]] SLAMing on 59.194860624 meters Centerline goodness [0,1] 0.6186895810955961 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99454799 -0.09255621 -0.04803793 0.49791546] [ 0.09261112 0.99570176 -0.00108608 0.00637761] [ 0.04793197 -0.00336868 0.99884492 0.05450257] [ 0. 0. 0. 1. ]] SLAMing on 59.224860624 meters Centerline goodness [0,1] 0.6295989244902531 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 9.94553429e-01 -9.25796002e-02 -4.78800055e-02 4.97423013e-01] [ 9.26499104e-02 9.95698462e-01 -7.53539114e-04 4.85882040e-03] [ 4.77438102e-02 -3.68664331e-03 9.98852811e-01 5.47205279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254860624 meters Centerline goodness [0,1] 0.6287547389909595 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.06 [[ 9.94551574e-01 -9.26693960e-02 -4.77446329e-02 4.96877340e-01] [ 9.27429225e-02 9.95689857e-01 -6.77733589e-04 4.09093151e-03] [ 4.76016519e-02 -3.75393579e-03 9.98859345e-01 5.51239010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284860624000004 meters Centerline goodness [0,1] 0.6226932946558073 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.06 [[ 9.94566538e-01 -9.24918979e-02 -4.77770845e-02 4.96997469e-01] [ 9.25843527e-02 9.95704806e-01 -2.78962621e-04 3.07556542e-03] [ 4.75976744e-02 -4.14596355e-03 9.98857984e-01 5.50818699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314860624 meters Centerline goodness [0,1] 0.6232693166592229 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.06 [[ 9.94585656e-01 -9.22862668e-02 -4.77767456e-02 4.97072328e-01] [ 9.23953454e-02 9.95722398e-01 7.49820535e-05 1.98814540e-03] [ 4.75654559e-02 -4.48892499e-03 9.98858036e-01 5.50314166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344860624 meters Centerline goodness [0,1] 0.6163682864450128 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.05 [[ 0.99464361 -0.09164534 -0.04780407 0.49781471] [ 0.09180203 0.99577668 0.00108778 -0.00126209] [ 0.04750249 -0.00547046 0.99885614 0.05442096] [ 0. 0. 0. 1. ]] SLAMing on 59.374860624 meters Centerline goodness [0,1] 0.6152990882810763 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.05 [[ 0.99467488 -0.09128806 -0.04783689 0.49817004] [ 0.09147377 0.99580603 0.00170289 -0.00300148] [ 0.04748081 -0.00606964 0.99885371 0.05410961] [ 0. 0. 0. 1. ]] SLAMing on 59.404860624 meters Centerline goodness [0,1] 0.6114978316468365 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.05 [[ 0.99470002 -0.0910056 -0.04785249 0.49852364] [ 0.09120979 0.99582949 0.00209649 -0.00399482] [ 0.04746213 -0.00644999 0.99885221 0.05382685] [ 0. 0. 0. 1. ]] SLAMing on 59.434860624 meters Centerline goodness [0,1] 0.6123002378253428 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99478804 -0.08988796 -0.0481343 0.49994169] [ 0.09013541 0.99592503 0.00299084 -0.00517891] [ 0.04766931 -0.00731386 0.9988364 0.05309617] [ 0. 0. 0. 1. ]] SLAMing on 59.464860624 meters Centerline goodness [0,1] 0.6131317168487432 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99482476 -0.08938882 -0.04830466 0.50048043] [ 0.08965379 0.99596738 0.00334251 -0.00579435] [ 0.04781108 -0.00765591 0.99882706 0.05307469] [ 0. 0. 0. 1. ]] SLAMing on 59.494860624 meters Centerline goodness [0,1] 0.6142841299767107 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99485774 -0.08892403 -0.04848299 0.50109479] [ 0.08920302 0.9960069 0.00361722 -0.00637723] [ 0.04796773 -0.00792345 0.99881746 0.05299731] [ 0. 0. 0. 1. ]] SLAMing on 59.524860624 meters Centerline goodness [0,1] 0.6107112006910452 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99492626 -0.08801095 -0.04874225 0.50222397] [ 0.08832632 0.99608209 0.00435015 -0.00783097] [ 0.04816842 -0.0086333 0.99880192 0.0525911 ] [ 0. 0. 0. 1. ]] SLAMing on 59.554860624 meters Centerline goodness [0,1] 0.6519706670802224 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99495651 -0.08754112 -0.04897031 0.50307939] [ 0.08787225 0.99612092 0.0046463 -0.00823034] [ 0.04837361 -0.008926 0.99878943 0.05231228] [ 0. 0. 0. 1. ]] SLAMing on 59.584860624 meters Centerline goodness [0,1] 0.6116481231613174 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.05 [[ 0.99498969 -0.08705704 -0.04915886 0.50399517] [ 0.08740468 0.99616053 0.0049628 -0.00858058] [ 0.04853807 -0.00923465 0.99877864 0.05187567] [ 0. 0. 0. 1. ]] SLAMing on 59.614860624 meters Centerline goodness [0,1] 0.6092081112757347 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99504478 -0.08623984 -0.04948317 0.50541048] [ 0.08662648 0.99622445 0.00571876 -0.01021247] [ 0.04880316 -0.00997698 0.99875859 0.05121949] [ 0. 0. 0. 1. ]] SLAMing on 59.644860624 meters Centerline goodness [0,1] 0.6557145068211467 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99506017 -0.0860209 -0.0495547 0.50578641] [ 0.08641733 0.9962415 0.00590963 -0.01089736] [ 0.04886009 -0.01016282 0.99875393 0.05111846] [ 0. 0. 0. 1. ]] SLAMing on 59.674860624 meters Centerline goodness [0,1] 0.6646719858156028 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99507966 -0.08578453 -0.04957302 0.50578481] [ 0.08619296 0.99625944 0.0061568 -0.01197334] [ 0.04885943 -0.01039935 0.99875153 0.05138618] [ 0. 0. 0. 1. ]] SLAMing on 59.704860624 meters Centerline goodness [0,1] 0.6036259120053062 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99509246 -0.08559698 -0.04964031 0.50607567] [ 0.08601744 0.99627312 0.00639281 -0.01277099] [ 0.04890811 -0.01063137 0.9987467 0.05133321] [ 0. 0. 0. 1. ]] SLAMing on 59.734860624 meters Centerline goodness [0,1] 0.6614091361575047 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99510289 -0.08544824 -0.04968735 0.50628236] [ 0.08587879 0.99628378 0.00659206 -0.01362752] [ 0.04893942 -0.01082687 0.99874307 0.05131752] [ 0. 0. 0. 1. ]] SLAMing on 59.764860624 meters Centerline goodness [0,1] 0.6647567639315974 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.9951178 -0.08523051 -0.04976261 0.50657011] [ 0.08567768 0.99629888 0.00691922 -0.01466864] [ 0.0489887 -0.01114898 0.99873711 0.05123885] [ 0. 0. 0. 1. ]] SLAMing on 59.794860624 meters Centerline goodness [0,1] 0.6658207736610985 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99513364 -0.08507568 -0.04971084 0.50629224] [ 0.08553669 0.99630888 0.0072173 -0.01586619] [ 0.04891333 -0.01143428 0.99873757 0.05160212] [ 0. 0. 0. 1. ]] SLAMing on 59.824860624 meters Centerline goodness [0,1] 0.5928625060730532 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99512685 -0.08522187 -0.04959629 0.50584182] [ 0.08567751 0.9962974 0.00713094 -0.01624339] [ 0.04880494 -0.01134548 0.99874389 0.05193835] [ 0. 0. 0. 1. ]] SLAMing on 59.854860624 meters Centerline goodness [0,1] 0.6533139432399083 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.9951313 -0.0852324 -0.04948863 0.50583566] [ 0.08570611 0.99629203 0.0075265 -0.01829151] [ 0.04866362 -0.01173133 0.99874633 0.0518221 ] [ 0. 0. 0. 1. ]] SLAMing on 59.884860624 meters Centerline goodness [0,1] 0.6468322106282746 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99513604 -0.08521563 -0.04942219 0.50586677] [ 0.08570464 0.99628961 0.00785726 -0.01999667] [ 0.04856925 -0.01205475 0.99874707 0.05173082] [ 0. 0. 0. 1. ]] SLAMing on 59.914860624 meters Centerline goodness [0,1] 0.6530096660808435 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99514153 -0.08520142 -0.04933612 0.50593354] [ 0.0857084 0.99628611 0.00824949 -0.02179423] [ 0.04845003 -0.01243793 0.99874816 0.05147617] [ 0. 0. 0. 1. ]] SLAMing on 59.944860624 meters Centerline goodness [0,1] 0.645323440964067 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99514481 -0.08521336 -0.04924919 0.50621638] [ 0.08574386 0.99627873 0.0087574 -0.02416931] [ 0.04831967 -0.0129377 0.99874813 0.05098344] [ 0. 0. 0. 1. ]] SLAMing on 59.974860624 meters Centerline goodness [0,1] 0.6457429560492529 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99515486 -0.08510586 -0.04923201 0.50639572] [ 0.0856489 0.99628452 0.00902393 -0.02492932] [ 0.0482811 -0.01319688 0.9987466 0.050753 ] [ 0. 0. 0. 1. ]] SLAMing on 60.004860624 meters Centerline goodness [0,1] 0.6299475753604193 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99517158 -0.08492771 -0.04920168 0.50653377] [ 0.0854879 0.99629494 0.00939158 -0.02602543] [ 0.04822178 -0.01355239 0.99874471 0.05065573] [ 0. 0. 0. 1. ]] SLAMing on 60.034860624000004 meters Centerline goodness [0,1] 0.636679866109519 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99517649 -0.08485359 -0.04923027 0.50660022] [ 0.08542145 0.99629919 0.00954415 -0.02677293] [ 0.04823822 -0.01370344 0.99874185 0.05073675] [ 0. 0. 0. 1. ]] SLAMing on 60.064860624 meters Centerline goodness [0,1] 0.6309022244537099 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99522123 -0.08435331 -0.04918558 0.50720971] [ 0.08495036 0.99633324 0.01017361 -0.02886536] [ 0.04814705 -0.01430332 0.99873784 0.05013589] [ 0. 0. 0. 1. ]] SLAMing on 60.094860624 meters Centerline goodness [0,1] 0.62875125223224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523107 -0.08427127 -0.04912702 0.50734835] [ 0.08487265 0.99633875 0.01028283 -0.0293035 ] [ 0.0480806 -0.01440333 0.99873961 0.04991983] [ 0. 0. 0. 1. ]] SLAMing on 60.124860624 meters Centerline goodness [0,1] 0.62875125223224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523107 -0.08427127 -0.04912702 0.50734835] [ 0.08487265 0.99633875 0.01028283 -0.0293035 ] [ 0.0480806 -0.01440333 0.99873961 0.04991983] [ 0. 0. 0. 1. ]] SLAMing on 60.154860624 meters Centerline goodness [0,1] 0.62875125223224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523107 -0.08427127 -0.04912702 0.50734835] [ 0.08487265 0.99633875 0.01028283 -0.0293035 ] [ 0.0480806 -0.01440333 0.99873961 0.04991983] [ 0. 0. 0. 1. ]] SLAMing on 60.184860624 meters Centerline goodness [0,1] 0.62875125223224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523107 -0.08427127 -0.04912702 0.50734835] [ 0.08487265 0.99633875 0.01028283 -0.0293035 ] [ 0.0480806 -0.01440333 0.99873961 0.04991983] [ 0. 0. 0. 1. ]] SLAMing on 60.214860624 meters Centerline goodness [0,1] 0.6485756010375117 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523229 -0.08436622 -0.0489391 0.50710432] [ 0.08496555 0.99633071 0.01029457 -0.03008197] [ 0.04789102 -0.01440363 0.99874871 0.04991136] [ 0. 0. 0. 1. ]] SLAMing on 60.244860624 meters Centerline goodness [0,1] 0.6446995773604636 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.9952326 -0.08435613 -0.04895004 0.50738877] [ 0.08496417 0.99632896 0.01047306 -0.03085129] [ 0.04788688 -0.01458213 0.99874632 0.04964356] [ 0. 0. 0. 1. ]] SLAMing on 60.274860624 meters Centerline goodness [0,1] 0.6414782608695653 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523439 -0.08438472 -0.04886438 0.50740646] [ 0.08499525 0.99632549 0.01055068 -0.03151096] [ 0.04779451 -0.01465364 0.9987497 0.04947899] [ 0. 0. 0. 1. ]] SLAMing on 60.304860624 meters Centerline goodness [0,1] 0.6369247546346783 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99522483 -0.08447319 -0.04890616 0.50780151] [ 0.08508715 0.99631705 0.01060745 -0.03232652] [ 0.04783 -0.01471808 0.99874705 0.04917986] [ 0. 0. 0. 1. ]] SLAMing on 60.334860624 meters Centerline goodness [0,1] 0.6344685017952345 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99521789 -0.08450202 -0.04899747 0.50807292] [ 0.08511757 0.9963144 0.01061171 -0.03250804] [ 0.04792018 -0.01473151 0.99874253 0.04911886] [ 0. 0. 0. 1. ]] SLAMing on 60.364860624 meters Centerline goodness [0,1] 0.635280017432992 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99521295 -0.08448768 -0.0491225 0.50831415] [ 0.08509907 0.9963173 0.01048735 -0.03213497] [ 0.04805554 -0.01461743 0.9987377 0.04919131] [ 0. 0. 0. 1. ]] SLAMing on 60.394860624 meters Centerline goodness [0,1] 0.6277423149822444 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99523418 -0.08422532 -0.04914292 0.50854478] [ 0.08482201 0.9963441 0.01018183 -0.03044024] [ 0.04810569 -0.01430171 0.99873986 0.04917139] [ 0. 0. 0. 1. ]] SLAMing on 60.424860624 meters Centerline goodness [0,1] 0.6277389733881672 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99524096 -0.08413567 -0.04915912 0.50864929] [ 0.0847259 0.99635366 0.01004499 -0.02969162] [ 0.04813472 -0.01416224 0.99874045 0.04914072] [ 0. 0. 0. 1. ]] SLAMing on 60.454860624 meters Centerline goodness [0,1] 0.6272995090016367 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99526064 -0.08384866 -0.04925097 0.50887678] [ 0.08443514 0.99637933 0.00994692 -0.02933432] [ 0.04823861 -0.01405829 0.9987369 0.0493171 ] [ 0. 0. 0. 1. ]] SLAMing on 60.484860624 meters Centerline goodness [0,1] 0.6226884701875424 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99527786 -0.08363256 -0.04927045 0.50917497] [ 0.08422232 0.99639666 0.0100144 -0.02920132] [ 0.04825538 -0.01411678 0.99873527 0.04905707] [ 0. 0. 0. 1. ]] SLAMing on 60.514860624 meters Centerline goodness [0,1] 0.6243000021789815 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.9952935 -0.08333565 -0.04945725 0.5098579 ] [ 0.08392105 0.99642346 0.0098766 -0.02818266] [ 0.04845729 -0.01398062 0.99872741 0.04882889] [ 0. 0. 0. 1. ]] SLAMing on 60.544860624 meters Centerline goodness [0,1] 0.6549771529766719 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.05 [[ 0.99530452 -0.08312702 -0.04958635 0.51023902] [ 0.08369948 0.996445 0.00957859 -0.02650468] [ 0.04861383 -0.01368397 0.99872391 0.04879424] [ 0. 0. 0. 1. ]] SLAMing on 60.574860624 meters Centerline goodness [0,1] 0.6269250962548127 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.9956069 -0.07930941 -0.04976865 0.50970441] [ 0.0800378 0.99670946 0.01281426 -0.02479144] [ 0.04858859 -0.01674134 0.99867856 0.04910757] [ 0. 0. 0. 1. ]] SLAMing on 60.604860624 meters Centerline goodness [0,1] 0.664234696113229 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99563155 -0.07892657 -0.04988395 0.51019791] [ 0.07964834 0.99674279 0.01264753 -0.02348617] [ 0.04872325 -0.01656545 0.99867494 0.04892883] [ 0. 0. 0. 1. ]] SLAMing on 60.634860624 meters Centerline goodness [0,1] 0.6588573056608735 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99565228 -0.07855539 -0.05005583 0.51077772] [ 0.07926538 0.99677696 0.01235725 -0.02206648] [ 0.04892377 -0.01627122 0.99866997 0.04888219] [ 0. 0. 0. 1. ]] SLAMing on 60.664860624 meters Centerline goodness [0,1] 0.6759940444911543 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99576502 -0.07711235 -0.05005704 0.51189517] [ 0.07783536 0.99688589 0.01265585 -0.01936803] [ 0.04892523 -0.01649846 0.99866617 0.04788823] [ 0. 0. 0. 1. ]] SLAMing on 60.694860624 meters Centerline goodness [0,1] 0.6677574506401951 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99575097 -0.0772883 -0.05006521 0.51174289] [ 0.07798812 0.99687993 0.01217592 -0.01799772] [ 0.04896795 -0.01602868 0.99867173 0.04815352] [ 0. 0. 0. 1. ]] SLAMing on 60.724860624 meters Centerline goodness [0,1] 0.6530809646288114 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99568398 -0.07827237 -0.04986835 0.51067204] [ 0.07892915 0.99681576 0.01133707 -0.01678268] [ 0.04882218 -0.0152242 0.99869145 0.04888299] [ 0. 0. 0. 1. ]] SLAMing on 60.754860624 meters Centerline goodness [0,1] 0.6530809646288114 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99568398 -0.07827237 -0.04986835 0.51067204] [ 0.07892915 0.99681576 0.01133707 -0.01678268] [ 0.04882218 -0.0152242 0.99869145 0.04888299] [ 0. 0. 0. 1. ]] SLAMing on 60.784860624000004 meters Centerline goodness [0,1] 0.6741758604743344 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99535846 -0.08230218 -0.04987869 0.51182336] [ 0.08276271 0.99654301 0.00723566 -0.01538553] [ 0.04911075 -0.01133017 0.99872907 0.04845353] [ 0. 0. 0. 1. ]] SLAMing on 60.814860624 meters Centerline goodness [0,1] 0.646402149022371 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:0.05 [[ 0.99530095 -0.08318186 -0.04956613 0.51091126] [ 0.08362468 0.99647326 0.00692462 -0.01599439] [ 0.04881532 -0.01103703 0.99874684 0.04858631] [ 0. 0. 0. 1. ]] SLAMing on 60.844860624 meters Centerline goodness [0,1] 0.6553856309825064 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99492929 -0.08766558 -0.04929957 0.51102509] [ 0.08790164 0.99612567 0.0026365 -0.01480712] [ 0.04887744 -0.00695664 0.99878056 0.04872152] [ 0. 0. 0. 1. ]] SLAMing on 60.874860624 meters Centerline goodness [0,1] 0.6456205985915493 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99487956 -0.08832265 -0.04913017 0.5103077 ] [ 0.08853881 0.99607022 0.00223669 -0.01443406] [ 0.04873955 -0.00657516 0.99878988 0.04902864] [ 0. 0. 0. 1. ]] SLAMing on 60.904860624 meters Centerline goodness [0,1] 0.6496108008267734 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99483734 -0.08884601 -0.04904132 0.50987769] [ 0.08904661 0.99602562 0.00191645 -0.01412632] [ 0.04867614 -0.00627352 0.99879491 0.04923116] [ 0. 0. 0. 1. ]] SLAMing on 60.934860624 meters Centerline goodness [0,1] 0.6585037615549232 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99477381 -0.08968879 -0.04879544 0.509111 ] [ 0.08986504 0.99595293 0.00142583 -0.01435852] [ 0.04847008 -0.00580338 0.99880778 0.04942794] [ 0. 0. 0. 1. ]] SLAMing on 60.964860624 meters Centerline goodness [0,1] 0.6585037615549232 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99477381 -0.08968879 -0.04879544 0.509111 ] [ 0.08986504 0.99595293 0.00142583 -0.01435852] [ 0.04847008 -0.00580338 0.99880778 0.04942794] [ 0. 0. 0. 1. ]] SLAMing on 60.994860624 meters Centerline goodness [0,1] 0.6525983347688774 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99473722 -0.09017041 -0.04865351 0.50925209] [ 0.09033488 0.99591074 0.00118767 -0.01410156] [ 0.04834746 -0.00557653 0.99881501 0.04882944] [ 0. 0. 0. 1. ]] SLAMing on 61.024860624 meters Centerline goodness [0,1] 0.654125063369261 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 9.94713521e-01 -9.03831158e-02 -4.87432393e-02 5.09430540e-01] [ 9.05343438e-02 9.95892928e-01 8.99203593e-04 -1.32161520e-02] [ 4.84617744e-02 -5.30738715e-03 9.98810937e-01 4.87858314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054860624 meters Centerline goodness [0,1] 0.6540186957194316 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 9.94676596e-01 -9.08265865e-02 -4.86723765e-02 5.08826935e-01] [ 9.09459166e-02 9.95855805e-01 2.38152162e-04 -1.10201797e-02] [ 4.84490381e-02 -4.66343828e-03 9.98814769e-01 4.93656106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084860624 meters Centerline goodness [0,1] 0.6552379689192476 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 9.94662231e-01 -9.09382531e-02 -4.87573587e-02 5.08578814e-01] [ 9.10368385e-02 9.95847506e-01 -1.99509488e-04 -9.85467794e-03] [ 4.85730370e-02 -4.24027124e-03 9.98810633e-01 5.00011452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114860624 meters Centerline goodness [0,1] 0.6590687793219439 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 9.94647698e-01 -9.10440162e-02 -4.88563642e-02 5.08482078e-01] [ 9.11216204e-02 9.95839565e-01 -6.41134644e-04 -8.67362536e-03] [ 4.87114719e-02 -3.81416797e-03 9.98805609e-01 5.04686232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144860624 meters Centerline goodness [0,1] 0.6425254312251216 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 9.94678822e-01 -9.06306065e-02 -4.89911737e-02 5.09088564e-01] [ 9.06977740e-02 9.95878096e-01 -8.54866215e-04 -6.94013289e-03] [ 4.88667139e-02 -3.59307308e-03 9.98798846e-01 5.03180971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174860624 meters Centerline goodness [0,1] 0.6668881506090809 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.05 [[ 0.99500758 -0.08678926 -0.04927013 0.50908852] [ 0.08702498 0.99620259 0.00265523 -0.00568469] [ 0.04885258 -0.0069297 0.99878196 0.05001721] [ 0. 0. 0. 1. ]] SLAMing on 61.204860624 meters Centerline goodness [0,1] 0.6720248667850799 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:0.05 [[ 0.9950328 -0.08632499 -0.04957537 0.51001219] [ 0.08655214 0.99624431 0.00244954 -0.00392178] [ 0.04917772 -0.00672823 0.99876738 0.04982934] [ 0. 0. 0. 1. ]] SLAMing on 61.234860624 meters Centerline goodness [0,1] 0.676332480249249 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:0.05 [[ 0.99504611 -0.08593515 -0.0499839 0.51110385] [ 0.08614886 0.99627999 0.00213311 -0.00201837] [ 0.04961465 -0.0064286 0.99874775 0.04974261] [ 0. 0. 0. 1. ]] SLAMing on 61.264860624 meters Centerline goodness [0,1] 0.6794241338644 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:0.05 [[ 9.95068704e-01 -8.55205671e-02 -5.02444617e-02 5.11977789e-01] [ 8.57238041e-02 9.96317128e-01 1.90008712e-03 -2.33339815e-04] [ 4.98969212e-02 -6.19786362e-03 9.98735142e-01 4.95310734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294860624 meters Centerline goodness [0,1] 0.6956230609557396 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:0.05 [[ 0.99535842 -0.08193282 -0.05048388 0.51127642] [ 0.08228917 0.99659586 0.0050176 0.00119353] [ 0.04990092 -0.00914859 0.99871227 0.05014004] [ 0. 0. 0. 1. ]] SLAMing on 61.324860624 meters Centerline goodness [0,1] 0.6934745213680942 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:0.05 [[ 0.99536112 -0.08169987 -0.05080715 0.51178847] [ 0.08203652 0.99661883 0.0045729 0.00275915] [ 0.05026175 -0.00871973 0.99869801 0.05056181] [ 0. 0. 0. 1. ]] SLAMing on 61.354860624 meters Centerline goodness [0,1] 0.6955241854552753 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:0.05 [[ 0.99536826 -0.08158141 -0.05085765 0.51185111] [ 0.08189992 0.99663168 0.00420707 0.00421748] [ 0.05034313 -0.00835282 0.99869705 0.05077414] [ 0. 0. 0. 1. ]] SLAMing on 61.384860624 meters Centerline goodness [0,1] 0.6959321958092001 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99536322 -0.08155716 -0.05099491 0.51198546] [ 0.08185221 0.99663753 0.00372104 0.00584083] [ 0.05051997 -0.00787783 0.99869198 0.05111903] [ 0. 0. 0. 1. ]] SLAMing on 61.414860624 meters Centerline goodness [0,1] 0.6863267178305328 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99536779 -0.08133962 -0.05125255 0.51253983] [ 0.0816024 0.99666029 0.00305209 0.00899657] [ 0.05083313 -0.00722028 0.99868106 0.05136606] [ 0. 0. 0. 1. ]] SLAMing on 61.444860624 meters Centerline goodness [0,1] 0.6938185242483352 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99536219 -0.08132708 -0.05138117 0.51277466] [ 0.08157165 0.99666388 0.00267749 0.01044667] [ 0.05099201 -0.00685632 0.99867553 0.05150841] [ 0. 0. 0. 1. ]] SLAMing on 61.474860624 meters Centerline goodness [0,1] 0.6967288565591253 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99532499 -0.08170726 -0.0514984 0.51279348] [ 0.08191901 0.99663696 0.00201095 0.01272613] [ 0.0511609 -0.00622025 0.99867105 0.05177907] [ 0. 0. 0. 1. ]] SLAMing on 61.504860624 meters Centerline goodness [0,1] 0.6888479096858344 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99530836 -0.08194308 -0.05144502 0.51286935] [ 0.0821465 0.99661855 0.0018487 0.01316374] [ 0.05111957 -0.00606606 0.99867412 0.05151281] [ 0. 0. 0. 1. ]] SLAMing on 61.534860624000004 meters Centerline goodness [0,1] 0.684421431787483 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99528657 -0.08221545 -0.05143207 0.51287638] [ 0.08241193 0.99659689 0.00170769 0.01329036] [ 0.05111664 -0.00593826 0.99867504 0.05141209] [ 0. 0. 0. 1. ]] SLAMing on 61.564860624 meters Centerline goodness [0,1] 0.686181826366849 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99525266 -0.08269118 -0.05132545 0.51247916] [ 0.08287393 0.996559 0.00143895 0.01339334] [ 0.05102985 -0.00568566 0.99868094 0.0515324 ] [ 0. 0. 0. 1. ]] SLAMing on 61.594860624 meters Centerline goodness [0,1] 0.6893963301925071 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 9.95154126e-01 -8.41400798e-02 -5.08793917e-02 5.10589805e-01] [ 8.42714225e-02 9.96442741e-01 4.37939094e-04 1.41498003e-02] [ 5.06615523e-02 -4.72349561e-03 9.98704709e-01 5.25086175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624860624 meters Centerline goodness [0,1] 0.682667329282342 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95090728e-01 -8.49721434e-02 -5.07363561e-02 5.09512207e-01] [ 8.50660591e-02 9.96375266e-01 -3.09349850e-04 1.53944374e-02] [ 5.05787364e-02 -4.00811070e-03 9.98712034e-01 5.33581395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654860624 meters Centerline goodness [0,1] 0.6763134762323348 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95073093e-01 -8.51988681e-02 -5.07019908e-02 5.09385163e-01] [ 8.52809711e-02 9.96356793e-01 -5.45762828e-04 1.58251911e-02] [ 5.05637713e-02 -3.78084110e-03 9.98713678e-01 5.34731949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684860624 meters Centerline goodness [0,1] 0.6658970528317262 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95063875e-01 -8.52792997e-02 -5.07476719e-02 5.09371270e-01] [ 8.53538294e-02 9.96350457e-01 -7.00662798e-04 1.61665000e-02] [ 5.06222181e-02 -3.63430389e-03 9.98711261e-01 5.36549139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714860624 meters Centerline goodness [0,1] 0.6779258924536828 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95051095e-01 -8.53704497e-02 -5.08449077e-02 5.09604460e-01] [ 8.54336053e-02 9.96343428e-01 -9.33898386e-04 1.67606213e-02] [ 5.07387170e-02 -3.41458716e-03 9.98706125e-01 5.36904366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744860624 meters Centerline goodness [0,1] 0.680201782563453 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95051301e-01 -8.53876497e-02 -5.08119833e-02 5.09570961e-01] [ 8.54480174e-02 9.96342141e-01 -9.87029033e-04 1.70091815e-02] [ 5.07104003e-02 -3.35963871e-03 9.98707749e-01 5.37045971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774860624 meters Centerline goodness [0,1] 0.6816677246757958 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.9950373 -0.08548439 -0.05092331 0.50949468] [ 0.0855284 0.99633486 -0.00131816 0.01835181] [ 0.05084935 -0.00304377 0.9987017 0.05417977] [ 0. 0. 0. 1. ]] SLAMing on 61.804860624 meters Centerline goodness [0,1] 0.6735763046288527 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99503538 -0.08544042 -0.05103458 0.50944629] [ 0.08547225 0.99633933 -0.00156247 0.01935546] [ 0.05098126 -0.00280733 0.99869566 0.05464922] [ 0. 0. 0. 1. ]] SLAMing on 61.834860624 meters Centerline goodness [0,1] 0.6766019175411955 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99502587 -0.0854975 -0.05112424 0.50927819] [ 0.08551497 0.99633517 -0.00184964 0.02006981] [ 0.05109502 -0.00253145 0.99869059 0.05521325] [ 0. 0. 0. 1. ]] SLAMing on 61.864860624 meters Centerline goodness [0,1] 0.6725625539257981 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.9950268 -0.0855318 -0.05104869 0.50868886] [ 0.08553474 0.99633291 -0.00213104 0.02031926] [ 0.05104376 -0.00224599 0.99869389 0.0560324 ] [ 0. 0. 0. 1. ]] SLAMing on 61.894860624 meters Centerline goodness [0,1] 0.6709656910606026 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99503457 -0.08547489 -0.05099262 0.50859774] [ 0.08547393 0.99633797 -0.00220356 0.02068533] [ 0.05099423 -0.00216592 0.9986966 0.05608642] [ 0. 0. 0. 1. ]] SLAMing on 61.924860624 meters Centerline goodness [0,1] 0.669890349383641 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99504452 -0.08533436 -0.05103387 0.50877043] [ 0.08532919 0.9963502 -0.00228402 0.02131384] [ 0.05104251 -0.00208198 0.99869431 0.05609146] [ 0. 0. 0. 1. ]] SLAMing on 61.954860624 meters Centerline goodness [0,1] 0.6655539659831505 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99505146 -0.08520837 -0.05110892 0.50916175] [ 0.08519261 0.99636139 -0.00249076 0.02254156] [ 0.05113519 -0.00187567 0.99868998 0.05599974] [ 0. 0. 0. 1. ]] SLAMing on 61.984860624 meters Centerline goodness [0,1] 0.6640448669721633 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99504488 -0.08521342 -0.05122856 0.50954194] [ 0.08518945 0.99636123 -0.00265526 0.02328556] [ 0.05126841 -0.00172203 0.99868343 0.05592724] [ 0. 0. 0. 1. ]] SLAMing on 62.014860624 meters Centerline goodness [0,1] 0.6616110933722574 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99505505 -0.08505113 -0.05130061 0.51013608] [ 0.08502925 0.99637503 -0.00261292 0.02378119] [ 0.05133687 -0.00176205 0.99867984 0.0554179 ] [ 0. 0. 0. 1. ]] SLAMing on 62.044860624 meters Centerline goodness [0,1] 0.6616110933722574 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 0.99505505 -0.08505113 -0.05130061 0.51013608] [ 0.08502925 0.99637503 -0.00261292 0.02378119] [ 0.05133687 -0.00176205 0.99867984 0.0554179 ] [ 0. 0. 0. 1. ]] SLAMing on 62.074860624 meters Centerline goodness [0,1] 0.662828609863426 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99507506 -0.0847285 -0.05144619 0.51108834] [ 0.08471119 0.99640236 -0.00252065 0.0241617 ] [ 0.05147468 -0.00184983 0.99867259 0.05480468] [ 0. 0. 0. 1. ]] SLAMing on 62.104860624 meters Centerline goodness [0,1] 0.6628016009148084 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99507563 -0.0847236 -0.05144321 0.51113742] [ 0.08469886 0.99640303 -0.00266457 0.02485843] [ 0.05148392 -0.00170574 0.99867237 0.05477505] [ 0. 0. 0. 1. ]] SLAMing on 62.134860624 meters Centerline goodness [0,1] 0.6637020057306591 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 9.95266212e-01 -8.25730223e-02 -5.12529357e-02 5.08490628e-01] [ 8.26711237e-02 9.96576862e-01 -2.06570263e-04 2.56301901e-02] [ 5.10945469e-02 -4.03154538e-03 9.98685683e-01 5.63850728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164860624 meters Centerline goodness [0,1] 0.6602929023964741 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 9.95245344e-01 -8.28127834e-02 -5.12713159e-02 5.08137883e-01] [ 8.28807608e-02 9.96559148e-01 -8.02506393e-04 2.73227579e-02] [ 5.11613567e-02 -3.45071492e-03 9.98684439e-01 5.69906989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194860624 meters Centerline goodness [0,1] 0.6720874065554916 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99523876 -0.08293522 -0.05120119 0.50794416] [ 0.08298543 0.9965501 -0.00114802 0.02854304] [ 0.05111976 -0.0031064 0.9986877 0.05713862] [ 0. 0. 0. 1. ]] SLAMing on 62.224860624 meters Centerline goodness [0,1] 0.665766950423328 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99522245 -0.08325088 -0.05100553 0.50748135] [ 0.08327404 0.99652528 -0.00167442 0.03009445] [ 0.05096769 -0.00258102 0.99869697 0.05726006] [ 0. 0. 0. 1. ]] SLAMing on 62.254860624 meters Centerline goodness [0,1] 0.6606394554673212 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.9952126 -0.08346636 -0.05084527 0.50706947] [ 0.08347065 0.99650814 -0.00204274 0.03092543] [ 0.05083822 -0.00221112 0.99870445 0.05742364] [ 0. 0. 0. 1. ]] SLAMing on 62.284860624000004 meters Centerline goodness [0,1] 0.6618577166335811 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99521509 -0.08343041 -0.05085569 0.50735397] [ 0.08343446 0.99651116 -0.00204694 0.03124017] [ 0.05084904 -0.00220597 0.99870391 0.05711164] [ 0. 0. 0. 1. ]] SLAMing on 62.314860624 meters Centerline goodness [0,1] 0.6569172340326987 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99520929 -0.08358713 -0.05071149 0.50715313] [ 0.08357925 0.99649853 -0.0022797 0.03176916] [ 0.05072448 -0.00196965 0.99871074 0.05703568] [ 0. 0. 0. 1. ]] SLAMing on 62.344860624 meters Centerline goodness [0,1] 0.6513159420289856 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99520624 -0.08372148 -0.05054951 0.50687527] [ 0.08369549 0.9964879 -0.0026343 0.03309617] [ 0.05059253 -0.00160909 0.99871808 0.05706588] [ 0. 0. 0. 1. ]] SLAMing on 62.374860624 meters Centerline goodness [0,1] 0.6490695464763273 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99520007 -0.08376639 -0.05059664 0.50694957] [ 0.08373229 0.99648436 -0.00279687 0.03383439] [ 0.05065304 -0.00145313 0.99871525 0.05710688] [ 0. 0. 0. 1. ]] SLAMing on 62.404860624 meters Centerline goodness [0,1] 0.6565757399883924 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99519645 -0.08379882 -0.05061405 0.50689333] [ 0.08375952 0.99648178 -0.00290077 0.03443568] [ 0.05067906 -0.00135258 0.99871407 0.05722361] [ 0. 0. 0. 1. ]] SLAMing on 62.434860624 meters Centerline goodness [0,1] 0.6723741374904166 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99519353 -0.08390366 -0.05049763 0.50650809] [ 0.08385947 0.99647308 -0.00299698 0.03469238] [ 0.05057099 -0.00125213 0.99871968 0.05740559] [ 0. 0. 0. 1. ]] SLAMing on 62.464860624 meters Centerline goodness [0,1] 0.6374001486160134 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99519851 -0.08383015 -0.05052161 0.50652835] [ 0.08379107 0.99647914 -0.00289467 0.03462766] [ 0.05058639 -0.00135249 0.99871877 0.05749797] [ 0. 0. 0. 1. ]] SLAMing on 62.494860624 meters Centerline goodness [0,1] 0.6340760035350481 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99518503 -0.08405789 -0.0504087 0.50612817] [ 0.08401187 0.99646013 -0.00303471 0.03465466] [ 0.05048535 -0.00121483 0.99872406 0.05768817] [ 0. 0. 0. 1. ]] SLAMing on 62.524860624 meters Centerline goodness [0,1] 0.6703656413232734 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99517197 -0.08431053 -0.05024422 0.50576631] [ 0.08426674 0.99643874 -0.00299291 0.03435315] [ 0.05031763 -0.00125545 0.99873248 0.05761172] [ 0. 0. 0. 1. ]] SLAMing on 62.554860624 meters Centerline goodness [0,1] 0.6524394491791097 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99516817 -0.08446726 -0.05005599 0.50542939] [ 0.0844254 0.99642542 -0.00295361 0.03419495] [ 0.05012654 -0.00128666 0.99874205 0.05744482] [ 0. 0. 0. 1. ]] SLAMing on 62.584860624 meters Centerline goodness [0,1] 0.6613258515547105 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99516525 -0.08457513 -0.04993162 0.50539073] [ 0.08454282 0.99641602 -0.00276259 0.03364772] [ 0.04998631 -0.00147213 0.99874882 0.05704006] [ 0. 0. 0. 1. ]] SLAMing on 62.614860624 meters Centerline goodness [0,1] 0.6137536745133441 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99513825 -0.08506448 -0.04963771 0.50523757] [ 0.08504622 0.99637391 -0.00248376 0.03210026] [ 0.049669 -0.00174981 0.9987642 0.05616278] [ 0. 0. 0. 1. ]] SLAMing on 62.644860624 meters Centerline goodness [0,1] 0.6099856288535535 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.06 [[ 0.99512383 -0.08527395 -0.04956723 0.50514248] [ 0.08525592 0.996356 -0.00248166 0.03184406] [ 0.04959823 -0.00175634 0.99876771 0.05601367] [ 0. 0. 0. 1. ]] SLAMing on 62.674860624 meters Centerline goodness [0,1] 0.6448710814320163 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99506847 -0.08606288 -0.04931455 0.50411225] [ 0.08602509 0.99628877 -0.0028923 0.03225198] [ 0.04938045 -0.00136425 0.99877911 0.0564416 ] [ 0. 0. 0. 1. ]] SLAMing on 62.704860624 meters Centerline goodness [0,1] 0.6484574344699605 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99505538 -0.0862927 -0.0491768 0.50378801] [ 0.08624398 0.99626917 -0.00311576 0.03269003] [ 0.04926219 -0.00114085 0.99878523 0.05648549] [ 0. 0. 0. 1. ]] SLAMing on 62.734860624 meters Centerline goodness [0,1] 0.6486932663690477 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 9.95032649e-01 -8.66314863e-02 -4.90409400e-02 5.03229068e-01] [ 8.65601782e-02 9.96240192e-01 -3.57996953e-03 3.38019090e-02] [ 4.91666935e-02 -6.82805944e-04 9.98790353e-01 5.68130482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764860624 meters Centerline goodness [0,1] 0.6611341310116858 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 9.95025815e-01 -8.67399078e-02 -4.89879219e-02 5.02916203e-01] [ 8.66491999e-02 9.96230950e-01 -3.97628499e-03 3.48748425e-02] [ 4.91481866e-02 -2.88258032e-04 9.98791456e-01 5.71813287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794860624 meters Centerline goodness [0,1] 0.6630786794343095 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95021112e-01 -8.67323425e-02 -4.90967162e-02 5.03015349e-01] [ 8.66264829e-02 9.96231650e-01 -4.28389883e-03 3.59998370e-02] [ 4.92832552e-02 9.49392717e-06 9.98784842e-01 5.74388766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824860624 meters Centerline goodness [0,1] 0.6651506670398358 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95020745e-01 -8.67561571e-02 -4.90620705e-02 5.02934615e-01] [ 8.66292321e-02 9.96229480e-01 -4.71154639e-03 3.78178391e-02] [ 4.92858367e-02 4.37876901e-04 9.98784619e-01 5.76104917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854860624 meters Centerline goodness [0,1] 0.662244993449373 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95015732e-01 -8.67777904e-02 -4.91254412e-02 5.03067642e-01] [ 8.66430542e-02 9.96227518e-01 -4.86959141e-03 3.85884483e-02] [ 4.93626888e-02 5.88941795e-04 9.98780746e-01 5.76340007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884860624 meters Centerline goodness [0,1] 0.6486113708621657 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95016922e-01 -8.67517898e-02 -4.91472432e-02 5.03287508e-01] [ 8.66095598e-02 9.96229683e-01 -5.02022894e-03 3.94622807e-02] [ 4.93974563e-02 7.38591655e-04 9.98778927e-01 5.74596509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914860624 meters Centerline goodness [0,1] 0.6631304715187645 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95011324e-01 -8.67540136e-02 -4.92565269e-02 5.03601693e-01] [ 8.66074558e-02 9.96229430e-01 -5.10596805e-03 3.98998332e-02] [ 4.95137650e-02 8.14513560e-04 9.98773109e-01 5.73635625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944860624 meters Centerline goodness [0,1] 0.6453869186862543 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95005878e-01 -8.69422448e-02 -4.90341514e-02 5.03302449e-01] [ 8.67934536e-02 9.96212967e-01 -5.15956931e-03 3.99052099e-02] [ 4.92970420e-02 8.77958447e-04 9.98783776e-01 5.71275885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974860624 meters Centerline goodness [0,1] 0.6541469582728423 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.9949868 -0.08717807 -0.04900257 0.50298576] [ 0.08701029 0.99619195 -0.00555067 0.04063287] [ 0.04929986 0.00125911 0.99878323 0.05752823] [ 0. 0. 0. 1. ]] SLAMing on 63.004860624 meters Centerline goodness [0,1] 0.649561218264583 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99496479 -0.08745595 -0.04895426 0.50251591] [ 0.08726761 0.99616698 -0.00597566 0.04161822] [ 0.04928922 0.00167345 0.99878315 0.05801092] [ 0. 0. 0. 1. ]] SLAMing on 63.034860624000004 meters Centerline goodness [0,1] 0.649400705052879 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99495371 -0.08757108 -0.04897372 0.50227431] [ 0.08736098 0.99615604 -0.00641824 0.04291045] [ 0.04934752 0.00210746 0.99877945 0.05852829] [ 0. 0. 0. 1. ]] SLAMing on 63.064860624 meters Centerline goodness [0,1] 0.6454045672399211 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99496727 -0.08737597 -0.04904653 0.50276756] [ 0.08716988 0.99617335 -0.0063294 0.04308394] [ 0.04941188 0.00202217 0.99877644 0.05815952] [ 0. 0. 0. 1. ]] SLAMing on 63.094860624 meters Centerline goodness [0,1] 0.647630705491867 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99500211 -0.08682108 -0.04932447 0.50415793] [ 0.0866319 0.99622254 -0.00596438 0.04303814] [ 0.04965598 0.00166149 0.998765 0.05724334] [ 0. 0. 0. 1. ]] SLAMing on 63.124860624 meters Centerline goodness [0,1] 0.6656542111087566 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.9950196 -0.08654217 -0.04946162 0.50481504] [ 0.08635702 0.99624695 -0.00587232 0.04336064] [ 0.0497842 0.00157172 0.99875876 0.05688266] [ 0. 0. 0. 1. ]] SLAMing on 63.154860624 meters Centerline goodness [0,1] 0.6443999528912967 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.06 [[ 0.99502953 -0.08633699 -0.04962018 0.50530193] [ 0.08615166 0.99626477 -0.00586559 0.04394993] [ 0.04994126 0.00156157 0.99875094 0.05676558] [ 0. 0. 0. 1. ]] SLAMing on 63.184860624 meters Centerline goodness [0,1] 0.6437787474938083 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.06 [[ 0.99502501 -0.08630949 -0.04975841 0.50544769] [ 0.08611646 0.99626692 -0.00601434 0.04471062] [ 0.05009175 0.0016994 0.99874317 0.05698702] [ 0. 0. 0. 1. ]] SLAMing on 63.214860624 meters Centerline goodness [0,1] 0.6400255301042479 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.06 [[ 0.99502543 -0.08636588 -0.04965214 0.50516517] [ 0.08615773 0.99626146 -0.00632125 0.0458588 ] [ 0.05001246 0.00201189 0.99874657 0.05717866] [ 0. 0. 0. 1. ]] SLAMing on 63.244860624 meters Centerline goodness [0,1] 0.6488731563421829 Centerline is valid? [False, False] Translation: X:0.51, Y:0.05, Z:0.06 [[ 0.99503504 -0.08621092 -0.04972868 0.50562366] [ 0.08601176 0.99627523 -0.00613503 0.04553314] [ 0.05007236 0.00182732 0.99874392 0.05682738] [ 0. 0. 0. 1. ]] SLAMing on 63.274860624 meters Centerline goodness [0,1] 0.6468192305881245 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.06 [[ 0.99504587 -0.08609917 -0.04970565 0.50597615] [ 0.08591195 0.99628529 -0.00589484 0.04495692] [ 0.05002855 0.00159533 0.99874651 0.05631807] [ 0. 0. 0. 1. ]] SLAMing on 63.304860624 meters Centerline goodness [0,1] 0.6514936660994517 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.9949896 -0.08702085 -0.04922461 0.50431211] [ 0.08680933 0.99620424 -0.0064227 0.04522845] [ 0.04959667 0.00211737 0.99876708 0.05688468] [ 0. 0. 0. 1. ]] SLAMing on 63.334860624 meters Centerline goodness [0,1] 0.6511281748375665 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99497007 -0.08734742 -0.04904059 0.50376956] [ 0.08712395 0.99617508 -0.00668004 0.04566363] [ 0.04943649 0.00237383 0.99877445 0.05703548] [ 0. 0. 0. 1. ]] SLAMing on 63.364860624 meters Centerline goodness [0,1] 0.6423895833825649 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99496445 -0.08739839 -0.0490639 0.50391342] [ 0.08717448 0.9961706 -0.00668923 0.04587573] [ 0.04946064 0.00237842 0.99877324 0.05685261] [ 0. 0. 0. 1. ]] SLAMing on 63.394860624 meters Centerline goodness [0,1] 0.6577271440701953 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99496587 -0.087367 -0.04909102 0.5042166 ] [ 0.08715432 0.99617387 -0.00646041 0.04526849] [ 0.04946762 0.00214939 0.99877342 0.05648389] [ 0. 0. 0. 1. ]] SLAMing on 63.424860624 meters Centerline goodness [0,1] 0.6429751286044646 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99495483 -0.08760563 -0.04888909 0.50428994] [ 0.08740566 0.9961534 -0.00621721 0.04471345] [ 0.04924569 0.00191266 0.99878486 0.0555832 ] [ 0. 0. 0. 1. ]] SLAMing on 63.454860624 meters Centerline goodness [0,1] 0.6345724819763756 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.9949631 -0.08748 -0.04894577 0.50495677] [ 0.08729796 0.99616508 -0.00584872 0.04401602] [ 0.04926971 0.0015464 0.99878431 0.05482338] [ 0. 0. 0. 1. ]] SLAMing on 63.484860624 meters Centerline goodness [0,1] 0.6386781595697207 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:0.05 [[ 0.99495873 -0.08754865 -0.0489118 0.50500039] [ 0.08737257 0.99615922 -0.00573049 0.04351155] [ 0.04922564 0.00142806 0.99878666 0.05462639] [ 0. 0. 0. 1. ]] SLAMing on 63.514860624 meters Centerline goodness [0,1] 0.6430557519204487 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99493578 -0.08794498 -0.0486669 0.50436177] [ 0.08776236 0.99612408 -0.00588088 0.04335899] [ 0.04899547 0.00157998 0.99879775 0.05469891] [ 0. 0. 0. 1. ]] SLAMing on 63.544860624 meters Centerline goodness [0,1] 0.6366333835719669 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99492632 -0.08810432 -0.04857208 0.50397935] [ 0.08792157 0.99610998 -0.00589049 0.04332425] [ 0.04890211 0.00159007 0.99880231 0.05483938] [ 0. 0. 0. 1. ]] SLAMing on 63.574860624 meters Centerline goodness [0,1] 0.6418286791563568 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99491564 -0.08827889 -0.04847383 0.50365034] [ 0.08809134 0.99609435 -0.00599619 0.04336785] [ 0.04881385 0.00169558 0.99880645 0.05495702] [ 0. 0. 0. 1. ]] SLAMing on 63.604860624 meters Centerline goodness [0,1] 0.64313596388092 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99490736 -0.088513 -0.04821608 0.50293032] [ 0.08832172 0.9960734 -0.00608758 0.04331172] [ 0.04856559 0.00179805 0.99881838 0.05511562] [ 0. 0. 0. 1. ]] SLAMing on 63.634860624 meters Centerline goodness [0,1] 0.6344979806518268 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.9948995 -0.08865532 -0.04811681 0.50260747] [ 0.08846291 0.99606068 -0.00611798 0.04307574] [ 0.04846966 0.00183022 0.99882298 0.0552081 ] [ 0. 0. 0. 1. ]] SLAMing on 63.664860624 meters Centerline goodness [0,1] 0.6286243783428732 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99490362 -0.08865811 -0.04802623 0.50239692] [ 0.08847322 0.99606069 -0.00596622 0.04246578] [ 0.04836599 0.00168678 0.99882826 0.05521791] [ 0. 0. 0. 1. ]] SLAMing on 63.694860624 meters Centerline goodness [0,1] 0.6302416613927759 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99490047 -0.08867081 -0.04806816 0.5024013 ] [ 0.08848685 0.9960596 -0.00594582 0.04220077] [ 0.04840598 0.0016621 0.99882636 0.05533695] [ 0. 0. 0. 1. ]] SLAMing on 63.724860624 meters Centerline goodness [0,1] 0.6346676666354176 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99490152 -0.08864614 -0.04809177 0.50250216] [ 0.0884696 0.99606204 -0.00579129 0.04208905] [ 0.04841577 0.0015071 0.99882613 0.05518825] [ 0. 0. 0. 1. ]] SLAMing on 63.754860624 meters Centerline goodness [0,1] 0.6342676204995895 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99490759 -0.08854631 -0.04815023 0.50271497] [ 0.08837271 0.99607102 -0.00572654 0.04221701] [ 0.04846811 0.00144221 0.99882369 0.05509806] [ 0. 0. 0. 1. ]] SLAMing on 63.784860624000004 meters Centerline goodness [0,1] 0.6300629431172052 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99492696 -0.08828219 -0.04823474 0.50322551] [ 0.08812073 0.9960948 -0.00546773 0.04207049] [ 0.04852908 0.00118951 0.99882106 0.05470038] [ 0. 0. 0. 1. ]] SLAMing on 63.814860624 meters Centerline goodness [0,1] 0.6300629431172052 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99492696 -0.08828219 -0.04823474 0.50322551] [ 0.08812073 0.9960948 -0.00546773 0.04207049] [ 0.04852908 0.00118951 0.99882106 0.05470038] [ 0. 0. 0. 1. ]] SLAMing on 63.844860624 meters Centerline goodness [0,1] 0.6312279141606796 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99494999 -0.08802512 -0.04822963 0.50328383] [ 0.08787279 0.99611774 -0.0052738 0.04172788] [ 0.04850662 0.0010091 0.99882235 0.05471643] [ 0. 0. 0. 1. ]] SLAMing on 63.874860624 meters Centerline goodness [0,1] 0.6250701852891634 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94957345e-01 -8.79316521e-02 -4.82483777e-02 5.03450054e-01] [ 8.77843976e-02 9.96126099e-01 -5.16664998e-03 4.16073955e-02] [ 4.85157804e-02 9.05141575e-04 9.98822006e-01 5.45731925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904860624 meters Centerline goodness [0,1] 0.6305680137131049 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94957248e-01 -8.79199077e-02 -4.82717874e-02 5.03530551e-01] [ 8.77738409e-02 9.96127160e-01 -5.14148779e-03 4.15306982e-02] [ 4.85368776e-02 8.78560352e-04 9.98821005e-01 5.45378064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934860624 meters Centerline goodness [0,1] 0.6238997253714527 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94960324e-01 -8.79322475e-02 -4.81858162e-02 5.03714418e-01] [ 8.78073464e-02 9.96126355e-01 -4.70684819e-03 4.03259110e-02] [ 4.84130452e-02 4.52058554e-04 9.98827299e-01 5.39165767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964860624 meters Centerline goodness [0,1] 0.6238997253714527 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94960324e-01 -8.79322475e-02 -4.81858162e-02 5.03714418e-01] [ 8.78073464e-02 9.96126355e-01 -4.70684819e-03 4.03259110e-02] [ 4.84130452e-02 4.52058554e-04 9.98827299e-01 5.39165767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994860624 meters Centerline goodness [0,1] 0.6236521413701963 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94966199e-01 -8.78574218e-02 -4.82009931e-02 5.04146426e-01] [ 8.77477552e-02 9.96133050e-01 -4.39059544e-03 3.94374774e-02] [ 4.84003487e-02 1.38965109e-04 9.98828007e-01 5.34142530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024860624 meters Centerline goodness [0,1] 0.6286288626057688 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94977808e-01 -8.77145064e-02 -4.82216356e-02 5.04657722e-01] [ 8.76245744e-02 9.96145619e-01 -3.97983755e-03 3.83536897e-02] [ 4.83848605e-02 -2.65550256e-04 9.98828731e-01 5.28294970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054860624 meters Centerline goodness [0,1] 0.6232114467408585 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94942141e-01 -8.82437533e-02 -4.79914166e-02 5.03926810e-01] [ 8.81605672e-02 9.96098831e-01 -3.85143976e-03 3.68782620e-02] [ 4.81440594e-02 -3.98990782e-04 9.98840323e-01 5.28526678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084860624 meters Centerline goodness [0,1] 0.6233502300918031 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94933086e-01 -8.84421595e-02 -4.78135909e-02 5.03490587e-01] [ 8.83622467e-02 9.96081209e-01 -3.78658829e-03 3.61364080e-02] [ 4.79611135e-02 -4.57514346e-04 9.98849099e-01 5.28652711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114860624 meters Centerline goodness [0,1] 0.6221994025392084 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 9.94922289e-01 -8.86210446e-02 -4.77069096e-02 5.03104552e-01] [ 8.85408988e-02 9.96065314e-01 -3.79473155e-03 3.56482459e-02] [ 4.78554910e-02 -4.48549652e-04 9.98854169e-01 5.30485955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144860624 meters Centerline goodness [0,1] 0.6177251759004706 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 9.94923833e-01 -8.86536397e-02 -4.76140653e-02 5.02920939e-01] [ 8.85818088e-02 9.96062324e-01 -3.62073144e-03 3.49986566e-02] [ 4.77475676e-02 -6.15388021e-04 9.98859245e-01 5.29945452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174860624 meters Centerline goodness [0,1] 0.6141172632363907 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 9.94921019e-01 -8.87435557e-02 -4.75052282e-02 5.02603901e-01] [ 8.86788914e-02 9.96054218e-01 -3.47119599e-03 3.41437813e-02] [ 4.76258292e-02 -7.59145127e-04 9.98864958e-01 5.30822384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204860624 meters Centerline goodness [0,1] 0.6169649697054113 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99491211 -0.08895575 -0.04729442 0.50191136] [ 0.08890957 0.99603493 -0.00308332 0.03166877] [ 0.04738117 -0.00113729 0.99887623 0.05331418] [ 0. 0. 0. 1. ]] SLAMing on 64.234860624 meters Centerline goodness [0,1] 0.6182738535502958 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99492191 -0.08881545 -0.04735198 0.50209407] [ 0.08878969 0.99604687 -0.00265127 0.0301753 ] [ 0.04740026 -0.00156656 0.99887475 0.05319634] [ 0. 0. 0. 1. ]] SLAMing on 64.264860624 meters Centerline goodness [0,1] 0.6151051669481917 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99492028 -0.08887778 -0.04726927 0.50189491] [ 0.08886515 0.99604084 -0.00237282 0.02900135] [ 0.04729302 -0.00183982 0.99887936 0.05314408] [ 0. 0. 0. 1. ]] SLAMing on 64.294860624 meters Centerline goodness [0,1] 0.6104387117596883 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99491814 -0.08892949 -0.04721687 0.50167212] [ 0.08894313 0.99603505 -0.00181636 0.02687891] [ 0.04719119 -0.00239249 0.99888301 0.05311444] [ 0. 0. 0. 1. ]] SLAMing on 64.324860624 meters Centerline goodness [0,1] 0.6196680555235837 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99493117 -0.0887337 -0.04731057 0.50198908] [ 0.08876684 0.99605144 -0.00140423 0.02552767] [ 0.04724836 -0.0028025 0.99887924 0.05298081] [ 0. 0. 0. 1. ]] SLAMing on 64.354860624 meters Centerline goodness [0,1] 0.6093010431505905 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.94952920e-01 -8.84363359e-02 -4.74099337e-02 5.02559388e-01] [ 8.84905779e-02 9.96076554e-01 -9.57643431e-04 2.44630524e-02] [ 4.73086138e-02 -3.24252230e-03 9.98875058e-01 5.25737770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384860624 meters Centerline goodness [0,1] 0.6077397464407712 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.94975596e-01 -8.80828306e-02 -4.75917920e-02 5.03056259e-01] [ 8.81633732e-02 9.96105945e-01 -4.08187728e-04 2.28075768e-02] [ 4.74424213e-02 -3.78971609e-03 9.98866785e-01 5.24564865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414860624 meters Centerline goodness [0,1] 0.6152806104910971 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.94993060e-01 -8.78145944e-02 -4.77221849e-02 5.03519948e-01] [ 8.79092475e-02 9.96128481e-01 -1.15822210e-04 2.23246907e-02] [ 4.75475984e-02 -4.07997907e-03 9.98860641e-01 5.22423152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444860624 meters Centerline goodness [0,1] 0.6226501499782474 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.95012687e-01 -8.74763283e-02 -4.79337511e-02 5.04098200e-01] [ 8.75814070e-02 9.96157361e-01 9.22683138e-05 2.20701894e-02] [ 4.77414878e-02 -4.28991351e-03 9.98850513e-01 5.21745097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474860624 meters Centerline goodness [0,1] 0.6164590930984656 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.95027044e-01 -8.72064121e-02 -4.81271595e-02 5.04475676e-01] [ 8.73181147e-02 9.96180455e-01 2.19466608e-04 2.21180063e-02] [ 4.79241968e-02 -4.42074804e-03 9.98841193e-01 5.22823598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504860624 meters Centerline goodness [0,1] 0.6234351756493879 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.95063020e-01 -8.66671572e-02 -4.83569071e-02 5.04950030e-01] [ 8.67843474e-02 9.96227068e-01 3.25224794e-04 2.22629502e-02] [ 4.81462735e-02 -4.52024179e-03 9.98830068e-01 5.26290566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534860624 meters Centerline goodness [0,1] 0.6257903417941904 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95082962e-01 -8.63411252e-02 -4.85294692e-02 5.05403229e-01] [ 8.64673041e-02 9.96254562e-01 5.02810110e-04 2.20996660e-02] [ 4.83042919e-02 -4.69655014e-03 9.98821625e-01 5.25993920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564860624 meters Centerline goodness [0,1] 0.6227162415861531 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95098801e-01 -8.61006575e-02 -4.86318202e-02 5.05765295e-01] [ 8.62351275e-02 9.96274588e-01 6.69827064e-04 2.16983221e-02] [ 4.83929741e-02 -4.86031533e-03 9.98816548e-01 5.25090261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594860624 meters Centerline goodness [0,1] 0.6229493213910342 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 9.95125317e-01 -8.57691120e-02 -4.86750653e-02 5.06040022e-01] [ 8.59193917e-02 9.96301590e-01 9.99675106e-04 2.12476585e-02] [ 4.84093037e-02 -5.17693401e-03 9.98814166e-01 5.23105127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62486062400001 meters Centerline goodness [0,1] 0.6225101881954302 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.9951619 -0.08525026 -0.04883833 0.50667193] [ 0.08541957 0.9963441 0.00138642 0.02073837] [ 0.04854159 -0.00555146 0.99880573 0.05208517] [ 0. 0. 0. 1. ]] SLAMing on 64.654860624 meters Centerline goodness [0,1] 0.619926873857404 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99516109 -0.08523408 -0.04888319 0.50666529] [ 0.08540626 0.99634517 0.00144055 0.02062732] [ 0.04858174 -0.00560851 0.99880346 0.05220699] [ 0. 0. 0. 1. ]] SLAMing on 64.684860624 meters Centerline goodness [0,1] 0.6227263390921332 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99516443 -0.08515085 -0.04896017 0.50686211] [ 0.08532908 0.9963516 0.00155807 0.0203507 ] [ 0.04864887 -0.00572826 0.99879952 0.05218534] [ 0. 0. 0. 1. ]] SLAMing on 64.714860624 meters Centerline goodness [0,1] 0.6214039650491638 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99516221 -0.08521173 -0.04889922 0.50679374] [ 0.08540578 0.99634446 0.00188893 0.01859626] [ 0.04855951 -0.00605607 0.99880193 0.05206668] [ 0. 0. 0. 1. ]] SLAMing on 64.744860624 meters Centerline goodness [0,1] 0.6186095233757658 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99516325 -0.08523077 -0.04884493 0.50673914] [ 0.08543739 0.99634121 0.00215428 0.01725068] [ 0.04848261 -0.00631704 0.99880405 0.05199769] [ 0. 0. 0. 1. ]] SLAMing on 64.774860624 meters Centerline goodness [0,1] 0.6193795985103098 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.05 [[ 0.99516424 -0.08532875 -0.04865318 0.50649888] [ 0.08554878 0.99633096 0.00245427 0.01592856] [ 0.04826525 -0.00660462 0.99881272 0.05172056] [ 0. 0. 0. 1. ]] SLAMing on 64.804860624 meters Centerline goodness [0,1] 0.6151190259858259 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99515038 -0.08558874 -0.04847985 0.50600499] [ 0.08581187 0.99630813 0.00253623 0.01496974] [ 0.04808379 -0.00668408 0.99882094 0.05180486] [ 0. 0. 0. 1. ]] SLAMing on 64.834860624 meters Centerline goodness [0,1] 0.6144949186301805 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99513073 -0.08590507 -0.04832332 0.50583591] [ 0.08614562 0.9962783 0.00291353 0.01322191] [ 0.04789319 -0.00706219 0.9988275 0.05146373] [ 0. 0. 0. 1. ]] SLAMing on 64.864860624 meters Centerline goodness [0,1] 0.6182292257113706 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99512742 -0.08602101 -0.04818504 0.50568594] [ 0.08626896 0.9962671 0.00308614 0.01261515] [ 0.0477397 -0.00722797 0.99883366 0.05118628] [ 0. 0. 0. 1. ]] SLAMing on 64.894860624 meters Centerline goodness [0,1] 0.6116214870796941 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99512633 -0.08602877 -0.04819374 0.50579219] [ 0.08628894 0.99626455 0.00334029 0.0115768 ] [ 0.04772635 -0.0074826 0.99883242 0.05105727] [ 0. 0. 0. 1. ]] SLAMing on 64.924860624 meters Centerline goodness [0,1] 0.6249236546248331 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.9951271 -0.08606062 -0.04812097 0.5057283 ] [ 0.08633317 0.99625978 0.00361048 0.01039379] [ 0.04763026 -0.00774732 0.99883499 0.05090718] [ 0. 0. 0. 1. ]] SLAMing on 64.954860624 meters Centerline goodness [0,1] 0.6124881698138718 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99506768 -0.08679044 -0.04803895 0.50504324] [ 0.0870671 0.99619561 0.0036928 0.0076444 ] [ 0.04753569 -0.00785719 0.99883864 0.05139741] [ 0. 0. 0. 1. ]] SLAMing on 64.984860624 meters Centerline goodness [0,1] 0.6080343301354783 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99505117 -0.08709348 -0.04783196 0.50438206] [ 0.08737721 0.99616778 0.00386929 0.0059539 ] [ 0.04731166 -0.00802956 0.9988479 0.05162224] [ 0. 0. 0. 1. ]] SLAMing on 65.014860624 meters Centerline goodness [0,1] 0.6181625902841843 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99503155 -0.08739602 -0.04768813 0.50375777] [ 0.08768433 0.99614035 0.00398381 0.00451674] [ 0.0471559 -0.00814551 0.99885433 0.05200293] [ 0. 0. 0. 1. ]] SLAMing on 65.044860624 meters Centerline goodness [0,1] 0.6196008809384692 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99499222 -0.08798042 -0.04743334 0.50257359] [ 0.08826893 0.99608857 0.00401841 0.00293327] [ 0.04689427 -0.00818518 0.99886632 0.05272541] [ 0. 0. 0. 1. ]] SLAMing on 65.074860624 meters Centerline goodness [0,1] 0.6169423716623212 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99498583 -0.0880584 -0.04742283 0.50246532] [ 0.08835031 0.99608106 0.0040908 0.0025097 ] [ 0.04687676 -0.00826011 0.99886653 0.0528116 ] [ 0. 0. 0. 1. ]] SLAMing on 65.104860624 meters Centerline goodness [0,1] 0.6216137227130685 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99498608 -0.08799613 -0.04753295 0.50270345] [ 0.08829884 0.99608474 0.00430244 0.00156177] [ 0.04696825 -0.00847797 0.9988604 0.05282405] [ 0. 0. 0. 1. ]] SLAMing on 65.134860624 meters Centerline goodness [0,1] 0.6201169905197337 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 9.94994833e-01 -8.79316803e-02 -4.74689496e-02 5.02851985e-01] [ 8.82474217e-02 9.96087995e-01 4.59326536e-03 4.69262715e-04] [ 4.68793573e-02 -8.75928772e-03 9.98862153e-01 5.25061262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164860624 meters Centerline goodness [0,1] 0.6220155874491835 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.05 [[ 9.95013304e-01 -8.76113856e-02 -4.76735719e-02 5.03246143e-01] [ 8.79454186e-02 9.96112992e-01 4.95079582e-03 -6.45223617e-04] [ 4.70545183e-02 -9.11877995e-03 9.98850700e-01 5.26302244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194860624 meters Centerline goodness [0,1] 0.6203672563395439 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 9.95015900e-01 -8.74618906e-02 -4.78933940e-02 5.03617648e-01] [ 8.77923813e-02 9.96127051e-01 4.83699628e-03 2.54239682e-06] [ 4.72848524e-02 -9.01756331e-03 9.98840741e-01 5.28410802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224860624 meters Centerline goodness [0,1] 0.6196766163575609 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 9.95021403e-01 -8.72477955e-02 -4.81687611e-02 5.04015861e-01] [ 8.75723884e-02 9.96147231e-01 4.66590591e-03 9.26591448e-04] [ 4.75760880e-02 -8.86092970e-03 9.98828313e-01 5.31817456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254860624 meters Centerline goodness [0,1] 0.627515418898843 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99503479 -0.08695989 -0.04841215 0.50446589] [ 0.08727857 0.99617376 0.00450428 0.00211146] [ 0.04783523 -0.00870726 0.99881729 0.05337784] [ 0. 0. 0. 1. ]] SLAMing on 65.284860624 meters Centerline goodness [0,1] 0.6243344640891425 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99535065 -0.08305364 -0.04877679 0.50413419] [ 0.0835395 0.99647232 0.00800453 0.00276747] [ 0.04793991 -0.0120421 0.99877763 0.0538571 ] [ 0. 0. 0. 1. ]] SLAMing on 65.314860624 meters Centerline goodness [0,1] 0.6383839291733142 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.05 [[ 0.99536853 -0.08271198 -0.04899209 0.50461536] [ 0.08318932 0.99650337 0.0077822 0.00398586] [ 0.0481771 -0.01182178 0.99876885 0.05400016] [ 0. 0. 0. 1. ]] SLAMing on 65.344860624 meters Centerline goodness [0,1] 0.6316263365222285 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:0.05 [[ 0.99539706 -0.08226356 -0.04916696 0.50524598] [ 0.08274162 0.99654078 0.00776479 0.0047728 ] [ 0.04835812 -0.0117972 0.99876039 0.05384267] [ 0. 0. 0. 1. ]] SLAMing on 65.37486062400001 meters Centerline goodness [0,1] 0.6437376282166637 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99540395 -0.08206316 -0.04936206 0.50569232] [ 0.08253061 0.99656028 0.00750399 0.00579392] [ 0.04857647 -0.01154338 0.99875276 0.05398052] [ 0. 0. 0. 1. ]] SLAMing on 65.404860624 meters Centerline goodness [0,1] 0.6473623724001172 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99543973 -0.08151433 -0.04954961 0.506251 ] [ 0.08197252 0.99660798 0.00728305 0.00775499] [ 0.04878787 -0.01131154 0.99874511 0.0540439 ] [ 0. 0. 0. 1. ]] SLAMing on 65.434860624 meters Centerline goodness [0,1] 0.6461209323274406 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99544167 -0.08142699 -0.04965404 0.50645761] [ 0.08187301 0.9966181 0.00701244 0.00877465] [ 0.04891511 -0.0110458 0.99874186 0.05416822] [ 0. 0. 0. 1. ]] SLAMing on 65.464860624 meters Centerline goodness [0,1] 0.6481938625297248 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99543687 -0.08143562 -0.04973599 0.50641307] [ 0.08186594 0.99662101 0.00667377 0.00969101] [ 0.04902445 -0.010715 0.9987401 0.05457862] [ 0. 0. 0. 1. ]] SLAMing on 65.494860624 meters Centerline goodness [0,1] 0.650072345812986 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99543419 -0.08144995 -0.04976631 0.50642598] [ 0.08187203 0.99662166 0.00649898 0.01038609] [ 0.04906884 -0.01054377 0.99873974 0.05466904] [ 0. 0. 0. 1. ]] SLAMing on 65.524860624 meters Centerline goodness [0,1] 0.6493838905499683 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99541872 -0.08169499 -0.04967391 0.50604511] [ 0.08210448 0.99660409 0.00625636 0.01096774] [ 0.04899411 -0.01030614 0.99874589 0.0548271 ] [ 0. 0. 0. 1. ]] SLAMing on 65.554860624 meters Centerline goodness [0,1] 0.6477432206075422 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99541597 -0.08171376 -0.04969815 0.50616603] [ 0.0821292 0.99660132 0.00637199 0.0103769 ] [ 0.04900857 -0.01042445 0.99874396 0.05471271] [ 0. 0. 0. 1. ]] SLAMing on 65.584860624 meters Centerline goodness [0,1] 0.6517730015594277 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99539124 -0.08208228 -0.04958608 0.50617725] [ 0.08248916 0.9965726 0.00621202 0.00995401] [ 0.04890623 -0.0102737 0.99875054 0.0543615 ] [ 0. 0. 0. 1. ]] SLAMing on 65.614860624 meters Centerline goodness [0,1] 0.6517730015594277 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99539124 -0.08208228 -0.04958608 0.50617725] [ 0.08248916 0.9965726 0.00621202 0.00995401] [ 0.04890623 -0.0102737 0.99875054 0.0543615 ] [ 0. 0. 0. 1. ]] SLAMing on 65.644860624 meters Centerline goodness [0,1] 0.6530644541405738 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.05 [[ 0.99535125 -0.08268195 -0.04939208 0.50543486] [ 0.08306658 0.99652722 0.00578253 0.01108008] [ 0.04874244 -0.00985848 0.99876273 0.05462951] [ 0. 0. 0. 1. ]] SLAMing on 65.674860624 meters Centerline goodness [0,1] 0.6513057881242483 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99532256 -0.0830843 -0.04929501 0.50491794] [ 0.08345252 0.99649682 0.00545571 0.01181679] [ 0.04866903 -0.00954399 0.99876936 0.05492175] [ 0. 0. 0. 1. ]] SLAMing on 65.704860624 meters Centerline goodness [0,1] 0.6503501257733361 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.99530396 -0.08336817 -0.04919118 0.50455578] [ 0.0837312 0.99647395 0.00536238 0.01176325] [ 0.04857067 -0.00945603 0.99877499 0.05503626] [ 0. 0. 0. 1. ]] SLAMing on 65.734860624 meters Centerline goodness [0,1] 0.6502336766640955 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99529058 -0.08366632 -0.04895524 0.50406686] [ 0.08402896 0.99644872 0.00539355 0.01100367] [ 0.04833013 -0.00948181 0.99878641 0.05495816] [ 0. 0. 0. 1. ]] SLAMing on 65.764860624 meters Centerline goodness [0,1] 0.6387257117035698 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99496267 -0.08753399 -0.04885786 0.50478186] [ 0.08771095 0.99614486 0.00148562 0.01115057] [ 0.04853946 -0.0057635 0.99880464 0.05494222] [ 0. 0. 0. 1. ]] SLAMing on 65.794860624 meters Centerline goodness [0,1] 0.6397240131206877 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99493619 -0.08794676 -0.04865544 0.50423574] [ 0.08811815 0.99610907 0.00138452 0.01086479] [ 0.04834437 -0.00566493 0.99881466 0.05497221] [ 0. 0. 0. 1. ]] SLAMing on 65.824860624 meters Centerline goodness [0,1] 0.6397240131206877 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 0.99493619 -0.08794676 -0.04865544 0.50423574] [ 0.08811815 0.99610907 0.00138452 0.01086479] [ 0.04834437 -0.00566493 0.99881466 0.05497221] [ 0. 0. 0. 1. ]] SLAMing on 65.854860624 meters Centerline goodness [0,1] 0.6272801339790883 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.99490542 -0.08837945 -0.04850025 0.50350064] [ 0.0885386 0.9960721 0.00113887 0.01111371] [ 0.04820909 -0.00542721 0.99882252 0.05537754] [ 0. 0. 0. 1. ]] SLAMing on 65.884860624 meters Centerline goodness [0,1] 0.6242604220977943 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 9.94850044e-01 -8.91097869e-02 -4.82994440e-02 5.02732828e-01] [ 8.92445423e-02 9.96009541e-01 6.36422058e-04 1.26238192e-02] [ 4.80499956e-02 -4.94360628e-03 9.98832698e-01 5.55548757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914860624 meters Centerline goodness [0,1] 0.6142289799160332 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 9.94836850e-01 -8.92784268e-02 -4.82597695e-02 5.02743777e-01] [ 8.94078865e-02 9.95994956e-01 5.26263260e-04 1.29911086e-02] [ 4.80195031e-02 -4.83835008e-03 9.98834680e-01 5.54045156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944860624 meters Centerline goodness [0,1] 0.6182481421062171 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 9.94834913e-01 -8.92926984e-02 -4.82732732e-02 5.03101699e-01] [ 8.94209966e-02 9.95993793e-01 5.00403153e-04 1.32905848e-02] [ 4.80351981e-02 -4.81446272e-03 9.98834041e-01 5.50342798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974860624 meters Centerline goodness [0,1] 0.632113867351811 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.05 [[ 9.94874696e-01 -8.88247600e-02 -4.83166762e-02 5.03766043e-01] [ 8.89463498e-02 9.96036350e-01 3.68050639e-04 1.47169287e-02] [ 4.80924738e-02 -4.66375625e-03 9.98832000e-01 5.46054698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004860624 meters Centerline goodness [0,1] 0.6312208442371146 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.94885103e-01 -8.86640812e-02 -4.83974459e-02 5.03968957e-01] [ 8.87696846e-02 9.96052178e-01 3.27613243e-05 1.63584055e-02] [ 4.82034767e-02 -4.32881976e-03 9.98828156e-01 5.47182808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034860624 meters Centerline goodness [0,1] 0.6435762823572191 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 9.94914496e-01 -8.82219286e-02 -4.86007822e-02 5.04579717e-01] [ 8.83236060e-02 9.96091832e-01 -5.56873112e-05 1.78517439e-02] [ 4.84157551e-02 -4.23719223e-03 9.98818282e-01 5.47113619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064860624 meters Centerline goodness [0,1] 0.6315164252752776 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99517137 -0.08536335 -0.04844639 0.50261395] [ 0.08561133 0.9963239 0.00306324 0.01832221] [ 0.04800681 -0.00719601 0.99882109 0.05552618] [ 0. 0. 0. 1. ]] SLAMing on 66.094860624 meters Centerline goodness [0,1] 0.6441748799595653 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99546172 -0.08203055 -0.0482384 0.50078678] [ 0.08242479 0.99657777 0.00623787 0.0194713 ] [ 0.04756162 -0.0101856 0.99881637 0.05624764] [ 0. 0. 0. 1. ]] SLAMing on 66.12486062400001 meters Centerline goodness [0,1] 0.6455315534537774 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99548863 -0.08165282 -0.04832399 0.50120934] [ 0.08204306 0.99660984 0.00614443 0.02021527] [ 0.04765845 -0.01008136 0.99881281 0.05618389] [ 0. 0. 0. 1. ]] SLAMing on 66.154860624 meters Centerline goodness [0,1] 0.6386944246792297 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99551831 -0.08113565 -0.04858301 0.50223308] [ 0.08152769 0.99665217 0.00613956 0.02096352] [ 0.04792222 -0.01007291 0.99880028 0.05583812] [ 0. 0. 0. 1. ]] SLAMing on 66.184860624 meters Centerline goodness [0,1] 0.6434026499815974 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99554738 -0.08065803 -0.04878204 0.5032473 ] [ 0.08104966 0.99669139 0.0061009 0.02212827] [ 0.04812855 -0.0100275 0.99879081 0.05527252] [ 0. 0. 0. 1. ]] SLAMing on 66.214860624 meters Centerline goodness [0,1] 0.6594832553529859 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99585927 -0.07666918 -0.04884824 0.50304596] [ 0.07723381 0.99696509 0.00977524 0.02329433] [ 0.04795053 -0.01350749 0.99875838 0.0548067 ] [ 0. 0. 0. 1. ]] SLAMing on 66.244860624 meters Centerline goodness [0,1] 0.6624502821200628 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.05 [[ 0.99589992 -0.07601918 -0.04903492 0.50386536] [ 0.07657983 0.9970167 0.00965533 0.02497231] [ 0.04815464 -0.01337083 0.99875039 0.05464789] [ 0. 0. 0. 1. ]] SLAMing on 66.274860624 meters Centerline goodness [0,1] 0.6655388180764774 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99593726 -0.07539432 -0.04924097 0.50467694] [ 0.07595355 0.9970653 0.00958378 0.0264175 ] [ 0.0483739 -0.01328487 0.99874095 0.05450126] [ 0. 0. 0. 1. ]] SLAMing on 66.304860624 meters Centerline goodness [0,1] 0.6726417729769998 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99621149 -0.07174544 -0.04914521 0.50353825] [ 0.07246342 0.99728655 0.01298453 0.02740232] [ 0.04808028 -0.01649657 0.99870724 0.05476732] [ 0. 0. 0. 1. ]] SLAMing on 66.334860624 meters Centerline goodness [0,1] 0.6631676730143985 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99622143 -0.0716119 -0.04913856 0.50365945] [ 0.07232004 0.99729952 0.01278558 0.02846964] [ 0.04809026 -0.01629097 0.99871013 0.05471639] [ 0. 0. 0. 1. ]] SLAMing on 66.364860624 meters Centerline goodness [0,1] 0.6655287724676049 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99622435 -0.07148702 -0.04926097 0.50408145] [ 0.07219239 0.99731 0.01268948 0.02909153] [ 0.04822133 -0.01619784 0.99870533 0.05454919] [ 0. 0. 0. 1. ]] SLAMing on 66.394860624 meters Centerline goodness [0,1] 0.6645610927229499 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99622521 -0.07156031 -0.04913703 0.50412198] [ 0.07225844 0.99730661 0.01257918 0.02951854] [ 0.04810452 -0.01608227 0.99871283 0.05420231] [ 0. 0. 0. 1. ]] SLAMing on 66.424860624 meters Centerline goodness [0,1] 0.6538470492375742 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99619429 -0.07224662 -0.0487583 0.50325657] [ 0.0729142 0.99726539 0.01205249 0.03048029] [ 0.04775422 -0.01556179 0.99873789 0.05413739] [ 0. 0. 0. 1. ]] SLAMing on 66.454860624 meters Centerline goodness [0,1] 0.658289817232376 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99617818 -0.07258705 -0.04858141 0.50290286] [ 0.07324274 0.9972437 0.01185327 0.03078243] [ 0.04758711 -0.01536621 0.99874889 0.05405415] [ 0. 0. 0. 1. ]] SLAMing on 66.484860624 meters Centerline goodness [0,1] 0.6584012363023322 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.9961581 -0.07302814 -0.04833154 0.50251507] [ 0.07366934 0.99721504 0.01161866 0.03105217] [ 0.04734845 -0.01513457 0.99876377 0.05376689] [ 0. 0. 0. 1. ]] SLAMing on 66.514860624 meters Centerline goodness [0,1] 0.6426535190204692 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99613609 -0.07330704 -0.0483629 0.50261946] [ 0.07394374 0.99719602 0.01150751 0.03098328] [ 0.04738371 -0.01503918 0.99876354 0.05360965] [ 0. 0. 0. 1. ]] SLAMing on 66.544860624 meters Centerline goodness [0,1] 0.6394540303888746 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99611073 -0.07376337 -0.04819106 0.50234459] [ 0.07438715 0.99716565 0.01127894 0.03111806] [ 0.0472225 -0.01481987 0.99877445 0.05338542] [ 0. 0. 0. 1. ]] SLAMing on 66.574860624 meters Centerline goodness [0,1] 0.6460882201284395 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99606293 -0.07463319 -0.04783859 0.50143702] [ 0.07522562 0.9971091 0.01070304 0.03169379] [ 0.04690149 -0.01425959 0.99879773 0.05338802] [ 0. 0. 0. 1. ]] SLAMing on 66.604860624 meters Centerline goodness [0,1] 0.6526222055584197 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99603091 -0.07508783 -0.04779385 0.50103192] [ 0.07566028 0.99708065 0.01028078 0.03253485] [ 0.04688236 -0.01385607 0.99880431 0.05368177] [ 0. 0. 0. 1. ]] SLAMing on 66.634860624 meters Centerline goodness [0,1] 0.6406853054692647 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.99598303 -0.07584592 -0.04759415 0.50011002] [ 0.07638557 0.99703193 0.00962157 0.03403279] [ 0.04672313 -0.01321843 0.99882042 0.05414238] [ 0. 0. 0. 1. ]] SLAMing on 66.664860624 meters Centerline goodness [0,1] 0.6473671838269863 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.05 [[ 0.9959589 -0.07623705 -0.04747411 0.49961883] [ 0.07675626 0.99700736 0.00920899 0.03466896] [ 0.04662997 -0.01281571 0.99883002 0.05441427] [ 0. 0. 0. 1. ]] SLAMing on 66.694860624 meters Centerline goodness [0,1] 0.6528019983975114 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.05 [[ 0.99593829 -0.07655555 -0.04739369 0.49911802] [ 0.07706166 0.99698622 0.00894283 0.03508966] [ 0.04656624 -0.01255874 0.99883625 0.05476665] [ 0. 0. 0. 1. ]] SLAMing on 66.724860624 meters Centerline goodness [0,1] 0.6466585032732068 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99592147 -0.0768596 -0.04725503 0.49866107] [ 0.07734915 0.99696682 0.00861738 0.03548585] [ 0.04644937 -0.01223737 0.99884569 0.05505079] [ 0. 0. 0. 1. ]] SLAMing on 66.754860624 meters Centerline goodness [0,1] 0.6523554528083791 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99588726 -0.07750005 -0.0469287 0.49757517] [ 0.07796235 0.9969234 0.00809943 0.03615109] [ 0.04615662 -0.01172479 0.9988654 0.05546076] [ 0. 0. 0. 1. ]] SLAMing on 66.784860624 meters Centerline goodness [0,1] 0.6351220434299756 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99584624 -0.07815347 -0.04671503 0.49672941] [ 0.07859414 0.9968772 0.00766909 0.03631254] [ 0.04596978 -0.01130876 0.99887882 0.05585796] [ 0. 0. 0. 1. ]] SLAMing on 66.814860624 meters Centerline goodness [0,1] 0.6434150600561626 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99582392 -0.07849003 -0.04662655 0.49644132] [ 0.07892046 0.996853 0.00746046 0.03650543] [ 0.04589424 -0.01110909 0.99888453 0.05595636] [ 0. 0. 0. 1. ]] SLAMing on 66.844860624 meters Centerline goodness [0,1] 0.645832351693917 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99578355 -0.07913307 -0.04640138 0.49577941] [ 0.07954456 0.99680612 0.00708695 0.03727281] [ 0.04569237 -0.01074805 0.99889774 0.05600527] [ 0. 0. 0. 1. ]] SLAMing on 66.87486062400001 meters Centerline goodness [0,1] 0.6420212390214038 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99577243 -0.07933116 -0.0463015 0.49564748] [ 0.07973721 0.99679143 0.00698672 0.03740965] [ 0.04559867 -0.01064913 0.99890308 0.05590498] [ 0. 0. 0. 1. ]] SLAMing on 66.904860624 meters Centerline goodness [0,1] 0.6425709437164138 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99575357 -0.0796284 -0.04619691 0.49535577] [ 0.08002696 0.99676923 0.00684015 0.03740909] [ 0.04550299 -0.0105081 0.99890893 0.05592622] [ 0. 0. 0. 1. ]] SLAMing on 66.934860624 meters Centerline goodness [0,1] 0.6496278149439367 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99573641 -0.07991771 -0.04606687 0.49505154] [ 0.08030824 0.99674765 0.00668685 0.03733219] [ 0.04538264 -0.01035789 0.99891598 0.05592893] [ 0. 0. 0. 1. ]] SLAMing on 66.964860624 meters Centerline goodness [0,1] 0.6284812957600584 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99569711 -0.08052223 -0.04586323 0.4945168 ] [ 0.08090218 0.99670094 0.00648644 0.03673533] [ 0.04518962 -0.01016897 0.99892667 0.05590617] [ 0. 0. 0. 1. ]] SLAMing on 66.994860624 meters Centerline goodness [0,1] 0.6498313321223845 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99568375 -0.08072203 -0.04580195 0.49451713] [ 0.08109626 0.99668592 0.00636917 0.03672181] [ 0.04513603 -0.01005604 0.99893024 0.05576534] [ 0. 0. 0. 1. ]] SLAMing on 67.024860624 meters Centerline goodness [0,1] 0.6271558334316385 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99567481 -0.08084298 -0.04578306 0.49454233] [ 0.08121711 0.99667609 0.00636833 0.03667418] [ 0.04511604 -0.01005916 0.99893111 0.05564094] [ 0. 0. 0. 1. ]] SLAMing on 67.054860624 meters Centerline goodness [0,1] 0.6274727349983475 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99565976 -0.08102635 -0.0457861 0.4945121 ] [ 0.08139451 0.99666248 0.00623153 0.03707844] [ 0.04512837 -0.00993122 0.99893183 0.0556808 ] [ 0. 0. 0. 1. ]] SLAMing on 67.084860624 meters Centerline goodness [0,1] 0.6363464179175151 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.9956545 -0.08108232 -0.04580137 0.49457497] [ 0.08143817 0.99666061 0.00595447 0.03801437] [ 0.04516562 -0.00965858 0.99893282 0.05579571] [ 0. 0. 0. 1. ]] SLAMing on 67.114860624 meters Centerline goodness [0,1] 0.6351843961558491 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99565188 -0.08107079 -0.04587875 0.49475628] [ 0.08142116 0.99666281 0.00581737 0.03834538] [ 0.04525402 -0.00952758 0.99893008 0.05589664] [ 0. 0. 0. 1. ]] SLAMing on 67.144860624 meters Centerline goodness [0,1] 0.6438878752695306 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99564994 -0.08118283 -0.0457224 0.49451503] [ 0.08152005 0.99665621 0.00555671 0.03911281] [ 0.0451184 -0.00925983 0.99893873 0.05591078] [ 0. 0. 0. 1. ]] SLAMing on 67.174860624 meters Centerline goodness [0,1] 0.6293236474135271 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99564554 -0.08126037 -0.04568053 0.49436071] [ 0.08158576 0.99665223 0.00530137 0.03981184] [ 0.04509681 -0.00900516 0.99894203 0.05606909] [ 0. 0. 0. 1. ]] SLAMing on 67.204860624 meters Centerline goodness [0,1] 0.6405629650761953 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.9956395 -0.0813832 -0.04559346 0.49414009] [ 0.08169174 0.99664539 0.00494204 0.04084805] [ 0.04503832 -0.0086451 0.99894785 0.05622876] [ 0. 0. 0. 1. ]] SLAMing on 67.234860624 meters Centerline goodness [0,1] 0.6409487069581369 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.9956243 -0.08165891 -0.0454321 0.49351062] [ 0.08195228 0.9966255 0.00462948 0.04147509] [ 0.04490075 -0.00833249 0.9989567 0.05660762] [ 0. 0. 0. 1. ]] SLAMing on 67.264860624 meters Centerline goodness [0,1] 0.6392153123733701 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99560246 -0.0820278 -0.0452458 0.49311903] [ 0.0823185 0.99659547 0.00459625 0.04090628] [ 0.04471474 -0.0083006 0.99896531 0.05647052] [ 0. 0. 0. 1. ]] SLAMing on 67.294860624 meters Centerline goodness [0,1] 0.6386790211451652 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99560412 -0.08203357 -0.04519875 0.49351358] [ 0.08233532 0.99659287 0.00485212 0.03984966] [ 0.04464672 -0.00855225 0.99896623 0.05584239] [ 0. 0. 0. 1. ]] SLAMing on 67.324860624 meters Centerline goodness [0,1] 0.6455642097264438 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99561149 -0.08191739 -0.0452471 0.4940063 ] [ 0.08223569 0.99659926 0.0052154 0.03876223] [ 0.04466599 -0.00891344 0.99896221 0.05534212] [ 0. 0. 0. 1. ]] SLAMing on 67.354860624 meters Centerline goodness [0,1] 0.6327553444180523 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99560927 -0.08192241 -0.04528683 0.49427283] [ 0.08224601 0.99659783 0.00532593 0.03840585] [ 0.04469645 -0.00902721 0.99895983 0.05510552] [ 0. 0. 0. 1. ]] SLAMing on 67.384860624 meters Centerline goodness [0,1] 0.6289488663314676 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99560594 -0.08193259 -0.04534162 0.49425651] [ 0.08225677 0.99659693 0.00532764 0.03856134] [ 0.04475082 -0.00903389 0.99895733 0.05529614] [ 0. 0. 0. 1. ]] SLAMing on 67.414860624 meters Centerline goodness [0,1] 0.6467814920988415 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.9956017 -0.08204501 -0.04523131 0.49380906] [ 0.08236713 0.99658795 0.00530138 0.03836087] [ 0.04464203 -0.00900364 0.99896247 0.05557488] [ 0. 0. 0. 1. ]] SLAMing on 67.444860624 meters Centerline goodness [0,1] 0.6442683997058893 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99560346 -0.08202367 -0.04523129 0.49369897] [ 0.08235275 0.9965883 0.00545752 0.03761315] [ 0.04462933 -0.00915845 0.99896163 0.05572091] [ 0. 0. 0. 1. ]] SLAMing on 67.474860624 meters Centerline goodness [0,1] 0.6415063078416057 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99561541 -0.08188124 -0.04522629 0.49396997] [ 0.08223011 0.99659588 0.00590497 0.03600512] [ 0.04458883 -0.00959804 0.99895932 0.05535795] [ 0. 0. 0. 1. ]] SLAMing on 67.504860624 meters Centerline goodness [0,1] 0.6415063078416057 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99561541 -0.08188124 -0.04522629 0.49396997] [ 0.08223011 0.99659588 0.00590497 0.03600512] [ 0.04458883 -0.00959804 0.99895932 0.05535795] [ 0. 0. 0. 1. ]] SLAMing on 67.534860624 meters Centerline goodness [0,1] 0.6529599432825239 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99562289 -0.08175847 -0.04528379 0.49415047] [ 0.0821223 0.99660279 0.00623024 0.03476503] [ 0.04462057 -0.00992178 0.99895474 0.05531052] [ 0. 0. 0. 1. ]] SLAMing on 67.564860624 meters Centerline goodness [0,1] 0.6357450615685258 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99561868 -0.08182956 -0.04524774 0.49391691] [ 0.08219111 0.99659739 0.00618552 0.03449129] [ 0.04458762 -0.00987738 0.99895665 0.0555909 ] [ 0. 0. 0. 1. ]] SLAMing on 67.594860624 meters Centerline goodness [0,1] 0.6361686076665567 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99561373 -0.0818994 -0.0452305 0.49358064] [ 0.08225943 0.99659195 0.0061535 0.03417706] [ 0.04457238 -0.00984715 0.99895763 0.05597228] [ 0. 0. 0. 1. ]] SLAMing on 67.62486062400001 meters Centerline goodness [0,1] 0.6461252703846516 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99563409 -0.08162302 -0.04528185 0.49367653] [ 0.08198196 0.996615 0.00612407 0.03423757] [ 0.0446287 -0.00980962 0.99895548 0.05626244] [ 0. 0. 0. 1. ]] SLAMing on 67.654860624 meters Centerline goodness [0,1] 0.6462397512015833 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99565467 -0.08125241 -0.04549531 0.49445433] [ 0.08161777 0.99664424 0.00622844 0.03452427] [ 0.04483657 -0.0099146 0.99894514 0.05600274] [ 0. 0. 0. 1. ]] SLAMing on 67.684860624 meters Centerline goodness [0,1] 0.6449103344536631 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99567161 -0.08093991 -0.04568118 0.49523654] [ 0.08131106 0.99666872 0.00632303 0.03471245] [ 0.04501721 -0.01001005 0.99893606 0.05565529] [ 0. 0. 0. 1. ]] SLAMing on 67.714860624 meters Centerline goodness [0,1] 0.6426082042104272 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99567806 -0.08068712 -0.0459869 0.49601023] [ 0.0810596 0.99668941 0.00629021 0.0349708 ] [ 0.04532711 -0.0099907 0.99892224 0.05566294] [ 0. 0. 0. 1. ]] SLAMing on 67.744860624 meters Centerline goodness [0,1] 0.6426082042104272 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99567806 -0.08068712 -0.0459869 0.49601023] [ 0.0810596 0.99668941 0.00629021 0.0349708 ] [ 0.04532711 -0.0099907 0.99892224 0.05566294] [ 0. 0. 0. 1. ]] SLAMing on 67.774860624 meters Centerline goodness [0,1] 0.6361414639877805 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.9956784 -0.08064715 -0.04604964 0.49615321] [ 0.08101339 0.9966941 0.00613985 0.03556347] [ 0.04540224 -0.00984395 0.99892028 0.05573006] [ 0. 0. 0. 1. ]] SLAMing on 67.804860624 meters Centerline goodness [0,1] 0.6466583429527197 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99572473 -0.07994177 -0.04627708 0.49697898] [ 0.08030899 0.99675118 0.00612816 0.03688692] [ 0.04563684 -0.00981843 0.99890984 0.05572942] [ 0. 0. 0. 1. ]] SLAMing on 67.834860624 meters Centerline goodness [0,1] 0.6531873731892606 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99573383 -0.07975025 -0.04641159 0.49733562] [ 0.08011409 0.99676746 0.00602989 0.03737812] [ 0.04578067 -0.00972239 0.9989042 0.05578628] [ 0. 0. 0. 1. ]] SLAMing on 67.864860624 meters Centerline goodness [0,1] 0.6611753599244748 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99573885 -0.07964634 -0.04648238 0.49745365] [ 0.08000529 0.99677692 0.00591059 0.0376545 ] [ 0.04586181 -0.00960424 0.99890162 0.05597088] [ 0. 0. 0. 1. ]] SLAMing on 67.894860624 meters Centerline goodness [0,1] 0.658578651419931 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99574418 -0.07947215 -0.04666579 0.49773397] [ 0.07982062 0.99679324 0.005649 0.03841701] [ 0.0460672 -0.00934985 0.99889459 0.05634148] [ 0. 0. 0. 1. ]] SLAMing on 67.924860624 meters Centerline goodness [0,1] 0.664883544783185 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99575396 -0.07934609 -0.04667169 0.49793672] [ 0.07968768 0.9968047 0.00550153 0.03941824] [ 0.04608603 -0.00919733 0.99889513 0.05621603] [ 0. 0. 0. 1. ]] SLAMing on 67.954860624 meters Centerline goodness [0,1] 0.6782069194155675 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99574958 -0.07935393 -0.04675177 0.4979463 ] [ 0.07967994 0.9968072 0.00514836 0.04053099] [ 0.04619395 -0.00885166 0.99889327 0.05657918] [ 0. 0. 0. 1. ]] SLAMing on 67.984860624 meters Centerline goodness [0,1] 0.6598001756176282 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99576599 -0.07920968 -0.04664674 0.49769205] [ 0.07951373 0.99682271 0.00469606 0.04209808] [ 0.04612656 -0.00838523 0.99890041 0.05696377] [ 0. 0. 0. 1. ]] SLAMing on 68.014860624 meters Centerline goodness [0,1] 0.6513129778242082 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99577742 -0.07906023 -0.04665638 0.49788639] [ 0.07936427 0.99683461 0.0046976 0.04219975] [ 0.0461373 -0.00838061 0.99889995 0.05682954] [ 0. 0. 0. 1. ]] SLAMing on 68.044860624 meters Centerline goodness [0,1] 0.6528324247452002 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99578362 -0.07894352 -0.04672156 0.49811379] [ 0.07924523 0.99684436 0.00463814 0.04238754] [ 0.04620797 -0.00832104 0.99889718 0.05685192] [ 0. 0. 0. 1. ]] SLAMing on 68.074860624 meters Centerline goodness [0,1] 0.6474663123932435 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99577237 -0.07908322 -0.046725 0.49797445] [ 0.07937609 0.99683484 0.00444321 0.0428234 ] [ 0.04622573 -0.00813327 0.99889791 0.05707568] [ 0. 0. 0. 1. ]] SLAMing on 68.104860624 meters Centerline goodness [0,1] 0.6461443377388989 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99576325 -0.0791876 -0.04674264 0.49795735] [ 0.07947604 0.99682732 0.00434196 0.04337313] [ 0.04625051 -0.00803849 0.99889753 0.05709866] [ 0. 0. 0. 1. ]] SLAMing on 68.134860624 meters Centerline goodness [0,1] 0.6511262814871197 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99575006 -0.07939908 -0.04666485 0.49797065] [ 0.07968866 0.9968102 0.00437536 0.04368292] [ 0.0461686 -0.00807543 0.99890102 0.05672382] [ 0. 0. 0. 1. ]] SLAMing on 68.164860624 meters Centerline goodness [0,1] 0.6395815045906383 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99574278 -0.07951494 -0.04662285 0.49805721] [ 0.07981393 0.99679924 0.00458389 0.04292897] [ 0.04610913 -0.00828553 0.99890205 0.05638218] [ 0. 0. 0. 1. ]] SLAMing on 68.194860624 meters Centerline goodness [0,1] 0.6434974388161638 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99572094 -0.07993315 -0.04637342 0.49761038] [ 0.08023222 0.99676549 0.00462108 0.04208128] [ 0.04585405 -0.00832195 0.99891349 0.05615862] [ 0. 0. 0. 1. ]] SLAMing on 68.224860624 meters Centerline goodness [0,1] 0.6211562987105002 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95391962e-01 -8.40352854e-02 -4.61834693e-02 4.98157607e-01] [ 8.41588818e-02 9.96452077e-01 7.34889908e-04 4.19219019e-02] [ 4.59578572e-02 -4.61825264e-03 9.98932704e-01 5.59667690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254860624 meters Centerline goodness [0,1] 0.6284844336393891 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95348847e-01 -8.46749108e-02 -4.59437900e-02 4.97422742e-01] [ 8.47945857e-02 9.96398236e-01 6.58661526e-04 4.10915820e-02] [ 4.57225392e-02 -4.55138263e-03 9.98943809e-01 5.60370288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284860624 meters Centerline goodness [0,1] 0.6293111594065954 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95323120e-01 -8.51229465e-02 -4.56724256e-02 4.96790415e-01] [ 8.52419780e-02 9.96360059e-01 6.61395551e-04 4.05090565e-02] [ 4.54498808e-02 -4.55151019e-03 9.98956251e-01 5.59593054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314860624 meters Centerline goodness [0,1] 0.6221817407556365 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95290057e-01 -8.56937655e-02 -4.53241798e-02 4.95841573e-01] [ 8.58070035e-02 9.96311623e-01 5.55172252e-04 4.03044757e-02] [ 4.51094324e-02 -4.44168948e-03 9.98972177e-01 5.60019183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344860624 meters Centerline goodness [0,1] 0.6156650176343883 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95261470e-01 -8.61882204e-02 -4.50132986e-02 4.94962733e-01] [ 8.62969292e-02 9.96269349e-01 4.73780005e-04 3.98994674e-02] [ 4.48045354e-02 -4.35604443e-03 9.98986275e-01 5.61166034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37486062400001 meters Centerline goodness [0,1] 0.6145142319454246 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95180070e-01 -8.72748316e-02 -4.47183611e-02 4.93737123e-01] [ 8.73701743e-02 9.96175899e-01 1.78280035e-04 3.86472983e-02] [ 4.45317942e-02 -4.08447174e-03 9.98999618e-01 5.65245272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404860624 meters Centerline goodness [0,1] 0.6187775084143385 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95151431e-01 -8.77521850e-02 -4.44205207e-02 4.92947916e-01] [ 8.78452070e-02 9.96134127e-01 1.42665985e-04 3.78390548e-02] [ 4.42362774e-02 -4.04410410e-03 9.99012911e-01 5.65794725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434860624 meters Centerline goodness [0,1] 0.6104216612607531 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95124460e-01 -8.81717049e-02 -4.41934355e-02 4.92390549e-01] [ 8.82598516e-02 9.96097484e-01 4.35304745e-05 3.75658204e-02] [ 4.40171317e-02 -3.94382430e-03 9.99022992e-01 5.65671866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464860624 meters Centerline goodness [0,1] 0.613487230326205 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95109655e-01 -8.83454709e-02 -4.41797790e-02 4.92433415e-01] [ 8.84289816e-02 9.96082482e-01 -6.43416555e-05 3.80793135e-02] [ 4.40123882e-02 -3.84274586e-03 9.99023595e-01 5.64085184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494860624 meters Centerline goodness [0,1] 0.6080477955935486 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95136160e-01 -8.79473142e-02 -4.43767190e-02 4.93403743e-01] [ 8.80273056e-02 9.96118050e-01 -1.52159513e-04 4.03049913e-02] [ 4.42178329e-02 -3.75494357e-03 9.99014857e-01 5.58859644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524860624 meters Centerline goodness [0,1] 0.6156176053005206 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95136516e-01 -8.79143861e-02 -4.44339445e-02 4.93604778e-01] [ 8.79804564e-02 9.96122090e-01 -4.70298622e-04 4.17062591e-02] [ 4.43029797e-02 -3.44130739e-03 9.99012214e-01 5.59050464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554860624 meters Centerline goodness [0,1] 0.6151184834123222 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95146460e-01 -8.76984399e-02 -4.46375106e-02 4.94013193e-01] [ 8.77549951e-02 9.96141846e-01 -6.94778621e-04 4.28261906e-02] [ 4.45262232e-02 -3.22575804e-03 9.99003008e-01 5.61267816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584860624 meters Centerline goodness [0,1] 0.6181697392459724 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99546467 -0.08394729 -0.04475432 0.4933853 ] [ 0.08415055 0.99644946 0.00267384 0.0440378 ] [ 0.04437096 -0.00642782 0.99899445 0.05631699] [ 0. 0. 0. 1. ]] SLAMing on 68.614860624 meters Centerline goodness [0,1] 0.6185224967179854 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 0.99551016 -0.08324196 -0.04505876 0.49466718] [ 0.08344672 0.99650864 0.00267934 0.04591976] [ 0.04467841 -0.00642732 0.99898074 0.05580502] [ 0. 0. 0. 1. ]] SLAMing on 68.644860624 meters Centerline goodness [0,1] 0.6198833205814843 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99555789 -0.0824361 -0.04548389 0.49614584] [ 0.08264287 0.99657562 0.00268136 0.04777196] [ 0.0451071 -0.00642836 0.99896147 0.05544168] [ 0. 0. 0. 1. ]] SLAMing on 68.674860624 meters Centerline goodness [0,1] 0.6212346508058326 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99585259 -0.07874604 -0.04557065 0.49569217] [ 0.0791176 0.99684471 0.00640542 0.04806413] [ 0.04492246 -0.0099843 0.99894058 0.05514209] [ 0. 0. 0. 1. ]] SLAMing on 68.704860624 meters Centerline goodness [0,1] 0.6189260160447132 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.05 [[ 0.99620225 -0.07403422 -0.04582594 0.49644836] [ 0.07457399 0.99716351 0.01018104 0.05012431] [ 0.04494221 -0.0135598 0.99889756 0.05440299] [ 0. 0. 0. 1. ]] SLAMing on 68.734860624 meters Centerline goodness [0,1] 0.6137016041490773 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.05 [[ 0.9962558 -0.07317047 -0.04604857 0.49749437] [ 0.07370651 0.99722933 0.0100502 0.05208067] [ 0.04518561 -0.01340665 0.99888864 0.05421591] [ 0. 0. 0. 1. ]] SLAMing on 68.764860624 meters Centerline goodness [0,1] 0.6246430818371002 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.05 [[ 0.99630806 -0.07227822 -0.04632618 0.49877115] [ 0.07281722 0.99729464 0.0100526 0.05393602] [ 0.04547426 -0.01338883 0.99887578 0.05384893] [ 0. 0. 0. 1. ]] SLAMing on 68.794860624 meters Centerline goodness [0,1] 0.6313937688052024 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99634231 -0.0716535 -0.04655947 0.49969413] [ 0.07218615 0.99734244 0.00985935 0.05579809] [ 0.04572928 -0.01318424 0.99886686 0.05371837] [ 0. 0. 0. 1. ]] SLAMing on 68.824860624 meters Centerline goodness [0,1] 0.6409800963550538 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99662468 -0.0676227 -0.04654489 0.49964768] [ 0.06832709 0.99756875 0.01371102 0.05650985] [ 0.04550455 -0.01684502 0.9988221 0.05291445] [ 0. 0. 0. 1. ]] SLAMing on 68.854860624 meters Centerline goodness [0,1] 0.6378428411360647 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99662749 -0.06759014 -0.04653185 0.49974037] [ 0.06828006 0.99757622 0.01339878 0.05789821] [ 0.04551344 -0.01653079 0.99882694 0.05289373] [ 0. 0. 0. 1. ]] SLAMing on 68.884860624 meters Centerline goodness [0,1] 0.6403483096736426 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99662075 -0.06763398 -0.04661243 0.49992504] [ 0.06831441 0.99757703 0.01316073 0.05885993] [ 0.04560937 -0.01630055 0.99882635 0.05293915] [ 0. 0. 0. 1. ]] SLAMing on 68.914860624 meters Centerline goodness [0,1] 0.6377871840669423 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99661124 -0.0678383 -0.0465188 0.49990417] [ 0.06850733 0.99756669 0.01293981 0.05985875] [ 0.04552779 -0.01608284 0.9988336 0.05269785] [ 0. 0. 0. 1. ]] SLAMing on 68.944860624 meters Centerline goodness [0,1] 0.6364258648087031 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99659877 -0.06809696 -0.04640787 0.49994029] [ 0.06875651 0.9975518 0.01276525 0.06020688] [ 0.04542498 -0.01591267 0.99884101 0.05234338] [ 0. 0. 0. 1. ]] SLAMing on 68.974860624 meters Centerline goodness [0,1] 0.6308154443548978 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99659529 -0.06823542 -0.04627911 0.50021154] [ 0.06889452 0.99754186 0.01279769 0.06024325] [ 0.04529209 -0.0159425 0.99884657 0.05162195] [ 0. 0. 0. 1. ]] SLAMing on 69.004860624 meters Centerline goodness [0,1] 0.6342011978975675 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99658001 -0.0685378 -0.04616107 0.50012654] [ 0.06919081 0.99752262 0.01269856 0.0603601 ] [ 0.04517638 -0.01584905 0.99885329 0.05129406] [ 0. 0. 0. 1. ]] SLAMing on 69.034860624 meters Centerline goodness [0,1] 0.6276806455556914 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99650139 -0.06987588 -0.0458514 0.49891799] [ 0.07049695 0.99743898 0.01206917 0.060571 ] [ 0.04489063 -0.01525933 0.99887536 0.05141595] [ 0. 0. 0. 1. ]] SLAMing on 69.064860624 meters Centerline goodness [0,1] 0.6292955956396343 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99647187 -0.07046228 -0.04559482 0.4982564 ] [ 0.07106961 0.99740112 0.01183723 0.06025831] [ 0.04464225 -0.01503587 0.99888988 0.05140908] [ 0. 0. 0. 1. ]] SLAMing on 69.094860624 meters Centerline goodness [0,1] 0.6302391548882477 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99644424 -0.07100933 -0.04534924 0.49764784] [ 0.07160213 0.99736603 0.01158205 0.05995316] [ 0.04440735 -0.01478797 0.99890405 0.05138674] [ 0. 0. 0. 1. ]] SLAMing on 69.12486062400001 meters Centerline goodness [0,1] 0.6294982508501112 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99641729 -0.07152239 -0.04513457 0.4969971 ] [ 0.07209619 0.99733464 0.01121385 0.05999123] [ 0.04421223 -0.0144277 0.99891797 0.05160977] [ 0. 0. 0. 1. ]] SLAMing on 69.154860624 meters Centerline goodness [0,1] 0.6313336930396822 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99638295 -0.07212048 -0.04494062 0.49637473] [ 0.07266595 0.99729977 0.01062223 0.06159657] [ 0.04405319 -0.01384946 0.99893319 0.05172911] [ 0. 0. 0. 1. ]] SLAMing on 69.184860624 meters Centerline goodness [0,1] 0.6327900287631831 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.99637234 -0.07223898 -0.0449855 0.49633497] [ 0.07277015 0.99729574 0.01028209 0.06265602] [ 0.04412108 -0.01351839 0.99893472 0.05197333] [ 0. 0. 0. 1. ]] SLAMing on 69.214860624 meters Centerline goodness [0,1] 0.6327428192338878 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:0.05 [[ 0.9963637 -0.07238381 -0.04494407 0.49611217] [ 0.07289814 0.99729015 0.00991006 0.06358056] [ 0.04410495 -0.01315036 0.99894035 0.052252 ] [ 0. 0. 0. 1. ]] SLAMing on 69.244860624 meters Centerline goodness [0,1] 0.6357206230283912 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.99639768 -0.07179058 -0.04514165 0.49691267] [ 0.07229785 0.99733587 0.00970476 0.06514649] [ 0.04432468 -0.01293345 0.99893346 0.05227301] [ 0. 0. 0. 1. ]] SLAMing on 69.274860624 meters Centerline goodness [0,1] 0.6378650603599378 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.99640985 -0.07155621 -0.04524508 0.49739942] [ 0.07205892 0.9973544 0.00957698 0.06614628] [ 0.04444009 -0.0128029 0.99893001 0.0521143 ] [ 0. 0. 0. 1. ]] SLAMing on 69.304860624 meters Centerline goodness [0,1] 0.6379446250862154 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.99642688 -0.07119209 -0.04544407 0.49807475] [ 0.07169123 0.99738213 0.00944779 0.06739732] [ 0.04465249 -0.01267197 0.99892221 0.05204955] [ 0. 0. 0. 1. ]] SLAMing on 69.334860624 meters Centerline goodness [0,1] 0.6384042368896479 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.9964506 -0.07071544 -0.04566757 0.49896021] [ 0.07121021 0.997418 0.00929765 0.06900425] [ 0.04489216 -0.01251665 0.99891342 0.05190424] [ 0. 0. 0. 1. ]] SLAMing on 69.364860624 meters Centerline goodness [0,1] 0.6437467501918934 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.996478 -0.07010514 -0.04600941 0.50008224] [ 0.0705988 0.99746244 0.00919183 0.07057512] [ 0.04524827 -0.01240767 0.99889872 0.05178873] [ 0. 0. 0. 1. ]] SLAMing on 69.394860624 meters Centerline goodness [0,1] 0.6450592688514792 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.99676218 -0.06591173 -0.04605209 0.49996335] [ 0.06656605 0.99769965 0.01282048 0.07231427] [ 0.04510113 -0.01584447 0.99885677 0.05142174] [ 0. 0. 0. 1. ]] SLAMing on 69.424860624 meters Centerline goodness [0,1] 0.6472142590053596 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:0.05 [[ 0.99681178 -0.06485748 -0.04647351 0.5018213 ] [ 0.06552448 0.99776662 0.01297393 0.07373092] [ 0.04552826 -0.01597772 0.99883527 0.05078482] [ 0. 0. 0. 1. ]] SLAMing on 69.454860624 meters Centerline goodness [0,1] 0.654917623564653 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99686751 -0.0637109 -0.04686253 0.50394372] [ 0.06439482 0.99783679 0.01323075 0.07514192] [ 0.04591822 -0.01620701 0.99881372 0.04972599] [ 0. 0. 0. 1. ]] SLAMing on 69.484860624 meters Centerline goodness [0,1] 0.6661290322580645 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99714168 -0.0591433 -0.04701639 0.5048324 ] [ 0.06000443 0.9980513 0.01711907 0.07665213] [ 0.04591229 -0.01989133 0.99874741 0.04857136] [ 0. 0. 0. 1. ]] SLAMing on 69.514860624 meters Centerline goodness [0,1] 0.6633310590554166 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.05 [[ 0.9971917 -0.05808025 -0.04727996 0.50645924] [ 0.05894806 0.99811336 0.01717092 0.07887094] [ 0.04619347 -0.01990976 0.99873408 0.0478981 ] [ 0. 0. 0. 1. ]] SLAMing on 69.544860624 meters Centerline goodness [0,1] 0.6715095676824947 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.05 [[ 0.99721308 -0.05740294 -0.04765486 0.5078114 ] [ 0.05826193 0.99815937 0.01683522 0.08133849] [ 0.04660075 -0.01956477 0.99872198 0.04775698] [ 0. 0. 0. 1. ]] SLAMing on 69.574860624 meters Centerline goodness [0,1] 0.6765109192483494 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:0.05 [[ 0.9972379 -0.05683562 -0.04781506 0.50876358] [ 0.05768331 0.99819793 0.01653843 0.08367772] [ 0.04678892 -0.01925088 0.99871928 0.04747798] [ 0. 0. 0. 1. ]] SLAMing on 69.604860624 meters Centerline goodness [0,1] 0.6815503403433912 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.99725226 -0.05639734 -0.04803415 0.50968006] [ 0.05722996 0.99823059 0.01613752 0.08593699] [ 0.04703904 -0.01884217 0.99871533 0.04740652] [ 0. 0. 0. 1. ]] SLAMing on 69.634860624 meters Centerline goodness [0,1] 0.6815503403433912 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.99725226 -0.05639734 -0.04803415 0.50968006] [ 0.05722996 0.99823059 0.01613752 0.08593699] [ 0.04703904 -0.01884217 0.99871533 0.04740652] [ 0. 0. 0. 1. ]] SLAMing on 69.664860624 meters Centerline goodness [0,1] 0.6825400871848472 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.997304 -0.0555339 -0.04796578 0.51054688] [ 0.0563455 0.99828731 0.01573636 0.08922824] [ 0.04700973 -0.01839659 0.99872501 0.0470158 ] [ 0. 0. 0. 1. ]] SLAMing on 69.694860624 meters Centerline goodness [0,1] 0.6888104735603968 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.99730168 -0.0555565 -0.04798788 0.51083692] [ 0.05634994 0.9982932 0.01534165 0.09070265] [ 0.04705364 -0.01800437 0.99873009 0.04685129] [ 0. 0. 0. 1. ]] SLAMing on 69.724860624 meters Centerline goodness [0,1] 0.6922762252959374 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.99729234 -0.05568738 -0.04803016 0.51103321] [ 0.05646584 0.99829177 0.01500504 0.09192985] [ 0.04711252 -0.01767648 0.99873317 0.0467561 ] [ 0. 0. 0. 1. ]] SLAMing on 69.754860624 meters Centerline goodness [0,1] 0.6937209720048241 Centerline is valid? [False, False] Translation: X:0.51, Y:0.09, Z:0.05 [[ 0.99725848 -0.05647263 -0.04781596 0.51032913] [ 0.05719963 0.99826497 0.01397363 0.09494635] [ 0.04694387 -0.01667037 0.99875841 0.0469759 ] [ 0. 0. 0. 1. ]] SLAMing on 69.784860624 meters Centerline goodness [0,1] 0.6848649898517586 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99723971 -0.05687779 -0.04772721 0.5101128 ] [ 0.05758304 0.99824899 0.01353305 0.09612663] [ 0.04687391 -0.01624397 0.99876873 0.04691813] [ 0. 0. 0. 1. ]] SLAMing on 69.814860624 meters Centerline goodness [0,1] 0.6903815070426149 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99722428 -0.05729755 -0.04754712 0.50986818] [ 0.05798151 0.99823129 0.01313145 0.09689409] [ 0.04671062 -0.01585186 0.99878268 0.04671061] [ 0. 0. 0. 1. ]] SLAMing on 69.844860624 meters Centerline goodness [0,1] 0.6873072970195273 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99720959 -0.05765377 -0.04742452 0.5098005 ] [ 0.05832423 0.99821465 0.01287623 0.0972373 ] [ 0.04659749 -0.0156063 0.99879183 0.04636482] [ 0. 0. 0. 1. ]] SLAMing on 69.874860624 meters Centerline goodness [0,1] 0.6876910823934435 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99698033 -0.06148574 -0.04743125 0.51091151] [ 0.06196005 0.99804163 0.00859409 0.09950739] [ 0.04680995 -0.01150698 0.99883753 0.04604577] [ 0. 0. 0. 1. ]] SLAMing on 69.904860624 meters Centerline goodness [0,1] 0.6848271067741187 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.9969585 -0.06204432 -0.04716193 0.51025403] [ 0.06250098 0.99801065 0.00826917 0.09997421] [ 0.04655505 -0.01119168 0.99885303 0.04592359] [ 0. 0. 0. 1. ]] SLAMing on 69.934860624 meters Centerline goodness [0,1] 0.6888997454423902 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99692797 -0.06271268 -0.04692282 0.50948201] [ 0.06314583 0.99797379 0.00780504 0.10049568] [ 0.04633827 -0.01074404 0.99886802 0.04609427] [ 0. 0. 0. 1. ]] SLAMing on 69.964860624 meters Centerline goodness [0,1] 0.6850438370293965 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99689835 -0.06334443 -0.04670299 0.50857788] [ 0.0637577 0.99793789 0.00741146 0.10096043] [ 0.04613721 -0.01036615 0.99888132 0.04637962] [ 0. 0. 0. 1. ]] SLAMing on 69.994860624 meters Centerline goodness [0,1] 0.6871812045958061 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99682438 -0.06494003 -0.04608629 0.50613336] [ 0.06530681 0.99784409 0.00649633 0.10168882] [ 0.04556506 -0.00948545 0.99891634 0.04717151] [ 0. 0. 0. 1. ]] SLAMing on 70.024860624 meters Centerline goodness [0,1] 0.6835612213426545 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:0.05 [[ 0.99680165 -0.06539296 -0.04593716 0.5056835 ] [ 0.0657561 0.99781496 0.00643737 0.10094187] [ 0.04541583 -0.00943743 0.99892359 0.04713183] [ 0. 0. 0. 1. ]] SLAMing on 70.054860624 meters Centerline goodness [0,1] 0.6823898562279777 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99677087 -0.0660719 -0.04563258 0.50472731] [ 0.06642607 0.99777154 0.00628738 0.1001374 ] [ 0.04511547 -0.00929827 0.99893851 0.04717959] [ 0. 0. 0. 1. ]] SLAMing on 70.084860624 meters Centerline goodness [0,1] 0.6829618979151689 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99674235 -0.06665391 -0.04540872 0.5040961 ] [ 0.06700289 0.99773348 0.00620545 0.09915846] [ 0.04489218 -0.00922775 0.99894922 0.04713837] [ 0. 0. 0. 1. ]] SLAMing on 70.114860624 meters Centerline goodness [0,1] 0.6772504427731718 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99662773 -0.06863867 -0.04496547 0.50185701] [ 0.06894631 0.99760616 0.00532507 0.09852155] [ 0.04449232 -0.00840732 0.99897435 0.04788058] [ 0. 0. 0. 1. ]] SLAMing on 70.144860624 meters Centerline goodness [0,1] 0.6752301105043201 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99658713 -0.06944679 -0.04462333 0.50069717] [ 0.06973683 0.99755302 0.00497451 0.09867235] [ 0.04416867 -0.00806942 0.9989915 0.04807518] [ 0. 0. 0. 1. ]] SLAMing on 70.174860624 meters Centerline goodness [0,1] 0.6720735957359574 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99655803 -0.07003772 -0.0443487 0.49977239] [ 0.07031885 0.99751297 0.00480922 0.09846598] [ 0.04390158 -0.00791122 0.99900454 0.04820724] [ 0. 0. 0. 1. ]] SLAMing on 70.204860624 meters Centerline goodness [0,1] 0.6735707519393738 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 0.99653401 -0.07051454 -0.04413245 0.49921242] [ 0.0707907 0.99748 0.00472429 0.09799296] [ 0.0436881 -0.00783208 0.99901452 0.04810622] [ 0. 0. 0. 1. ]] SLAMing on 70.234860624 meters Centerline goodness [0,1] 0.6612693142638233 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96243816e-01 -7.44086842e-02 -4.42900311e-02 5.00535970e-01] [ 7.45183680e-02 9.97219297e-01 8.28347447e-04 9.78203934e-02] [ 4.41052374e-02 -4.12565686e-03 9.99018372e-01 4.79043845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264860624 meters Centerline goodness [0,1] 0.6668367477102839 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96215269e-01 -7.49078196e-02 -4.40903226e-02 5.00018496e-01] [ 7.50131678e-02 9.97182271e-01 7.37429422e-04 9.68596549e-02] [ 4.39108488e-02 -4.04199322e-03 9.99027277e-01 4.78277317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294860624 meters Centerline goodness [0,1] 0.6638293534493743 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96191869e-01 -7.53806264e-02 -4.38123400e-02 4.99358271e-01] [ 7.54853087e-02 9.97146641e-01 7.37515763e-04 9.62042630e-02] [ 4.36317333e-02 -4.04189522e-03 9.99039506e-01 4.76540483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324860624 meters Centerline goodness [0,1] 0.6580566431077439 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96167088e-01 -7.58068680e-02 -4.36400176e-02 4.98775261e-01] [ 7.59054570e-02 9.97114836e-01 6.04154194e-04 9.60528044e-02] [ 4.34683100e-02 -3.91435400e-03 9.99047138e-01 4.77460851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354860624 meters Centerline goodness [0,1] 0.6535647136541491 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96143525e-01 -7.61350635e-02 -4.36065408e-02 4.98416884e-01] [ 7.62265224e-02 9.97090431e-01 4.36021037e-04 9.59269954e-02] [ 4.34464680e-02 -3.75831449e-03 9.99048687e-01 4.80415467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384860624 meters Centerline goodness [0,1] 0.6527993087499047 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96135399e-01 -7.62860562e-02 -4.35282078e-02 4.98089132e-01] [ 7.63746413e-02 9.97079122e-01 3.73318343e-04 9.56400196e-02] [ 4.33725882e-02 -3.69632687e-03 9.99052129e-01 4.82517818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414860624 meters Centerline goodness [0,1] 0.6480418550312389 Centerline is valid? [False, False] Translation: X:0.50, Y:0.10, Z:0.05 [[ 9.96124957e-01 -7.64308806e-02 -4.35131007e-02 4.97856254e-01] [ 7.65157105e-02 9.97068335e-01 2.84923179e-04 9.51120992e-02] [ 4.33637579e-02 -3.61325490e-03 9.99052816e-01 4.85929156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444860624 meters Centerline goodness [0,1] 0.6583513273212245 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96113681e-01 -7.66438722e-02 -4.33964352e-02 4.97322154e-01] [ 7.67246248e-02 9.97052302e-01 1.95851398e-04 9.46383622e-02] [ 4.32535048e-02 -3.52466546e-03 9.99057912e-01 4.89111984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474860624 meters Centerline goodness [0,1] 0.6475646879756469 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96099431e-01 -7.68658917e-02 -4.33307982e-02 4.96759729e-01] [ 7.69426061e-02 9.97035518e-01 1.02974292e-04 9.40709932e-02] [ 4.31944296e-02 -3.43655717e-03 9.99060775e-01 4.94193272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504860624 meters Centerline goodness [0,1] 0.6428390045708481 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96090988e-01 -7.69326791e-02 -4.34062969e-02 4.96673612e-01] [ 7.70063629e-02 9.97030601e-01 2.55456883e-05 9.38687168e-02] [ 4.32754410e-02 -3.36800688e-03 9.99057502e-01 4.97880129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534860624 meters Centerline goodness [0,1] 0.6384149278705981 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96083659e-01 -7.70534748e-02 -4.33601833e-02 4.96490401e-01] [ 7.71252702e-02 9.97021410e-01 -1.71301904e-05 9.36253193e-02] [ 4.32323510e-02 -3.32710275e-03 9.99059505e-01 4.98923217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564860624 meters Centerline goodness [0,1] 0.648334134432948 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96083356e-01 -7.70750504e-02 -4.33287881e-02 4.96430974e-01] [ 7.71551735e-02 9.97019081e-01 1.77439325e-04 9.27380818e-02] [ 4.31859524e-02 -3.51978452e-03 9.99060851e-01 4.98129478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594860624 meters Centerline goodness [0,1] 0.6531583719524481 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96054708e-01 -7.74951294e-02 -4.32379864e-02 4.96102146e-01] [ 7.75822061e-02 9.96985901e-01 3.36977321e-04 8.99709339e-02] [ 4.30815488e-02 -3.69014622e-03 9.99064744e-01 4.99015796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624860624 meters Centerline goodness [0,1] 0.624402034342112 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.96035457e-01 -7.78440800e-02 -4.30542496e-02 4.95540753e-01] [ 7.79359767e-02 9.96958261e-01 4.57504834e-04 8.83542175e-02] [ 4.28876757e-02 -3.81116603e-03 9.99072631e-01 4.99568550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654860624 meters Centerline goodness [0,1] 0.6434306935661949 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:0.05 [[ 9.95994936e-01 -7.83649167e-02 -4.30467964e-02 4.95409937e-01] [ 7.84778983e-02 9.96915412e-01 9.38422382e-04 8.52701029e-02] [ 4.28404754e-02 -4.31288605e-03 9.99072616e-01 4.96796707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684860624 meters Centerline goodness [0,1] 0.6409685569202291 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99598082 -0.07850394 -0.0431201 0.49548479] [ 0.07862992 0.99690312 0.00123068 0.08376077] [ 0.04288995 -0.00461626 0.99906914 0.04962967] [ 0. 0. 0. 1. ]] SLAMing on 70.714860624 meters Centerline goodness [0,1] 0.6399770160887379 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99598116 -0.0785226 -0.04307827 0.49535782] [ 0.0786625 0.99690009 0.00155938 0.08203503] [ 0.04282229 -0.00494176 0.99907048 0.04968248] [ 0. 0. 0. 1. ]] SLAMing on 70.744860624 meters Centerline goodness [0,1] 0.6367611617679942 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99598143 -0.07853119 -0.04305632 0.49524924] [ 0.07868729 0.99689746 0.0019403 0.08021699] [ 0.04277037 -0.00532049 0.99907076 0.04970271] [ 0. 0. 0. 1. ]] SLAMing on 70.774860624 meters Centerline goodness [0,1] 0.6370879666401906 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:0.05 [[ 0.99597673 -0.07860597 -0.04302847 0.49502831] [ 0.07877084 0.99689044 0.00214695 0.07842959] [ 0.04272591 -0.0055277 0.99907154 0.04996673] [ 0. 0. 0. 1. ]] SLAMing on 70.804860624 meters Centerline goodness [0,1] 0.6341728663585358 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.05 [[ 0.99590991 -0.07947627 -0.04297648 0.49377826] [ 0.07962927 0.99682282 0.00185734 0.07507764] [ 0.04269233 -0.00527193 0.99907436 0.0514471 ] [ 0. 0. 0. 1. ]] SLAMing on 70.834860624 meters Centerline goodness [0,1] 0.6433262554935559 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 0.99588856 -0.07979158 -0.04288687 0.49307471] [ 0.07994594 0.9967974 0.00189349 0.07353953] [ 0.04259844 -0.00531433 0.99907814 0.05205884] [ 0. 0. 0. 1. ]] SLAMing on 70.864860624 meters Centerline goodness [0,1] 0.6311959087332809 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 0.99587577 -0.0799846 -0.04282417 0.49257371] [ 0.08014764 0.99678079 0.00210121 0.07178251] [ 0.04251825 -0.0055248 0.99908041 0.05245965] [ 0. 0. 0. 1. ]] SLAMing on 70.894860624 meters Centerline goodness [0,1] 0.6336643397895978 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 0.99586858 -0.08007461 -0.04282325 0.49238222] [ 0.0802486 0.99677209 0.00235682 0.06988866] [ 0.0424963 -0.00578359 0.99907988 0.05269419] [ 0. 0. 0. 1. ]] SLAMing on 70.924860624 meters Centerline goodness [0,1] 0.6428553918564459 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:0.05 [[ 0.99587047 -0.08004116 -0.04284186 0.49246893] [ 0.08023307 0.99677227 0.00277605 0.06765553] [ 0.04248138 -0.00620192 0.99907801 0.05266151] [ 0. 0. 0. 1. ]] SLAMing on 70.954860624 meters Centerline goodness [0,1] 0.6192042492020564 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99586683 -0.08007528 -0.04286274 0.49235264] [ 0.08028865 0.99676627 0.00327722 0.06353498] [ 0.04246171 -0.00670507 0.9990756 0.05306475] [ 0. 0. 0. 1. ]] SLAMing on 70.984860624 meters Centerline goodness [0,1] 0.6366110260708993 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.9958672 -0.08003307 -0.04293272 0.49221721] [ 0.08025759 0.99676791 0.00352881 0.06188976] [ 0.04251154 -0.0069599 0.99907173 0.05348842] [ 0. 0. 0. 1. ]] SLAMing on 71.014860624 meters Centerline goodness [0,1] 0.635842642059252 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99586746 -0.08001632 -0.04295804 0.49198342] [ 0.08025227 0.99676737 0.00379368 0.0602297 ] [ 0.04251561 -0.00722548 0.99906967 0.05388921] [ 0. 0. 0. 1. ]] SLAMing on 71.044860624 meters Centerline goodness [0,1] 0.6349025501793852 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.05 [[ 0.99587704 -0.07984519 -0.04305425 0.49196971] [ 0.08009699 0.99677842 0.0041527 0.05835468] [ 0.04258398 -0.00758409 0.99906411 0.05428135] [ 0. 0. 0. 1. ]] SLAMing on 71.074860624 meters Centerline goodness [0,1] 0.6320236891521016 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.05 [[ 0.99588244 -0.07966472 -0.04326308 0.49211554] [ 0.07994839 0.99678714 0.00486406 0.05418577] [ 0.04273659 -0.00830285 0.99905187 0.05479905] [ 0. 0. 0. 1. ]] SLAMing on 71.104860624 meters Centerline goodness [0,1] 0.628153126125045 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 0.99588761 -0.0795937 -0.04327479 0.49203533] [ 0.07989403 0.99678952 0.00525272 0.0517946 ] [ 0.04271777 -0.00868852 0.9990494 0.05501473] [ 0. 0. 0. 1. ]] SLAMing on 71.134860624 meters Centerline goodness [0,1] 0.6229689187567502 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 0.99589442 -0.07950463 -0.04328181 0.49196168] [ 0.07982613 0.99679223 0.00574846 0.0493348 ] [ 0.04268594 -0.00917988 0.99904637 0.05516586] [ 0. 0. 0. 1. ]] SLAMing on 71.164860624 meters Centerline goodness [0,1] 0.6221734567312279 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99588391 -0.07955436 -0.04343209 0.49207602] [ 0.07990547 0.99678186 0.0064061 0.04456934] [ 0.04278269 -0.00985019 0.99903584 0.05554336] [ 0. 0. 0. 1. ]] SLAMing on 71.194860624 meters Centerline goodness [0,1] 0.626370490165767 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99588469 -0.07950943 -0.04349649 0.49202187] [ 0.07987786 0.99678149 0.00679625 0.04229732] [ 0.04281613 -0.01024269 0.99903046 0.05584148] [ 0. 0. 0. 1. ]] SLAMing on 71.224860624 meters Centerline goodness [0,1] 0.6312970949244112 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99588524 -0.07951043 -0.04348187 0.49187595] [ 0.07989672 0.99677702 0.00721676 0.03996156] [ 0.04276792 -0.01066113 0.99902815 0.05598392] [ 0. 0. 0. 1. ]] SLAMing on 71.254860624 meters Centerline goodness [0,1] 0.635855069042842 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.9958911 -0.0794076 -0.04353562 0.49194366] [ 0.07981224 0.99678069 0.00763359 0.03769036] [ 0.0427893 -0.0110769 0.99902271 0.05614734] [ 0. 0. 0. 1. ]] SLAMing on 71.284860624 meters Centerline goodness [0,1] 0.6242300277425119 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99589897 -0.07920411 -0.04372585 0.49206636] [ 0.07964141 0.99678862 0.00834844 0.03365962] [ 0.0429242 -0.01179659 0.99900869 0.05665032] [ 0. 0. 0. 1. ]] SLAMing on 71.314860624 meters Centerline goodness [0,1] 0.6272714499812664 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99590659 -0.07905646 -0.04381947 0.49227473] [ 0.07951091 0.99679582 0.00872439 0.03177077] [ 0.04298935 -0.0121728 0.99900137 0.05673522] [ 0. 0. 0. 1. ]] SLAMing on 71.344860624 meters Centerline goodness [0,1] 0.624950374816095 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99591476 -0.07884944 -0.04400641 0.4924995 ] [ 0.07931883 0.99680848 0.00902139 0.03024334] [ 0.04315463 -0.01247508 0.99899052 0.05707199] [ 0. 0. 0. 1. ]] SLAMing on 71.374860624 meters Centerline goodness [0,1] 0.6252125899867205 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99593346 -0.07853544 -0.04414444 0.49279535] [ 0.07902461 0.99682792 0.00944471 0.02869064] [ 0.04326267 -0.0128948 0.99898051 0.05720473] [ 0. 0. 0. 1. ]] SLAMing on 71.404860624 meters Centerline goodness [0,1] 0.6204218822438572 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99595711 -0.0781411 -0.04431036 0.49282043] [ 0.07866747 0.99684811 0.01025993 0.02467899] [ 0.04336898 -0.01370424 0.99896513 0.05784095] [ 0. 0. 0. 1. ]] SLAMing on 71.434860624 meters Centerline goodness [0,1] 0.6193210645265439 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99596547 -0.07794694 -0.04446405 0.49293832] [ 0.07849136 0.99685812 0.01062978 0.02278198] [ 0.04349579 -0.01407693 0.99895443 0.05822347] [ 0. 0. 0. 1. ]] SLAMing on 71.464860624 meters Centerline goodness [0,1] 0.6181814000551927 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99597497 -0.07775876 -0.04458059 0.49307695] [ 0.07831999 0.99686779 0.01098107 0.02114246] [ 0.04358708 -0.01442842 0.99894544 0.05847385] [ 0. 0. 0. 1. ]] SLAMing on 71.494860624 meters Centerline goodness [0,1] 0.6157455323259504 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99598898 -0.07752603 -0.04467292 0.49313977] [ 0.07810314 0.99688103 0.01131868 0.01990022] [ 0.0436561 -0.01476238 0.99893754 0.05874508] [ 0. 0. 0. 1. ]] SLAMing on 71.524860624 meters Centerline goodness [0,1] 0.614811598839202 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.9960209 -0.07701337 -0.04484761 0.49362454] [ 0.07762639 0.99690922 0.01208921 0.01716008] [ 0.04377797 -0.01552247 0.99892069 0.05886064] [ 0. 0. 0. 1. ]] SLAMing on 71.554860624 meters Centerline goodness [0,1] 0.614811598839202 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.9960209 -0.07701337 -0.04484761 0.49362454] [ 0.07762639 0.99690922 0.01208921 0.01716008] [ 0.04377797 -0.01552247 0.99892069 0.05886064] [ 0. 0. 0. 1. ]] SLAMing on 71.584860624 meters Centerline goodness [0,1] 0.6340423591637598 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99603065 -0.07690002 -0.04482546 0.49369402] [ 0.07753131 0.99691134 0.01251666 0.01518109] [ 0.04372448 -0.01594235 0.99891642 0.05878434] [ 0. 0. 0. 1. ]] SLAMing on 71.614860624 meters Centerline goodness [0,1] 0.6117172083739708 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99602478 -0.07692394 -0.04491489 0.49377985] [ 0.07757014 0.99690442 0.01282353 0.01301796] [ 0.04378941 -0.01625661 0.99890851 0.05898257] [ 0. 0. 0. 1. ]] SLAMing on 71.644860624 meters Centerline goodness [0,1] 0.6410969433894014 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99593562 -0.07828415 -0.04454013 0.49400525] [ 0.07887013 0.99681797 0.01155187 0.00905516] [ 0.04349408 -0.0150178 0.9989408 0.05889436] [ 0. 0. 0. 1. ]] SLAMing on 71.674860624 meters Centerline goodness [0,1] 0.6391422121896162 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.995928 -0.07835949 -0.04457802 0.49381296] [ 0.07895011 0.99681056 0.01164388 0.00775314] [ 0.04352344 -0.01511591 0.99893805 0.0593241 ] [ 0. 0. 0. 1. ]] SLAMing on 71.704860624 meters Centerline goodness [0,1] 0.6340618036956179 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99592909 -0.07827845 -0.04469591 0.49403163] [ 0.07887844 0.99681417 0.01181917 0.00691119] [ 0.04362833 -0.0152966 0.99893072 0.05943633] [ 0. 0. 0. 1. ]] SLAMing on 71.734860624 meters Centerline goodness [0,1] 0.6376834428738634 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99594755 -0.07801599 -0.0447435 0.49429336] [ 0.07863151 0.99682955 0.01216301 0.0057617 ] [ 0.04365273 -0.01563197 0.99892446 0.05934691] [ 0. 0. 0. 1. ]] SLAMing on 71.764860624 meters Centerline goodness [0,1] 0.6362921701630655 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.9959676 -0.07774253 -0.04477321 0.49460153] [ 0.07837232 0.99684599 0.01248433 0.00462592] [ 0.04366143 -0.01594297 0.99891917 0.05916642] [ 0. 0. 0. 1. ]] SLAMing on 71.794860624 meters Centerline goodness [0,1] 0.6367636875376952 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99599598 -0.07734661 -0.04482751 0.49457919] [ 0.07799344 0.9968709 0.01286198 0.00276703] [ 0.04369241 -0.01630673 0.99891194 0.05963854] [ 0. 0. 0. 1. ]] SLAMing on 71.824860624 meters Centerline goodness [0,1] 0.645320086818375 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99600907 -0.07719048 -0.04480574 0.49449516] [ 0.07784654 0.99687949 0.01308443 0.00199399] [ 0.04365593 -0.01652018 0.99891003 0.05976868] [ 0. 0. 0. 1. ]] SLAMing on 71.854860624 meters Centerline goodness [0,1] 0.637133535931355 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99601254 -0.07718174 -0.04474369 0.49428471] [ 0.07783942 0.99687925 0.01314517 0.00127861] [ 0.04358949 -0.01657558 0.99891201 0.05997538] [ 0. 0. 0. 1. ]] SLAMing on 71.884860624 meters Centerline goodness [0,1] 0.6424757010389901 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 9.96016728e-01 -7.70993014e-02 -4.47925900e-02 4.94287021e-01] [ 7.77660302e-02 9.96882446e-01 1.33353922e-02 2.41790656e-04] [ 4.36247972e-02 -1.67656156e-02 9.98907299e-01 6.01766712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914860624 meters Centerline goodness [0,1] 0.6430995222574452 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99600866 -0.07726928 -0.04467885 0.49404415] [ 0.07794749 0.99686416 0.01363949 -0.00182094] [ 0.04348483 -0.01706766 0.99890829 0.06024395] [ 0. 0. 0. 1. ]] SLAMing on 71.944860624 meters Centerline goodness [0,1] 0.6500066877702975 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99598499 -0.07760423 -0.04462608 0.4936477 ] [ 0.07827532 0.99684051 0.01348986 -0.00257065] [ 0.04343822 -0.01692882 0.99891268 0.06064898] [ 0. 0. 0. 1. ]] SLAMing on 71.974860624 meters Centerline goodness [0,1] 0.6246938866378735 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99596783 -0.07791144 -0.04447344 0.49311423] [ 0.07858183 0.99681588 0.0135274 -0.00390676] [ 0.04327789 -0.01696766 0.99891898 0.060917 ] [ 0. 0. 0. 1. ]] SLAMing on 72.004860624 meters Centerline goodness [0,1] 0.6191543171532523 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99593989 -0.07830666 -0.04440495 0.49260746] [ 0.07896927 0.99678743 0.01336681 -0.00516622] [ 0.04321558 -0.01681917 0.99892419 0.06146092] [ 0. 0. 0. 1. ]] SLAMing on 72.034860624 meters Centerline goodness [0,1] 0.6439555082868031 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99588713 -0.07908859 -0.04420205 0.49157104] [ 0.07974381 0.9967272 0.01325922 -0.00760143] [ 0.04300874 -0.01672953 0.99893462 0.06216942] [ 0. 0. 0. 1. ]] SLAMing on 72.064860624 meters Centerline goodness [0,1] 0.631986889892816 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.9958804 -0.07923312 -0.04409471 0.49129239] [ 0.07988754 0.99671542 0.0132797 -0.00826415] [ 0.04289769 -0.01674761 0.99893909 0.06229246] [ 0. 0. 0. 1. ]] SLAMing on 72.094860624 meters Centerline goodness [0,1] 0.6295418291386033 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99586855 -0.07938712 -0.04408533 0.4911332 ] [ 0.08003866 0.99670418 0.01321331 -0.00862126] [ 0.04289107 -0.01668725 0.99894038 0.06251674] [ 0. 0. 0. 1. ]] SLAMing on 72.124860624 meters Centerline goodness [0,1] 0.6377827403984346 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99587826 -0.07921826 -0.04416974 0.49173879] [ 0.07988439 0.9967124 0.01352292 -0.00974872] [ 0.04295327 -0.01699565 0.99893251 0.06207238] [ 0. 0. 0. 1. ]] SLAMing on 72.154860624 meters Centerline goodness [0,1] 0.6373334513744411 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.9958888 -0.07903806 -0.04425478 0.49233114] [ 0.0797112 0.99672446 0.01365555 -0.00994386] [ 0.04303052 -0.01712702 0.99892694 0.06162272] [ 0. 0. 0. 1. ]] SLAMing on 72.184860624 meters Centerline goodness [0,1] 0.6360572125512807 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99589385 -0.07894851 -0.04430094 0.49251575] [ 0.07962183 0.99673177 0.01364319 -0.00974605] [ 0.04307905 -0.01711449 0.99892507 0.0615499 ] [ 0. 0. 0. 1. ]] SLAMing on 72.214860624 meters Centerline goodness [0,1] 0.5922338684710982 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99589365 -0.07890115 -0.04438978 0.4927426 ] [ 0.07956812 0.99673853 0.0134619 -0.00914874] [ 0.04318285 -0.01693863 0.99892358 0.06160803] [ 0. 0. 0. 1. ]] SLAMing on 72.244860624 meters Centerline goodness [0,1] 0.5903233649404327 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99590116 -0.07883476 -0.0443391 0.49231646] [ 0.0794839 0.99675046 0.01307032 -0.00809185] [ 0.04316462 -0.01654099 0.99893103 0.06220846] [ 0. 0. 0. 1. ]] SLAMing on 72.274860624 meters Centerline goodness [0,1] 0.5874961284898899 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99589403 -0.07887821 -0.04442195 0.49223594] [ 0.07951657 0.99675151 0.01278859 -0.00749887] [ 0.0432689 -0.01626836 0.998931 0.06260309] [ 0. 0. 0. 1. ]] SLAMing on 72.304860624 meters Centerline goodness [0,1] 0.5866932801064537 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99589582 -0.07886168 -0.04441125 0.49209656] [ 0.07949334 0.99675528 0.01263827 -0.00705483] [ 0.04327048 -0.0161168 0.99893339 0.06280708] [ 0. 0. 0. 1. ]] SLAMing on 72.334860624 meters Centerline goodness [0,1] 0.6490878056349892 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99588552 -0.0789561 -0.04447422 0.49208885] [ 0.07957658 0.99675218 0.01235547 -0.00636554] [ 0.04335424 -0.01584374 0.99893412 0.06303176] [ 0. 0. 0. 1. ]] SLAMing on 72.364860624 meters Centerline goodness [0,1] 0.6484031448496425 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:0.06 [[ 0.99591009 -0.07865948 -0.04444963 0.49235802] [ 0.0792756 0.99677722 0.01226974 -0.00515407] [ 0.04334125 -0.01574333 0.99893628 0.06272036] [ 0. 0. 0. 1. ]] SLAMing on 72.394860624 meters Centerline goodness [0,1] 0.6454541418804937 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99591243 -0.07853136 -0.0446236 0.49297484] [ 0.07914748 0.99678814 0.0122096 -0.00476956] [ 0.04352144 -0.01569154 0.99892926 0.06248061] [ 0. 0. 0. 1. ]] SLAMing on 72.424860624 meters Centerline goodness [0,1] 0.6551999644902127 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99591767 -0.0784608 -0.04463059 0.49317234] [ 0.07907445 0.99679465 0.01215154 -0.00448573] [ 0.04353411 -0.01563107 0.99892965 0.06232468] [ 0. 0. 0. 1. ]] SLAMing on 72.454860624 meters Centerline goodness [0,1] 0.6580771281322196 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99591492 -0.07848963 -0.04464135 0.49323988] [ 0.07909698 0.99679466 0.01200291 -0.00409114] [ 0.04355616 -0.01548488 0.99893097 0.06230365] [ 0. 0. 0. 1. ]] SLAMing on 72.484860624 meters Centerline goodness [0,1] 0.6553246234722623 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.9959109 -0.078481 -0.04474598 0.49338365] [ 0.07908423 0.99679725 0.01187164 -0.00361731] [ 0.04367097 -0.01536179 0.99892786 0.06241792] [ 0. 0. 0. 1. ]] SLAMing on 72.514860624 meters Centerline goodness [0,1] 0.6515504650285232 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99591696 -0.07839571 -0.04476068 0.49323647] [ 0.07899236 0.99680635 0.01171772 -0.00300307] [ 0.04369911 -0.01520563 0.99892901 0.06273091] [ 0. 0. 0. 1. ]] SLAMing on 72.544860624 meters Centerline goodness [0,1] 0.6539782420845057 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99590509 -0.07854218 -0.0447681 0.49315306] [ 0.0791325 0.99679699 0.01156745 -0.00301121] [ 0.04371617 -0.0150627 0.99893043 0.06288355] [ 0. 0. 0. 1. ]] SLAMing on 72.574860624 meters Centerline goodness [0,1] 0.6522086570477248 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99590082 -0.07860984 -0.04474435 0.49295713] [ 0.07919574 0.99679306 0.01147304 -0.00306094] [ 0.04369896 -0.01496957 0.99893259 0.06312229] [ 0. 0. 0. 1. ]] SLAMing on 72.604860624 meters Centerline goodness [0,1] 0.6530218745151926 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.9959046 -0.07849314 -0.04486491 0.49296443] [ 0.07907933 0.99680267 0.01144094 -0.00285053] [ 0.04382342 -0.01494197 0.99892755 0.06350912] [ 0. 0. 0. 1. ]] SLAMing on 72.634860624 meters Centerline goodness [0,1] 0.6501539074783533 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99590311 -0.0784999 -0.04488601 0.49303945] [ 0.07908229 0.99680351 0.01134698 -0.00266591] [ 0.04385179 -0.01485018 0.99892767 0.0635467 ] [ 0. 0. 0. 1. ]] SLAMing on 72.664860624 meters Centerline goodness [0,1] 0.6521652453206335 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99589403 -0.07858234 -0.04494329 0.49319663] [ 0.07916135 0.99679834 0.011249 -0.00272515] [ 0.04391542 -0.01476058 0.9989262 0.06357853] [ 0. 0. 0. 1. ]] SLAMing on 72.694860624 meters Centerline goodness [0,1] 0.6492527384806421 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99589093 -0.07858317 -0.04501037 0.4933712 ] [ 0.07916276 0.99679834 0.01123986 -0.0029725 ] [ 0.043983 -0.01475682 0.99892329 0.06357601] [ 0. 0. 0. 1. ]] SLAMing on 72.724860624 meters Centerline goodness [0,1] 0.6549791795871356 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.9958801 -0.07874556 -0.04496628 0.49323755] [ 0.07932131 0.99678659 0.01116381 -0.00371442] [ 0.04394268 -0.0146846 0.99892612 0.06377404] [ 0. 0. 0. 1. ]] SLAMing on 72.754860624 meters Centerline goodness [0,1] 0.6473607362506084 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99587577 -0.07880286 -0.04496173 0.49310661] [ 0.07937777 0.9967823 0.01114509 -0.00396812] [ 0.04393879 -0.01466809 0.99892654 0.06395454] [ 0. 0. 0. 1. ]] SLAMing on 72.784860624 meters Centerline goodness [0,1] 0.6533174203244485 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99586849 -0.07884785 -0.04504405 0.49301981] [ 0.07941948 0.99678012 0.01104235 -0.00386474] [ 0.04402835 -0.0145741 0.99892397 0.06431447] [ 0. 0. 0. 1. ]] SLAMing on 72.814860624 meters Centerline goodness [0,1] 0.6380066445182724 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99586434 -0.07888334 -0.04507377 0.49290137] [ 0.07944421 0.99678094 0.01078766 -0.00318847] [ 0.04407771 -0.0143239 0.99892541 0.06462822] [ 0. 0. 0. 1. ]] SLAMing on 72.844860624 meters Centerline goodness [0,1] 0.6363797417897558 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99590233 -0.07826706 -0.04530811 0.49347339] [ 0.07883448 0.99682843 0.01087257 -0.00239791] [ 0.04431345 -0.01439986 0.99891389 0.06481224] [ 0. 0. 0. 1. ]] SLAMing on 72.874860624 meters Centerline goodness [0,1] 0.6532899253648705 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.9959053 -0.07816541 -0.04541818 0.49378995] [ 0.078731 0.99683742 0.01079775 -0.00222038] [ 0.04443053 -0.01432936 0.9989097 0.06483339] [ 0. 0. 0. 1. ]] SLAMing on 72.904860624 meters Centerline goodness [0,1] 0.6533179764330646 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99591243 -0.07799684 -0.04555131 0.49425368] [ 0.07856475 0.9968504 0.01081033 -0.00200134] [ 0.04456467 -0.01434487 0.99890351 0.06469462] [ 0. 0. 0. 1. ]] SLAMing on 72.934860624 meters Centerline goodness [0,1] 0.6508769598724422 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:0.06 [[ 0.99592703 -0.07771614 -0.04571166 0.49482924] [ 0.07828834 0.9968716 0.01086076 -0.00167104] [ 0.0447246 -0.01439521 0.99889563 0.06451056] [ 0. 0. 0. 1. ]] SLAMing on 72.964860624 meters Centerline goodness [0,1] 0.6520256052450883 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.06 [[ 9.95941244e-01 -7.74358814e-02 -4.58772562e-02 4.95014492e-01] [ 7.80060523e-02 9.96894728e-01 1.07683616e-02 -9.40833209e-04] [ 4.49009373e-02 -1.43033591e-02 9.98889043e-01 6.48699342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994860624 meters Centerline goodness [0,1] 0.6514480559737844 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.06 [[ 9.95949928e-01 -7.72848761e-02 -4.59433151e-02 4.95299070e-01] [ 7.78554099e-02 9.96906609e-01 1.07586084e-02 -5.79445935e-04] [ 4.49697167e-02 -1.42919709e-02 9.98886112e-01 6.47621647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024860624 meters Centerline goodness [0,1] 0.6477658276970839 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:0.07 [[ 9.95952805e-01 -7.71672430e-02 -4.60784908e-02 4.95448715e-01] [ 7.77332533e-02 9.96917648e-01 1.06180833e-02 -2.13631723e-05] [ 4.51170924e-02 -1.41569409e-02 9.98881389e-01 6.50318411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054860624 meters Centerline goodness [0,1] 0.6482831999645335 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 9.95958390e-01 -7.70295594e-02 -4.61880088e-02 4.95616018e-01] [ 7.75902176e-02 9.96930373e-01 1.04685355e-02 6.67149118e-04] [ 4.52398421e-02 -1.40099635e-02 9.98877909e-01 6.52604538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084860624 meters Centerline goodness [0,1] 0.6467396119429432 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.99597008 -0.0767931 -0.04632946 0.49567297] [ 0.07733799 0.99695395 0.01008302 0.0024732 ] [ 0.04541403 -0.01362541 0.99887532 0.06574272] [ 0. 0. 0. 1. ]] SLAMing on 73.114860624 meters Centerline goodness [0,1] 0.6451070234854019 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.99596714 -0.07677194 -0.04642767 0.49596041] [ 0.07731106 0.9969576 0.00992734 0.0027892 ] [ 0.04552428 -0.01347668 0.99887232 0.06577667] [ 0. 0. 0. 1. ]] SLAMing on 73.144860624 meters Centerline goodness [0,1] 0.6440470901821413 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.99596068 -0.07681939 -0.04648766 0.49612816] [ 0.07735386 0.99695547 0.00980665 0.00268865] [ 0.04559279 -0.01336303 0.99887073 0.06580764] [ 0. 0. 0. 1. ]] SLAMing on 73.174860624 meters Centerline goodness [0,1] 0.6429174629983555 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.99596243 -0.07678857 -0.0465012 0.49646123] [ 0.07732564 0.99695713 0.00986024 0.00231164] [ 0.04560255 -0.01341616 0.99886957 0.065514 ] [ 0. 0. 0. 1. ]] SLAMing on 73.204860624 meters Centerline goodness [0,1] 0.6420190391853 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.9959628 -0.07666037 -0.04670432 0.49726023] [ 0.07720577 0.99696518 0.00998521 0.0020161 ] [ 0.04579711 -0.01355074 0.99885885 0.06512794] [ 0. 0. 0. 1. ]] SLAMing on 73.234860624 meters Centerline goodness [0,1] 0.6646080021327172 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.06 [[ 0.9959619 -0.07661588 -0.0467964 0.49770734] [ 0.07715651 0.99697029 0.0098551 0.00319792] [ 0.04589956 -0.01342595 0.99885583 0.06482499] [ 0. 0. 0. 1. ]] SLAMing on 73.264860624 meters Centerline goodness [0,1] 0.6591692040984153 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.06 [[ 0.99595847 -0.07662164 -0.04685996 0.49788911] [ 0.07715495 0.99697215 0.00967727 0.00395162] [ 0.04597659 -0.01325364 0.99885459 0.06483345] [ 0. 0. 0. 1. ]] SLAMing on 73.294860624 meters Centerline goodness [0,1] 0.6522376132125732 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.07 [[ 0.9959435 -0.07684055 -0.0468196 0.49766716] [ 0.0773595 0.99695921 0.00937201 0.00442985] [ 0.04595708 -0.01295594 0.99885939 0.06506138] [ 0. 0. 0. 1. ]] SLAMing on 73.324860624 meters Centerline goodness [0,1] 0.6538820704375667 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99592519 -0.07713204 -0.0467297 0.49731362] [ 0.07763426 0.99694104 0.00902682 0.00518823] [ 0.0458905 -0.01261786 0.99886678 0.06526847] [ 0. 0. 0. 1. ]] SLAMing on 73.354860624 meters Centerline goodness [0,1] 0.6607325421167267 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.9959141 -0.07731709 -0.04666021 0.49716708] [ 0.07780695 0.99692985 0.00877258 0.0057351 ] [ 0.04583869 -0.01236723 0.9988723 0.06531796] [ 0. 0. 0. 1. ]] SLAMing on 73.384860624 meters Centerline goodness [0,1] 0.6634814106980156 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99590113 -0.07752366 -0.04659415 0.49686219] [ 0.0779892 0.99692002 0.00825522 0.00736908] [ 0.04581067 -0.01185522 0.99887979 0.06559892] [ 0. 0. 0. 1. ]] SLAMing on 73.414860624 meters Centerline goodness [0,1] 0.6515760712619677 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99590189 -0.07749629 -0.04662358 0.49702393] [ 0.0779528 0.99692454 0.00805155 0.00825823] [ 0.04585622 -0.01165299 0.99888008 0.06556386] [ 0. 0. 0. 1. ]] SLAMing on 73.444860624 meters Centerline goodness [0,1] 0.6515760712619677 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99590189 -0.07749629 -0.04662358 0.49702393] [ 0.0779528 0.99692454 0.00805155 0.00825823] [ 0.04585622 -0.01165299 0.99888008 0.06556386] [ 0. 0. 0. 1. ]] SLAMing on 73.474860624 meters Centerline goodness [0,1] 0.660409177650557 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99590232 -0.07751588 -0.04658173 0.49726428] [ 0.0779646 0.99692489 0.00789172 0.00912572] [ 0.04582676 -0.01149111 0.99888331 0.06521431] [ 0. 0. 0. 1. ]] SLAMing on 73.504860624 meters Centerline goodness [0,1] 0.6597562060681555 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.07 [[ 0.99588955 -0.07767938 -0.04658242 0.49728698] [ 0.07811419 0.99691557 0.00758482 0.01028061] [ 0.04584955 -0.01119239 0.99888565 0.0651504 ] [ 0. 0. 0. 1. ]] SLAMing on 73.534860624 meters Centerline goodness [0,1] 0.6611190116434095 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.9958861 -0.07771922 -0.04658963 0.49759386] [ 0.07814677 0.99691422 0.00742403 0.01105965] [ 0.04586887 -0.01103432 0.99888653 0.06482595] [ 0. 0. 0. 1. ]] SLAMing on 73.564860624 meters Centerline goodness [0,1] 0.6588031454085033 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.99587973 -0.07788114 -0.04645526 0.49777084] [ 0.07829005 0.99690572 0.00704594 0.01221612] [ 0.04576277 -0.01065389 0.99889552 0.06436303] [ 0. 0. 0. 1. ]] SLAMing on 73.594860624 meters Centerline goodness [0,1] 0.6602917630314891 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.99586683 -0.07808161 -0.04639533 0.49763766] [ 0.07847472 0.99689352 0.00671011 0.01305146] [ 0.04572727 -0.01032324 0.99890062 0.06440468] [ 0. 0. 0. 1. ]] SLAMing on 73.624860624 meters Centerline goodness [0,1] 0.652343141834034 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.06 [[ 0.99585373 -0.07828372 -0.04633584 0.49744459] [ 0.07865821 0.99688166 0.00631197 0.01395206] [ 0.04569723 -0.00993049 0.99890598 0.06453942] [ 0. 0. 0. 1. ]] SLAMing on 73.654860624 meters Centerline goodness [0,1] 0.6567765486233224 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99584085 -0.07842839 -0.04636809 0.49724693] [ 0.07878191 0.99687475 0.00584372 0.01531824] [ 0.04576486 -0.00947238 0.99890733 0.06493224] [ 0. 0. 0. 1. ]] SLAMing on 73.684860624 meters Centerline goodness [0,1] 0.6647666309012876 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99586189 -0.0781385 -0.04640543 0.49755742] [ 0.07847016 0.99690202 0.00536614 0.01832609] [ 0.04584237 -0.00898538 0.99890827 0.06484511] [ 0. 0. 0. 1. ]] SLAMing on 73.714860624 meters Centerline goodness [0,1] 0.6613415671007294 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99587232 -0.07796553 -0.04647256 0.49784697] [ 0.0782844 0.99691813 0.00507881 0.02008405] [ 0.04593336 -0.00869592 0.99890666 0.06477327] [ 0. 0. 0. 1. ]] SLAMing on 73.744860624 meters Centerline goodness [0,1] 0.6684739990589923 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99587174 -0.07799333 -0.04643841 0.49793543] [ 0.07829458 0.99691918 0.00470117 0.02189018] [ 0.04592868 -0.00831764 0.99891009 0.06461487] [ 0. 0. 0. 1. ]] SLAMing on 73.774860624 meters Centerline goodness [0,1] 0.6743147071369239 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:0.06 [[ 0.99586382 -0.07807735 -0.0464669 0.49790358] [ 0.07836127 0.99691568 0.00431761 0.02316121] [ 0.04598647 -0.00794096 0.9989105 0.06479591] [ 0. 0. 0. 1. ]] SLAMing on 73.804860624 meters Centerline goodness [0,1] 0.6680475504322767 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99588752 -0.07783172 -0.04637106 0.49802033] [ 0.07808929 0.99693926 0.00376633 0.02573575] [ 0.04593599 -0.00737193 0.99891718 0.06470433] [ 0. 0. 0. 1. ]] SLAMing on 73.834860624 meters Centerline goodness [0,1] 0.6715786631870233 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99588805 -0.07779824 -0.04641589 0.49839344] [ 0.07804151 0.99694414 0.00344945 0.02712047] [ 0.04600569 -0.00705763 0.99891625 0.06443217] [ 0. 0. 0. 1. ]] SLAMing on 73.864860624 meters Centerline goodness [0,1] 0.6709755877848842 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99588833 -0.07779407 -0.04641674 0.49859919] [ 0.07802387 0.99694649 0.00315689 0.02850757] [ 0.04602942 -0.00676553 0.99891717 0.06421388] [ 0. 0. 0. 1. ]] SLAMing on 73.894860624 meters Centerline goodness [0,1] 0.6763290481462235 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99587906 -0.07792756 -0.0463918 0.49869397] [ 0.07812196 0.99694095 0.00238937 0.03201989] [ 0.04606369 -0.00600374 0.99892046 0.06410529] [ 0. 0. 0. 1. ]] SLAMing on 73.924860624 meters Centerline goodness [0,1] 0.6797700470358337 Centerline is valid? [False, False] Translation: X:0.50, Y:0.03, Z:0.06 [[ 0.99586878 -0.07810935 -0.04630661 0.49855214] [ 0.07828389 0.99692917 0.00196483 0.03383971] [ 0.04601093 -0.00558178 0.99892534 0.06404314] [ 0. 0. 0. 1. ]] SLAMing on 73.954860624 meters Centerline goodness [0,1] 0.6729375411810147 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99585374 -0.07833898 -0.04624202 0.49833628] [ 0.07849269 0.99691354 0.00151492 0.03536662] [ 0.04598062 -0.0051383 0.99892912 0.06414529] [ 0. 0. 0. 1. ]] SLAMing on 73.984860624 meters Centerline goodness [0,1] 0.6719881575950808 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99584366 -0.07850988 -0.04616926 0.49863098] [ 0.07864384 0.99690218 0.00108948 0.0370119 ] [ 0.0459407 -0.00471588 0.99893304 0.06356953] [ 0. 0. 0. 1. ]] SLAMing on 74.014860624 meters Centerline goodness [0,1] 0.6751730103806228 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95832288e-01 -7.87218311e-02 -4.60535384e-02 4.98674977e-01] [ 7.88468224e-02 9.96886336e-01 9.00988596e-04 3.76401307e-02] [ 4.58392157e-02 -4.52840869e-03 9.98938567e-01 6.31380339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044860624 meters Centerline goodness [0,1] 0.6663393244570306 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95823427e-01 -7.88191430e-02 -4.60786742e-02 4.98868474e-01] [ 7.89359552e-02 9.96879431e-01 7.18142949e-04 3.85609093e-02] [ 4.58782791e-02 -4.35240773e-03 9.98937556e-01 6.29206768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074860624 meters Centerline goodness [0,1] 0.6713523661255981 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95807970e-01 -7.90264521e-02 -4.60576560e-02 4.98772318e-01] [ 7.91259472e-02 9.96864570e-01 3.38243558e-04 4.01306471e-02] [ 4.58865152e-02 -3.98118129e-03 9.98938726e-01 6.29259316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104860624 meters Centerline goodness [0,1] 0.6676621944495498 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 9.95787050e-01 -7.93001464e-02 -4.60395205e-02 4.98525583e-01] [ 7.93743718e-02 9.96844854e-01 -2.16581476e-04 4.22281897e-02] [ 4.59114340e-02 -3.43868899e-03 9.98939596e-01 6.31378756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134860624 meters Centerline goodness [0,1] 0.6710501987612092 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99600429 -0.07660854 -0.04589755 0.49678402] [ 0.07681317 0.99704182 0.00270868 0.0437891 ] [ 0.04555427 -0.0062234 0.99894248 0.06367884] [ 0. 0. 0. 1. ]] SLAMing on 74.164860624 meters Centerline goodness [0,1] 0.6625268854506348 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:0.06 [[ 0.99599301 -0.07681526 -0.04579665 0.49652532] [ 0.07700653 0.99702764 0.00242447 0.04462684] [ 0.04547429 -0.0059414 0.99894784 0.0637392 ] [ 0. 0. 0. 1. ]] SLAMing on 74.194860624 meters Centerline goodness [0,1] 0.6665895204591743 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99598448 -0.07694759 -0.04575997 0.49654824] [ 0.07712918 0.99701865 0.00221335 0.0451105 ] [ 0.04545324 -0.00573389 0.99895001 0.06364729] [ 0. 0. 0. 1. ]] SLAMing on 74.224860624 meters Centerline goodness [0,1] 0.6684515530829857 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99597509 -0.07711736 -0.04567857 0.49655388] [ 0.07729195 0.99700636 0.00206573 0.04559224] [ 0.04538252 -0.005588 0.99895405 0.06334215] [ 0. 0. 0. 1. ]] SLAMing on 74.254860624 meters Centerline goodness [0,1] 0.6683226929773651 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99595323 -0.07751254 -0.04548587 0.49639843] [ 0.07767593 0.99697698 0.00183286 0.04666127] [ 0.04520629 -0.0053586 0.9989633 0.06278564] [ 0. 0. 0. 1. ]] SLAMing on 74.284860624 meters Centerline goodness [0,1] 0.660994063554883 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.9959391 -0.07779961 -0.04530489 0.49606299] [ 0.07795331 0.99695567 0.00163309 0.04737615] [ 0.04503992 -0.00515813 0.99897187 0.06262709] [ 0. 0. 0. 1. ]] SLAMing on 74.314860624 meters Centerline goodness [0,1] 0.6591810083484912 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99590647 -0.07831663 -0.0451311 0.49533609] [ 0.07845266 0.99691706 0.00124812 0.04814535] [ 0.04489421 -0.00478366 0.99898029 0.06290631] [ 0. 0. 0. 1. ]] SLAMing on 74.344860624 meters Centerline goodness [0,1] 0.6621283949464047 Centerline is valid? [False, False] Translation: X:0.50, Y:0.05, Z:0.06 [[ 0.99587748 -0.07876906 -0.04498312 0.4950126 ] [ 0.0788971 0.99688219 0.00107521 0.04867041] [ 0.04475817 -0.00461981 0.99898717 0.06267516] [ 0. 0. 0. 1. ]] SLAMing on 74.374860624 meters Centerline goodness [0,1] 0.661964900770871 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95858005e-01 -7.90943216e-02 -4.48433072e-02 4.94542783e-01] [ 7.92136512e-02 9.96857266e-01 8.87521788e-04 4.86708354e-02] [ 4.46321787e-02 -4.43604777e-03 9.98993639e-01 6.28299980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404860624 meters Centerline goodness [0,1] 0.6630723330279324 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95843786e-01 -7.93331046e-02 -4.47371378e-02 4.94333001e-01] [ 7.94489335e-02 9.96838605e-01 8.14211108e-04 4.85688850e-02] [ 4.45311121e-02 -4.36514496e-03 9.98998461e-01 6.27638292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434860624 meters Centerline goodness [0,1] 0.65928621742193 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95802514e-01 -8.00884292e-02 -4.43079819e-02 4.93358635e-01] [ 8.01948928e-02 9.96779005e-01 6.27676371e-04 4.85226637e-02] [ 4.41149965e-02 -4.17831557e-03 9.99017722e-01 6.25382685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464860624 meters Centerline goodness [0,1] 0.6615106986336685 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95779810e-01 -8.04428774e-02 -4.41759456e-02 4.93009291e-01] [ 8.05438258e-02 9.96750939e-01 5.07107421e-04 4.85627582e-02] [ 4.39916221e-02 -4.06306700e-03 9.99023638e-01 6.25026754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494860624 meters Centerline goodness [0,1] 0.657881149079985 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95751400e-01 -8.08587808e-02 -4.40568502e-02 4.92598078e-01] [ 8.09509437e-02 9.96718039e-01 3.08921270e-04 4.87324173e-02] [ 4.38872784e-02 -3.87405239e-03 9.99028978e-01 6.25668462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524860624 meters Centerline goodness [0,1] 0.656775980656823 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95726338e-01 -8.12357277e-02 -4.39296655e-02 4.92252191e-01] [ 8.13203382e-02 9.96688007e-01 1.39472917e-04 4.87885386e-02] [ 4.37728406e-02 -3.71125211e-03 9.99034617e-01 6.25853719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554860624 meters Centerline goodness [0,1] 0.6564294455426904 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95700497e-01 -8.16015159e-02 -4.38373528e-02 4.91881426e-01] [ 8.16825298e-02 9.96658397e-01 5.70167576e-05 4.85465275e-02] [ 4.36862131e-02 -3.63751749e-03 9.99038680e-01 6.26558385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584860624 meters Centerline goodness [0,1] 0.647781457731426 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95658593e-01 -8.22528412e-02 -4.35710456e-02 4.91363813e-01] [ 8.23295772e-02 9.96605157e-01 -3.33872793e-05 4.76033596e-02] [ 4.34258750e-02 -3.55394343e-03 9.99050330e-01 6.23669974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614860624 meters Centerline goodness [0,1] 0.645506620339938 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95649106e-01 -8.24355893e-02 -4.34422686e-02 4.91358646e-01] [ 8.25158783e-02 9.96589748e-01 5.51848991e-05 4.70524969e-02] [ 4.32895704e-02 -3.63962175e-03 9.99055937e-01 6.19777495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644860624 meters Centerline goodness [0,1] 0.6424225338877534 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95630205e-01 -8.27316970e-02 -4.33123743e-02 4.91013685e-01] [ 8.28065293e-02 9.96565640e-01 -6.66039521e-05 4.72588195e-02] [ 4.31691342e-02 -3.52023448e-03 9.99061577e-01 6.19361417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674860624 meters Centerline goodness [0,1] 0.6402182348376173 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95603395e-01 -8.31027185e-02 -4.32182507e-02 4.90555475e-01] [ 8.31636517e-02 9.96535828e-01 -3.89243595e-04 4.80954243e-02] [ 4.31008824e-02 -3.20665530e-03 9.99065579e-01 6.21761998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704860624 meters Centerline goodness [0,1] 0.6471324345382854 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95583960e-01 -8.33440876e-02 -4.32011804e-02 4.89961600e-01] [ 8.33880020e-02 9.96516844e-01 -7.87707030e-04 4.93965534e-02] [ 4.31163546e-02 -2.81823163e-03 9.99066083e-01 6.28455921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734860624 meters Centerline goodness [0,1] 0.6595428490552686 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95591057e-01 -8.32374040e-02 -4.32432839e-02 4.90188978e-01] [ 8.32856755e-02 9.96525476e-01 -6.87272764e-04 4.94477676e-02] [ 4.31502409e-02 -2.91730349e-03 9.99064335e-01 6.26973496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764860624 meters Centerline goodness [0,1] 0.6576044594562676 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95589499e-01 -8.32856887e-02 -4.31861610e-02 4.90175679e-01] [ 8.33350774e-02 9.96521365e-01 -6.58551352e-04 4.93328914e-02] [ 4.30907800e-02 -2.94327525e-03 9.99066825e-01 6.25361057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794860624 meters Centerline goodness [0,1] 0.6543864611323245 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95584535e-01 -8.33626821e-02 -4.31520242e-02 4.90280821e-01] [ 8.34134273e-02 9.96514831e-01 -6.26410590e-04 4.90524456e-02] [ 4.30538514e-02 -2.97581354e-03 9.99068321e-01 6.23024035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824860624 meters Centerline goodness [0,1] 0.6525829344776366 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95590296e-01 -8.32641959e-02 -4.32092032e-02 4.90568129e-01] [ 8.33219928e-02 9.96522568e-01 -4.64781436e-04 4.88184632e-02] [ 4.30976458e-02 -3.13754503e-03 9.99065938e-01 6.20559381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854860624 meters Centerline goodness [0,1] 0.6500541456754084 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95592797e-01 -8.31657547e-02 -4.33409668e-02 4.90892396e-01] [ 8.32262612e-02 9.96530592e-01 -4.09602929e-04 4.90856269e-02] [ 4.32246642e-02 -3.19930890e-03 9.99060255e-01 6.19998378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884860624 meters Centerline goodness [0,1] 0.6456122978261895 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95583645e-01 -8.33196936e-02 -4.32554465e-02 4.90478614e-01] [ 8.33736124e-02 9.96518203e-01 -5.59152249e-04 4.96026684e-02] [ 4.31514282e-02 -3.04968000e-03 9.99063889e-01 6.22579664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914860624 meters Centerline goodness [0,1] 0.6429380397338493 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95570786e-01 -8.34591904e-02 -4.32824825e-02 4.90100192e-01] [ 8.35059050e-02 9.96507014e-01 -7.30762104e-04 4.99059369e-02] [ 4.31922862e-02 -2.88681747e-03 9.99062607e-01 6.27855782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944860624 meters Centerline goodness [0,1] 0.6511135175855738 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95573120e-01 -8.34045464e-02 -4.33340948e-02 4.90382006e-01] [ 8.34542242e-02 9.96511390e-01 -6.64558072e-04 4.95262203e-02] [ 4.32383462e-02 -2.95479711e-03 9.99060416e-01 6.26468232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974860624 meters Centerline goodness [0,1] 0.6457363247260242 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95579041e-01 -8.32715070e-02 -4.34537531e-02 4.90834307e-01] [ 8.33302319e-02 9.96521881e-01 -4.61328490e-04 4.91442396e-02] [ 4.33410313e-02 -3.16172234e-03 9.99055333e-01 6.23952536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004860624 meters Centerline goodness [0,1] 0.6471170152628604 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95589061e-01 -8.31300162e-02 -4.34950774e-02 4.91184862e-01] [ 8.31928566e-02 9.96533398e-01 -3.66468483e-04 4.93963549e-02] [ 4.33747618e-02 -3.25362772e-03 9.99053574e-01 6.20946643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034860624 meters Centerline goodness [0,1] 0.6571220349342926 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95599737e-01 -8.29822441e-02 -4.35328731e-02 4.91589215e-01] [ 8.30526953e-02 9.96545139e-01 -1.90900225e-04 4.94051516e-02] [ 4.33983144e-02 -3.42546223e-03 9.99051977e-01 6.16733071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064860624 meters Centerline goodness [0,1] 0.6546608675208652 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95597932e-01 -8.29824344e-02 -4.35737749e-02 4.91617659e-01] [ 8.30557194e-02 9.96544897e-01 -1.28954798e-04 4.92569742e-02] [ 4.34339240e-02 -3.49066409e-03 9.99050204e-01 6.17005555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094860624 meters Centerline goodness [0,1] 0.6500375622124144 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95596537e-01 -8.30345777e-02 -4.35062623e-02 4.91552503e-01] [ 8.31122648e-02 9.96540190e-01 -2.32357250e-05 4.88688106e-02] [ 4.33576683e-02 -3.59277059e-03 9.99053154e-01 6.15951854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124860624 meters Centerline goodness [0,1] 0.6445889173140564 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95577554e-01 -8.33571216e-02 -4.33234728e-02 4.90884948e-01] [ 8.34346755e-02 9.96513249e-01 -1.81396368e-05 4.77907743e-02] [ 4.31739267e-02 -3.59662048e-03 9.99061097e-01 6.18776822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154860624 meters Centerline goodness [0,1] 0.6441604127579738 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95571095e-01 -8.34314578e-02 -4.33288303e-02 4.90804188e-01] [ 8.35125437e-02 9.96506724e-01 6.15252792e-05 4.70972922e-02] [ 4.31723376e-02 -3.67975363e-03 9.99060863e-01 6.19734843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184860624 meters Centerline goodness [0,1] 0.6539975630330865 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95563220e-01 -8.35559542e-02 -4.32698190e-02 4.90587494e-01] [ 8.36391049e-02 9.96496105e-01 1.11709869e-04 4.65494517e-02] [ 4.31088720e-02 -3.73026316e-03 9.99063417e-01 6.20479161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214860624 meters Centerline goodness [0,1] 0.6384032906422361 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.06 [[ 9.95545504e-01 -8.38787566e-02 -4.30523271e-02 4.89957693e-01] [ 8.39698441e-02 9.96468248e-01 3.08533953e-04 4.51091907e-02] [ 4.28743976e-02 -3.92225679e-03 9.99072771e-01 6.21487988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244860624 meters Centerline goodness [0,1] 0.642163856210679 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95525272e-01 -8.42169983e-02 -4.28594100e-02 4.89315112e-01] [ 8.43066507e-02 9.96439816e-01 2.85378118e-04 4.42565139e-02] [ 4.26827889e-02 -3.89743443e-03 9.99081073e-01 6.23926666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274860624 meters Centerline goodness [0,1] 0.6507235196484091 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95514379e-01 -8.44197495e-02 -4.27133195e-02 4.88906407e-01] [ 8.45154189e-02 9.96422076e-01 4.35757558e-04 4.31798550e-02] [ 4.25237079e-02 -4.04373700e-03 9.99087275e-01 6.24392559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304860624 meters Centerline goodness [0,1] 0.6523320047549123 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95506865e-01 -8.45606370e-02 -4.26096167e-02 4.88671611e-01] [ 8.46616466e-02 9.96409596e-01 5.68423138e-04 4.22102037e-02] [ 4.24085648e-02 -4.17326945e-03 9.99091636e-01 6.24461249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334860624 meters Centerline goodness [0,1] 0.6386738276254911 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95473590e-01 -8.50807650e-02 -4.23508642e-02 4.87649409e-01] [ 8.51820926e-02 9.96365225e-01 5.90493123e-04 3.98748272e-02] [ 4.21466887e-02 -4.19535555e-03 9.99102625e-01 6.29926055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364860624 meters Centerline goodness [0,1] 0.6386738276254911 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95473590e-01 -8.50807650e-02 -4.23508642e-02 4.87649409e-01] [ 8.51820926e-02 9.96365225e-01 5.90493123e-04 3.98748272e-02] [ 4.21466887e-02 -4.19535555e-03 9.99102625e-01 6.29926055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394860624 meters Centerline goodness [0,1] 0.6418007325328017 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 9.95468667e-01 -8.51898279e-02 -4.22471997e-02 4.87405171e-01] [ 8.53018015e-02 9.96354795e-01 8.51583969e-04 3.82914122e-02] [ 4.20206537e-02 -4.45148740e-03 9.99106826e-01 6.29948853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424860624 meters Centerline goodness [0,1] 0.6357204166376691 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99547098 -0.085171 -0.04223077 0.48738493] [ 0.08529479 0.99635511 0.00113493 0.03677131] [ 0.04198019 -0.00473185 0.99910724 0.06299285] [ 0. 0. 0. 1. ]] SLAMing on 75.454860624 meters Centerline goodness [0,1] 0.637504622781065 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.06 [[ 0.99547862 -0.08507996 -0.04223413 0.48767422] [ 0.08521896 0.99636112 0.00149852 0.03573379] [ 0.04195295 -0.00509089 0.99910662 0.06262893] [ 0. 0. 0. 1. ]] SLAMing on 75.484860624 meters Centerline goodness [0,1] 0.6393571329607907 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.9954827 -0.08500679 -0.04228519 0.48746445] [ 0.08515571 0.99636615 0.00172974 0.03471252] [ 0.04198449 -0.00532276 0.99910408 0.06307091] [ 0. 0. 0. 1. ]] SLAMing on 75.514860624 meters Centerline goodness [0,1] 0.6419462156917106 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99549395 -0.08482247 -0.0423903 0.48764226] [ 0.0849829 0.99638041 0.00199382 0.03391025] [ 0.04206775 -0.00558728 0.99909914 0.06318563] [ 0. 0. 0. 1. ]] SLAMing on 75.544860624 meters Centerline goodness [0,1] 0.6450630809327214 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99550635 -0.08464241 -0.04245915 0.48770338] [ 0.08481375 0.99639429 0.00224711 0.03284159] [ 0.04211585 -0.00583813 0.99909568 0.06337358] [ 0. 0. 0. 1. ]] SLAMing on 75.574860624 meters Centerline goodness [0,1] 0.6393653417831967 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99552183 -0.08445829 -0.04246278 0.48784363] [ 0.08464144 0.99640826 0.0025307 0.03164012] [ 0.04209653 -0.00611348 0.99909484 0.06334183] [ 0. 0. 0. 1. ]] SLAMing on 75.604860624 meters Centerline goodness [0,1] 0.6467215558562485 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99554399 -0.08417685 -0.042502 0.48803841] [ 0.08438829 0.9964278 0.00320227 0.02894866] [ 0.04208062 -0.00677467 0.99909125 0.06325545] [ 0. 0. 0. 1. ]] SLAMing on 75.634860624 meters Centerline goodness [0,1] 0.6467802813679515 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99555519 -0.08403547 -0.04251948 0.48810885] [ 0.08425642 0.99643821 0.00342807 0.02815742] [ 0.04207996 -0.00699537 0.99908976 0.06328881] [ 0. 0. 0. 1. ]] SLAMing on 75.664860624 meters Centerline goodness [0,1] 0.641430891333684 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99555562 -0.08403823 -0.04250384 0.48801264] [ 0.08426332 0.99643727 0.00352895 0.02759663] [ 0.04205584 -0.00709478 0.99909007 0.06336811] [ 0. 0. 0. 1. ]] SLAMing on 75.694860624 meters Centerline goodness [0,1] 0.6266264206169536 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99556087 -0.08393743 -0.04258016 0.48820331] [ 0.08416721 0.99644503 0.00362974 0.02707811] [ 0.04212412 -0.00719748 0.99908646 0.06342521] [ 0. 0. 0. 1. ]] SLAMing on 75.724860624 meters Centerline goodness [0,1] 0.6257530120481928 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.06 [[ 0.99558161 -0.08359934 -0.04275985 0.48884851] [ 0.08384499 0.99647086 0.00398082 0.02631627] [ 0.04227615 -0.00754843 0.99907745 0.06318982] [ 0. 0. 0. 1. ]] SLAMing on 75.754860624 meters Centerline goodness [0,1] 0.6512852064533771 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.9956211 -0.08302928 -0.04295077 0.48961694] [ 0.08330598 0.99651298 0.00468999 0.02443071] [ 0.04241159 -0.00824751 0.99906618 0.06279965] [ 0. 0. 0. 1. ]] SLAMing on 75.784860624 meters Centerline goodness [0,1] 0.6499874792268991 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99562988 -0.082847 -0.04309883 0.48989874] [ 0.08313216 0.99652666 0.00486361 0.02380731] [ 0.04254619 -0.00842525 0.99905898 0.06290822] [ 0. 0. 0. 1. ]] SLAMing on 75.814860624 meters Centerline goodness [0,1] 0.6485859779939984 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99564655 -0.08265418 -0.04308395 0.48993187] [ 0.08295039 0.99654047 0.00513026 0.02307335] [ 0.04251086 -0.00868175 0.99905828 0.06287762] [ 0. 0. 0. 1. ]] SLAMing on 75.844860624 meters Centerline goodness [0,1] 0.642395372575706 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99566942 -0.08225503 -0.04331879 0.49021684] [ 0.08256028 0.99657197 0.00530234 0.02292284] [ 0.04273414 -0.00885578 0.99904723 0.06328219] [ 0. 0. 0. 1. ]] SLAMing on 75.874860624 meters Centerline goodness [0,1] 0.6468413292503119 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99567764 -0.08209071 -0.04344143 0.49027334] [ 0.08239741 0.99658538 0.00531433 0.02292994] [ 0.04285684 -0.00887082 0.99904184 0.06362899] [ 0. 0. 0. 1. ]] SLAMing on 75.904860624 meters Centerline goodness [0,1] 0.6582848606930267 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99569114 -0.08190689 -0.04347884 0.49051098] [ 0.08222092 0.99659906 0.00548094 0.0223255 ] [ 0.04288204 -0.00903219 0.99903931 0.06354631] [ 0. 0. 0. 1. ]] SLAMing on 75.934860624 meters Centerline goodness [0,1] 0.6507490424495161 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99570723 -0.08168717 -0.04352371 0.49064712] [ 0.08201449 0.99661434 0.00578553 0.02132407] [ 0.04290375 -0.00933027 0.99903564 0.06354803] [ 0. 0. 0. 1. ]] SLAMing on 75.964860624 meters Centerline goodness [0,1] 0.6489136314460873 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99572283 -0.08152689 -0.04346744 0.49044658] [ 0.08186423 0.99662522 0.0060349 0.02004857] [ 0.04282874 -0.00956751 0.99903662 0.06381386] [ 0. 0. 0. 1. ]] SLAMing on 75.994860624 meters Centerline goodness [0,1] 0.6536158868580981 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.9957237 -0.08152898 -0.04344345 0.49027976] [ 0.08187063 0.99662404 0.00614112 0.0198111 ] [ 0.04279611 -0.00967161 0.99903701 0.06392754] [ 0. 0. 0. 1. ]] SLAMing on 76.024860624 meters Centerline goodness [0,1] 0.6566549813411737 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99573074 -0.08139638 -0.04353071 0.49046992] [ 0.08174576 0.99663328 0.00630435 0.01939185] [ 0.04287101 -0.00983588 0.9990322 0.0639582 ] [ 0. 0. 0. 1. ]] SLAMing on 76.054860624 meters Centerline goodness [0,1] 0.6445724613125494 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99573533 -0.0813507 -0.04351114 0.49042058] [ 0.0817065 0.9966355 0.00645932 0.01879068] [ 0.04283928 -0.00998692 0.99903206 0.06401183] [ 0. 0. 0. 1. ]] SLAMing on 76.084860624 meters Centerline goodness [0,1] 0.6450439118618181 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.06 [[ 0.99576336 -0.0810047 -0.04351523 0.49074008] [ 0.08139243 0.99665605 0.00721066 0.01601462] [ 0.04278562 -0.01072192 0.99902674 0.06369451] [ 0. 0. 0. 1. ]] SLAMing on 76.114860624 meters Centerline goodness [0,1] 0.6536262750812689 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99576623 -0.0810406 -0.04338236 0.49060689] [ 0.08143881 0.99665021 0.007489 0.01429772] [ 0.04263013 -0.0109903 0.99903047 0.06358375] [ 0. 0. 0. 1. ]] SLAMing on 76.144860624 meters Centerline goodness [0,1] 0.653977069150842 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99575898 -0.08120066 -0.04324937 0.49029155] [ 0.08160842 0.99663438 0.00774441 0.01250105] [ 0.04247496 -0.01124108 0.99903429 0.06362602] [ 0. 0. 0. 1. ]] SLAMing on 76.174860624 meters Centerline goodness [0,1] 0.6530726507211323 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99574829 -0.08139344 -0.04313285 0.48993911] [ 0.08180767 0.99661663 0.00792395 0.01103988] [ 0.04234195 -0.01141886 0.99903792 0.06373748] [ 0. 0. 0. 1. ]] SLAMing on 76.204860624 meters Centerline goodness [0,1] 0.6470968749302938 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99575938 -0.08128797 -0.04307586 0.48978921] [ 0.0817178 0.99662086 0.00831051 0.00950799] [ 0.04225476 -0.01179534 0.99903724 0.06387855] [ 0. 0. 0. 1. ]] SLAMing on 76.234860624 meters Centerline goodness [0,1] 0.653901846777607 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.99577035 -0.08108378 -0.04320683 0.49017413] [ 0.08152557 0.99663449 0.00856006 0.00910719] [ 0.04236734 -0.01204631 0.99902948 0.06378965] [ 0. 0. 0. 1. ]] SLAMing on 76.264860624 meters Centerline goodness [0,1] 0.6536836957005024 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.9957851 -0.08084484 -0.04331446 0.49043385] [ 0.08130617 0.99664859 0.00899404 0.00771567] [ 0.04244218 -0.01247786 0.999021 0.06378937] [ 0. 0. 0. 1. ]] SLAMing on 76.294860624 meters Centerline goodness [0,1] 0.651822489924266 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.06 [[ 0.9957855 -0.08082595 -0.04334056 0.49063519] [ 0.08129797 0.99664703 0.00923828 0.00661983] [ 0.04244854 -0.01272284 0.99901764 0.06361241] [ 0. 0. 0. 1. ]] SLAMing on 76.324860624 meters Centerline goodness [0,1] 0.6535087719298245 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99575763 -0.08123838 -0.04320958 0.49008775] [ 0.08170834 0.99661363 0.00922056 0.00489375] [ 0.04231419 -0.01271202 0.99902348 0.06398303] [ 0. 0. 0. 1. ]] SLAMing on 76.354860624 meters Centerline goodness [0,1] 0.6424533948085918 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99573531 -0.08152531 -0.04318363 0.48980176] [ 0.08198914 0.99659188 0.00907794 0.00444825] [ 0.04229638 -0.01257981 0.99902591 0.06429473] [ 0. 0. 0. 1. ]] SLAMing on 76.384860624 meters Centerline goodness [0,1] 0.6483356495268348 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99570403 -0.0818704 -0.04325193 0.48984555] [ 0.08233 0.99656493 0.00895081 0.00404139] [ 0.04237055 -0.01247329 0.9990241 0.06438236] [ 0. 0. 0. 1. ]] SLAMing on 76.414860624 meters Centerline goodness [0,1] 0.6499513790664782 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99567452 -0.08235196 -0.04301638 0.48909716] [ 0.08279984 0.99652793 0.00873312 0.00384765] [ 0.04214783 -0.0122571 0.9990362 0.06465666] [ 0. 0. 0. 1. ]] SLAMing on 76.444860624 meters Centerline goodness [0,1] 0.6515084490843139 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99564475 -0.08281157 -0.04282265 0.48859147] [ 0.08324964 0.99649207 0.00854689 0.00343389] [ 0.04196465 -0.01207463 0.99904613 0.06474679] [ 0. 0. 0. 1. ]] SLAMing on 76.474860624 meters Centerline goodness [0,1] 0.6445241574775253 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.06 [[ 0.99561716 -0.08325 -0.04261346 0.48816607] [ 0.08367924 0.99645744 0.00838719 0.00286216] [ 0.04176426 -0.01191629 0.99905643 0.06473867] [ 0. 0. 0. 1. ]] SLAMing on 76.504860624 meters Centerline goodness [0,1] 0.6460868026368181 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99555321 -0.08410268 -0.04243277 0.48746644] [ 0.08451441 0.99639013 0.00800132 0.00167705] [ 0.04160666 -0.01155192 0.99906728 0.06508544] [ 0. 0. 0. 1. ]] SLAMing on 76.534860624 meters Centerline goodness [0,1] 0.6416592920353983 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99553926 -0.08432686 -0.04231499 0.4872504 ] [ 0.08473252 0.99637255 0.00788326 0.00145882] [ 0.04149672 -0.01143355 0.99907322 0.06506368] [ 0. 0. 0. 1. ]] SLAMing on 76.564860624 meters Centerline goodness [0,1] 0.6444685274472508 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99551969 -0.08461061 -0.04220896 0.48672179] [ 0.0850047 0.99635135 0.00762769 0.00155901] [ 0.04140957 -0.01118147 0.99907969 0.06548541] [ 0. 0. 0. 1. ]] SLAMing on 76.594860624 meters Centerline goodness [0,1] 0.6385542168674698 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99550113 -0.08485232 -0.04216149 0.48611528] [ 0.0852273 0.99633571 0.00717414 0.00283931] [ 0.04139825 -0.01073517 0.99908505 0.06613725] [ 0. 0. 0. 1. ]] SLAMing on 76.624860624 meters Centerline goodness [0,1] 0.6483424069402027 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99550102 -0.08485065 -0.04216725 0.48594269] [ 0.08522121 0.996337 0.00706613 0.00346373] [ 0.04141322 -0.01062789 0.99908558 0.06635261] [ 0. 0. 0. 1. ]] SLAMing on 76.654860624 meters Centerline goodness [0,1] 0.6464688952844808 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.9955034 -0.084797 -0.04221904 0.48598391] [ 0.08516451 0.99634245 0.00698042 0.00399483] [ 0.0414727 -0.01054459 0.99908399 0.06648109] [ 0. 0. 0. 1. ]] SLAMing on 76.684860624 meters Centerline goodness [0,1] 0.6435142187430897 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.9954956 -0.08489157 -0.042213 0.48578025] [ 0.08525312 0.99633587 0.00683657 0.00419393] [ 0.04147796 -0.01040457 0.99908524 0.06670846] [ 0. 0. 0. 1. ]] SLAMing on 76.714860624 meters Centerline goodness [0,1] 0.6509813455927858 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99550213 -0.08477907 -0.04228485 0.48595328] [ 0.08514578 0.9963443 0.00694499 0.00364317] [ 0.04154148 -0.01051413 0.99908146 0.0667444 ] [ 0. 0. 0. 1. ]] SLAMing on 76.744860624 meters Centerline goodness [0,1] 0.6471539313399779 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:0.07 [[ 0.99551525 -0.08459168 -0.04235129 0.48628385] [ 0.08495806 0.99636047 0.00692386 0.00423695] [ 0.04161145 -0.01049089 0.99907879 0.06656537] [ 0. 0. 0. 1. ]] SLAMing on 76.774860624 meters Centerline goodness [0,1] 0.647732802477328 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99553276 -0.08428439 -0.04255188 0.48677185] [ 0.08464668 0.99638795 0.00678223 0.00567031] [ 0.04182655 -0.01035381 0.99907124 0.06658329] [ 0. 0. 0. 1. ]] SLAMing on 76.804860624 meters Centerline goodness [0,1] 0.6537320044296788 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99557272 -0.08369298 -0.04278376 0.48754192] [ 0.0840551 0.99643836 0.00673317 0.00720452] [ 0.04206786 -0.01029955 0.99906167 0.0664874 ] [ 0. 0. 0. 1. ]] SLAMing on 76.834860624 meters Centerline goodness [0,1] 0.652529596949408 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99559684 -0.08327691 -0.04303352 0.48819371] [ 0.08363317 0.99647513 0.00654244 0.00886283] [ 0.04233699 -0.01011266 0.99905221 0.06648583] [ 0. 0. 0. 1. ]] SLAMing on 76.864860624 meters Centerline goodness [0,1] 0.6559254564458381 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99593447 -0.07898383 -0.04331382 0.48838178] [ 0.07949546 0.99678287 0.01021708 0.0100817 ] [ 0.04236749 -0.0136188 0.99900927 0.06620384] [ 0. 0. 0. 1. ]] SLAMing on 76.894860624 meters Centerline goodness [0,1] 0.6569993555125897 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99599671 -0.07798122 -0.0436976 0.48999946] [ 0.07849953 0.99686124 0.01027096 0.01203943] [ 0.04275951 -0.01366008 0.99899201 0.06557452] [ 0. 0. 0. 1. ]] SLAMing on 76.924860624 meters Centerline goodness [0,1] 0.6617280099812851 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:0.07 [[ 0.99605964 -0.07698933 -0.04402085 0.49133822] [ 0.07751488 0.9969374 0.01035658 0.01401095] [ 0.04308868 -0.01372804 0.99897693 0.06506501] [ 0. 0. 0. 1. ]] SLAMing on 76.954860624 meters Centerline goodness [0,1] 0.6610934775805803 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.07 [[ 0.99606013 -0.07688316 -0.04419492 0.49138465] [ 0.07738281 0.99695421 0.00970561 0.01656678] [ 0.04331411 -0.0130873 0.99897578 0.06566431] [ 0. 0. 0. 1. ]] SLAMing on 76.984860624 meters Centerline goodness [0,1] 0.6636296478699828 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.07 [[ 0.99607633 -0.07670538 -0.04413879 0.49114169] [ 0.07717439 0.99697681 0.00901931 0.02039829] [ 0.04331352 -0.0123903 0.99898469 0.06607311] [ 0. 0. 0. 1. ]] SLAMing on 77.014860624 meters Centerline goodness [0,1] 0.6640542543396735 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.07 [[ 0.9960623 -0.07683429 -0.0442311 0.49121272] [ 0.07728193 0.99697306 0.00849864 0.02224891] [ 0.04344422 -0.01188344 0.99898518 0.06626282] [ 0. 0. 0. 1. ]] SLAMing on 77.044860624 meters Centerline goodness [0,1] 0.6574846529198803 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.07 [[ 0.99605247 -0.07696499 -0.04422522 0.49133095] [ 0.07739725 0.99696707 0.00814397 0.02349828] [ 0.04346429 -0.01153473 0.99898839 0.06613768] [ 0. 0. 0. 1. ]] SLAMing on 77.074860624 meters Centerline goodness [0,1] 0.6598472388076515 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:0.07 [[ 0.99602977 -0.0773494 -0.0440654 0.49099576] [ 0.07775879 0.99694285 0.00765081 0.02442249] [ 0.0433389 -0.0110469 0.99899935 0.06615335] [ 0. 0. 0. 1. ]] SLAMing on 77.104860624 meters Centerline goodness [0,1] 0.6537489849318776 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.07 [[ 0.9959772 -0.07821547 -0.04372363 0.49032019] [ 0.07857868 0.99688575 0.00664824 0.02670519] [ 0.04306747 -0.01005724 0.99902154 0.06602699] [ 0. 0. 0. 1. ]] SLAMing on 77.134860624 meters Centerline goodness [0,1] 0.6505157437567861 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.07 [[ 0.99594707 -0.07865784 -0.04361618 0.48999795] [ 0.07899317 0.996857 0.00601612 0.02857681] [ 0.04300588 -0.00943711 0.99903025 0.06613049] [ 0. 0. 0. 1. ]] SLAMing on 77.164860624 meters Centerline goodness [0,1] 0.6642403839592385 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.07 [[ 0.9959013 -0.07929142 -0.04351413 0.48918225] [ 0.07958792 0.99681469 0.00512168 0.03102522] [ 0.04296942 -0.00856388 0.99903968 0.06680673] [ 0. 0. 0. 1. ]] SLAMing on 77.194860624 meters Centerline goodness [0,1] 0.6565771766154969 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:0.07 [[ 0.9958586 -0.07989938 -0.04337892 0.48845705] [ 0.08015977 0.99677278 0.00429405 0.03345624] [ 0.04289583 -0.00775352 0.99904946 0.06726145] [ 0. 0. 0. 1. ]] SLAMing on 77.224860624 meters Centerline goodness [0,1] 0.6610991131737353 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.07 [[ 0.99580682 -0.08064595 -0.04318572 0.48758087] [ 0.0808646 0.99671951 0.00333739 0.03635353] [ 0.0427749 -0.00681559 0.99906149 0.06771051] [ 0. 0. 0. 1. ]] SLAMing on 77.254860624 meters Centerline goodness [0,1] 0.6610991131737353 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.07 [[ 0.99580682 -0.08064595 -0.04318572 0.48758087] [ 0.0808646 0.99671951 0.00333739 0.03635353] [ 0.0427749 -0.00681559 0.99906149 0.06771051] [ 0. 0. 0. 1. ]] SLAMing on 77.284860624 meters Centerline goodness [0,1] 0.651749277821083 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.07 [[ 0.99577645 -0.08107005 -0.0430919 0.48730127] [ 0.08126756 0.99668825 0.00284864 0.037258 ] [ 0.04271825 -0.00633859 0.99906705 0.06783699] [ 0. 0. 0. 1. ]] SLAMing on 77.314860624 meters Centerline goodness [0,1] 0.6563411999908082 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.07 [[ 0.99575154 -0.08155204 -0.04275676 0.48659925] [ 0.0817297 0.99665159 0.00242059 0.03799518] [ 0.04241618 -0.0059048 0.99908258 0.06779301] [ 0. 0. 0. 1. ]] SLAMing on 77.344860624 meters Centerline goodness [0,1] 0.6461542013993119 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:0.07 [[ 0.99571914 -0.08201241 -0.04263049 0.4862261 ] [ 0.08217122 0.99661625 0.00198351 0.03895537] [ 0.04232356 -0.00547802 0.99908894 0.0678763 ] [ 0. 0. 0. 1. ]] SLAMing on 77.374860624 meters Centerline goodness [0,1] 0.6562970861633325 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99565614 -0.08302555 -0.04213806 0.4847705 ] [ 0.08315264 0.99653601 0.00126938 0.0408427 ] [ 0.0418867 -0.00476775 0.99911099 0.06807385] [ 0. 0. 0. 1. ]] SLAMing on 77.404860624 meters Centerline goodness [0,1] 0.6503352123785 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95623752e-01 -8.34594123e-02 -4.20460601e-02 4.84329321e-01] [ 8.35709957e-02 9.96501419e-01 9.00096062e-04 4.16892281e-02] [ 4.18238371e-02 -4.40998813e-03 9.99115268e-01 6.82899452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434860624 meters Centerline goodness [0,1] 0.6474941995359629 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95592712e-01 -8.38969211e-02 -4.19101123e-02 4.83798828e-01] [ 8.39932195e-02 9.96466180e-01 5.39075678e-04 4.24164616e-02] [ 4.17167827e-02 -4.05686508e-03 9.99121240e-01 6.85271775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464860624 meters Centerline goodness [0,1] 0.6494672684129716 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95565682e-01 -8.42921460e-02 -4.17589038e-02 4.83363862e-01] [ 8.43727593e-02 9.96434247e-01 1.68649919e-04 4.29606169e-02] [ 4.15957860e-02 -3.69121601e-03 9.99127702e-01 6.86801013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494860624 meters Centerline goodness [0,1] 0.642089129374608 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95552994e-01 -8.45763703e-02 -4.14858212e-02 4.83298861e-01] [ 8.46537878e-02 9.96410420e-01 1.09804734e-04 4.24928296e-02] [ 4.13276177e-02 -3.62124834e-03 9.99139087e-01 6.80337086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524860624 meters Centerline goodness [0,1] 0.638828331555267 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95535965e-01 -8.48360835e-02 -4.13639982e-02 4.83042172e-01] [ 8.49080282e-02 9.96388793e-01 -1.75773217e-05 4.23106588e-02] [ 4.12161154e-02 -3.49463667e-03 9.99144143e-01 6.80178556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554860624 meters Centerline goodness [0,1] 0.6372983636996634 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95520168e-01 -8.50698289e-02 -4.12640172e-02 4.82807609e-01] [ 8.51355201e-02 9.96369367e-01 -1.65866893e-04 4.26196495e-02] [ 4.11283130e-02 -3.34790973e-03 9.99148264e-01 6.79581039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584860624 meters Centerline goodness [0,1] 0.6373125653841683 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95508332e-01 -8.52289994e-02 -4.12210896e-02 4.82676159e-01] [ 8.52888891e-02 9.96356217e-01 -3.06728516e-04 4.31957169e-02] [ 4.10970311e-02 -3.21035015e-03 9.99150003e-01 6.80067990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614860624 meters Centerline goodness [0,1] 0.6469450528964906 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95499019e-01 -8.53490159e-02 -4.11976685e-02 4.82543461e-01] [ 8.54008447e-02 9.96346547e-01 -5.03428551e-04 4.40695625e-02] [ 4.10901219e-02 -3.01715307e-03 9.99150889e-01 6.81218325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644860624 meters Centerline goodness [0,1] 0.6479037176711595 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95499419e-01 -8.53289202e-02 -4.12296199e-02 4.82730810e-01] [ 8.53801033e-02 9.96348316e-01 -5.21051673e-04 4.40660259e-02] [ 4.11235231e-02 -3.00148257e-03 9.99149562e-01 6.80696469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674860624 meters Centerline goodness [0,1] 0.645522474917945 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95500686e-01 -8.53007139e-02 -4.12574014e-02 4.82765327e-01] [ 8.53490180e-02 9.96350939e-01 -5.92389932e-04 4.41534537e-02] [ 4.11573819e-02 -2.93155411e-03 9.99148375e-01 6.81518009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704860624 meters Centerline goodness [0,1] 0.6462274003759835 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 9.95505407e-01 -8.52041385e-02 -4.13429509e-02 4.83019381e-01] [ 8.52527623e-02 9.96359182e-01 -5.88731728e-04 4.42445755e-02] [ 4.12425911e-02 -2.93851514e-03 9.99144841e-01 6.81424597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734860624 meters Centerline goodness [0,1] 0.6439536888205558 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 9.95529623e-01 -8.48555189e-02 -4.14766167e-02 4.83377653e-01] [ 8.48934108e-02 9.96389676e-01 -8.50063044e-04 4.58446739e-02] [ 4.13990052e-02 -2.67482851e-03 9.99139113e-01 6.83211363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764860624 meters Centerline goodness [0,1] 0.6479746422411784 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99554344 -0.08461216 -0.04164177 0.48374446] [ 0.08464172 0.99641089 -0.00105567 0.04708847] [ 0.04158164 -0.00247366 0.99913205 0.06849954] [ 0. 0. 0. 1. ]] SLAMing on 77.794860624 meters Centerline goodness [0,1] 0.645233644859813 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99555772 -0.08434268 -0.04184663 0.48419044] [ 0.08436226 0.9964343 -0.00130086 0.04843122] [ 0.04180713 -0.0022352 0.9991232 0.06866982] [ 0. 0. 0. 1. ]] SLAMing on 77.824860624 meters Centerline goodness [0,1] 0.6437537915908349 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99558511 -0.08391804 -0.04204809 0.48475553] [ 0.08393565 0.99647026 -0.00134978 0.0494465 ] [ 0.04201294 -0.00218551 0.99911468 0.06870603] [ 0. 0. 0. 1. ]] SLAMing on 77.854860624 meters Centerline goodness [0,1] 0.6520937397880584 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99561307 -0.08347781 -0.04226186 0.48545833] [ 0.08349261 0.99650739 -0.00141789 0.05040429] [ 0.04223262 -0.00211688 0.99910556 0.06864071] [ 0. 0. 0. 1. ]] SLAMing on 77.884860624 meters Centerline goodness [0,1] 0.6441992315621778 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99589471 -0.08005908 -0.04224058 0.48421786] [ 0.08021229 0.99677591 0.00194213 0.05034878] [ 0.04194891 -0.00532237 0.99910558 0.06916738] [ 0. 0. 0. 1. ]] SLAMing on 77.914860624 meters Centerline goodness [0,1] 0.6438481368643074 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99591543 -0.07965852 -0.04250853 0.48492804] [ 0.07980968 0.99680837 0.0018682 0.05130796] [ 0.04222404 -0.00525316 0.99909436 0.06920207] [ 0. 0. 0. 1. ]] SLAMing on 77.944860624 meters Centerline goodness [0,1] 0.6450984990619137 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99593652 -0.07934245 -0.04260537 0.485252 ] [ 0.07949025 0.99683405 0.00178348 0.05238296] [ 0.04232898 -0.00516295 0.99909039 0.06919631] [ 0. 0. 0. 1. ]] SLAMing on 77.974860624 meters Centerline goodness [0,1] 0.6532106646639129 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99595827 -0.07898379 -0.04276309 0.48581419] [ 0.07912969 0.99686283 0.00172725 0.05329388] [ 0.04249251 -0.00510409 0.99908375 0.06912254] [ 0. 0. 0. 1. ]] SLAMing on 78.004860624 meters Centerline goodness [0,1] 0.6491429913125146 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99597887 -0.07862216 -0.04294938 0.48640795] [ 0.07877004 0.99689126 0.00175891 0.05406599] [ 0.04267757 -0.00513496 0.9990757 0.06901356] [ 0. 0. 0. 1. ]] SLAMing on 78.034860624 meters Centerline goodness [0,1] 0.6564011079292051 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99602856 -0.07792844 -0.04306109 0.48708678] [ 0.07808784 0.99694442 0.00202961 0.05468999] [ 0.04277135 -0.0053841 0.99907038 0.06867808] [ 0. 0. 0. 1. ]] SLAMing on 78.064860624 meters Centerline goodness [0,1] 0.6553409464730485 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99603094 -0.07789444 -0.04306767 0.48699001] [ 0.07805089 0.99694745 0.00196052 0.0546938 ] [ 0.04278349 -0.00531421 0.99907023 0.06890631] [ 0. 0. 0. 1. ]] SLAMing on 78.094860624 meters Centerline goodness [0,1] 0.6656087641347532 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99603048 -0.07786112 -0.04313842 0.48709106] [ 0.07801877 0.99694992 0.00198061 0.05452554] [ 0.04285264 -0.00533835 0.99906714 0.06900276] [ 0. 0. 0. 1. ]] SLAMing on 78.124860624 meters Centerline goodness [0,1] 0.6550346610269064 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99603437 -0.07781937 -0.04312408 0.48700781] [ 0.0779762 0.99695329 0.001964 0.05433193] [ 0.04283986 -0.00531886 0.99906779 0.0691593 ] [ 0. 0. 0. 1. ]] SLAMing on 78.154860624 meters Centerline goodness [0,1] 0.6549289166236569 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99604815 -0.07768654 -0.04304511 0.48682176] [ 0.07785036 0.99696276 0.00214025 0.0536884 ] [ 0.0427481 -0.00548287 0.99907084 0.0692514 ] [ 0. 0. 0. 1. ]] SLAMing on 78.184860624 meters Centerline goodness [0,1] 0.6633565974987119 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99605262 -0.07766196 -0.04298602 0.48684099] [ 0.07783245 0.99696379 0.00230425 0.05313033] [ 0.04267655 -0.00564086 0.99907302 0.0690902 ] [ 0. 0. 0. 1. ]] SLAMing on 78.214860624 meters Centerline goodness [0,1] 0.6624026566263652 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99605376 -0.0776423 -0.04299523 0.48688223] [ 0.07781826 0.9969646 0.00243161 0.05248524] [ 0.04267593 -0.00576783 0.99907232 0.06907743] [ 0. 0. 0. 1. ]] SLAMing on 78.244860624 meters Centerline goodness [0,1] 0.6596903937891685 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99604586 -0.07774961 -0.04298431 0.48674545] [ 0.07792844 0.99695582 0.00249812 0.05181924] [ 0.04265923 -0.00583794 0.99907262 0.06919973] [ 0. 0. 0. 1. ]] SLAMing on 78.274860624 meters Centerline goodness [0,1] 0.6632486218817154 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99603416 -0.0779782 -0.042841 0.48623576] [ 0.07815999 0.99693748 0.00258245 0.05039815] [ 0.04250843 -0.00592066 0.99907857 0.06945957] [ 0. 0. 0. 1. ]] SLAMing on 78.304860624 meters Centerline goodness [0,1] 0.661046511627907 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99603411 -0.07807177 -0.04267148 0.48604033] [ 0.07826066 0.99692908 0.00277156 0.04918921] [ 0.04232405 -0.00610007 0.99908531 0.06930542] [ 0. 0. 0. 1. ]] SLAMing on 78.334860624 meters Centerline goodness [0,1] 0.6589467815744849 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99602656 -0.07822752 -0.04256221 0.48582583] [ 0.07841943 0.99691636 0.00285558 0.04816434] [ 0.04220758 -0.00618194 0.99908974 0.06929918] [ 0. 0. 0. 1. ]] SLAMing on 78.364860624 meters Centerline goodness [0,1] 0.6526965562053282 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:0.07 [[ 0.99600448 -0.07860171 -0.04238935 0.48520495] [ 0.07879454 0.99688667 0.00289512 0.04701248] [ 0.04202982 -0.0062236 0.99909697 0.06951927] [ 0. 0. 0. 1. ]] SLAMing on 78.394860624 meters Centerline goodness [0,1] 0.6581690433817922 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99594713 -0.07945845 -0.04213858 0.48400242] [ 0.07964544 0.99681939 0.00277476 0.04518409] [ 0.04178407 -0.00611966 0.99910792 0.07015127] [ 0. 0. 0. 1. ]] SLAMing on 78.424860624 meters Centerline goodness [0,1] 0.6550598476605005 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99592414 -0.07978714 -0.04206097 0.48346405] [ 0.07997023 0.99679363 0.00268564 0.04445649] [ 0.04171182 -0.00603832 0.99911144 0.0705661 ] [ 0. 0. 0. 1. ]] SLAMing on 78.454860624 meters Centerline goodness [0,1] 0.6508424434326392 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.9959154 -0.0799291 -0.04199832 0.48329375] [ 0.08011854 0.99678128 0.00284438 0.04346184] [ 0.04163579 -0.0061976 0.99911363 0.07056595] [ 0. 0. 0. 1. ]] SLAMing on 78.484860624 meters Centerline goodness [0,1] 0.6610478675502806 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99590473 -0.08008282 -0.04195835 0.48306516] [ 0.08028054 0.99676765 0.0030461 0.04207586] [ 0.04157879 -0.00640207 0.99911472 0.07069352] [ 0. 0. 0. 1. ]] SLAMing on 78.514860624 meters Centerline goodness [0,1] 0.6624844606105253 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99589414 -0.08027821 -0.04183615 0.48286511] [ 0.08048466 0.99675048 0.00327124 0.04050981] [ 0.04143759 -0.00662498 0.99911913 0.07057241] [ 0. 0. 0. 1. ]] SLAMing on 78.544860624 meters Centerline goodness [0,1] 0.6599779340780583 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99588609 -0.08041145 -0.04177198 0.48277819] [ 0.08062651 0.99673828 0.00348684 0.03898744] [ 0.04135535 -0.00684043 0.99912109 0.07051367] [ 0. 0. 0. 1. ]] SLAMing on 78.574860624 meters Centerline goodness [0,1] 0.659379439937669 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99586725 -0.08071123 -0.04164267 0.48214951] [ 0.08093703 0.99671212 0.00376243 0.03671172] [ 0.04120209 -0.00711731 0.99912548 0.07092909] [ 0. 0. 0. 1. ]] SLAMing on 78.604860624 meters Centerline goodness [0,1] 0.6583369632499598 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99585364 -0.08084428 -0.04171004 0.48197337] [ 0.08107585 0.99670035 0.00388781 0.03568212] [ 0.04125811 -0.00725336 0.99912219 0.07129237] [ 0. 0. 0. 1. ]] SLAMing on 78.634860624 meters Centerline goodness [0,1] 0.657470948851679 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585348 -0.08081008 -0.04177999 0.48210408] [ 0.08105639 0.99670053 0.00423257 0.03441205] [ 0.04130011 -0.00760156 0.99911787 0.07127694] [ 0. 0. 0. 1. ]] SLAMing on 78.664860624 meters Centerline goodness [0,1] 0.6555532688481855 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585497 -0.08082912 -0.04170775 0.48193754] [ 0.08108811 0.99669654 0.00455297 0.03284303] [ 0.04120196 -0.0079161 0.99911948 0.07128818] [ 0. 0. 0. 1. ]] SLAMing on 78.694860624 meters Centerline goodness [0,1] 0.6579200439620827 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585534 -0.08075442 -0.04184333 0.48202041] [ 0.0810367 0.99669811 0.00509159 0.02988037] [ 0.041294 -0.00846133 0.99911121 0.07162607] [ 0. 0. 0. 1. ]] SLAMing on 78.724860624 meters Centerline goodness [0,1] 0.6350899538290081 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585442 -0.08073067 -0.0419109 0.48224457] [ 0.08102461 0.99669769 0.00536005 0.02838101] [ 0.04133978 -0.00873364 0.99910697 0.07163227] [ 0. 0. 0. 1. ]] SLAMing on 78.754860624 meters Centerline goodness [0,1] 0.6597741371083188 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585444 -0.08069839 -0.04197261 0.48216983] [ 0.08100308 0.99669808 0.00560725 0.02691666] [ 0.04138152 -0.00898392 0.99910303 0.07195863] [ 0. 0. 0. 1. ]] SLAMing on 78.784860624 meters Centerline goodness [0,1] 0.6637063620051332 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99585337 -0.0807035 -0.04198815 0.48201309] [ 0.08102003 0.99669507 0.00588942 0.02550413] [ 0.04137409 -0.00926688 0.99910075 0.07222178] [ 0. 0. 0. 1. ]] SLAMing on 78.814860624 meters Centerline goodness [0,1] 0.6490429267187676 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99585447 -0.08070744 -0.04195448 0.48186724] [ 0.0810378 0.99669155 0.0062313 0.02398231] [ 0.04131277 -0.00960537 0.99910009 0.07232683] [ 0. 0. 0. 1. ]] SLAMing on 78.844860624 meters Centerline goodness [0,1] 0.661765371216577 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99586196 -0.080614 -0.04195647 0.48188924] [ 0.08096037 0.99669534 0.00661999 0.02243792] [ 0.04128416 -0.00998941 0.99909751 0.07237159] [ 0. 0. 0. 1. ]] SLAMing on 78.874860624 meters Centerline goodness [0,1] 0.6527196652719665 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.9958708 -0.08039618 -0.04216402 0.48257457] [ 0.08077248 0.99670587 0.00729549 0.01966473] [ 0.0414386 -0.01067106 0.99908407 0.07217917] [ 0. 0. 0. 1. ]] SLAMing on 78.904860624 meters Centerline goodness [0,1] 0.664322740590489 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.9958708 -0.08039112 -0.04217363 0.48260327] [ 0.08077905 0.99670326 0.00757376 0.01828346] [ 0.04142573 -0.01094923 0.99908159 0.07220915] [ 0. 0. 0. 1. ]] SLAMing on 78.934860624 meters Centerline goodness [0,1] 0.6649077109624107 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99586883 -0.08039676 -0.04220933 0.48248722] [ 0.08079964 0.99669886 0.00792424 0.01565847] [ 0.0414329 -0.011302 0.99907736 0.07260455] [ 0. 0. 0. 1. ]] SLAMing on 78.964860624 meters Centerline goodness [0,1] 0.6604112418065906 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99586044 -0.08050795 -0.04219539 0.48220661] [ 0.08091224 0.99668944 0.00795993 0.01475467] [ 0.04141486 -0.01134111 0.99907767 0.07299293] [ 0. 0. 0. 1. ]] SLAMing on 78.994860624 meters Centerline goodness [0,1] 0.6648200067287204 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99586425 -0.08043424 -0.0422461 0.48233146] [ 0.08084506 0.99669373 0.00810517 0.0141424 ] [ 0.04145449 -0.01148704 0.99907436 0.07304133] [ 0. 0. 0. 1. ]] SLAMing on 79.024860624 meters Centerline goodness [0,1] 0.6610671271895395 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99586376 -0.08038679 -0.04234783 0.48239782] [ 0.08079646 0.99669811 0.00805007 0.01399055] [ 0.04156088 -0.01143833 0.9990705 0.07334984] [ 0. 0. 0. 1. ]] SLAMing on 79.054860624 meters Centerline goodness [0,1] 0.6757725033587103 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99586402 -0.08033444 -0.04244092 0.48252658] [ 0.0807478 0.99670154 0.00811409 0.01366986] [ 0.04164909 -0.01150754 0.99906603 0.07349689] [ 0. 0. 0. 1. ]] SLAMing on 79.084860624 meters Centerline goodness [0,1] 0.6657619058300994 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.9958756 -0.08014362 -0.04252986 0.48279192] [ 0.08056525 0.99671485 0.00829141 0.01313916] [ 0.04172563 -0.01168364 0.99906079 0.07344151] [ 0. 0. 0. 1. ]] SLAMing on 79.114860624 meters Centerline goodness [0,1] 0.6721234589958907 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99589741 -0.0799544 -0.04237503 0.48252366] [ 0.08037953 0.99672874 0.00842275 0.01219924] [ 0.04156297 -0.01179428 0.99906627 0.07362816] [ 0. 0. 0. 1. ]] SLAMing on 79.144860624 meters Centerline goodness [0,1] 0.6681540315023873 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99589886 -0.07995253 -0.04234443 0.48238365] [ 0.08037589 0.99672932 0.00838897 0.01199862] [ 0.04153522 -0.01175804 0.99906785 0.07380136] [ 0. 0. 0. 1. ]] SLAMing on 79.174860624 meters Centerline goodness [0,1] 0.6686806081954786 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99591083 -0.07980453 -0.04234217 0.4822731 ] [ 0.08023109 0.99674031 0.00846958 0.01188461] [ 0.04152824 -0.0118321 0.99906727 0.07403507] [ 0. 0. 0. 1. ]] SLAMing on 79.204860624 meters Centerline goodness [0,1] 0.6686806081954786 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99591083 -0.07980453 -0.04234217 0.4822731 ] [ 0.08023109 0.99674031 0.00846958 0.01188461] [ 0.04152824 -0.0118321 0.99906727 0.07403507] [ 0. 0. 0. 1. ]] SLAMing on 79.234860624 meters Centerline goodness [0,1] 0.6503936305448381 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99591916 -0.07968152 -0.04237794 0.48236475] [ 0.08011006 0.9967497 0.0085095 0.01185449] [ 0.04156214 -0.01186968 0.99906541 0.07409658] [ 0. 0. 0. 1. ]] SLAMing on 79.264860624 meters Centerline goodness [0,1] 0.6658335750786601 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.9959461 -0.07933163 -0.04240119 0.48247143] [ 0.07976284 0.99677699 0.00857391 0.01200891] [ 0.04158435 -0.01192119 0.99906388 0.07420827] [ 0. 0. 0. 1. ]] SLAMing on 79.294860624 meters Centerline goodness [0,1] 0.6612831266172927 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99595367 -0.07919552 -0.04247767 0.48280095] [ 0.07962961 0.99678722 0.00862393 0.01203388] [ 0.04165822 -0.01197151 0.9990602 0.07406622] [ 0. 0. 0. 1. ]] SLAMing on 79.324860624 meters Centerline goodness [0,1] 0.6493561466827074 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99596486 -0.07898372 -0.0426094 0.48324162] [ 0.07942175 0.99680327 0.00868447 0.01192804] [ 0.04178726 -0.01203354 0.99905406 0.07398072] [ 0. 0. 0. 1. ]] SLAMing on 79.354860624 meters Centerline goodness [0,1] 0.6573964364758221 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.9959707 -0.07885633 -0.0427088 0.48347545] [ 0.0792965 0.99681303 0.0087094 0.01201362] [ 0.04188589 -0.01206097 0.9990496 0.07399753] [ 0. 0. 0. 1. ]] SLAMing on 79.384860624 meters Centerline goodness [0,1] 0.6581970143917046 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99597234 -0.07882232 -0.0427333 0.48354427] [ 0.07925999 0.9968165 0.00864349 0.01216315] [ 0.04191596 -0.01199572 0.99904913 0.07406116] [ 0. 0. 0. 1. ]] SLAMing on 79.414860624 meters Centerline goodness [0,1] 0.6531740370898715 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99597948 -0.07873662 -0.04272496 0.48367494] [ 0.07917342 0.99682353 0.00862685 0.01220628] [ 0.04191 -0.01197484 0.99904963 0.07398399] [ 0. 0. 0. 1. ]] SLAMing on 79.444860624 meters Centerline goodness [0,1] 0.648029105843489 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99598417 -0.07870424 -0.04267519 0.48353848] [ 0.07914193 0.99682571 0.00866312 0.01204914] [ 0.0418579 -0.01200573 0.99905144 0.07408122] [ 0. 0. 0. 1. ]] SLAMing on 79.474860624 meters Centerline goodness [0,1] 0.6479514415781487 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.995982 -0.07877456 -0.04259603 0.48344293] [ 0.07921168 0.99682011 0.00867084 0.01179412] [ 0.04177754 -0.01201011 0.99905475 0.07403547] [ 0. 0. 0. 1. ]] SLAMing on 79.504860624 meters Centerline goodness [0,1] 0.644770266054637 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99596788 -0.07899818 -0.04251203 0.4831703 ] [ 0.07942877 0.99680401 0.0085341 0.01158319] [ 0.04170198 -0.01187636 0.99905951 0.07418917] [ 0. 0. 0. 1. ]] SLAMing on 79.534860624 meters Centerline goodness [0,1] 0.6418243484469832 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99596213 -0.07910405 -0.04244981 0.48304192] [ 0.07953576 0.99679512 0.00857662 0.01094935] [ 0.04163532 -0.01191827 0.99906179 0.07419795] [ 0. 0. 0. 1. ]] SLAMing on 79.564860624 meters Centerline goodness [0,1] 0.6633495848082103 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99592969 -0.07963262 -0.04222212 0.48224255] [ 0.08005566 0.99675481 0.00842231 0.00996447] [ 0.04141441 -0.01176815 0.99907275 0.07466397] [ 0. 0. 0. 1. ]] SLAMing on 79.594860624 meters Centerline goodness [0,1] 0.6588533558688787 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.07 [[ 0.99591363 -0.0798729 -0.04214679 0.48200227] [ 0.08029338 0.99673607 0.00837699 0.00931206] [ 0.04134013 -0.01172687 0.99907631 0.07480418] [ 0. 0. 0. 1. ]] SLAMing on 79.624860624 meters Centerline goodness [0,1] 0.6579274795591894 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99588364 -0.08030569 -0.04203302 0.48151688] [ 0.08071905 0.99670293 0.0082286 0.00851389] [ 0.04123364 -0.01158759 0.99908234 0.07510896] [ 0. 0. 0. 1. ]] SLAMing on 79.654860624 meters Centerline goodness [0,1] 0.65002668326959 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99585524 -0.08077027 -0.04181515 0.48098764] [ 0.08117885 0.99666611 0.00816435 0.00759398] [ 0.0410163 -0.01152501 0.99909201 0.07515651] [ 0. 0. 0. 1. ]] SLAMing on 79.684860624 meters Centerline goodness [0,1] 0.6487847068216092 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.995823 -0.08121172 -0.04172774 0.48073961] [ 0.08161842 0.99663046 0.00813416 0.00667631] [ 0.04092655 -0.01150593 0.99909591 0.07517163] [ 0. 0. 0. 1. ]] SLAMing on 79.714860624 meters Centerline goodness [0,1] 0.6451899577871585 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99571407 -0.08260653 -0.04158908 0.4798656 ] [ 0.08298434 0.99652309 0.00743851 0.00530896] [ 0.04083001 -0.01085787 0.99910711 0.07576961] [ 0. 0. 0. 1. ]] SLAMing on 79.744860624 meters Centerline goodness [0,1] 0.6363213708516904 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99568033 -0.08305989 -0.04149371 0.47968413] [ 0.08343791 0.99648505 0.00746008 0.00398623] [ 0.04072822 -0.01089 0.99911091 0.07567936] [ 0. 0. 0. 1. ]] SLAMing on 79.774860624 meters Centerline goodness [0,1] 0.6372202070246837 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99564464 -0.08360615 -0.04125251 0.47907328] [ 0.08397657 0.99644079 0.00732682 0.00290285] [ 0.04049312 -0.01075915 0.99912189 0.07579439] [ 0. 0. 0. 1. ]] SLAMing on 79.804860624 meters Centerline goodness [0,1] 0.6424736528136806 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99561784 -0.08395889 -0.0411829 0.47888536] [ 0.08433196 0.99641021 0.00740369 0.00163205] [ 0.04041346 -0.01084428 0.99912419 0.07579767] [ 0. 0. 0. 1. ]] SLAMing on 79.834860624 meters Centerline goodness [0,1] 0.6400221483942414 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 9.95536261e-01 -8.50645135e-02 -4.08849828e-02 4.77549350e-01] [ 8.54139761e-02 9.96321830e-01 6.87486301e-03 3.91584081e-04] [ 4.01497940e-02 -1.03363244e-02 9.99140208e-01 7.66345666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864860624 meters Centerline goodness [0,1] 0.6374426999136347 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 9.95524407e-01 -8.52310513e-02 -4.08267509e-02 4.77337573e-01] [ 8.55795697e-02 9.96307701e-01 6.86308643e-03 -1.18430533e-04] [ 4.00910583e-02 -1.03263058e-02 9.99142670e-01 7.67950526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894860624 meters Centerline goodness [0,1] 0.6366407492489838 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 9.95506683e-01 -8.54465774e-02 -4.08084010e-02 4.77203884e-01] [ 8.57908811e-02 9.96290242e-01 6.75851486e-03 -3.84927108e-04] [ 4.00795197e-02 -1.02291354e-02 9.99144132e-01 7.69869064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924860624 meters Centerline goodness [0,1] 0.6371388177078732 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 0.99548909 -0.0857129 -0.04067889 0.47679156] [ 0.08605393 0.99626792 0.00670467 -0.00130753] [ 0.0399524 -0.010175 0.99914978 0.0772293 ] [ 0. 0. 0. 1. ]] SLAMing on 79.954860624 meters Centerline goodness [0,1] 0.6314649456281496 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 0.99549216 -0.0856934 -0.04064482 0.47686254] [ 0.08603457 0.99626951 0.00671697 -0.00169764] [ 0.0399176 -0.01018355 0.99915108 0.07715914] [ 0. 0. 0. 1. ]] SLAMing on 79.984860624 meters Centerline goodness [0,1] 0.6387459984545756 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 0.99550232 -0.08553977 -0.04071953 0.47706451] [ 0.08588338 0.99628225 0.00676201 -0.00169253] [ 0.03998973 -0.01022873 0.99914773 0.0771429 ] [ 0. 0. 0. 1. ]] SLAMing on 80.014860624 meters Centerline goodness [0,1] 0.6329734384314765 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 0.99551813 -0.08534356 -0.0407447 0.47718329] [ 0.08568608 0.99629944 0.0067321 -0.00143062] [ 0.04001938 -0.01019318 0.99914691 0.07719228] [ 0. 0. 0. 1. ]] SLAMing on 80.044860624 meters Centerline goodness [0,1] 0.6374232857962824 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 0.99552747 -0.0852008 -0.04081519 0.47736955] [ 0.08554292 0.99631191 0.00670703 -0.00107457] [ 0.04009321 -0.01016848 0.9991442 0.07723308] [ 0. 0. 0. 1. ]] SLAMing on 80.074860624 meters Centerline goodness [0,1] 0.6430890896640085 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 9.95545297e-01 -8.49523740e-02 -4.08981059e-02 4.77558391e-01] [ 8.52974481e-02 9.96332568e-01 6.76452569e-03 -7.65792458e-04] [ 4.01734524e-02 -1.02228958e-02 9.99140424e-01 7.72846236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104860624 meters Centerline goodness [0,1] 0.6431945609465366 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:0.08 [[ 9.95635022e-01 -8.37708941e-02 -4.11502141e-02 4.78404045e-01] [ 8.41326904e-02 9.96428998e-01 7.13738563e-03 -1.10990717e-04] [ 4.04053615e-02 -1.05683093e-02 9.99127478e-01 7.72932941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134860624 meters Centerline goodness [0,1] 0.6429992484194704 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 9.95662322e-01 -8.33697157e-02 -4.13041272e-02 4.78819423e-01] [ 8.37313054e-02 9.96463074e-01 7.10008440e-03 7.59157798e-04] [ 4.05661055e-02 -1.05277350e-02 9.99121393e-01 7.73003335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164860624 meters Centerline goodness [0,1] 0.6428018661419064 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99569615 -0.08288235 -0.04146917 0.47940782] [ 0.08324963 0.99650267 0.00720661 0.0013297 ] [ 0.04072684 -0.01062789 0.99911379 0.07712476] [ 0. 0. 0. 1. ]] SLAMing on 80.194860624 meters Centerline goodness [0,1] 0.6464795884573775 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99572866 -0.08240014 -0.04164905 0.48000705] [ 0.08277199 0.99654191 0.00728091 0.0018795 ] [ 0.04090507 -0.01069718 0.99910577 0.07698692] [ 0. 0. 0. 1. ]] SLAMing on 80.224860624 meters Centerline goodness [0,1] 0.6444625802324813 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99594289 -0.07998179 -0.04123921 0.47962454] [ 0.08040961 0.99672289 0.00881901 0.00266017] [ 0.0403987 -0.01209926 0.99911038 0.0768287 ] [ 0. 0. 0. 1. ]] SLAMing on 80.254860624 meters Centerline goodness [0,1] 0.6411135187723875 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:0.08 [[ 0.99595635 -0.07976079 -0.04134215 0.47984874] [ 0.08018021 0.99674341 0.00858545 0.00406827] [ 0.04052274 -0.01186556 0.99910816 0.07692682] [ 0. 0. 0. 1. ]] SLAMing on 80.284860624 meters Centerline goodness [0,1] 0.6515591409764854 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99597752 -0.07945517 -0.04142057 0.48022511] [ 0.0798702 0.99676936 0.00846078 0.00526182] [ 0.04061451 -0.01173502 0.99910598 0.07680173] [ 0. 0. 0. 1. ]] SLAMing on 80.314860624 meters Centerline goodness [0,1] 0.6581910884504545 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99598865 -0.07928454 -0.04147979 0.48059592] [ 0.07969251 0.99678516 0.00827342 0.00635036] [ 0.04069048 -0.01154586 0.99910509 0.07658617] [ 0. 0. 0. 1. ]] SLAMing on 80.344860624 meters Centerline goodness [0,1] 0.6650637119113574 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99602777 -0.07872264 -0.0416104 0.48140285] [ 0.07912987 0.99683034 0.0082297 0.00750144] [ 0.04083064 -0.01148963 0.99910002 0.07618093] [ 0. 0. 0. 1. ]] SLAMing on 80.374860624 meters Centerline goodness [0,1] 0.6706365047682412 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99602533 -0.07870338 -0.04170507 0.48178879] [ 0.07910313 0.99683417 0.00802049 0.00823467] [ 0.0409418 -0.01128762 0.99909777 0.07599953] [ 0. 0. 0. 1. ]] SLAMing on 80.404860624 meters Centerline goodness [0,1] 0.6605340063761955 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99603074 -0.07866611 -0.04164624 0.48200158] [ 0.07906103 0.99683832 0.0079198 0.00883127] [ 0.04089154 -0.01118096 0.99910103 0.07566263] [ 0. 0. 0. 1. ]] SLAMing on 80.434860624 meters Centerline goodness [0,1] 0.6688911133355577 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.9960165 -0.07888204 -0.04157827 0.48175127] [ 0.07926 0.99682562 0.00751918 0.01002858] [ 0.04085316 -0.01078472 0.99910696 0.07580785] [ 0. 0. 0. 1. ]] SLAMing on 80.464860624 meters Centerline goodness [0,1] 0.6558874516602213 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99600476 -0.0790813 -0.041481 0.48151555] [ 0.07944332 0.99681374 0.00715011 0.0111308 ] [ 0.04078339 -0.01041693 0.99911371 0.07588295] [ 0. 0. 0. 1. ]] SLAMing on 80.494860624 meters Centerline goodness [0,1] 0.6555664454047312 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99599003 -0.07924469 -0.04152287 0.48143914] [ 0.07959976 0.99680256 0.00696625 0.0116979 ] [ 0.04083806 -0.01024353 0.99911327 0.07602445] [ 0. 0. 0. 1. ]] SLAMing on 80.524860624 meters Centerline goodness [0,1] 0.6643794417091808 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99593897 -0.07999758 -0.04130322 0.48081265] [ 0.08032862 0.99674779 0.00641575 0.01161965] [ 0.04065565 -0.00970753 0.99912606 0.07620878] [ 0. 0. 0. 1. ]] SLAMing on 80.554860624 meters Centerline goodness [0,1] 0.670949895150136 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99590959 -0.08049437 -0.04104555 0.48010488] [ 0.08081177 0.99671053 0.00613039 0.01131482] [ 0.04041707 -0.00942227 0.99913847 0.07639313] [ 0. 0. 0. 1. ]] SLAMing on 80.584860624 meters Centerline goodness [0,1] 0.6631039857492763 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.9958777 -0.08096384 -0.04089581 0.47966521] [ 0.08127216 0.9966743 0.00593088 0.01103478] [ 0.04027962 -0.00923013 0.99914581 0.07650029] [ 0. 0. 0. 1. ]] SLAMing on 80.614860624 meters Centerline goodness [0,1] 0.6633363743574909 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99584666 -0.0813863 -0.04081293 0.47925214] [ 0.08168558 0.99664175 0.00571712 0.01088037] [ 0.04021057 -0.0090272 0.99915045 0.07673145] [ 0. 0. 0. 1. ]] SLAMing on 80.644860624 meters Centerline goodness [0,1] 0.6610271365285724 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99578242 -0.08231219 -0.04052262 0.4782314 ] [ 0.08259277 0.99656931 0.00529654 0.01042064] [ 0.03994763 -0.00862108 0.99916458 0.0770943 ] [ 0. 0. 0. 1. ]] SLAMing on 80.674860624 meters Centerline goodness [0,1] 0.664028457092041 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99575207 -0.0827719 -0.0403315 0.47765354] [ 0.08304532 0.99653247 0.00514881 0.01014938] [ 0.03976547 -0.00847628 0.99917309 0.07727061] [ 0. 0. 0. 1. ]] SLAMing on 80.704860624 meters Centerline goodness [0,1] 0.6574982753632863 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99572258 -0.08318887 -0.04020135 0.47724954] [ 0.08345251 0.9964996 0.00492208 0.0101774 ] [ 0.03965116 -0.00825593 0.99917948 0.07740696] [ 0. 0. 0. 1. ]] SLAMing on 80.734860624 meters Centerline goodness [0,1] 0.6608618391825856 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99570666 -0.08340323 -0.04015163 0.47714582] [ 0.08366193 0.99648262 0.00480351 0.0104364 ] [ 0.03960978 -0.00814205 0.99918205 0.07735357] [ 0. 0. 0. 1. ]] SLAMing on 80.764860624 meters Centerline goodness [0,1] 0.6617274625672014 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99570087 -0.08340616 -0.04028871 0.47760487] [ 0.08366089 0.99648331 0.00467568 0.01108999] [ 0.03975705 -0.00802616 0.99917714 0.07718406] [ 0. 0. 0. 1. ]] SLAMing on 80.794860624 meters Centerline goodness [0,1] 0.663310439865751 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99569664 -0.08341799 -0.04036868 0.47763062] [ 0.08366215 0.99648449 0.00439415 0.01203612] [ 0.03986022 -0.00775257 0.99917519 0.07741105] [ 0. 0. 0. 1. ]] SLAMing on 80.824860624 meters Centerline goodness [0,1] 0.6616613064212045 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.08 [[ 0.99570681 -0.08324487 -0.0404753 0.47782643] [ 0.08347814 0.99650115 0.00410483 0.01327053] [ 0.03999198 -0.00746601 0.99917211 0.0776356 ] [ 0. 0. 0. 1. ]] SLAMing on 80.854860624 meters Centerline goodness [0,1] 0.6609701824655096 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99573057 -0.08286629 -0.04066705 0.47835826] [ 0.08308725 0.99653514 0.00377073 0.01513038] [ 0.04021368 -0.00713354 0.99916564 0.0777392 ] [ 0. 0. 0. 1. ]] SLAMing on 80.884860624 meters Centerline goodness [0,1] 0.6629248518864983 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99577432 -0.08220133 -0.04094434 0.47930283] [ 0.08241958 0.99659097 0.00366836 0.01712773] [ 0.04050321 -0.00702747 0.99915469 0.07748894] [ 0. 0. 0. 1. ]] SLAMing on 80.914860624 meters Centerline goodness [0,1] 0.6684217571728169 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99605944 -0.07860146 -0.04107806 0.47871432] [ 0.0789568 0.99685277 0.00709817 0.01786362] [ 0.04039085 -0.01031359 0.99913073 0.07761712] [ 0. 0. 0. 1. ]] SLAMing on 80.944860624 meters Centerline goodness [0,1] 0.6725276205874428 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99645212 -0.0732879 -0.04137693 0.47933561] [ 0.07378948 0.99721616 0.01072612 0.02199661] [ 0.04047565 -0.01374125 0.99908603 0.07737123] [ 0. 0. 0. 1. ]] SLAMing on 80.974860624 meters Centerline goodness [0,1] 0.6829279279279279 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99671877 -0.06943159 -0.04160466 0.47901519] [ 0.07006595 0.99744431 0.01398643 0.02366063] [ 0.04052723 -0.01685561 0.99903625 0.07765768] [ 0. 0. 0. 1. ]] SLAMing on 81.004860624 meters Centerline goodness [0,1] 0.7009944951634461 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.08 [[ 0.99697417 -0.06559682 -0.04170817 0.47871186] [ 0.06636133 0.99764712 0.01721616 0.02548969] [ 0.04048071 -0.01993187 0.9989815 0.07762277] [ 0. 0. 0. 1. ]] SLAMing on 81.034860624 meters Centerline goodness [0,1] 0.6872141983972473 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.08 [[ 0.9972188 -0.06152343 -0.0420659 0.47906272] [ 0.06243295 0.99783531 0.02065957 0.02693985] [ 0.04070379 -0.02322841 0.99890122 0.07751563] [ 0. 0. 0. 1. ]] SLAMing on 81.064860624 meters Centerline goodness [0,1] 0.7041489215551586 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.08 [[ 0.99754686 -0.05591375 -0.04211787 0.48010323] [ 0.05697172 0.99807877 0.02435143 0.03181134] [ 0.04067537 -0.02669122 0.99881585 0.07643501] [ 0. 0. 0. 1. ]] SLAMing on 81.094860624 meters Centerline goodness [0,1] 0.7041489215551586 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.08 [[ 0.99754686 -0.05591375 -0.04211787 0.48010323] [ 0.05697172 0.99807877 0.02435143 0.03181134] [ 0.04067537 -0.02669122 0.99881585 0.07643501] [ 0. 0. 0. 1. ]] SLAMing on 81.124860624 meters Centerline goodness [0,1] 0.7053204436382006 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.08 [[ 0.99762214 -0.0546744 -0.04196171 0.48064132] [ 0.05572913 0.99814797 0.02439043 0.03549178] [ 0.04055046 -0.02667092 0.99882147 0.07586635] [ 0. 0. 0. 1. ]] SLAMing on 81.154860624 meters Centerline goodness [0,1] 0.7197629190590851 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.08 [[ 0.99766585 -0.05387645 -0.04195456 0.48105702] [ 0.05491273 0.99820384 0.02395161 0.03928464] [ 0.04058877 -0.02619955 0.99883239 0.07583451] [ 0. 0. 0. 1. ]] SLAMing on 81.184860624 meters Centerline goodness [0,1] 0.7227582358821751 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.08 [[ 0.99766948 -0.05374798 -0.04203282 0.48122273] [ 0.05475025 0.99823358 0.023068 0.04289143] [ 0.04071872 -0.02531555 0.99884989 0.07614211] [ 0. 0. 0. 1. ]] SLAMing on 81.214860624 meters Centerline goodness [0,1] 0.7195173482323114 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.08 [[ 0.99770572 -0.05316593 -0.04191273 0.4816156 ] [ 0.0541327 0.99828519 0.02227836 0.04801239] [ 0.04065641 -0.0244961 0.99887286 0.07580805] [ 0. 0. 0. 1. ]] SLAMing on 81.244860624 meters Centerline goodness [0,1] 0.741067853694152 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.08 [[ 0.99769145 -0.05345957 -0.04187886 0.48168105] [ 0.0543964 0.99828666 0.02155863 0.05028527] [ 0.04065459 -0.02378692 0.99889008 0.0756912 ] [ 0. 0. 0. 1. ]] SLAMing on 81.274860624 meters Centerline goodness [0,1] 0.7363174678162276 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.08 [[ 0.99766603 -0.05389528 -0.04192608 0.48171218] [ 0.0548014 0.99828121 0.02077095 0.05226466] [ 0.04073456 -0.02302008 0.99890479 0.07580944] [ 0. 0. 0. 1. ]] SLAMing on 81.304860624 meters Centerline goodness [0,1] 0.7239871413038339 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.08 [[ 0.99764344 -0.05437484 -0.04184437 0.48163231] [ 0.05525361 0.99826925 0.02013811 0.0537642 ] [ 0.04067694 -0.0224027 0.99892117 0.07565851] [ 0. 0. 0. 1. ]] SLAMing on 81.334860624 meters Centerline goodness [0,1] 0.723361870657149 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.08 [[ 0.99761212 -0.05508781 -0.04165804 0.48114007] [ 0.05593544 0.99824468 0.01946217 0.05495231] [ 0.04051279 -0.02174586 0.99894236 0.07566931] [ 0. 0. 0. 1. ]] SLAMing on 81.364860624 meters Centerline goodness [0,1] 0.709940599728047 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99736608 -0.05959271 -0.0413475 0.48065602] [ 0.06023773 0.99807827 0.01453239 0.05954464] [ 0.04040201 -0.01698479 0.99903914 0.07610827] [ 0. 0. 0. 1. ]] SLAMing on 81.394860624 meters Centerline goodness [0,1] 0.7092076678841701 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99731699 -0.0605691 -0.04111205 0.47953907] [ 0.06117912 0.99803216 0.01374456 0.06060255] [ 0.04019865 -0.01622288 0.99906 0.07663925] [ 0. 0. 0. 1. ]] SLAMing on 81.424860624 meters Centerline goodness [0,1] 0.7024524464648881 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99727456 -0.06141109 -0.04089175 0.4786515 ] [ 0.06199744 0.99798865 0.01322741 0.06084158] [ 0.0399972 -0.01572655 0.99907602 0.07697089] [ 0. 0. 0. 1. ]] SLAMing on 81.454860624 meters Centerline goodness [0,1] 0.7068334569111914 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99722051 -0.06249582 -0.04056516 0.47756442] [ 0.06304982 0.99793181 0.01252307 0.06128132] [ 0.03969862 -0.01504589 0.99909841 0.07722967] [ 0. 0. 0. 1. ]] SLAMing on 81.484860624 meters Centerline goodness [0,1] 0.6913066360461222 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99693406 -0.06712471 -0.04020888 0.47731797] [ 0.06749686 0.99768766 0.00796905 0.06378335] [ 0.03958098 -0.01065859 0.99915952 0.07729943] [ 0. 0. 0. 1. ]] SLAMing on 81.514860624 meters Centerline goodness [0,1] 0.6854462341143528 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.996883 -0.06808743 -0.03985449 0.47619874] [ 0.06843485 0.99762802 0.00741715 0.06422187] [ 0.03925494 -0.01012147 0.99917796 0.07751298] [ 0. 0. 0. 1. ]] SLAMing on 81.544860624 meters Centerline goodness [0,1] 0.6844280901292681 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:0.08 [[ 0.99683409 -0.06894256 -0.03960715 0.47538431] [ 0.06927087 0.9975735 0.00697571 0.06426677] [ 0.03903012 -0.00969725 0.99919098 0.07766192] [ 0. 0. 0. 1. ]] SLAMing on 81.574860624 meters Centerline goodness [0,1] 0.6785013637016125 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.08 [[ 0.99652932 -0.07331545 -0.03942294 0.47581097] [ 0.07347322 0.99729389 0.0025661 0.06617048] [ 0.03912813 -0.00545373 0.99921932 0.0774332 ] [ 0. 0. 0. 1. ]] SLAMing on 81.604860624 meters Centerline goodness [0,1] 0.673232106193 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:0.08 [[ 0.99649153 -0.07398324 -0.03912951 0.47506561] [ 0.07413024 0.99724588 0.00231726 0.06613385] [ 0.0388503 -0.00520981 0.99923146 0.07732226] [ 0. 0. 0. 1. ]] SLAMing on 81.634860624 meters Centerline goodness [0,1] 0.6689614101953312 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 0.99646434 -0.07443657 -0.03896174 0.47483097] [ 0.07457943 0.9972126 0.00222427 0.06604804] [ 0.03868757 -0.00512215 0.99923823 0.07698216] [ 0. 0. 0. 1. ]] SLAMing on 81.664860624 meters Centerline goodness [0,1] 0.6706034544714083 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 0.99642221 -0.07511726 -0.03873203 0.47399274] [ 0.07523944 0.99716404 0.00170452 0.06675813] [ 0.03849415 -0.0046126 0.99924818 0.07730024] [ 0. 0. 0. 1. ]] SLAMing on 81.694860624 meters Centerline goodness [0,1] 0.6740393852065322 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 0.99638849 -0.07564379 -0.03857451 0.47337167] [ 0.07574931 0.99712607 0.0012792 0.06764911] [ 0.03836689 -0.00419657 0.99925491 0.07752349] [ 0. 0. 0. 1. ]] SLAMing on 81.724860624 meters Centerline goodness [0,1] 0.6694103489771359 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96333684e-01 -7.64890013e-02 -3.83226073e-02 4.72385167e-01] [ 7.65704675e-02 9.97063953e-01 6.60444160e-04 6.90090152e-02] [ 3.81595737e-02 -3.59240272e-03 9.99265201e-01 7.77996484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754860624 meters Centerline goodness [0,1] 0.6699695304815143 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96320197e-01 -7.66944265e-02 -3.82626510e-02 4.72252436e-01] [ 7.67736995e-02 9.97048361e-01 6.04640484e-04 6.89290792e-02] [ 3.81033409e-02 -3.53998080e-03 9.99267534e-01 7.77376774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784860624 meters Centerline goodness [0,1] 0.6697498978929919 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96293647e-01 -7.71136949e-02 -3.81109931e-02 4.71774674e-01] [ 7.71799978e-02 9.97017139e-01 2.69370697e-04 6.90516749e-02] [ 3.79765411e-02 -3.20977868e-03 9.99273476e-01 7.79233727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814860624 meters Centerline goodness [0,1] 0.6659614367456845 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96276444e-01 -7.74422417e-02 -3.78938778e-02 4.71280340e-01] [ 7.75019746e-02 9.96992193e-01 1.07702891e-04 6.88454122e-02] [ 3.77715596e-02 -3.04415221e-03 9.99281763e-01 7.79464148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844860624 meters Centerline goodness [0,1] 0.667322976444882 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96252006e-01 -7.77979315e-02 -3.78076927e-02 4.70971426e-01] [ 7.78529817e-02 9.96964850e-01 -1.62376527e-05 6.85451767e-02] [ 3.76942039e-02 -2.92726481e-03 9.99285033e-01 7.80191512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874860624 meters Centerline goodness [0,1] 0.661951196080315 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96184463e-01 -7.88539324e-02 -3.73974959e-02 4.69489987e-01] [ 7.88924205e-02 9.96883035e-01 -4.47728359e-04 6.81542008e-02] [ 3.73162344e-02 -2.50435894e-03 9.99300369e-01 7.85053244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904860624 meters Centerline goodness [0,1] 0.6581888987716051 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96162881e-01 -7.92324394e-02 -3.71717037e-02 4.69023664e-01] [ 7.92739828e-02 9.96852802e-01 -3.57265772e-04 6.76722142e-02] [ 3.70830240e-02 -2.59085409e-03 9.99308830e-01 7.82530259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934860624 meters Centerline goodness [0,1] 0.6562244946948965 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96138605e-01 -7.96045713e-02 -3.70269021e-02 4.68634464e-01] [ 7.96489219e-02 9.96822939e-01 -2.78089571e-04 6.68545253e-02] [ 3.69314026e-02 -2.67213708e-03 9.99314230e-01 7.81802152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964860624 meters Centerline goodness [0,1] 0.6533013780707011 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.96118389e-01 -7.99904415e-02 -3.67380494e-02 4.68155595e-01] [ 8.00406569e-02 9.96791594e-01 -1.04238152e-04 6.54510040e-02] [ 3.66285169e-02 -2.83670407e-03 9.99324925e-01 7.78631869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994860624 meters Centerline goodness [0,1] 0.6431917068879431 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95826605e-01 -8.34970739e-02 -3.68457924e-02 4.69637468e-01] [ 8.34196362e-02 9.96507872e-01 -3.63673284e-03 6.46283667e-02] [ 3.70207787e-02 5.47892715e-04 9.99314346e-01 7.75145943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024860624 meters Centerline goodness [0,1] 0.6438193155314389 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95803331e-01 -8.38031312e-02 -3.67799032e-02 4.69275559e-01] [ 8.37283347e-02 9.96482216e-01 -3.57193198e-03 6.37128563e-02] [ 3.69498585e-02 4.77421715e-04 9.99317007e-01 7.76628735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054860624 meters Centerline goodness [0,1] 0.6381880870288907 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95793548e-01 -8.39500431e-02 -3.67096686e-02 4.69032092e-01] [ 8.38812225e-02 9.96469913e-01 -3.41359783e-03 6.29836674e-02] [ 3.68666520e-02 3.19986820e-04 9.99320143e-01 7.76975659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084860624 meters Centerline goodness [0,1] 0.6508151528114454 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95780190e-01 -8.41406623e-02 -3.66355251e-02 4.68650783e-01] [ 8.40735035e-02 9.96453848e-01 -3.37261286e-03 6.23218870e-02] [ 3.67893838e-02 2.78304129e-04 9.99323003e-01 7.79329473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114860624 meters Centerline goodness [0,1] 0.6304167161343939 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95785497e-01 -8.40639206e-02 -3.66674532e-02 4.68839411e-01] [ 8.40075016e-02 9.96460364e-01 -3.07938460e-03 6.13754381e-02] [ 3.67965289e-02 -1.39346091e-05 9.99322778e-01 7.77535225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144860624 meters Centerline goodness [0,1] 0.62969808995687 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95781914e-01 -8.40762632e-02 -3.67363890e-02 4.68941115e-01] [ 8.40270631e-02 9.96459300e-01 -2.88391656e-03 6.03741203e-02] [ 3.68487854e-02 -2.15098933e-04 9.99320830e-01 7.77856375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174860624 meters Centerline goodness [0,1] 0.6386751026960669 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95784666e-01 -8.40633478e-02 -3.66913229e-02 4.68811230e-01] [ 8.40269463e-02 9.96460256e-01 -2.53576061e-03 5.82188172e-02] [ 3.67746095e-02 -5.57988284e-04 9.99323429e-01 7.78747748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204860624 meters Centerline goodness [0,1] 0.638077686419053 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95796850e-01 -8.39383994e-02 -3.66466690e-02 4.68829813e-01] [ 8.39162041e-02 9.96470504e-01 -2.14609791e-03 5.69221244e-02] [ 3.66974647e-02 -9.38171811e-04 9.99325981e-01 7.77177351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234860624 meters Centerline goodness [0,1] 0.6175931151241535 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99579244 -0.08401351 -0.03659443 0.46867164] [ 0.08399573 0.99646406 -0.00202573 0.05622504] [ 0.03663523 -0.00105657 0.99932815 0.07775872] [ 0. 0. 0. 1. ]] SLAMing on 82.264860624 meters Centerline goodness [0,1] 0.6471692798798234 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99580499 -0.08381507 -0.03670768 0.46869986] [ 0.08380745 0.99648043 -0.00174869 0.05517033] [ 0.03672506 -0.00133502 0.99932452 0.07812222] [ 0. 0. 0. 1. ]] SLAMing on 82.294860624 meters Centerline goodness [0,1] 0.613655501497006 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99581653 -0.0836446 -0.03678351 0.46892238] [ 0.08364372 0.99649449 -0.00156548 0.05471998] [ 0.03678551 -0.00151778 0.99932203 0.07810529] [ 0. 0. 0. 1. ]] SLAMing on 82.324860624 meters Centerline goodness [0,1] 0.6135480548663452 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99583274 -0.08339278 -0.03691595 0.46926824] [ 0.08340101 0.99651519 -0.00131985 0.05401882] [ 0.03689737 -0.00176447 0.9993175 0.07810856] [ 0. 0. 0. 1. ]] SLAMing on 82.354860624 meters Centerline goodness [0,1] 0.6100915289063229 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99585322 -0.08310217 -0.03701878 0.46980648] [ 0.08312144 0.9965389 -0.00102087 0.05340322] [ 0.03697549 -0.00206042 0.99931405 0.07775893] [ 0. 0. 0. 1. ]] SLAMing on 82.384860624 meters Centerline goodness [0,1] 0.6089897599776073 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95874540e-01 -8.27831451e-02 -3.71598063e-02 4.70403182e-01] [ 8.28115956e-02 9.96564919e-01 -7.75531416e-04 5.29101494e-02] [ 3.70963603e-02 -2.30493086e-03 9.99309035e-01 7.75079156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414860624 meters Centerline goodness [0,1] 0.6224592191547456 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95924222e-01 -8.20288353e-02 -3.74995111e-02 4.71616340e-01] [ 8.20801426e-02 9.96625717e-01 -1.71859769e-04 5.19921796e-02] [ 3.73870746e-02 -2.90680591e-03 9.99296631e-01 7.70461692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444860624 meters Centerline goodness [0,1] 0.6408373545935613 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95941190e-01 -8.17533502e-02 -3.76501868e-02 4.72158488e-01] [ 8.18123459e-02 9.96647751e-01 2.63603081e-05 5.15204055e-02] [ 3.75218190e-02 -3.10650342e-03 9.99290980e-01 7.69022029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474860624 meters Centerline goodness [0,1] 0.6384822714810168 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95956659e-01 -8.14994602e-02 -3.77911502e-02 4.72612766e-01] [ 8.15686271e-02 9.96667685e-01 2.89459009e-04 5.10206143e-02] [ 3.76416275e-02 -3.37086087e-03 9.99285617e-01 7.67489247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504860624 meters Centerline goodness [0,1] 0.6387033718846717 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95968215e-01 -8.12645059e-02 -3.79920383e-02 4.73118411e-01] [ 8.13432772e-02 9.96686004e-01 5.29660974e-04 5.04797589e-02] [ 3.78230902e-02 -3.61792239e-03 9.99277902e-01 7.66799224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534860624 meters Centerline goodness [0,1] 0.6362183569956227 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95993633e-01 -8.08924522e-02 -3.81194731e-02 4.73556460e-01] [ 8.09863281e-02 9.96714786e-01 9.22469637e-04 4.93254026e-02] [ 3.79196216e-02 -4.00593004e-03 9.99272763e-01 7.66073977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564860624 meters Centerline goodness [0,1] 0.6474810150027783 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99600222 -0.0807605 -0.03817479 0.47363038] [ 0.08086387 0.99672447 0.00116891 0.04856252] [ 0.03795534 -0.00425119 0.99927039 0.07667533] [ 0. 0. 0. 1. ]] SLAMing on 82.594860624 meters Centerline goodness [0,1] 0.6398509121214928 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99601159 -0.08067444 -0.03811242 0.47352821] [ 0.08079035 0.99672998 0.00150835 0.04742396] [ 0.03786611 -0.00458145 0.99927232 0.07661146] [ 0. 0. 0. 1. ]] SLAMing on 82.624860624 meters Centerline goodness [0,1] 0.6268694608567209 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.9960034 -0.08087795 -0.0378944 0.47281992] [ 0.08099362 0.99671345 0.00152468 0.04655994] [ 0.03764655 -0.00458779 0.99928059 0.07694898] [ 0. 0. 0. 1. ]] SLAMing on 82.654860624 meters Centerline goodness [0,1] 0.6523841318812884 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99598545 -0.08122978 -0.03761257 0.47155318] [ 0.08135084 0.99668408 0.00169695 0.04353436] [ 0.03735 -0.00474996 0.99929096 0.07788963] [ 0. 0. 0. 1. ]] SLAMing on 82.684860624 meters Centerline goodness [0,1] 0.6569359791026992 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99598547 -0.08123095 -0.03760941 0.47149776] [ 0.08136387 0.99668243 0.0020146 0.04189368] [ 0.03732099 -0.00506656 0.99929049 0.0779592 ] [ 0. 0. 0. 1. ]] SLAMing on 82.714860624 meters Centerline goodness [0,1] 0.6584823475469967 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99598968 -0.08120001 -0.03756477 0.47145407] [ 0.08134537 0.99668319 0.00235507 0.04031057] [ 0.03724895 -0.00540134 0.99929142 0.07792071] [ 0. 0. 0. 1. ]] SLAMing on 82.744860624 meters Centerline goodness [0,1] 0.6551842369936911 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99599128 -0.08122812 -0.03746154 0.47130192] [ 0.08138531 0.99667909 0.00268779 0.03866084] [ 0.03711881 -0.00572583 0.99929446 0.07783821] [ 0. 0. 0. 1. ]] SLAMing on 82.774860624 meters Centerline goodness [0,1] 0.6572132044501185 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99600626 -0.08105291 -0.03744263 0.47159808] [ 0.08123305 0.99668963 0.00331258 0.0366127 ] [ 0.03705018 -0.00634093 0.99929329 0.07739501] [ 0. 0. 0. 1. ]] SLAMing on 82.804860624 meters Centerline goodness [0,1] 0.6578989174590927 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99601778 -0.08085635 -0.03756102 0.47208586] [ 0.08107367 0.99669885 0.00429663 0.03301017] [ 0.03708962 -0.00732473 0.9992851 0.07700787] [ 0. 0. 0. 1. ]] SLAMing on 82.834860624 meters Centerline goodness [0,1] 0.6498222735402658 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99601579 -0.080855 -0.03761673 0.47214304] [ 0.0810834 0.99669678 0.00458403 0.03165337] [ 0.03712183 -0.00761586 0.99928173 0.07710418] [ 0. 0. 0. 1. ]] SLAMing on 82.864860624 meters Centerline goodness [0,1] 0.649135104578858 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99601664 -0.08085171 -0.03760134 0.47204014] [ 0.08109289 0.99669435 0.00493121 0.03001407] [ 0.03707835 -0.00796077 0.99928065 0.07720139] [ 0. 0. 0. 1. ]] SLAMing on 82.894860624 meters Centerline goodness [0,1] 0.6492513754848019 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99602157 -0.08078821 -0.03760707 0.472047 ] [ 0.08104484 0.99669611 0.00534789 0.02804209] [ 0.03705077 -0.00837447 0.99927829 0.07725081] [ 0. 0. 0. 1. ]] SLAMing on 82.924860624 meters Centerline goodness [0,1] 0.6593305514425449 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.9960065 -0.08099423 -0.03756313 0.47150043] [ 0.08126194 0.99667675 0.0056534 0.02487472] [ 0.0369804 -0.00868327 0.99927826 0.07796808] [ 0. 0. 0. 1. ]] SLAMing on 82.954860624 meters Centerline goodness [0,1] 0.6582502520443598 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99600811 -0.08095775 -0.03759907 0.47144337] [ 0.08123198 0.99667822 0.00582138 0.02365773] [ 0.03700288 -0.00885239 0.99927595 0.07821196] [ 0. 0. 0. 1. ]] SLAMing on 82.984860624 meters Centerline goodness [0,1] 0.6558043896115506 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99601486 -0.08087221 -0.03760422 0.47158151] [ 0.08115543 0.99668301 0.00606462 0.02262565] [ 0.03698903 -0.00909224 0.99927431 0.07810241] [ 0. 0. 0. 1. ]] SLAMing on 83.014860624 meters Centerline goodness [0,1] 0.6558043896115506 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99601486 -0.08087221 -0.03760422 0.47158151] [ 0.08115543 0.99668301 0.00606462 0.02262565] [ 0.03698903 -0.00909224 0.99927431 0.07810241] [ 0. 0. 0. 1. ]] SLAMing on 83.044860624 meters Centerline goodness [0,1] 0.6583991232974751 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99602857 -0.08065607 -0.03770539 0.47196398] [ 0.08094798 0.99669855 0.00627811 0.02193038] [ 0.03707454 -0.00930536 0.99926918 0.07801598] [ 0. 0. 0. 1. ]] SLAMing on 83.074860624 meters Centerline goodness [0,1] 0.6611706881143878 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99608171 -0.07983687 -0.0380434 0.47286088] [ 0.08014294 0.99676162 0.00658698 0.0219434 ] [ 0.03739432 -0.00961008 0.99925438 0.07812481] [ 0. 0. 0. 1. ]] SLAMing on 83.104860624 meters Centerline goodness [0,1] 0.6629976110205631 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99610624 -0.07941984 -0.03827333 0.47343821] [ 0.07973537 0.99679296 0.00678711 0.02187632] [ 0.03761156 -0.00981243 0.99924426 0.0781223 ] [ 0. 0. 0. 1. ]] SLAMing on 83.134860624 meters Centerline goodness [0,1] 0.6657120657120656 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99612509 -0.07911331 -0.03841719 0.47380306] [ 0.07943395 0.99681632 0.00689066 0.02159629] [ 0.03774974 -0.00991559 0.99923803 0.07822927] [ 0. 0. 0. 1. ]] SLAMing on 83.164860624 meters Centerline goodness [0,1] 0.6693942164054314 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99614634 -0.07882588 -0.038457 0.47401297] [ 0.0791544 0.99683713 0.00709376 0.02127241] [ 0.03777619 -0.01011046 0.99923508 0.07814366] [ 0. 0. 0. 1. ]] SLAMing on 83.194860624 meters Centerline goodness [0,1] 0.6672533642277871 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.9961782 -0.07830016 -0.03870513 0.4745539 ] [ 0.07864255 0.9968754 0.00740203 0.02061704] [ 0.03800461 -0.01041761 0.99922326 0.07836635] [ 0. 0. 0. 1. ]] SLAMing on 83.224860624 meters Centerline goodness [0,1] 0.6693823038397329 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99618906 -0.07813557 -0.03875815 0.47458402] [ 0.07848029 0.99688782 0.00745159 0.02058467] [ 0.03805529 -0.01046494 0.99922084 0.07854511] [ 0. 0. 0. 1. ]] SLAMing on 83.254860624 meters Centerline goodness [0,1] 0.6699059351998042 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99619821 -0.07795098 -0.03889424 0.47488856] [ 0.07830059 0.99690124 0.00754576 0.02053443] [ 0.03818552 -0.01056251 0.99921484 0.07859694] [ 0. 0. 0. 1. ]] SLAMing on 83.284860624 meters Centerline goodness [0,1] 0.66584340164208 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99621582 -0.07764945 -0.03904616 0.47543855] [ 0.07800816 0.99692262 0.0077467 0.02038266] [ 0.03832447 -0.01076331 0.99920738 0.0783926 ] [ 0. 0. 0. 1. ]] SLAMing on 83.314860624 meters Centerline goodness [0,1] 0.670546603756788 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99621762 -0.07758057 -0.03913702 0.47562315] [ 0.07794182 0.99692749 0.00778826 0.02024673] [ 0.03841255 -0.01080921 0.9992035 0.07843829] [ 0. 0. 0. 1. ]] SLAMing on 83.344860624 meters Centerline goodness [0,1] 0.6746803069053708 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99624402 -0.07721751 -0.03918296 0.47604753] [ 0.07759415 0.99695145 0.00818234 0.01920782] [ 0.03843169 -0.01119198 0.99919855 0.07819602] [ 0. 0. 0. 1. ]] SLAMing on 83.374860624 meters Centerline goodness [0,1] 0.6705712701053799 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99625122 -0.07709066 -0.03924956 0.47641269] [ 0.07747633 0.99695881 0.00839931 0.01854247] [ 0.03848269 -0.01140874 0.99919414 0.07795182] [ 0. 0. 0. 1. ]] SLAMing on 83.404860624 meters Centerline goodness [0,1] 0.6785174651142121 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99625059 -0.07712413 -0.03919978 0.47638369] [ 0.077509 0.99695632 0.00839302 0.01833028] [ 0.03843316 -0.01139989 0.99919614 0.07790147] [ 0. 0. 0. 1. ]] SLAMing on 83.434860624 meters Centerline goodness [0,1] 0.6731196657183499 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99624716 -0.07716408 -0.03920855 0.47640776] [ 0.07754576 0.99695419 0.00830652 0.01833732] [ 0.03844816 -0.01131581 0.99919652 0.07802202] [ 0. 0. 0. 1. ]] SLAMing on 83.464860624 meters Centerline goodness [0,1] 0.6741483144069869 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99624385 -0.07721128 -0.03919963 0.4761879 ] [ 0.07758719 0.99695219 0.00815845 0.01856854] [ 0.03845023 -0.01116919 0.99919809 0.07837237] [ 0. 0. 0. 1. ]] SLAMing on 83.494860624 meters Centerline goodness [0,1] 0.6654453400839384 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99624148 -0.0772283 -0.03922619 0.47631988] [ 0.07760345 0.99695115 0.00813046 0.01853872] [ 0.03847869 -0.01114399 0.99919728 0.07834005] [ 0. 0. 0. 1. ]] SLAMing on 83.524860624 meters Centerline goodness [0,1] 0.6739275246469492 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99622701 -0.07743514 -0.03918602 0.47606295] [ 0.07780372 0.99693686 0.0079677 0.01851621] [ 0.03844901 -0.01098645 0.99920017 0.07860151] [ 0. 0. 0. 1. ]] SLAMing on 83.554860624 meters Centerline goodness [0,1] 0.6733154356459807 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99621134 -0.07769066 -0.03907851 0.47572695] [ 0.0780517 0.99691882 0.00779755 0.01836043] [ 0.0383523 -0.01081815 0.99920572 0.07878042] [ 0. 0. 0. 1. ]] SLAMing on 83.584860624 meters Centerline goodness [0,1] 0.667162720447781 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99619752 -0.07792767 -0.0389586 0.47548317] [ 0.07828301 0.99690161 0.00767789 0.01812793] [ 0.03823957 -0.0106985 0.99921133 0.07879318] [ 0. 0. 0. 1. ]] SLAMing on 83.614860624 meters Centerline goodness [0,1] 0.6689887740160625 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99619098 -0.07804914 -0.03888259 0.47542452] [ 0.0784048 0.99689183 0.00770538 0.01770317] [ 0.03816034 -0.01072461 0.99921408 0.07867497] [ 0. 0. 0. 1. ]] SLAMing on 83.644860624 meters Centerline goodness [0,1] 0.670006206223956 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99615962 -0.07848959 -0.03879956 0.47516949] [ 0.07883539 0.99685972 0.00746193 0.01775172] [ 0.03809203 -0.01049205 0.99921915 0.07872544] [ 0. 0. 0. 1. ]] SLAMing on 83.674860624 meters Centerline goodness [0,1] 0.6683292323380107 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.9961476 -0.07869231 -0.03869741 0.47501722] [ 0.07903376 0.99684468 0.00737209 0.01796524] [ 0.03799518 -0.01040209 0.99922378 0.07863871] [ 0. 0. 0. 1. ]] SLAMing on 83.704860624 meters Centerline goodness [0,1] 0.6686361617059084 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.08 [[ 0.99612888 -0.07890753 -0.03874083 0.47505024] [ 0.07924072 0.99682994 0.0071394 0.01853342] [ 0.03805466 -0.01018161 0.99922379 0.07869037] [ 0. 0. 0. 1. ]] SLAMing on 83.734860624 meters Centerline goodness [0,1] 0.6675562078857828 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99608616 -0.07946351 -0.03870296 0.47483624] [ 0.07977822 0.99679043 0.0066536 0.0195382 ] [ 0.03805002 -0.00971521 0.99922861 0.07879474] [ 0. 0. 0. 1. ]] SLAMing on 83.764860624 meters Centerline goodness [0,1] 0.6632248876229472 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99605277 -0.07996176 -0.0385357 0.47416921] [ 0.08025828 0.99675477 0.00620756 0.02001277] [ 0.03791428 -0.00927586 0.99923794 0.07920005] [ 0. 0. 0. 1. ]] SLAMing on 83.794860624 meters Centerline goodness [0,1] 0.658696473411702 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99602606 -0.08029682 -0.03852923 0.47401423] [ 0.08058109 0.99673071 0.00588036 0.02024074] [ 0.03793109 -0.00896172 0.99924017 0.07941094] [ 0. 0. 0. 1. ]] SLAMing on 83.824860624 meters Centerline goodness [0,1] 0.656767955801105 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99598621 -0.08090948 -0.03827695 0.47314956] [ 0.08116777 0.99668668 0.0052403 0.0211687 ] [ 0.03772614 -0.00832612 0.99925343 0.07985782] [ 0. 0. 0. 1. ]] SLAMing on 83.854860624 meters Centerline goodness [0,1] 0.6531149589432346 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.9959675 -0.08114312 -0.03826915 0.47292701] [ 0.08138935 0.99667025 0.00491824 0.02201873] [ 0.03774264 -0.00801311 0.99925536 0.08012904] [ 0. 0. 0. 1. ]] SLAMing on 83.884860624 meters Centerline goodness [0,1] 0.6518728641307989 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.9959568 -0.08128783 -0.03824045 0.47288096] [ 0.0815227 0.99666077 0.00462068 0.02315481] [ 0.03773715 -0.00771947 0.99925788 0.08012802] [ 0. 0. 0. 1. ]] SLAMing on 83.914860624 meters Centerline goodness [0,1] 0.6621570334650504 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.08 [[ 0.99595168 -0.08137767 -0.03818279 0.47288439] [ 0.08160266 0.99665537 0.00436884 0.02440956] [ 0.03769955 -0.00746697 0.99926122 0.07997219] [ 0. 0. 0. 1. ]] SLAMing on 83.944860624 meters Centerline goodness [0,1] 0.6655203215721304 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99594028 -0.0815273 -0.03816082 0.47278109] [ 0.0817415 0.9966452 0.00408423 0.0255412 ] [ 0.03769982 -0.00718697 0.99926326 0.08000529] [ 0. 0. 0. 1. ]] SLAMing on 83.974860624 meters Centerline goodness [0,1] 0.6685292802860974 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99592691 -0.0816969 -0.03814725 0.47265459] [ 0.08189801 0.99663371 0.00373679 0.02671577] [ 0.03771355 -0.00684576 0.99926514 0.08014074] [ 0. 0. 0. 1. ]] SLAMing on 84.004860624 meters Centerline goodness [0,1] 0.6704540371281593 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99591009 -0.08191702 -0.03811416 0.47253314] [ 0.08209993 0.99661878 0.00325626 0.02827659] [ 0.03771854 -0.00637211 0.99926809 0.08020762] [ 0. 0. 0. 1. ]] SLAMing on 84.034860624 meters Centerline goodness [0,1] 0.6706899254316232 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99590084 -0.08204105 -0.03808928 0.47239904] [ 0.08221912 0.99660936 0.00312976 0.0285557 ] [ 0.03770337 -0.0062486 0.99926944 0.08028443] [ 0. 0. 0. 1. ]] SLAMing on 84.064860624 meters Centerline goodness [0,1] 0.6704512372634643 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99589591 -0.08212647 -0.03803381 0.47246311] [ 0.08229836 0.9966033 0.00297334 0.02884766] [ 0.03766043 -0.00609125 0.99927203 0.08012518] [ 0. 0. 0. 1. ]] SLAMing on 84.094860624 meters Centerline goodness [0,1] 0.6682399785254116 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99587678 -0.08239976 -0.03794354 0.47221175] [ 0.08256088 0.99658238 0.00269639 0.02951161] [ 0.03759168 -0.00581792 0.99927625 0.0801393 ] [ 0. 0. 0. 1. ]] SLAMing on 84.124860624 meters Centerline goodness [0,1] 0.6672715866827978 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99585515 -0.0827004 -0.0378571 0.47184518] [ 0.0828463 0.99655969 0.00229891 0.03053727] [ 0.03753673 -0.0054257 0.99928052 0.08037111] [ 0. 0. 0. 1. ]] SLAMing on 84.154860624 meters Centerline goodness [0,1] 0.6665096561469619 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.9958212 -0.08319756 -0.0376605 0.47112206] [ 0.08331736 0.99652175 0.0016201 0.03247729] [ 0.03739472 -0.0047511 0.99928928 0.08073346] [ 0. 0. 0. 1. ]] SLAMing on 84.184860624 meters Centerline goodness [0,1] 0.6689037529179386 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99580436 -0.08344602 -0.03755589 0.47103383] [ 0.08355716 0.99650201 0.00139688 0.03284358] [ 0.03730796 -0.00452909 0.99929355 0.08055228] [ 0. 0. 0. 1. ]] SLAMing on 84.214860624 meters Centerline goodness [0,1] 0.6664421241719996 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99579832 -0.08357379 -0.03743159 0.47105752] [ 0.08368644 0.99649108 0.00145029 0.03265541] [ 0.03717904 -0.00457671 0.99929814 0.08015835] [ 0. 0. 0. 1. ]] SLAMing on 84.244860624 meters Centerline goodness [0,1] 0.6620855099432774 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 0.99578426 -0.08377291 -0.03736044 0.47112359] [ 0.08388293 0.99647465 0.00138433 0.03274859] [ 0.03711276 -0.00451239 0.9993009 0.07981016] [ 0. 0. 0. 1. ]] SLAMing on 84.274860624 meters Centerline goodness [0,1] 0.6645149681743551 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.08 [[ 9.95738787e-01 -8.44190278e-02 -3.71173288e-02 4.70125783e-01] [ 8.45028202e-02 9.96423000e-01 6.91718911e-04 3.44696708e-02] [ 3.69261659e-02 -3.82529031e-03 9.99310675e-01 8.03275766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304860624 meters Centerline goodness [0,1] 0.6615495430603701 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 9.95711757e-01 -8.47585019e-02 -3.70687772e-02 4.69602425e-01] [ 8.48244774e-02 9.96395888e-01 2.07901837e-04 3.56776611e-02] [ 3.69175557e-02 -3.35134995e-03 9.99312695e-01 8.08411863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334860624 meters Centerline goodness [0,1] 0.6599937019209141 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 9.95700609e-01 -8.49063482e-02 -3.70298506e-02 4.69415324e-01] [ 8.49645208e-02 9.96383977e-01 -2.69468770e-06 3.64390503e-02] [ 3.68961786e-02 -3.14354041e-03 9.99314160e-01 8.09630162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364860624 meters Centerline goodness [0,1] 0.6627298954201226 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 9.95690193e-01 -8.50201035e-02 -3.70488981e-02 4.69451360e-01] [ 8.50718078e-02 9.96374806e-01 -1.81500579e-04 3.70627475e-02] [ 3.69300199e-02 -2.97109839e-03 9.99313437e-01 8.09362097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394860624 meters Centerline goodness [0,1] 0.6474422591122339 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 9.95686161e-01 -8.51126108e-02 -3.69447132e-02 4.69549356e-01] [ 8.51509376e-02 9.96367918e-01 -5.37686734e-04 3.86689841e-02] [ 3.68562909e-02 -2.61050972e-03 9.99317166e-01 8.05891365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424860624 meters Centerline goodness [0,1] 0.6482548288715689 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 9.95679029e-01 -8.52144766e-02 -3.69020942e-02 4.69454646e-01] [ 8.52429323e-02 9.96359872e-01 -8.04425436e-04 3.96235898e-02] [ 3.68363146e-02 -2.34469318e-03 9.99318562e-01 8.06052136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454860624 meters Centerline goodness [0,1] 0.6424725100683288 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99566986 -0.08532658 -0.03689049 0.46959101] [ 0.08534572 0.99635084 -0.00105851 0.04062264] [ 0.03684619 -0.00209452 0.99931875 0.0803986 ] [ 0. 0. 0. 1. ]] SLAMing on 84.48486062399999 meters Centerline goodness [0,1] 0.6444086704153817 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99566811 -0.08531082 -0.03697395 0.47002114] [ 0.08532497 0.99635245 -0.00119787 0.04140328] [ 0.03694127 -0.00196212 0.99931551 0.08008634] [ 0. 0. 0. 1. ]] SLAMing on 84.514860624 meters Centerline goodness [0,1] 0.6659577356441468 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99567752 -0.08517106 -0.03704278 0.4704637 ] [ 0.08518672 0.99636433 -0.00115807 0.04207995] [ 0.03700674 -0.00200248 0.99931301 0.07967328] [ 0. 0. 0. 1. ]] SLAMing on 84.544860624 meters Centerline goodness [0,1] 0.660949748516018 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99567645 -0.08514803 -0.03712431 0.47066367] [ 0.08515703 0.99636664 -0.00134168 0.04293945] [ 0.03710367 -0.00182552 0.99930975 0.07968181] [ 0. 0. 0. 1. ]] SLAMing on 84.574860624 meters Centerline goodness [0,1] 0.6625941346438241 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.08 [[ 0.99568766 -0.08502286 -0.03711069 0.47060658] [ 0.0850197 0.99637788 -0.00166626 0.0447372 ] [ 0.03711794 -0.00149606 0.99930977 0.07982104] [ 0. 0. 0. 1. ]] SLAMing on 84.604860624 meters Centerline goodness [0,1] 0.6614801017626749 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99569428 -0.08494448 -0.03711244 0.4705956 ] [ 0.08494037 0.9963846 -0.00169047 0.04545775] [ 0.03712186 -0.00146915 0.99930967 0.07982041] [ 0. 0. 0. 1. ]] SLAMing on 84.634860624 meters Centerline goodness [0,1] 0.6632383124287343 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99568733 -0.0850613 -0.03703122 0.4702467 ] [ 0.08504873 0.99637495 -0.00191742 0.04613014] [ 0.03706008 -0.00124031 0.99931227 0.08006101] [ 0. 0. 0. 1. ]] SLAMing on 84.664860624 meters Centerline goodness [0,1] 0.6628339379006685 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.9956735 -0.08523043 -0.03701417 0.47000318] [ 0.08520971 0.99636074 -0.00213993 0.04658803] [ 0.03706185 -0.00102329 0.99931245 0.08030346] [ 0. 0. 0. 1. ]] SLAMing on 84.694860624 meters Centerline goodness [0,1] 0.6590898727828188 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95658591e-01 -8.54644936e-02 -3.68753314e-02 4.69625358e-01] [ 8.54408154e-02 9.96340773e-01 -2.22039597e-03 4.63695875e-02] [ 3.69301613e-02 -9.39902061e-04 9.99317407e-01 8.03764973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724860624 meters Centerline goodness [0,1] 0.6622947833413029 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99565586 -0.08550115 -0.03686407 0.46975542] [ 0.08548491 0.99633742 -0.00201956 0.04584466] [ 0.03690173 -0.00114054 0.99931825 0.08011454] [ 0. 0. 0. 1. ]] SLAMing on 84.754860624 meters Centerline goodness [0,1] 0.6488084409678005 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99564211 -0.08567106 -0.03684101 0.46970545] [ 0.08565216 0.9963229 -0.00209381 0.04584654] [ 0.03688492 -0.00107082 0.99931895 0.08007044] [ 0. 0. 0. 1. ]] SLAMing on 84.784860624 meters Centerline goodness [0,1] 0.6452553414423032 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 0.99563173 -0.08579987 -0.03682166 0.46968696] [ 0.08578291 0.99631176 -0.00204307 0.04572086] [ 0.03686114 -0.00112453 0.99931976 0.0799251 ] [ 0. 0. 0. 1. ]] SLAMing on 84.814860624 meters Centerline goodness [0,1] 0.6621961250228477 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95598250e-01 -8.62580207e-02 -3.66562317e-02 4.69131705e-01] [ 8.62343739e-02 9.96272385e-01 -2.22860718e-03 4.57065064e-02] [ 3.67118266e-02 -9.42229779e-04 9.99325449e-01 8.00259408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844860624 meters Centerline goodness [0,1] 0.6614797550498126 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95589222e-01 -8.63905306e-02 -3.65893004e-02 4.69061951e-01] [ 8.63664396e-02 9.96260917e-01 -2.24144012e-03 4.58739591e-02] [ 3.66461291e-02 -9.28533979e-04 9.99327874e-01 7.98790253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874860624 meters Centerline goodness [0,1] 0.6614797550498126 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95589222e-01 -8.63905306e-02 -3.65893004e-02 4.69061951e-01] [ 8.63664396e-02 9.96260917e-01 -2.24144012e-03 4.58739591e-02] [ 3.66461291e-02 -9.28533979e-04 9.99327874e-01 7.98790253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904860624 meters Centerline goodness [0,1] 0.648979871285773 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95569305e-01 -8.66206778e-02 -3.65871276e-02 4.69040892e-01] [ 8.65905263e-02 9.96241069e-01 -2.41086522e-03 4.62348330e-02] [ 3.66584299e-02 -7.67915228e-04 9.99327559e-01 7.98306353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934860624 meters Centerline goodness [0,1] 0.6289377038709825 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95569457e-01 -8.65917958e-02 -3.66512882e-02 4.69394191e-01] [ 8.65671182e-02 9.96243451e-01 -2.26269286e-03 4.60891813e-02] [ 3.67095364e-02 -9.20128494e-04 9.99325554e-01 7.94975809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964860624 meters Centerline goodness [0,1] 0.6445363368440291 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95552813e-01 -8.67855055e-02 -3.66452220e-02 4.69296460e-01] [ 8.67519216e-02 9.96226787e-01 -2.50853225e-03 4.65250409e-02] [ 3.67246560e-02 -6.81667080e-04 9.99325190e-01 7.96303317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994860624 meters Centerline goodness [0,1] 0.657659310914346 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95535321e-01 -8.70294867e-02 -3.65416655e-02 4.68904100e-01] [ 8.69807955e-02 9.96205700e-01 -2.92314438e-03 4.80542698e-02] [ 3.66574152e-02 -2.68329654e-04 9.99327855e-01 7.98567881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024860624 meters Centerline goodness [0,1] 0.6575455482983843 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95533539e-01 -8.70126844e-02 -3.66301080e-02 4.69077749e-01] [ 8.69576671e-02 9.96207198e-01 -3.09549878e-03 4.89952106e-02] [ 3.67605249e-02 -1.03595881e-04 9.99324098e-01 7.99140451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054860624 meters Centerline goodness [0,1] 0.651246613710455 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95533195e-01 -8.69313296e-02 -3.68320739e-02 4.69545773e-01] [ 8.68694856e-02 9.96214304e-01 -3.27913905e-03 5.00636148e-02] [ 3.69776987e-02 6.49084652e-05 9.99316089e-01 7.99006731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084860624 meters Centerline goodness [0,1] 0.640918002537193 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95559146e-01 -8.65858874e-02 -3.69441631e-02 4.70125746e-01] [ 8.65170771e-02 9.96244359e-01 -3.46020853e-03 5.17341776e-02] [ 3.71050193e-02 2.48541248e-04 9.99311341e-01 7.96707094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114860624 meters Centerline goodness [0,1] 0.666380967824133 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95556629e-01 -8.65993643e-02 -3.69803839e-02 4.70178183e-01] [ 8.65199170e-02 9.96243077e-01 -3.74631883e-03 5.29137923e-02] [ 3.71658803e-02 5.30132801e-04 9.99308969e-01 7.97546473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144860624 meters Centerline goodness [0,1] 0.6661415133682406 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.08 [[ 9.95574661e-01 -8.63766701e-02 -3.70157564e-02 4.70510183e-01] [ 8.62945674e-02 9.96262369e-01 -3.81300698e-03 5.40476140e-02] [ 3.72067600e-02 6.01874439e-04 9.99307408e-01 7.95132325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174860624 meters Centerline goodness [0,1] 0.663599703346621 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95588179e-01 -8.61399487e-02 -3.72033219e-02 4.71013664e-01] [ 8.60515148e-02 9.96282760e-01 -3.97477667e-03 5.54565020e-02] [ 3.74074153e-02 7.55838464e-04 9.99299812e-01 7.94726042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204860624 meters Centerline goodness [0,1] 0.6654871377022465 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95873630e-01 -8.28224788e-02 -3.70965066e-02 4.69816334e-01] [ 8.28593412e-02 9.96561103e-01 -5.45278190e-04 5.62188484e-02] [ 3.70140968e-02 -2.53076393e-03 9.99311539e-01 7.95293402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23486062399999 meters Centerline goodness [0,1] 0.6465623761452918 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95884196e-01 -8.26560880e-02 -3.71838622e-02 4.70140037e-01] [ 8.26860828e-02 9.96575373e-01 -7.33077637e-04 5.73987569e-02] [ 3.71171147e-02 -2.34452748e-03 9.99308172e-01 7.95064115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264860624 meters Centerline goodness [0,1] 0.6702207083197238 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95902756e-01 -8.23738438e-02 -3.73128721e-02 4.70763131e-01] [ 8.24046963e-02 9.96598694e-01 -7.12919284e-04 5.80230838e-02] [ 3.72446855e-02 -2.36475761e-03 9.99303378e-01 7.92062531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294860624 meters Centerline goodness [0,1] 0.6679043482322171 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95912078e-01 -8.22456677e-02 -3.73467813e-02 4.71201176e-01] [ 8.22760967e-02 9.96609311e-01 -7.24020228e-04 5.85703535e-02] [ 3.72796975e-02 -2.35168690e-03 9.99302103e-01 7.87672579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324860624 meters Centerline goodness [0,1] 0.6631416765879963 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95922745e-01 -8.21178495e-02 -3.73436069e-02 4.71449880e-01] [ 8.21526364e-02 9.96619576e-01 -6.04580576e-04 5.86753706e-02] [ 3.72670165e-02 -2.46576021e-03 9.99302301e-01 7.84663361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354860624 meters Centerline goodness [0,1] 0.6670019179491977 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95922735e-01 -8.21363613e-02 -3.73031343e-02 4.71445694e-01] [ 8.21686270e-02 9.96618216e-01 -6.69920998e-04 5.90200982e-02] [ 3.72320080e-02 -2.39795778e-03 9.99303771e-01 7.83996909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384860624 meters Centerline goodness [0,1] 0.6641642695105123 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95918820e-01 -8.21732920e-02 -3.73263296e-02 4.71341190e-01] [ 8.21973892e-02 9.96615671e-01 -8.91160488e-04 6.02627780e-02] [ 3.72732346e-02 -2.18060334e-03 9.99302732e-01 7.85904174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414860624 meters Centerline goodness [0,1] 0.6593826119542814 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99591729 -0.08221518 -0.03727473 0.47124112] [ 0.08223474 0.99661248 -0.00101092 0.06099476] [ 0.03723157 -0.00205848 0.99930454 0.07856303] [ 0. 0. 0. 1. ]] SLAMing on 85.444860624 meters Centerline goodness [0,1] 0.66402271607256 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99591575 -0.08222668 -0.03729066 0.47135771] [ 0.08224401 0.99661165 -0.00107173 0.06139402] [ 0.03725243 -0.00199958 0.99930389 0.07844156] [ 0. 0. 0. 1. ]] SLAMing on 85.474860624 meters Centerline goodness [0,1] 0.6631924882629108 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99591448 -0.08223883 -0.03729765 0.47151469] [ 0.08225433 0.99661074 -0.00112139 0.06149788] [ 0.03726346 -0.00195109 0.99930357 0.07831625] [ 0. 0. 0. 1. ]] SLAMing on 85.504860624 meters Centerline goodness [0,1] 0.6627023223082336 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99591565 -0.08226563 -0.03720742 0.47164248] [ 0.08228198 0.99660849 -0.00109439 0.06183115] [ 0.03717126 -0.00197158 0.99930696 0.07787291] [ 0. 0. 0. 1. ]] SLAMing on 85.534860624 meters Centerline goodness [0,1] 0.6603419124553823 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99589844 -0.082532 -0.03707779 0.47130293] [ 0.08253851 0.99658695 -0.00135776 0.06254026] [ 0.0370633 -0.00170815 0.99931146 0.07789601] [ 0. 0. 0. 1. ]] SLAMing on 85.564860624 meters Centerline goodness [0,1] 0.6558557710412352 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99587824 -0.08284061 -0.03693177 0.47108496] [ 0.08283887 0.9965617 -0.00157993 0.06371244] [ 0.03693567 -0.00148597 0.99931654 0.07758585] [ 0. 0. 0. 1. ]] SLAMing on 85.594860624 meters Centerline goodness [0,1] 0.6517258417449001 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99585992 -0.08309657 -0.0368509 0.47102834] [ 0.08308933 0.9965406 -0.00173056 0.06408974] [ 0.03686723 -0.00133853 0.99931928 0.07735293] [ 0. 0. 0. 1. ]] SLAMing on 85.624860624 meters Centerline goodness [0,1] 0.6644524533012979 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99583218 -0.08354041 -0.03659606 0.47066154] [ 0.08352737 0.9965037 -0.00188768 0.06424104] [ 0.03662581 -0.00117696 0.99932836 0.07698931] [ 0. 0. 0. 1. ]] SLAMing on 85.654860624 meters Centerline goodness [0,1] 0.6587295979650958 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 0.99580777 -0.08392405 -0.03638194 0.47031148] [ 0.08391015 0.99647149 -0.0019117 0.06395704] [ 0.03641401 -0.00114913 0.99933613 0.07666295] [ 0. 0. 0. 1. ]] SLAMing on 85.684860624 meters Centerline goodness [0,1] 0.6506151389932382 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95770103e-01 -8.44985949e-02 -3.60817102e-02 4.69680543e-01] [ 8.44760345e-02 9.96423187e-01 -2.15205344e-03 6.40452396e-02] [ 3.61344981e-02 -9.05089321e-04 9.99346526e-01 7.65076536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714860624 meters Centerline goodness [0,1] 0.6505868240938919 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.08 [[ 9.95736499e-01 -8.49360794e-02 -3.59817671e-02 4.69383619e-01] [ 8.49042728e-02 9.96386189e-01 -2.41381226e-03 6.45066118e-02] [ 3.60567555e-02 -6.51484800e-04 9.99349531e-01 7.64705464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744860624 meters Centerline goodness [0,1] 0.637357201743022 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95683304e-01 -8.56602299e-02 -3.57362882e-02 4.68746730e-01] [ 8.56168000e-02 9.96324355e-01 -2.74664498e-03 6.54497094e-02] [ 3.58402125e-02 -3.24838086e-04 9.99357480e-01 7.62828965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774860624 meters Centerline goodness [0,1] 0.6405637659946173 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95662211e-01 -8.59789493e-02 -3.55581440e-02 4.68221961e-01] [ 8.59241478e-02 9.96296954e-01 -3.06929282e-03 6.60795876e-02] [ 3.56903652e-02 6.75651488e-07 9.99362896e-01 7.64936698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804860624 meters Centerline goodness [0,1] 0.6360230004241881 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95640257e-01 -8.62985196e-02 -3.53983569e-02 4.67653234e-01] [ 8.62330592e-02 9.96269276e-01 -3.37468800e-03 6.66134155e-02] [ 3.55575260e-02 3.07466618e-04 9.99367584e-01 7.67427436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834860624 meters Centerline goodness [0,1] 0.6303136217645948 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95618500e-01 -8.66209872e-02 -3.52222450e-02 4.66934918e-01] [ 8.65444835e-02 9.96241140e-01 -3.69375098e-03 6.71677242e-02] [ 3.54098059e-02 6.29275812e-04 9.99372678e-01 7.71317042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864860624 meters Centerline goodness [0,1] 0.6470908102229472 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95615516e-01 -8.67009751e-02 -3.51096063e-02 4.66740411e-01] [ 8.66219469e-02 9.96234127e-01 -3.76865047e-03 6.74958266e-02] [ 3.53041337e-02 7.10864424e-04 9.99376362e-01 7.70779662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894860624 meters Centerline goodness [0,1] 0.648923614389576 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95616570e-01 -8.66894335e-02 -3.51082238e-02 4.66904464e-01] [ 8.66063512e-02 9.96235043e-01 -3.88322596e-03 6.82282652e-02] [ 3.53126775e-02 8.25608950e-04 9.99375972e-01 7.69237177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924860624 meters Centerline goodness [0,1] 0.6373973766160235 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95626294e-01 -8.65143279e-02 -3.52640561e-02 4.67350036e-01] [ 8.64309809e-02 9.96250270e-01 -3.88399151e-03 6.86519570e-02] [ 3.54678463e-02 8.19097113e-04 9.99370482e-01 7.68365739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954860624 meters Centerline goodness [0,1] 0.6447975033690332 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95634877e-01 -8.64081253e-02 -3.52821283e-02 4.67447461e-01] [ 8.63237395e-02 9.96259462e-01 -3.91095280e-03 6.91539079e-02] [ 3.54880922e-02 8.48195761e-04 9.99369739e-01 7.68086700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98486062399999 meters Centerline goodness [0,1] 0.6487771417758645 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95638224e-01 -8.63474036e-02 -3.53362879e-02 4.67621658e-01] [ 8.62611485e-02 9.96264686e-01 -3.96114653e-03 6.95192227e-02] [ 3.55463304e-02 8.95720117e-04 9.99367628e-01 7.67498923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014860624 meters Centerline goodness [0,1] 0.6472500294429395 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95661222e-01 -8.61335817e-02 -3.52098946e-02 4.67857393e-01] [ 8.60616700e-02 9.96283467e-01 -3.55569910e-03 6.87157157e-02] [ 3.53853009e-02 5.10049380e-04 9.99373614e-01 7.61180766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044860624 meters Centerline goodness [0,1] 0.6402361575010584 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95675664e-01 -8.59321739e-02 -3.52935281e-02 4.68305725e-01] [ 8.58707357e-02 9.96300967e-01 -3.25572947e-03 6.80432848e-02] [ 3.54427481e-02 2.10969377e-04 9.99371686e-01 7.57752005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074860624 meters Centerline goodness [0,1] 0.6323788494515046 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95684340e-01 -8.58201165e-02 -3.53214171e-02 4.68610275e-01] [ 8.57653370e-02 9.96310648e-01 -3.06592972e-03 6.76473872e-02] [ 3.54542224e-02 2.33449657e-05 9.99371301e-01 7.54893966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104860624 meters Centerline goodness [0,1] 0.6368315900810906 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95687174e-01 -8.57809906e-02 -3.53365602e-02 4.68642644e-01] [ 8.57270437e-02 9.96314018e-01 -3.04176347e-03 6.77299500e-02] [ 3.54672358e-02 -6.53970614e-07 9.99370840e-01 7.55091386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134860624 meters Centerline goodness [0,1] 0.6413840082683454 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.08 [[ 9.95694925e-01 -8.56968141e-02 -3.53224025e-02 4.68772915e-01] [ 8.56492108e-02 9.96321246e-01 -2.86141679e-03 6.74513316e-02] [ 3.54376744e-02 -1.76237724e-04 9.99371873e-01 7.53201380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164860624 meters Centerline goodness [0,1] 0.641266339677548 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 9.95707963e-01 -8.55836777e-02 -3.52290603e-02 4.68957312e-01] [ 8.55470717e-02 9.96330872e-01 -2.54789000e-03 6.68006538e-02] [ 3.53178582e-02 -4.76788589e-04 9.99376016e-01 7.47941573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194860624 meters Centerline goodness [0,1] 0.6420042144696793 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 9.95725355e-01 -8.53916576e-02 -3.52034349e-02 4.69488546e-01] [ 8.53711517e-02 9.96347031e-01 -2.08798106e-03 6.53921579e-02] [ 3.52531340e-02 -9.26302101e-04 9.99377986e-01 7.40616222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224860624 meters Centerline goodness [0,1] 0.637569734189677 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 0.9957293 -0.08534642 -0.03520163 0.46973657] [ 0.08532887 0.99635083 -0.00200332 0.06534254] [ 0.03524415 -0.00100895 0.99937822 0.0737681 ] [ 0. 0. 0. 1. ]] SLAMing on 86.254860624 meters Centerline goodness [0,1] 0.6408945986496624 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 0.99573217 -0.08531427 -0.03519842 0.46989963] [ 0.08529874 0.99635352 -0.00194557 0.06550676] [ 0.03523605 -0.00106511 0.99937845 0.07354338] [ 0. 0. 0. 1. ]] SLAMing on 86.284860624 meters Centerline goodness [0,1] 0.6402766381432423 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 9.95722731e-01 -8.54299588e-02 -3.51847405e-02 4.69781026e-01] [ 8.54117745e-02 9.96343685e-01 -2.02231555e-03 6.55507841e-02] [ 3.52288604e-02 -9.91525565e-04 9.99378779e-01 7.36605033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314860624 meters Centerline goodness [0,1] 0.6404375937031483 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.07 [[ 9.95716274e-01 -8.54994074e-02 -3.51987643e-02 4.69766079e-01] [ 8.54788091e-02 9.96337792e-01 -2.09238988e-03 6.54761709e-02] [ 3.52487571e-02 -9.25321799e-04 9.99378141e-01 7.37514143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344860624 meters Centerline goodness [0,1] 0.6390701372810402 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99571438 -0.08552566 -0.03518866 0.46975286] [ 0.08550792 0.99633546 -0.00201146 0.06488012] [ 0.03523174 -0.00100607 0.99937866 0.07376649] [ 0. 0. 0. 1. ]] SLAMing on 86.374860624 meters Centerline goodness [0,1] 0.6389890851173468 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95678280e-01 -8.60642187e-02 -3.48957401e-02 4.68932824e-01] [ 8.60418185e-02 9.96289215e-01 -2.14590763e-03 6.39293354e-02] [ 3.49509354e-02 -8.65859320e-04 9.99388654e-01 7.39159557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404860624 meters Centerline goodness [0,1] 0.6383083181371861 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99567648 -0.08613117 -0.03478174 0.46879868] [ 0.08611383 0.9962833 -0.00199907 0.06340224] [ 0.03482465 -0.00100476 0.99939293 0.07375144] [ 0. 0. 0. 1. ]] SLAMing on 86.434860624 meters Centerline goodness [0,1] 0.6340927678467111 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95665216e-01 -8.62879911e-02 -3.47154290e-02 4.68521815e-01] [ 8.62695135e-02 9.96269762e-01 -2.03260082e-03 6.33774325e-02] [ 3.47613212e-02 -9.71093232e-04 9.99395171e-01 7.38738444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464860624 meters Centerline goodness [0,1] 0.6240341744671911 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95660348e-01 -8.63884509e-02 -3.46050049e-02 4.68308798e-01] [ 8.63700211e-02 9.96261060e-01 -2.02989035e-03 6.34744669e-02] [ 3.46509779e-02 -9.67753673e-04 9.99399006e-01 7.38679377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494860624 meters Centerline goodness [0,1] 0.6307224690203413 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99566658 -0.08628675 -0.03467923 0.46853006] [ 0.08627154 0.99626978 -0.00193738 0.06329149] [ 0.03471704 -0.00106285 0.99939662 0.07382312] [ 0. 0. 0. 1. ]] SLAMing on 86.524860624 meters Centerline goodness [0,1] 0.6290955830801589 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99567031 -0.08624162 -0.03468445 0.46858843] [ 0.08622532 0.99627372 -0.00196814 0.06322459] [ 0.03472494 -0.00103106 0.99939638 0.07387076] [ 0. 0. 0. 1. ]] SLAMing on 86.554860624 meters Centerline goodness [0,1] 0.6298954850475812 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99568032 -0.0860934 -0.03476546 0.46872936] [ 0.08607852 0.99628649 -0.00192731 0.06284272] [ 0.03480228 -0.00107358 0.99939364 0.07407117] [ 0. 0. 0. 1. ]] SLAMing on 86.584860624 meters Centerline goodness [0,1] 0.6270707919174949 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99569142 -0.08598441 -0.03471712 0.46873553] [ 0.08597492 0.99629573 -0.001769 0.06238995] [ 0.03474063 -0.00122343 0.99939561 0.07399443] [ 0. 0. 0. 1. ]] SLAMing on 86.614860624 meters Centerline goodness [0,1] 0.6252587028811943 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99570284 -0.08588912 -0.03462525 0.46850739] [ 0.08588892 0.9963036 -0.00149585 0.0615236 ] [ 0.03462573 -0.0014845 0.99939925 0.07404135] [ 0. 0. 0. 1. ]] SLAMing on 86.644860624 meters Centerline goodness [0,1] 0.625358216257776 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99570732 -0.08584108 -0.03461562 0.46849781] [ 0.08584736 0.99630744 -0.00130766 0.06111529] [ 0.03460005 -0.00166961 0.99939984 0.07395888] [ 0. 0. 0. 1. ]] SLAMing on 86.674860624 meters Centerline goodness [0,1] 0.6262353160544472 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 0.99572223 -0.08561926 -0.03473592 0.46894546] [ 0.08563551 0.99632601 -0.00102247 0.06051111] [ 0.03469584 -0.00195653 0.999396 0.07374626] [ 0. 0. 0. 1. ]] SLAMing on 86.704860624 meters Centerline goodness [0,1] 0.6246275605214153 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95739936e-01 -8.54045811e-02 -3.47568436e-02 4.69471657e-01] [ 8.54338542e-02 9.96343636e-01 -6.44775238e-04 5.95154832e-02] [ 3.46848267e-02 -2.32738265e-03 9.99395590e-01 7.32094631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73486062399999 meters Centerline goodness [0,1] 0.6257459307590498 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95748447e-01 -8.53035160e-02 -3.47611930e-02 4.69763984e-01] [ 8.53403601e-02 9.96351766e-01 -4.25123935e-04 5.85293517e-02] [ 3.46706406e-02 -2.54321623e-03 9.99395557e-01 7.29318816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764860624 meters Centerline goodness [0,1] 0.6357875678937839 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95762912e-01 -8.51414446e-02 -3.47441692e-02 4.70202259e-01] [ 8.51914873e-02 9.96364596e-01 -4.02258708e-05 5.72910159e-02] [ 3.46212850e-02 -2.91985202e-03 9.99396238e-01 7.23487457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794860624 meters Centerline goodness [0,1] 0.6357875678937839 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95762912e-01 -8.51414446e-02 -3.47441692e-02 4.70202259e-01] [ 8.51914873e-02 9.96364596e-01 -4.02258708e-05 5.72910159e-02] [ 3.46212850e-02 -2.91985202e-03 9.99396238e-01 7.23487457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824860624 meters Centerline goodness [0,1] 0.6352209976664125 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:0.07 [[ 9.95767604e-01 -8.51098839e-02 -3.46869648e-02 4.70128045e-01] [ 8.51710683e-02 9.96366301e-01 2.87438884e-04 5.54448232e-02] [ 3.45364590e-02 -3.24054818e-03 9.99398185e-01 7.23495465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854860624 meters Centerline goodness [0,1] 0.6331362313484548 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 9.95762469e-01 -8.51831018e-02 -3.46546605e-02 4.70085867e-01] [ 8.52498411e-02 9.96359504e-01 4.50130106e-04 5.46688139e-02] [ 3.44901569e-02 -3.40252697e-03 9.99399245e-01 7.22996808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884860624 meters Centerline goodness [0,1] 0.6325927294563259 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 9.95762287e-01 -8.52340570e-02 -3.45343821e-02 4.69962078e-01] [ 8.53077208e-02 9.96354432e-01 6.62549125e-04 5.40276780e-02] [ 3.43520129e-02 -3.60579085e-03 9.99403291e-01 7.20933805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914860624 meters Centerline goodness [0,1] 0.6346757080911523 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 9.95761495e-01 -8.52509600e-02 -3.45154860e-02 4.69981678e-01] [ 8.53279741e-02 9.96352627e-01 7.61776669e-04 5.35628562e-02] [ 3.43246529e-02 -3.70368437e-03 9.99403873e-01 7.20358607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944860624 meters Centerline goodness [0,1] 0.6288309527111358 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 9.95764179e-01 -8.52418893e-02 -3.44604270e-02 4.69996696e-01] [ 8.53227797e-02 9.96352973e-01 8.80946585e-04 5.30667091e-02] [ 3.42596553e-02 -3.81747447e-03 9.99405675e-01 7.18993630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974860624 meters Centerline goodness [0,1] 0.6368370121192573 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.9957671 -0.08522194 -0.03442539 0.47007061] [ 0.08530902 0.99635397 0.00106616 0.05237551] [ 0.03420902 -0.00399845 0.9994067 0.07171691] [ 0. 0. 0. 1. ]] SLAMing on 87.004860624 meters Centerline goodness [0,1] 0.6424979237796438 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99577636 -0.085146 -0.03434538 0.47031363] [ 0.08523895 0.99635976 0.00124846 0.05181968] [ 0.03411405 -0.00417075 0.99940924 0.07124311] [ 0. 0. 0. 1. ]] SLAMing on 87.034860624 meters Centerline goodness [0,1] 0.6438188211344499 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.9957708 -0.08519704 -0.03438005 0.47035995] [ 0.0852866 0.9963558 0.00114439 0.05192886] [ 0.03415727 -0.00407171 0.99940818 0.07131978] [ 0. 0. 0. 1. ]] SLAMing on 87.064860624 meters Centerline goodness [0,1] 0.6315120123939233 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99577458 -0.0851355 -0.03442273 0.470552 ] [ 0.08522772 0.99636075 0.00121781 0.05195545] [ 0.03419378 -0.00414643 0.99940662 0.07118346] [ 0. 0. 0. 1. ]] SLAMing on 87.094860624 meters Centerline goodness [0,1] 0.6396730194752565 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99576782 -0.08520007 -0.03445856 0.47062987] [ 0.08528961 0.99635556 0.00113426 0.05214598] [ 0.03423633 -0.00406841 0.99940548 0.0712145 ] [ 0. 0. 0. 1. ]] SLAMing on 87.124860624 meters Centerline goodness [0,1] 0.6424066774866681 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99576626 -0.08525386 -0.03437044 0.47057852] [ 0.0853429 0.996351 0.00112918 0.05231715] [ 0.03414876 -0.00405768 0.99940852 0.07104414] [ 0. 0. 0. 1. ]] SLAMing on 87.154860624 meters Centerline goodness [0,1] 0.6412945133975176 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99576946 -0.08518371 -0.03445155 0.47098978] [ 0.08527728 0.99635647 0.00125322 0.05213638] [ 0.03421927 -0.00418585 0.99940558 0.07071885] [ 0. 0. 0. 1. ]] SLAMing on 87.184860624 meters Centerline goodness [0,1] 0.641349917772682 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99577444 -0.08514954 -0.03439224 0.47129907] [ 0.08524983 0.99635854 0.00145748 0.05118232] [ 0.0341429 -0.00438325 0.99940735 0.07021231] [ 0. 0. 0. 1. ]] SLAMing on 87.214860624 meters Centerline goodness [0,1] 0.6420679591411298 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99577607 -0.08511916 -0.03442011 0.47145697] [ 0.0852216 0.99636087 0.00151762 0.05095154] [ 0.03416567 -0.00444454 0.9994063 0.07013673] [ 0. 0. 0. 1. ]] SLAMing on 87.244860624 meters Centerline goodness [0,1] 0.6415430541735125 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99577872 -0.0850873 -0.0344222 0.47155588] [ 0.08519313 0.99636314 0.00161679 0.05089433] [ 0.03415945 -0.0045425 0.99940607 0.06998075] [ 0. 0. 0. 1. ]] SLAMing on 87.274860624 meters Centerline goodness [0,1] 0.6376478775226165 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99578087 -0.08504785 -0.03445741 0.47159958] [ 0.08515714 0.99636606 0.001714 0.05070362] [ 0.03418642 -0.00464106 0.9994047 0.07002564] [ 0. 0. 0. 1. ]] SLAMing on 87.304860624 meters Centerline goodness [0,1] 0.6432594034624208 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99576218 -0.08536398 -0.03421511 0.47092896] [ 0.08547846 0.99633822 0.00189469 0.04898624] [ 0.03392808 -0.00481132 0.9994127 0.07018073] [ 0. 0. 0. 1. ]] SLAMing on 87.334860624 meters Centerline goodness [0,1] 0.628506023539205 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99574376 -0.08565308 -0.03402819 0.4704764 ] [ 0.08577178 0.99631272 0.00204126 0.04752246] [ 0.03372787 -0.00495123 0.99941879 0.07022779] [ 0. 0. 0. 1. ]] SLAMing on 87.364860624 meters Centerline goodness [0,1] 0.6398522281228354 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:0.07 [[ 0.99573788 -0.0858086 -0.03380761 0.4702152 ] [ 0.08593653 0.99629785 0.00234673 0.04576605] [ 0.03348108 -0.00524204 0.9994256 0.06997368] [ 0. 0. 0. 1. ]] SLAMing on 87.394860624 meters Centerline goodness [0,1] 0.6374510255819313 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.07 [[ 0.99571967 -0.08612703 -0.03353322 0.46970504] [ 0.08626022 0.9962694 0.00254301 0.04425494] [ 0.0331891 -0.00542471 0.99943437 0.06982651] [ 0. 0. 0. 1. ]] SLAMing on 87.424860624 meters Centerline goodness [0,1] 0.6374121214906033 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.07 [[ 0.9957042 -0.08638417 -0.0333305 0.46933275] [ 0.08652412 0.99624589 0.00277686 0.04252972] [ 0.0329655 -0.00564883 0.99944053 0.06975496] [ 0. 0. 0. 1. ]] SLAMing on 87.454860624 meters Centerline goodness [0,1] 0.6357474380772943 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.07 [[ 0.99569304 -0.08659701 -0.03311087 0.46901395] [ 0.08674365 0.9962261 0.00301547 0.0409717 ] [ 0.03272479 -0.00587464 0.99944714 0.0695816 ] [ 0. 0. 0. 1. ]] SLAMing on 87.48486062399999 meters Centerline goodness [0,1] 0.6308649600805252 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.07 [[ 0.99563635 -0.08728809 -0.03300067 0.46856674] [ 0.08744078 0.99616455 0.00320964 0.03786269] [ 0.03259393 -0.00608124 0.99945018 0.06972782] [ 0. 0. 0. 1. ]] SLAMing on 87.514860624 meters Centerline goodness [0,1] 0.6218602422832114 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:0.07 [[ 0.99562595 -0.08742485 -0.03295246 0.46846728] [ 0.08758853 0.9961504 0.00355396 0.03617064] [ 0.03251491 -0.00642467 0.9994506 0.06967275] [ 0. 0. 0. 1. ]] SLAMing on 87.544860624 meters Centerline goodness [0,1] 0.6291448118586089 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99561103 -0.08763794 -0.03283706 0.4681854 ] [ 0.08780874 0.99613013 0.00379329 0.03443459] [ 0.03237755 -0.00666003 0.99945352 0.06969001] [ 0. 0. 0. 1. ]] SLAMing on 87.574860624 meters Centerline goodness [0,1] 0.6351889346406716 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99560113 -0.08783163 -0.03261903 0.46779656] [ 0.08800962 0.99611136 0.00405864 0.03267945] [ 0.03213571 -0.00691157 0.99945962 0.06962073] [ 0. 0. 0. 1. ]] SLAMing on 87.604860624 meters Centerline goodness [0,1] 0.6135682499318863 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99559735 -0.08787952 -0.03260528 0.46775855] [ 0.08806712 0.996105 0.00435999 0.03099942] [ 0.03209513 -0.00721225 0.9994588 0.06965757] [ 0. 0. 0. 1. ]] SLAMing on 87.634860624 meters Centerline goodness [0,1] 0.6318321043675553 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.9955975 -0.08789972 -0.03254629 0.46762157] [ 0.08809333 0.99610179 0.00456051 0.02969744] [ 0.03201855 -0.00740754 0.99945982 0.06978858] [ 0. 0. 0. 1. ]] SLAMing on 87.664860624 meters Centerline goodness [0,1] 0.6122472062615935 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99558637 -0.08805945 -0.03245485 0.46712167] [ 0.08825938 0.99608607 0.00477735 0.0279213 ] [ 0.03190713 -0.00762071 0.99946179 0.07021536] [ 0. 0. 0. 1. ]] SLAMing on 87.694860624 meters Centerline goodness [0,1] 0.6217964667827818 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99558796 -0.08804734 -0.03243876 0.46716879] [ 0.08825278 0.99608579 0.00495397 0.02707204] [ 0.03187561 -0.00779492 0.99946145 0.07016087] [ 0. 0. 0. 1. ]] SLAMing on 87.724860624 meters Centerline goodness [0,1] 0.625081587180122 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99559065 -0.08798867 -0.03251555 0.46752653] [ 0.08820111 0.99608935 0.00515522 0.02630171] [ 0.03193479 -0.00800039 0.99945793 0.0699622 ] [ 0. 0. 0. 1. ]] SLAMing on 87.754860624 meters Centerline goodness [0,1] 0.6196074007220216 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:0.07 [[ 0.99559786 -0.08789728 -0.03254168 0.46772006] [ 0.08811549 0.996096 0.00533079 0.0256739 ] [ 0.03194608 -0.00817475 0.99945616 0.06983015] [ 0. 0. 0. 1. ]] SLAMing on 87.784860624 meters Centerline goodness [0,1] 0.6238114550944076 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.9956142 -0.08765346 -0.0326991 0.46837883] [ 0.08788269 0.99611488 0.00563747 0.02474333] [ 0.03207792 -0.00848643 0.99944934 0.06949884] [ 0. 0. 0. 1. ]] SLAMing on 87.814860624 meters Centerline goodness [0,1] 0.6243308892987269 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99564909 -0.08720409 -0.03283813 0.46912213] [ 0.0874498 0.99615013 0.00611935 0.02319928] [ 0.03217808 -0.00896442 0.99944195 0.0690863 ] [ 0. 0. 0. 1. ]] SLAMing on 87.844860624 meters Centerline goodness [0,1] 0.6286022811635283 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99567693 -0.08684098 -0.03295591 0.46961445] [ 0.08709615 0.99617945 0.00638522 0.02286354] [ 0.0322755 -0.00922795 0.99943641 0.06889215] [ 0. 0. 0. 1. ]] SLAMing on 87.874860624 meters Centerline goodness [0,1] 0.6247891884598953 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99569884 -0.08655056 -0.03305788 0.46985222] [ 0.086806 0.99620487 0.00636923 0.0233437 ] [ 0.03238116 -0.00921146 0.99943314 0.06900804] [ 0. 0. 0. 1. ]] SLAMing on 87.904860624 meters Centerline goodness [0,1] 0.6237258387525033 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99572076 -0.08622088 -0.03325836 0.47014877] [ 0.08647699 0.99623369 0.00633806 0.02375025] [ 0.03258662 -0.00918702 0.99942669 0.06936572] [ 0. 0. 0. 1. ]] SLAMing on 87.934860624 meters Centerline goodness [0,1] 0.6303697875688434 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99575169 -0.08576006 -0.03352275 0.47067224] [ 0.08602281 0.99627214 0.00647328 0.02404489] [ 0.03284264 -0.0093295 0.99941699 0.06956696] [ 0. 0. 0. 1. ]] SLAMing on 87.964860624 meters Centerline goodness [0,1] 0.6323628521364065 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99580329 -0.08507312 -0.03373984 0.47131244] [ 0.08534939 0.99632766 0.0068317 0.02390146] [ 0.03303474 -0.00968271 0.9994073 0.06952294] [ 0. 0. 0. 1. ]] SLAMing on 87.994860624 meters Centerline goodness [0,1] 0.6413681441003846 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99614329 -0.08084928 -0.03408735 0.47132917] [ 0.08126483 0.99663201 0.01098466 0.02229996] [ 0.03308445 -0.01371239 0.99935849 0.06964699] [ 0. 0. 0. 1. ]] SLAMing on 88.024860624 meters Centerline goodness [0,1] 0.6355184156286405 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99619107 -0.08015025 -0.03434079 0.47219526] [ 0.08057969 0.99668403 0.01130714 0.02211011] [ 0.03332065 -0.01403124 0.99934622 0.06950595] [ 0. 0. 0. 1. ]] SLAMing on 88.054860624 meters Centerline goodness [0,1] 0.6410705464996183 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99623626 -0.07947007 -0.03460952 0.47311882] [ 0.07991642 0.99673281 0.01170809 0.02203808] [ 0.03356601 -0.0144299 0.99933233 0.0692179 ] [ 0. 0. 0. 1. ]] SLAMing on 88.084860624 meters Centerline goodness [0,1] 0.6428683438249065 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99626503 -0.07900752 -0.03483975 0.47377051] [ 0.07945923 0.99676857 0.01177518 0.02235711] [ 0.03379683 -0.01449954 0.99932354 0.06925392] [ 0. 0. 0. 1. ]] SLAMing on 88.114860624 meters Centerline goodness [0,1] 0.6454749103942652 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.99635033 -0.07783056 -0.03504883 0.47461088] [ 0.07830388 0.99685318 0.01233858 0.02251098] [ 0.03397821 -0.01503801 0.99930943 0.06916284] [ 0. 0. 0. 1. ]] SLAMing on 88.144860624 meters Centerline goodness [0,1] 0.6494859186410371 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:0.07 [[ 0.9963771 -0.07745511 -0.03511963 0.47496314] [ 0.07793522 0.99687991 0.01251222 0.02247802] [ 0.03404091 -0.01520394 0.99930479 0.06906112] [ 0. 0. 0. 1. ]] SLAMing on 88.174860624 meters Centerline goodness [0,1] 0.6439923001163936 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99640427 -0.07701484 -0.0353164 0.47554613] [ 0.07750711 0.99690981 0.01278618 0.0220282 ] [ 0.03422254 -0.01547747 0.99929438 0.06901095] [ 0. 0. 0. 1. ]] SLAMing on 88.204860624 meters Centerline goodness [0,1] 0.6420089894675641 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99642182 -0.07675785 -0.03538073 0.47611387] [ 0.07725495 0.99692789 0.01290182 0.02185895] [ 0.03428172 -0.01558899 0.99929062 0.06860369] [ 0. 0. 0. 1. ]] SLAMing on 88.23486062399999 meters Centerline goodness [0,1] 0.6506616595135908 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.9964511 -0.07632196 -0.03549865 0.47676898] [ 0.0768334 0.99695562 0.01327134 0.02120569] [ 0.03437768 -0.01595172 0.9992816 0.06819764] [ 0. 0. 0. 1. ]] SLAMing on 88.264860624 meters Centerline goodness [0,1] 0.6462348322626695 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99644929 -0.07633417 -0.03552329 0.47695084] [ 0.0768451 0.99695506 0.01324527 0.02098027] [ 0.03440406 -0.01592803 0.99928107 0.06815938] [ 0. 0. 0. 1. ]] SLAMing on 88.294860624 meters Centerline goodness [0,1] 0.6454982848487548 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.9964342 -0.0765383 -0.03550748 0.47688605] [ 0.0770457 0.99694088 0.01314674 0.02065466] [ 0.03439263 -0.01583556 0.99928293 0.06821819] [ 0. 0. 0. 1. ]] SLAMing on 88.324860624 meters Centerline goodness [0,1] 0.6379029922242274 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99642771 -0.07659445 -0.03556849 0.47708233] [ 0.07710147 0.9969371 0.01310664 0.02020719] [ 0.03445565 -0.0158022 0.99928129 0.06826165] [ 0. 0. 0. 1. ]] SLAMing on 88.354860624 meters Centerline goodness [0,1] 0.6419022964136669 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99641846 -0.07672368 -0.03554907 0.47711984] [ 0.0772279 0.99692829 0.01303242 0.01981301] [ 0.03443998 -0.01573112 0.99928295 0.06822173] [ 0. 0. 0. 1. ]] SLAMing on 88.384860624 meters Centerline goodness [0,1] 0.6416098712637535 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99641014 -0.07678704 -0.0356452 0.47757847] [ 0.07729006 0.9969245 0.01295301 0.01968192] [ 0.03454095 -0.01566153 0.99928056 0.06799985] [ 0. 0. 0. 1. ]] SLAMing on 88.414860624 meters Centerline goodness [0,1] 0.6433984487854746 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99639361 -0.07700276 -0.03564208 0.47750343] [ 0.07749344 0.99691331 0.01259442 0.01996459] [ 0.03456226 -0.01531102 0.99928526 0.06821674] [ 0. 0. 0. 1. ]] SLAMing on 88.444860624 meters Centerline goodness [0,1] 0.6410330624512969 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99637021 -0.07731619 -0.03561752 0.47705213] [ 0.07779196 0.99689534 0.01216911 0.02059592] [ 0.03456607 -0.01489569 0.9992914 0.06878314] [ 0. 0. 0. 1. ]] SLAMing on 88.474860624 meters Centerline goodness [0,1] 0.631510967598263 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99630731 -0.07814252 -0.03557361 0.47638564] [ 0.07859144 0.99684174 0.01139905 0.02121252] [ 0.0345705 -0.01415274 0.99930205 0.0695155 ] [ 0. 0. 0. 1. ]] SLAMing on 88.504860624 meters Centerline goodness [0,1] 0.6388684216402081 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99628726 -0.07838833 -0.03559444 0.47644358] [ 0.07883318 0.99682412 0.01126915 0.02078679] [ 0.03459803 -0.01403333 0.99930278 0.06954635] [ 0. 0. 0. 1. ]] SLAMing on 88.534860624 meters Centerline goodness [0,1] 0.6458705756167322 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99626214 -0.07876363 -0.03546872 0.47622883] [ 0.07919991 0.99679733 0.01106602 0.02042453] [ 0.03448352 -0.01383377 0.99930952 0.06950872] [ 0. 0. 0. 1. ]] SLAMing on 88.564860624 meters Centerline goodness [0,1] 0.6319628795145782 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99625119 -0.07888351 -0.03551005 0.47655971] [ 0.07932213 0.99678706 0.01111534 0.01989385] [ 0.03451914 -0.0138904 0.9993075 0.06922255] [ 0. 0. 0. 1. ]] SLAMing on 88.594860624 meters Centerline goodness [0,1] 0.6407680285778076 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99623233 -0.07912128 -0.03551019 0.4765266 ] [ 0.0795545 0.99677032 0.01095523 0.01977297] [ 0.03452872 -0.01373895 0.99930927 0.06932709] [ 0. 0. 0. 1. ]] SLAMing on 88.624860624 meters Centerline goodness [0,1] 0.6367806876892927 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99621294 -0.07940345 -0.03542428 0.47634513] [ 0.07982732 0.99675113 0.01071377 0.02004871] [ 0.03445848 -0.01350102 0.99931493 0.06938138] [ 0. 0. 0. 1. ]] SLAMing on 88.654860624 meters Centerline goodness [0,1] 0.6390178571428571 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99621108 -0.07939001 -0.03550642 0.47655076] [ 0.07981168 0.9967534 0.01061843 0.02040585] [ 0.03454815 -0.01341202 0.99931304 0.06940446] [ 0. 0. 0. 1. ]] SLAMing on 88.684860624 meters Centerline goodness [0,1] 0.6390178571428571 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99621108 -0.07939001 -0.03550642 0.47655076] [ 0.07981168 0.9967534 0.01061843 0.02040585] [ 0.03454815 -0.01341202 0.99931304 0.06940446] [ 0. 0. 0. 1. ]] SLAMing on 88.714860624 meters Centerline goodness [0,1] 0.638177147324919 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99621311 -0.0793221 -0.0356012 0.47672632] [ 0.07974119 0.99676021 0.01050831 0.02108861] [ 0.03465232 -0.01330739 0.99931083 0.06948139] [ 0. 0. 0. 1. ]] SLAMing on 88.744860624 meters Centerline goodness [0,1] 0.6399391131108276 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99621781 -0.07921421 -0.03570985 0.47698048] [ 0.07963018 0.99677044 0.01037868 0.02172462] [ 0.03477238 -0.01318301 0.99930831 0.06956601] [ 0. 0. 0. 1. ]] SLAMing on 88.774860624 meters Centerline goodness [0,1] 0.6365222058231584 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99622633 -0.07908306 -0.03576266 0.47719147] [ 0.07949702 0.99678186 0.01030317 0.02236985] [ 0.03483276 -0.01310732 0.9993072 0.06954255] [ 0. 0. 0. 1. ]] SLAMing on 88.804860624 meters Centerline goodness [0,1] 0.6368296176918256 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.07 [[ 0.99625168 -0.07870706 -0.03588579 0.47748735] [ 0.07911648 0.99681388 0.01013305 0.02389974] [ 0.03497391 -0.01293422 0.99930452 0.06969159] [ 0. 0. 0. 1. ]] SLAMing on 88.834860624 meters Centerline goodness [0,1] 0.6383839738860196 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99626037 -0.07856012 -0.03596649 0.47783031] [ 0.07896301 0.99682819 0.00991983 0.0250287 ] [ 0.03507311 -0.01272276 0.99930376 0.06960259] [ 0. 0. 0. 1. ]] SLAMing on 88.864860624 meters Centerline goodness [0,1] 0.6403288677808145 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99627333 -0.07835145 -0.0360626 0.47814265] [ 0.07874968 0.99684668 0.00975592 0.02603306] [ 0.03518449 -0.01255948 0.99930191 0.06960078] [ 0. 0. 0. 1. ]] SLAMing on 88.894860624 meters Centerline goodness [0,1] 0.637370753323486 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99628124 -0.07824515 -0.03607471 0.47830435] [ 0.07863497 0.99685807 0.00951457 0.02721042] [ 0.03521689 -0.01231592 0.9993038 0.06953215] [ 0. 0. 0. 1. ]] SLAMing on 88.924860624 meters Centerline goodness [0,1] 0.6370496810708831 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99631252 -0.07780674 -0.03615892 0.47897231] [ 0.07818755 0.99689587 0.0092377 0.02976634] [ 0.03532792 -0.01203081 0.99930336 0.06912192] [ 0. 0. 0. 1. ]] SLAMing on 88.954860624 meters Centerline goodness [0,1] 0.6451293588301462 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99631238 -0.07776434 -0.03625391 0.47930454] [ 0.07813732 0.99690211 0.0089852 0.03113057] [ 0.03544287 -0.01178485 0.99930222 0.068987 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98486062399999 meters Centerline goodness [0,1] 0.6439293349836841 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.9963022 -0.07783098 -0.03639036 0.47964181] [ 0.07819184 0.99690125 0.00859845 0.03274245] [ 0.03560837 -0.01141208 0.99930066 0.0689509 ] [ 0. 0. 0. 1. ]] SLAMing on 89.014860624 meters Centerline goodness [0,1] 0.6382844243792325 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:0.07 [[ 0.99630095 -0.0778511 -0.03638174 0.47982048] [ 0.07820174 0.99690289 0.00831402 0.03413263] [ 0.0356218 -0.01112838 0.99930338 0.06875341] [ 0. 0. 0. 1. ]] SLAMing on 89.044860624 meters Centerline goodness [0,1] 0.6431254525706009 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99628298 -0.07808599 -0.03637043 0.48011169] [ 0.07841141 0.99689207 0.00760623 0.03679989] [ 0.03566346 -0.01042981 0.99930943 0.06843496] [ 0. 0. 0. 1. ]] SLAMing on 89.074860624 meters Centerline goodness [0,1] 0.6433294085680645 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99625808 -0.07842837 -0.03631571 0.4799648 ] [ 0.0787335 0.99687079 0.00704741 0.03836532] [ 0.03564936 -0.0098803 0.99931552 0.06849637] [ 0. 0. 0. 1. ]] SLAMing on 89.104860624 meters Centerline goodness [0,1] 0.6409476694049834 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99622921 -0.07885396 -0.03618591 0.4795758 ] [ 0.07913659 0.99684296 0.00644364 0.04012933] [ 0.03556356 -0.00928297 0.9993243 0.06865576] [ 0. 0. 0. 1. ]] SLAMing on 89.134860624 meters Centerline goodness [0,1] 0.6369877025890482 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.07 [[ 0.99619591 -0.07928039 -0.03617079 0.47955478] [ 0.07954115 0.99681456 0.00582576 0.04197291] [ 0.0355937 -0.00868066 0.99932864 0.06861333] [ 0. 0. 0. 1. ]] SLAMing on 89.164860624 meters Centerline goodness [0,1] 0.636592338479131 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.99613537 -0.08018706 -0.03583794 0.47848363] [ 0.08040427 0.99675145 0.00465894 0.04547274] [ 0.03534793 -0.00752246 0.99934675 0.06893605] [ 0. 0. 0. 1. ]] SLAMing on 89.194860624 meters Centerline goodness [0,1] 0.6335662733417344 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.07 [[ 0.9961065 -0.08060467 -0.03570334 0.47801823] [ 0.08079825 0.99672241 0.0040103 0.04733811] [ 0.03526307 -0.00687946 0.99935439 0.0691941 ] [ 0. 0. 0. 1. ]] SLAMing on 89.224860624 meters Centerline goodness [0,1] 0.5678624099939273 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:0.07 [[ 0.99615973 -0.08106598 -0.03307719 0.51742174] [ 0.08093854 0.99670565 -0.00517601 0.05123729] [ 0.03338782 0.00247891 0.9994394 0.07123263] [ 0. 0. 0. 1. ]] SLAMing on 89.254860624 meters Centerline goodness [0,1] 0.6296765281455048 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.07 [[ 9.96370006e-01 -7.98147733e-02 -2.96042795e-02 4.37256095e-01] [ 7.97752008e-02 9.96809701e-01 -2.51730744e-03 5.30830538e-02] [ 2.97107513e-02 1.46482288e-04 9.99558527e-01 6.51963285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284860624 meters Centerline goodness [0,1] 0.6110789601611148 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 9.96345973e-01 -8.01718691e-02 -2.94478156e-02 4.37065904e-01] [ 8.01190967e-02 9.96780875e-01 -2.96953765e-03 5.53613433e-02] [ 2.95910927e-02 5.99354494e-04 9.99561908e-01 6.48738373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314860624 meters Centerline goodness [0,1] 0.6382973787984226 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 9.96324123e-01 -8.04588145e-02 -2.94044243e-02 4.36932501e-01] [ 8.03952694e-02 9.96757469e-01 -3.33888593e-03 5.66415867e-02] [ 2.95777224e-02 9.62635985e-04 9.99562020e-01 6.48881038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344860624 meters Centerline goodness [0,1] 0.6361969313618532 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 9.96315876e-01 -8.05753442e-02 -2.93647600e-02 4.37122914e-01] [ 8.05116831e-02 9.96748050e-01 -3.34581799e-03 5.73962443e-02] [ 2.95388577e-02 9.69285334e-04 9.99563163e-01 6.44346938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374860624 meters Centerline goodness [0,1] 0.6346479723299054 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99629663 -0.08086335 -0.02922563 0.4369676 ] [ 0.08079461 0.99672453 -0.00352702 0.05821997] [ 0.02941511 0.00115268 0.99956662 0.06415551] [ 0. 0. 0. 1. ]] SLAMing on 89.404860624 meters Centerline goodness [0,1] 0.6256574966252386 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99626609 -0.08131958 -0.02900008 0.43634368] [ 0.08124269 0.99668702 -0.0038219 0.05907149] [ 0.0292148 0.00145158 0.9995721 0.06416837] [ 0. 0. 0. 1. ]] SLAMing on 89.434860624 meters Centerline goodness [0,1] 0.6302696676189812 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99624173 -0.08167069 -0.02884978 0.43608845] [ 0.08158887 0.99665803 -0.00400382 0.05957718] [ 0.02908036 0.00163495 0.99957574 0.06402514] [ 0. 0. 0. 1. ]] SLAMing on 89.464860624 meters Centerline goodness [0,1] 0.6239125377994883 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99619351 -0.08234846 -0.02858694 0.43571692] [ 0.0822629 0.99660199 -0.00415827 0.05996276] [ 0.02883223 0.0017908 0.99958266 0.06341944] [ 0. 0. 0. 1. ]] SLAMing on 89.494860624 meters Centerline goodness [0,1] 0.6278272629762627 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99617664 -0.08262262 -0.02838324 0.4356326 ] [ 0.08253809 0.99657932 -0.00413878 0.05981842] [ 0.02862811 0.00178026 0.99958855 0.06286472] [ 0. 0. 0. 1. ]] SLAMing on 89.524860624 meters Centerline goodness [0,1] 0.6176614652578546 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99616206 -0.08286702 -0.02818157 0.4354374 ] [ 0.08278459 0.99655911 -0.00408115 0.05957914] [ 0.02842279 0.00173248 0.99959449 0.06246566] [ 0. 0. 0. 1. ]] SLAMing on 89.554860624 meters Centerline goodness [0,1] 0.6283481101259916 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99613441 -0.08325441 -0.02801695 0.43505505] [ 0.08316659 0.99652644 -0.00428748 0.05973703] [ 0.02827658 0.00194083 0.99959825 0.06245692] [ 0. 0. 0. 1. ]] SLAMing on 89.584860624 meters Centerline goodness [0,1] 0.6282438282438283 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99609085 -0.08383299 -0.02783955 0.43450732] [ 0.08373507 0.99647712 -0.00466689 0.06070597] [ 0.02813271 0.0023175 0.99960151 0.06250202] [ 0. 0. 0. 1. ]] SLAMing on 89.614860624 meters Centerline goodness [0,1] 0.625110976122611 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99607843 -0.08403402 -0.0276775 0.43438868] [ 0.08393726 0.99646023 -0.00464163 0.06083975] [ 0.02796959 0.00230025 0.99960613 0.0621214 ] [ 0. 0. 0. 1. ]] SLAMing on 89.644860624 meters Centerline goodness [0,1] 0.6140268629427346 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99605885 -0.08432118 -0.02750846 0.43398887] [ 0.08422091 0.99643562 -0.00478562 0.06083046] [ 0.02781394 0.00244997 0.99961012 0.06216471] [ 0. 0. 0. 1. ]] SLAMing on 89.674860624 meters Centerline goodness [0,1] 0.6210509084956621 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99603773 -0.08462079 -0.02735271 0.43361798] [ 0.08451767 0.9964099 -0.00490634 0.06077474] [ 0.02766969 0.00257511 0.9996138 0.06214564] [ 0. 0. 0. 1. ]] SLAMing on 89.704860624 meters Centerline goodness [0,1] 0.6164351417308054 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.9960039 -0.08508284 -0.02715019 0.43280354] [ 0.08496737 0.99636921 -0.00538079 0.06183605] [ 0.02750942 0.00305241 0.99961688 0.06256247] [ 0. 0. 0. 1. ]] SLAMing on 89.73486062399999 meters Centerline goodness [0,1] 0.6130560180083007 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99600584 -0.08502491 -0.0272604 0.43298475] [ 0.08490653 0.99637389 -0.00547316 0.06251045] [ 0.02762691 0.00313671 0.99961338 0.06271266] [ 0. 0. 0. 1. ]] SLAMing on 89.764860624 meters Centerline goodness [0,1] 0.613835294117647 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99601172 -0.0849259 -0.0273539 0.43312065] [ 0.08480299 0.99638186 -0.00562466 0.06343236] [ 0.02773261 0.00328254 0.99960999 0.06292785] [ 0. 0. 0. 1. ]] SLAMing on 89.794860624 meters Centerline goodness [0,1] 0.6120498940927277 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99602788 -0.08467426 -0.02754502 0.43360868] [ 0.08454726 0.99640291 -0.00574518 0.06449298] [ 0.02793241 0.0033935 0.99960405 0.06298496] [ 0. 0. 0. 1. ]] SLAMing on 89.824860624 meters Centerline goodness [0,1] 0.6216630506555985 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.9960496 -0.0843561 -0.02773523 0.43411466] [ 0.08422571 0.9964296 -0.00583813 0.06546867] [ 0.02812868 0.00347904 0.99959826 0.06303442] [ 0. 0. 0. 1. ]] SLAMing on 89.854860624 meters Centerline goodness [0,1] 0.614461247637051 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 9.96357291e-01 -8.05967526e-02 -2.78623748e-02 4.33841517e-01] [ 8.05737503e-02 9.96746744e-01 -1.94911999e-03 6.49908684e-02] [ 2.79288241e-02 -3.02956124e-04 9.99609868e-01 6.26275942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884860624 meters Centerline goodness [0,1] 0.627984571333917 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.96381917e-01 -8.02308262e-02 -2.80372793e-02 4.34586143e-01] [ 8.02068122e-02 9.96776273e-01 -1.98188270e-03 6.57488300e-02] [ 2.81059029e-02 -2.74068711e-04 9.99604914e-01 6.24151907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914860624 meters Centerline goodness [0,1] 0.6297858225928734 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 9.96419296e-01 -7.96946614e-02 -2.82373411e-02 4.35447799e-01] [ 7.96742352e-02 9.96819239e-01 -1.84955140e-03 6.63023970e-02] [ 2.82949242e-02 -4.06859847e-04 9.99599536e-01 6.21032884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944860624 meters Centerline goodness [0,1] 0.6281792490916431 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.99671909 -0.07580715 -0.02836086 0.43495542] [ 0.07588934 0.99711456 0.00183148 0.06657758] [ 0.02814019 -0.00397776 0.99959607 0.06225016] [ 0. 0. 0. 1. ]] SLAMing on 89.974860624 meters Centerline goodness [0,1] 0.6359922086559932 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99676345 -0.07509761 -0.02868749 0.4361052 ] [ 0.07518413 0.99716777 0.00194768 0.0676646 ] [ 0.02845998 -0.00409822 0.99958653 0.06201635] [ 0. 0. 0. 1. ]] SLAMing on 90.004860624 meters Centerline goodness [0,1] 0.630316612626359 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.9968035 -0.07443931 -0.0290099 0.43712748] [ 0.07452837 0.99721689 0.00199914 0.06866589] [ 0.02878035 -0.00415481 0.99957713 0.0619385 ] [ 0. 0. 0. 1. ]] SLAMing on 90.034860624 meters Centerline goodness [0,1] 0.6420728505275218 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99684721 -0.07375924 -0.02924411 0.43796827] [ 0.07385361 0.99726676 0.00215858 0.06939122] [ 0.02900497 -0.00431156 0.99956997 0.0618134 ] [ 0. 0. 0. 1. ]] SLAMing on 90.064860624 meters Centerline goodness [0,1] 0.6304404918228483 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99688563 -0.07311634 -0.02954716 0.43888701] [ 0.07321611 0.99731343 0.00230759 0.069905 ] [ 0.02929906 -0.00446373 0.99956072 0.06176719] [ 0. 0. 0. 1. ]] SLAMing on 90.094860624 meters Centerline goodness [0,1] 0.64324569356301 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99692065 -0.07259496 -0.02965107 0.43942521] [ 0.07269993 0.99735078 0.00247617 0.07032439] [ 0.02939276 -0.00462418 0.99955724 0.06163871] [ 0. 0. 0. 1. ]] SLAMing on 90.124860624 meters Centerline goodness [0,1] 0.6457330728546242 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99696701 -0.07187662 -0.02984169 0.43992174] [ 0.07198535 0.99740234 0.00258408 0.0710149 ] [ 0.02957843 -0.00472441 0.9995513 0.06198063] [ 0. 0. 0. 1. ]] SLAMing on 90.154860624 meters Centerline goodness [0,1] 0.6463653754184601 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99697407 -0.07171979 -0.02998283 0.44009654] [ 0.07182858 0.99741369 0.00256598 0.07111506] [ 0.02972125 -0.00471184 0.99954712 0.06223283] [ 0. 0. 0. 1. ]] SLAMing on 90.184860624 meters Centerline goodness [0,1] 0.6428895630778051 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99698363 -0.07157739 -0.03000515 0.44021852] [ 0.07168954 0.9974234 0.0026772 0.07091722] [ 0.02973621 -0.00482018 0.99954616 0.06220563] [ 0. 0. 0. 1. ]] SLAMing on 90.214860624 meters Centerline goodness [0,1] 0.6450766073218461 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99698663 -0.07152721 -0.03002526 0.44036464] [ 0.07164075 0.99742679 0.00272164 0.07056438] [ 0.02975332 -0.00486447 0.99954544 0.06217261] [ 0. 0. 0. 1. ]] SLAMing on 90.244860624 meters Centerline goodness [0,1] 0.6435551530174468 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99696732 -0.07191785 -0.02973189 0.43975951] [ 0.07202985 0.99739879 0.00271187 0.0695263 ] [ 0.02945952 -0.00484523 0.99955423 0.06211001] [ 0. 0. 0. 1. ]] SLAMing on 90.274860624 meters Centerline goodness [0,1] 0.6428980663642874 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99695477 -0.07212886 -0.02964137 0.4395218 ] [ 0.07224163 0.99738337 0.00275003 0.0688221 ] [ 0.02936545 -0.004883 0.99955682 0.06213134] [ 0. 0. 0. 1. ]] SLAMing on 90.304860624 meters Centerline goodness [0,1] 0.6423766816143498 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99694216 -0.07234675 -0.02953441 0.43938137] [ 0.07246233 0.99736705 0.00286064 0.06811288] [ 0.02924969 -0.00499203 0.99955967 0.0619152 ] [ 0. 0. 0. 1. ]] SLAMing on 90.334860624 meters Centerline goodness [0,1] 0.6310019263240505 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99692699 -0.0726131 -0.02939248 0.43899427] [ 0.07273021 0.99734734 0.00293382 0.06722134] [ 0.02910148 -0.00506253 0.99956364 0.06196077] [ 0. 0. 0. 1. ]] SLAMing on 90.364860624 meters Centerline goodness [0,1] 0.6387305207145573 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99688156 -0.0733134 -0.02919407 0.43815891] [ 0.07342522 0.99729686 0.00277541 0.06581123] [ 0.02891168 -0.00491033 0.99956991 0.06227702] [ 0. 0. 0. 1. ]] SLAMing on 90.394860624 meters Centerline goodness [0,1] 0.6384493107784289 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.06 [[ 0.99686163 -0.07361173 -0.02912405 0.43790301] [ 0.07372393 0.99727477 0.00279613 0.06506524] [ 0.02883885 -0.00493449 0.99957189 0.06232356] [ 0. 0. 0. 1. ]] SLAMing on 90.424860624 meters Centerline goodness [0,1] 0.639911582249899 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99684375 -0.07389059 -0.0290296 0.43756661] [ 0.07400417 0.99725384 0.00285639 0.06419219] [ 0.02873882 -0.00499568 0.99957447 0.06239429] [ 0. 0. 0. 1. ]] SLAMing on 90.454860624 meters Centerline goodness [0,1] 0.6378774580733924 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99681952 -0.07426709 -0.02890072 0.43711537] [ 0.07437885 0.9972261 0.0028101 0.06337909] [ 0.02861185 -0.00495076 0.99957834 0.0625497 ] [ 0. 0. 0. 1. ]] SLAMing on 90.48486062399999 meters Centerline goodness [0,1] 0.6301103794589985 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99677396 -0.07496013 -0.02868182 0.43638229] [ 0.07506805 0.99717475 0.00270309 0.06171198] [ 0.02839816 -0.00484746 0.99958494 0.06276839] [ 0. 0. 0. 1. ]] SLAMing on 90.514860624 meters Centerline goodness [0,1] 0.634814955219637 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99675936 -0.07517076 -0.02863816 0.43613964] [ 0.07527608 0.9971593 0.00261578 0.06120955] [ 0.02836018 -0.00476308 0.99958642 0.06299295] [ 0. 0. 0. 1. ]] SLAMing on 90.544860624 meters Centerline goodness [0,1] 0.6315714758907869 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99674765 -0.0753764 -0.02850481 0.43573253] [ 0.07548413 0.99714329 0.00272099 0.06040909] [ 0.02821829 -0.0048638 0.99958995 0.0630704 ] [ 0. 0. 0. 1. ]] SLAMing on 90.574860624 meters Centerline goodness [0,1] 0.6304846606902098 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99673159 -0.07560816 -0.02845236 0.4355471 ] [ 0.07571416 0.997126 0.00266536 0.05981611] [ 0.02816906 -0.00481089 0.9995916 0.06314922] [ 0. 0. 0. 1. ]] SLAMing on 90.604860624 meters Centerline goodness [0,1] 0.6304846606902098 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99673159 -0.07560816 -0.02845236 0.4355471 ] [ 0.07571416 0.997126 0.00266536 0.05981611] [ 0.02816906 -0.00481089 0.9995916 0.06314922] [ 0. 0. 0. 1. ]] SLAMing on 90.634860624 meters Centerline goodness [0,1] 0.6212400245549416 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.9967343 -0.07554122 -0.02853516 0.43584531] [ 0.07565529 0.9971297 0.00293765 0.05865302] [ 0.02823134 -0.00508689 0.99958847 0.06301054] [ 0. 0. 0. 1. ]] SLAMing on 90.664860624 meters Centerline goodness [0,1] 0.6347075968409177 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.9967472 -0.07535636 -0.02857337 0.43606167] [ 0.07548503 0.99714097 0.00344991 0.05667036] [ 0.0282317 -0.00559555 0.99958574 0.06287129] [ 0. 0. 0. 1. ]] SLAMing on 90.694860624 meters Centerline goodness [0,1] 0.6341824157764996 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99675022 -0.07531389 -0.02858016 0.43591778] [ 0.07544627 0.99714344 0.00358059 0.05589705] [ 0.02822885 -0.00572522 0.99958509 0.06314672] [ 0. 0. 0. 1. ]] SLAMing on 90.724860624 meters Centerline goodness [0,1] 0.6321118158327461 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.06 [[ 0.99675298 -0.07525522 -0.02863818 0.43585336] [ 0.07539141 0.99714714 0.00370457 0.05526719] [ 0.02827769 -0.00585161 0.99958298 0.06345058] [ 0. 0. 0. 1. ]] SLAMing on 90.754860624 meters Centerline goodness [0,1] 0.6323625961358095 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99677393 -0.07496527 -0.02866962 0.43602497] [ 0.07511281 0.9971666 0.00410269 0.05425563] [ 0.02828083 -0.00624291 0.99958052 0.0633512 ] [ 0. 0. 0. 1. ]] SLAMing on 90.784860624 meters Centerline goodness [0,1] 0.6296546896873542 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99680964 -0.07443 -0.0288222 0.43676938] [ 0.0745999 0.99720169 0.0048635 0.05194847] [ 0.02837955 -0.00699812 0.99957272 0.06295794] [ 0. 0. 0. 1. ]] SLAMing on 90.814860624 meters Centerline goodness [0,1] 0.6247405368845769 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99682173 -0.07422629 -0.02892907 0.43722244] [ 0.07440477 0.99721487 0.00514129 0.05082309] [ 0.02846688 -0.00727741 0.99956824 0.06279848] [ 0. 0. 0. 1. ]] SLAMing on 90.844860624 meters Centerline goodness [0,1] 0.6265382557517389 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99683926 -0.07393689 -0.02906578 0.43782534] [ 0.07412996 0.99723275 0.00562066 0.04940847] [ 0.02856978 -0.00775753 0.9995617 0.06246346] [ 0. 0. 0. 1. ]] SLAMing on 90.874860624 meters Centerline goodness [0,1] 0.6334570765661253 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.9968557 -0.07367867 -0.02915763 0.4382426 ] [ 0.07388196 0.99724921 0.00595551 0.04847054] [ 0.02863863 -0.00809101 0.99955708 0.06225829] [ 0. 0. 0. 1. ]] SLAMing on 90.904860624 meters Centerline goodness [0,1] 0.6405913293324375 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99689967 -0.07301512 -0.02932308 0.43921572] [ 0.07324301 0.99729113 0.00677274 0.04661235] [ 0.02874913 -0.00889946 0.99954704 0.06162185] [ 0. 0. 0. 1. ]] SLAMing on 90.934860624 meters Centerline goodness [0,1] 0.6315533192663529 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99690842 -0.07284767 -0.02944165 0.43959608] [ 0.07308226 0.99730156 0.00697068 0.04606768] [ 0.0288544 -0.00910079 0.99954219 0.06151927] [ 0. 0. 0. 1. ]] SLAMing on 90.964860624 meters Centerline goodness [0,1] 0.6409413072682633 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.06 [[ 0.99691652 -0.07272631 -0.02946769 0.43981337] [ 0.07296683 0.9973086 0.00716951 0.04542186] [ 0.02886697 -0.00929756 0.99954002 0.06136393] [ 0. 0. 0. 1. ]] SLAMing on 90.994860624 meters Centerline goodness [0,1] 0.6425292153589315 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99693969 -0.0723172 -0.02968965 0.44055769] [ 0.07257316 0.99733387 0.00763469 0.04412565] [ 0.02905838 -0.00976599 0.99953001 0.06116281] [ 0. 0. 0. 1. ]] SLAMing on 91.024860624 meters Centerline goodness [0,1] 0.6436794922282193 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99693169 -0.07239122 -0.02977772 0.44064919] [ 0.07264699 0.99732878 0.00759776 0.04370309] [ 0.02914816 -0.00973771 0.99952767 0.06131056] [ 0. 0. 0. 1. ]] SLAMing on 91.054860624 meters Centerline goodness [0,1] 0.6402842724200195 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99692079 -0.07255249 -0.02975036 0.4403773 ] [ 0.0728059 0.99731775 0.00752362 0.04311049] [ 0.0291247 -0.00966646 0.99952904 0.06163426] [ 0. 0. 0. 1. ]] SLAMing on 91.084860624 meters Centerline goodness [0,1] 0.6476922720641023 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99690402 -0.07284957 -0.0295856 0.4398784 ] [ 0.07309792 0.99729732 0.00739991 0.04271138] [ 0.02896656 -0.00953964 0.99953486 0.06184569] [ 0. 0. 0. 1. ]] SLAMing on 91.114860624 meters Centerline goodness [0,1] 0.644983003029392 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99687554 -0.07331866 -0.0293858 0.43913971] [ 0.07355669 0.99726575 0.00710127 0.04247436] [ 0.02878479 -0.0092406 0.99954292 0.06224512] [ 0. 0. 0. 1. ]] SLAMing on 91.144860624 meters Centerline goodness [0,1] 0.6348974964135314 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99684441 -0.07379116 -0.02925909 0.43874341] [ 0.07402539 0.99723177 0.00700313 0.04141668] [ 0.02866133 -0.00914695 0.99954733 0.06236557] [ 0. 0. 0. 1. ]] SLAMing on 91.174860624 meters Centerline goodness [0,1] 0.6391254049051365 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99683472 -0.07393781 -0.02921879 0.43865673] [ 0.07417168 0.99722091 0.00700156 0.04088995] [ 0.02861991 -0.00914661 0.99954852 0.06240232] [ 0. 0. 0. 1. ]] SLAMing on 91.204860624 meters Centerline goodness [0,1] 0.6391714529559661 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99681607 -0.07424349 -0.02907982 0.43819668] [ 0.07447194 0.99719957 0.00685173 0.04071422] [ 0.02848969 -0.00899554 0.99955361 0.06256983] [ 0. 0. 0. 1. ]] SLAMing on 91.23486062399999 meters Centerline goodness [0,1] 0.6405716920239741 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99680192 -0.0744682 -0.02899007 0.43774348] [ 0.07469083 0.99718441 0.00667257 0.04067985] [ 0.02841155 -0.00881652 0.99955743 0.06292255] [ 0. 0. 0. 1. ]] SLAMing on 91.264860624 meters Centerline goodness [0,1] 0.63738111139258 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99678712 -0.07478321 -0.02868643 0.43675365] [ 0.07499983 0.99716204 0.00654935 0.04018231] [ 0.02811524 -0.00867979 0.999567 0.06338725] [ 0. 0. 0. 1. ]] SLAMing on 91.294860624 meters Centerline goodness [0,1] 0.6353100784106326 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99677439 -0.07496108 -0.02866445 0.43646633] [ 0.07517454 0.99714959 0.00644147 0.04004637] [ 0.02809989 -0.00857553 0.99956834 0.06368923] [ 0. 0. 0. 1. ]] SLAMing on 91.324860624 meters Centerline goodness [0,1] 0.6367172216980046 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.9967754 -0.07497496 -0.02859289 0.43631598] [ 0.07518902 0.99714821 0.00648469 0.03973716] [ 0.02802516 -0.00861365 0.99957011 0.06373843] [ 0. 0. 0. 1. ]] SLAMing on 91.354860624 meters Centerline goodness [0,1] 0.6380725867313102 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99677043 -0.0750059 -0.02868486 0.43658763] [ 0.07522083 0.9971458 0.00648709 0.03939069] [ 0.02811641 -0.00862384 0.99956745 0.06374177] [ 0. 0. 0. 1. ]] SLAMing on 91.384860624 meters Centerline goodness [0,1] 0.6312363928039417 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99679279 -0.07471474 -0.0286678 0.43673753] [ 0.07493645 0.99716555 0.00673739 0.03867936] [ 0.02808316 -0.00886405 0.99956629 0.06368412] [ 0. 0. 0. 1. ]] SLAMing on 91.414860624 meters Centerline goodness [0,1] 0.6406425445129357 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99680611 -0.07449369 -0.02877981 0.43715744] [ 0.0747213 0.99718048 0.00691434 0.03830132] [ 0.02818359 -0.00904272 0.99956186 0.0635401 ] [ 0. 0. 0. 1. ]] SLAMing on 91.444860624 meters Centerline goodness [0,1] 0.6315645201818306 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99682198 -0.07423801 -0.02889036 0.43765089] [ 0.074472 0.99719777 0.00710767 0.03794813] [ 0.02828174 -0.0092366 0.99955732 0.06330495] [ 0. 0. 0. 1. ]] SLAMing on 91.474860624 meters Centerline goodness [0,1] 0.6406089282040732 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99683992 -0.07394489 -0.02902286 0.43820583] [ 0.07418781 0.99721696 0.007383 0.0377065 ] [ 0.02839615 -0.00951281 0.99955148 0.06297082] [ 0. 0. 0. 1. ]] SLAMing on 91.504860624 meters Centerline goodness [0,1] 0.6437743767534156 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99687636 -0.07337823 -0.02920873 0.43886825] [ 0.07363439 0.99725487 0.00779157 0.0371985 ] [ 0.02855682 -0.00991799 0.99954297 0.06278144] [ 0. 0. 0. 1. ]] SLAMing on 91.534860624 meters Centerline goodness [0,1] 0.6416034372428925 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99688115 -0.07327328 -0.02930859 0.43908647] [ 0.0735316 0.99726212 0.00783412 0.03710548] [ 0.02865432 -0.0099648 0.99953971 0.06283148] [ 0. 0. 0. 1. ]] SLAMing on 91.564860624 meters Centerline goodness [0,1] 0.63039912520503 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99688668 -0.07318414 -0.02934339 0.43922265] [ 0.07344307 0.99726856 0.00784419 0.03704856] [ 0.02868917 -0.00997483 0.99953861 0.06284217] [ 0. 0. 0. 1. ]] SLAMing on 91.594860624 meters Centerline goodness [0,1] 0.6338275547445256 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99689974 -0.07294671 -0.02949053 0.43963237] [ 0.07321174 0.99728427 0.00800794 0.03685244] [ 0.02882629 -0.01014217 0.99953298 0.06277755] [ 0. 0. 0. 1. ]] SLAMing on 91.624860624 meters Centerline goodness [0,1] 0.6418193015670264 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99690281 -0.07288313 -0.02954396 0.43982179] [ 0.07315003 0.99728842 0.00805485 0.03665481] [ 0.02887679 -0.01019104 0.99953103 0.06275379] [ 0. 0. 0. 1. ]] SLAMing on 91.654860624 meters Centerline goodness [0,1] 0.6388433141919606 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99689639 -0.07304367 -0.0293634 0.43925735] [ 0.07331067 0.99727609 0.00812015 0.03563652] [ 0.02869029 -0.0102476 0.99953582 0.06304345] [ 0. 0. 0. 1. ]] SLAMing on 91.684860624 meters Centerline goodness [0,1] 0.6386612021857924 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.06 [[ 0.99688936 -0.07316488 -0.02930022 0.43906872] [ 0.07343215 0.99726691 0.00815071 0.03501217] [ 0.02862379 -0.01027694 0.99953742 0.06315352] [ 0. 0. 0. 1. ]] SLAMing on 91.714860624 meters Centerline goodness [0,1] 0.6358712965912712 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99687259 -0.07344185 -0.02917775 0.43872015] [ 0.07370633 0.99724715 0.00809317 0.03452622] [ 0.02850305 -0.01021844 0.99954147 0.06325336] [ 0. 0. 0. 1. ]] SLAMing on 91.744860624 meters Centerline goodness [0,1] 0.6305988813605565 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99682498 -0.07416632 -0.0289709 0.43800959] [ 0.07442212 0.99719592 0.00785168 0.03363174] [ 0.02830733 -0.00998282 0.99954942 0.06345273] [ 0. 0. 0. 1. ]] SLAMing on 91.774860624 meters Centerline goodness [0,1] 0.6358030289289924 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99679829 -0.07454295 -0.02892247 0.43782633] [ 0.07479768 0.99716802 0.00782613 0.03280986] [ 0.02825718 -0.00996441 0.99955102 0.06345793] [ 0. 0. 0. 1. ]] SLAMing on 91.804860624 meters Centerline goodness [0,1] 0.6327239695696605 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99676502 -0.07504524 -0.02877005 0.43738434] [ 0.07529562 0.99713138 0.00771899 0.03174265] [ 0.02810825 -0.00986028 0.99955625 0.06358692] [ 0. 0. 0. 1. ]] SLAMing on 91.834860624 meters Centerline goodness [0,1] 0.6282254773026167 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99672895 -0.07561414 -0.02852911 0.43663437] [ 0.07585848 0.99708978 0.00758025 0.03054784] [ 0.02787291 -0.00971963 0.99956422 0.06384434] [ 0. 0. 0. 1. ]] SLAMing on 91.864860624 meters Centerline goodness [0,1] 0.6351843886537025 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99643038 -0.07952004 -0.02833845 0.43684607] [ 0.07965472 0.99681582 0.00365399 0.03027534] [ 0.02795765 -0.00589824 0.99959171 0.0641863 ] [ 0. 0. 0. 1. ]] SLAMing on 91.894860624 meters Centerline goodness [0,1] 0.6321734996491069 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99640105 -0.07993646 -0.02819752 0.43619473] [ 0.0800694 0.99678274 0.00361531 0.02931968] [ 0.0278178 -0.00586006 0.99959583 0.06456642] [ 0. 0. 0. 1. ]] SLAMing on 91.924860624 meters Centerline goodness [0,1] 0.6301143813011438 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99638068 -0.08020909 -0.02814316 0.43590062] [ 0.08034348 0.99676046 0.00367566 0.02833757] [ 0.02775717 -0.00592348 0.99959714 0.06472299] [ 0. 0. 0. 1. ]] SLAMing on 91.954860624 meters Centerline goodness [0,1] 0.624551344274137 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99635544 -0.08055922 -0.02803673 0.43541625] [ 0.08069298 0.99673225 0.00367058 0.02742997] [ 0.02764941 -0.00591957 0.99960015 0.06499176] [ 0. 0. 0. 1. ]] SLAMing on 91.98486062399999 meters Centerline goodness [0,1] 0.6304797911603204 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.99631128 -0.08115214 -0.02789543 0.43478885] [ 0.08128932 0.99668324 0.00381753 0.0247225 ] [ 0.02749311 -0.00607105 0.99960356 0.06531703] [ 0. 0. 0. 1. ]] SLAMing on 92.014860624 meters Centerline goodness [0,1] 0.6262102118291888 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.99630216 -0.0812895 -0.02782117 0.43456115] [ 0.08143157 0.99667087 0.00401045 0.02331975] [ 0.02740254 -0.00626114 0.99960487 0.06543289] [ 0. 0. 0. 1. ]] SLAMing on 92.044860624 meters Centerline goodness [0,1] 0.625659327093574 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.996297 -0.08140833 -0.02765811 0.43422966] [ 0.08155519 0.99665988 0.00422208 0.02202023] [ 0.02722201 -0.00646211 0.99960852 0.06541143] [ 0. 0. 0. 1. ]] SLAMing on 92.074860624 meters Centerline goodness [0,1] 0.6247562697505546 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.9963146 -0.08122371 -0.02756659 0.43407169] [ 0.08138214 0.99667202 0.00467282 0.02019879] [ 0.02709531 -0.00689903 0.99960905 0.06548433] [ 0. 0. 0. 1. ]] SLAMing on 92.104860624 meters Centerline goodness [0,1] 0.619719255826449 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.99632512 -0.08103071 -0.02775375 0.43433304] [ 0.08119275 0.99668705 0.00476009 0.02002912] [ 0.02727609 -0.006996 0.99960346 0.06572284] [ 0. 0. 0. 1. ]] SLAMing on 92.134860624 meters Centerline goodness [0,1] 0.6306698842561559 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.07 [[ 0.99635211 -0.08067312 -0.02782677 0.43469437] [ 0.08084271 0.99671422 0.00502236 0.01992712] [ 0.02733017 -0.00725363 0.99960014 0.06553475] [ 0. 0. 0. 1. ]] SLAMing on 92.164860624 meters Centerline goodness [0,1] 0.6237254858213783 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99637822 -0.08029338 -0.0279897 0.43516373] [ 0.08046689 0.99674409 0.00512724 0.02015111] [ 0.02748688 -0.00736091 0.99959506 0.0655241 ] [ 0. 0. 0. 1. ]] SLAMing on 92.194860624 meters Centerline goodness [0,1] 0.6329237891737891 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99642242 -0.07967278 -0.02818868 0.43597298] [ 0.07985351 0.99679229 0.00534291 0.02042152] [ 0.02767257 -0.00757476 0.99958834 0.0652729 ] [ 0. 0. 0. 1. ]] SLAMing on 92.224860624 meters Centerline goodness [0,1] 0.6320809506790565 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99645801 -0.07914719 -0.02841042 0.43675266] [ 0.07933291 0.99683318 0.00546885 0.02088354] [ 0.0278876 -0.00770336 0.99958138 0.06504652] [ 0. 0. 0. 1. ]] SLAMing on 92.254860624 meters Centerline goodness [0,1] 0.6404179011383129 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99656812 -0.07761972 -0.02876057 0.43836509] [ 0.07782889 0.9969473 0.0062244 0.02103991] [ 0.02818964 -0.00844144 0.99956695 0.06438738] [ 0. 0. 0. 1. ]] SLAMing on 92.284860624 meters Centerline goodness [0,1] 0.6404104253377552 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99659617 -0.07718269 -0.02896377 0.43904058] [ 0.07739726 0.99698005 0.00636022 0.02131868] [ 0.0283854 -0.00858029 0.99956023 0.06414101] [ 0. 0. 0. 1. ]] SLAMing on 92.314860624 meters Centerline goodness [0,1] 0.6423035809727419 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99662719 -0.07671569 -0.02913655 0.43970767] [ 0.07693718 0.99701438 0.00655663 0.02155699] [ 0.02854657 -0.0087762 0.99955394 0.06386231] [ 0. 0. 0. 1. ]] SLAMing on 92.344860624 meters Centerline goodness [0,1] 0.6454260358977781 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9966927 -0.07578546 -0.02932963 0.44059644] [ 0.07601834 0.9970825 0.00690642 0.0218138 ] [ 0.02872065 -0.00911317 0.99954593 0.06357257] [ 0. 0. 0. 1. ]] SLAMing on 92.374860624 meters Centerline goodness [0,1] 0.6440047240234419 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99670512 -0.07562537 -0.02932085 0.44068206] [ 0.0758589 0.99709445 0.00693428 0.02186956] [ 0.02871125 -0.00913568 0.999546 0.0635212 ] [ 0. 0. 0. 1. ]] SLAMing on 92.404860624 meters Centerline goodness [0,1] 0.6450247315182033 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99671527 -0.07547032 -0.02937515 0.44086054] [ 0.07570719 0.99710527 0.00703511 0.02178037] [ 0.02875918 -0.00923591 0.9995437 0.06346979] [ 0. 0. 0. 1. ]] SLAMing on 92.434860624 meters Centerline goodness [0,1] 0.6452452452452453 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99671395 -0.07550089 -0.02934153 0.44085461] [ 0.07573571 0.99710354 0.00697402 0.02193959] [ 0.02873 -0.00917331 0.99954512 0.06340573] [ 0. 0. 0. 1. ]] SLAMing on 92.464860624 meters Centerline goodness [0,1] 0.6458741320989851 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99672077 -0.07539355 -0.02938583 0.4412226 ] [ 0.07563253 0.99711044 0.00710594 0.02180282] [ 0.02876518 -0.00930517 0.99954288 0.06308424] [ 0. 0. 0. 1. ]] SLAMing on 92.494860624 meters Centerline goodness [0,1] 0.6458741320989851 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99672077 -0.07539355 -0.02938583 0.4412226 ] [ 0.07563253 0.99711044 0.00710594 0.02180282] [ 0.02876518 -0.00930517 0.99954288 0.06308424] [ 0. 0. 0. 1. ]] SLAMing on 92.524860624 meters Centerline goodness [0,1] 0.647028756833637 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99672296 -0.07536945 -0.02937337 0.44178442] [ 0.07561465 0.9971102 0.00732667 0.02088177] [ 0.02873628 -0.00952372 0.99954166 0.06234929] [ 0. 0. 0. 1. ]] SLAMing on 92.554860624 meters Centerline goodness [0,1] 0.646657177171834 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9967166 -0.07544275 -0.02940084 0.4419917 ] [ 0.07569037 0.99710391 0.0074006 0.02046586] [ 0.02875737 -0.00960166 0.99954031 0.06214238] [ 0. 0. 0. 1. ]] SLAMing on 92.584860624 meters Centerline goodness [0,1] 0.6442956007031755 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99670365 -0.07562717 -0.02936604 0.44192563] [ 0.07587148 0.99709092 0.00729487 0.02024449] [ 0.02872892 -0.00949887 0.99954211 0.06217929] [ 0. 0. 0. 1. ]] SLAMing on 92.614860624 meters Centerline goodness [0,1] 0.64462275716037 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99668125 -0.07602329 -0.02910248 0.44137975] [ 0.07626164 0.99706207 0.00716807 0.0196215 ] [ 0.02847204 -0.00936369 0.99955073 0.06219043] [ 0. 0. 0. 1. ]] SLAMing on 92.644860624 meters Centerline goodness [0,1] 0.6420935412026726 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9966685 -0.07624363 -0.02896235 0.44114176] [ 0.07647742 0.99704639 0.00705051 0.019381 ] [ 0.02833925 -0.00924198 0.99955564 0.06218434] [ 0. 0. 0. 1. ]] SLAMing on 92.674860624 meters Centerline goodness [0,1] 0.6410005558643691 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99665725 -0.0763892 -0.02896577 0.44114463] [ 0.07662171 0.99703565 0.00700223 0.01912427] [ 0.02834501 -0.00919823 0.99955588 0.06219283] [ 0. 0. 0. 1. ]] SLAMing on 92.704860624 meters Centerline goodness [0,1] 0.6446870126977056 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.996647 -0.07653848 -0.02892439 0.44101263] [ 0.07676691 0.9970254 0.00686982 0.01909829] [ 0.02831255 -0.00906722 0.99955799 0.06228786] [ 0. 0. 0. 1. ]] SLAMing on 92.73486062399999 meters Centerline goodness [0,1] 0.634653112181202 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99662635 -0.07687708 -0.02873749 0.44038266] [ 0.07709634 0.9970018 0.00659978 0.01940184] [ 0.02814396 -0.00879307 0.99956521 0.06254627] [ 0. 0. 0. 1. ]] SLAMing on 92.764860624 meters Centerline goodness [0,1] 0.6352369488654095 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99661517 -0.07706617 -0.02861827 0.43995709] [ 0.07727962 0.99698874 0.00642717 0.01970537] [ 0.02803678 -0.00861703 0.99956975 0.06279001] [ 0. 0. 0. 1. ]] SLAMing on 92.794860624 meters Centerline goodness [0,1] 0.6429860724233983 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99660499 -0.07720724 -0.02859273 0.43972654] [ 0.07741392 0.99697981 0.00619167 0.02016143] [ 0.02802833 -0.00838413 0.99957197 0.06307176] [ 0. 0. 0. 1. ]] SLAMing on 92.824860624 meters Centerline goodness [0,1] 0.6337606646714611 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99659995 -0.07726514 -0.02861182 0.43955412] [ 0.07746712 0.99697675 0.00601775 0.02059552] [ 0.02806035 -0.00821376 0.99957248 0.06339493] [ 0. 0. 0. 1. ]] SLAMing on 92.854860624 meters Centerline goodness [0,1] 0.6428539616086937 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99660064 -0.07727217 -0.02856873 0.43951524] [ 0.07747121 0.99697698 0.00592557 0.02110342] [ 0.02802449 -0.00811868 0.99957427 0.06337666] [ 0. 0. 0. 1. ]] SLAMing on 92.884860624 meters Centerline goodness [0,1] 0.6427776293525692 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99660165 -0.07727718 -0.02852013 0.43951644] [ 0.07747246 0.99697759 0.00580538 0.02167178] [ 0.02798531 -0.00799517 0.99957636 0.06327933] [ 0. 0. 0. 1. ]] SLAMing on 92.914860624 meters Centerline goodness [0,1] 0.6426913117242611 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99659937 -0.07733268 -0.02844911 0.43953287] [ 0.07752728 0.99697336 0.00580018 0.02154397] [ 0.02791446 -0.00798604 0.99957841 0.06307952] [ 0. 0. 0. 1. ]] SLAMing on 92.944860624 meters Centerline goodness [0,1] 0.6408873035336082 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99659032 -0.07744059 -0.02847258 0.43965168] [ 0.07763117 0.99696615 0.00564858 0.0218529 ] [ 0.02794877 -0.00783968 0.99957861 0.06301369] [ 0. 0. 0. 1. ]] SLAMing on 92.974860624 meters Centerline goodness [0,1] 0.6369539024499085 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99658714 -0.07751062 -0.02839321 0.43962268] [ 0.07769672 0.99696182 0.00550905 0.0225478 ] [ 0.02787994 -0.00769631 0.99958165 0.06285714] [ 0. 0. 0. 1. ]] SLAMing on 93.004860624 meters Centerline goodness [0,1] 0.6376212398873642 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9965822 -0.0775239 -0.02853004 0.43989303] [ 0.0777012 0.99696335 0.00515764 0.02425072] [ 0.02804356 -0.00735683 0.99957963 0.06286252] [ 0. 0. 0. 1. ]] SLAMing on 93.034860624 meters Centerline goodness [0,1] 0.6372055566740487 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99656557 -0.07772581 -0.02856162 0.43986187] [ 0.07789529 0.99694966 0.00486832 0.02505463] [ 0.02809611 -0.00707642 0.99958018 0.0629904 ] [ 0. 0. 0. 1. ]] SLAMing on 93.064860624 meters Centerline goodness [0,1] 0.637194849324868 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99655963 -0.07783439 -0.02847289 0.43995368] [ 0.07800074 0.99694185 0.00477749 0.0255498 ] [ 0.02801396 -0.00698196 0.99958315 0.06263059] [ 0. 0. 0. 1. ]] SLAMing on 93.094860624 meters Centerline goodness [0,1] 0.6307231206244828 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99655082 -0.07792447 -0.02853473 0.44049696] [ 0.07809061 0.99693494 0.00475317 0.02603432] [ 0.02807688 -0.00696507 0.9995815 0.06197497] [ 0. 0. 0. 1. ]] SLAMing on 93.124860624 meters Centerline goodness [0,1] 0.6398354351131383 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99654281 -0.07802909 -0.02852877 0.44058573] [ 0.07819125 0.99692771 0.00461146 0.02632291] [ 0.02808129 -0.00682621 0.99958233 0.06192261] [ 0. 0. 0. 1. ]] SLAMing on 93.154860624 meters Centerline goodness [0,1] 0.6368405712620228 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99652854 -0.07824923 -0.02842413 0.44045829] [ 0.07840746 0.99691127 0.00449365 0.02655229] [ 0.02798471 -0.00670672 0.99958585 0.06179019] [ 0. 0. 0. 1. ]] SLAMing on 93.184860624 meters Centerline goodness [0,1] 0.6350494206244257 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99651529 -0.07843113 -0.02838712 0.4404324 ] [ 0.07858503 0.99689795 0.00434512 0.02648174] [ 0.02795827 -0.00656078 0.99958756 0.06177414] [ 0. 0. 0. 1. ]] SLAMing on 93.214860624 meters Centerline goodness [0,1] 0.6350170311939763 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99649895 -0.07863158 -0.02840623 0.44040815] [ 0.07878164 0.99688304 0.00420109 0.02632464] [ 0.02798735 -0.00642427 0.99958763 0.06189456] [ 0. 0. 0. 1. ]] SLAMing on 93.244860624 meters Centerline goodness [0,1] 0.6402590708410838 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99647125 -0.07905998 -0.02818811 0.4398979 ] [ 0.07920339 0.99685043 0.00400615 0.02634434] [ 0.0277826 -0.00622461 0.99959461 0.06191897] [ 0. 0. 0. 1. ]] SLAMing on 93.274860624 meters Centerline goodness [0,1] 0.6278673835125448 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.9964627 -0.07922327 -0.02803138 0.43946339] [ 0.07936452 0.99683779 0.00396098 0.02622148] [ 0.02762894 -0.00617167 0.9995992 0.06209193] [ 0. 0. 0. 1. ]] SLAMing on 93.304860624 meters Centerline goodness [0,1] 0.6199888080581981 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99645318 -0.0793913 -0.02789407 0.4389723 ] [ 0.07953046 0.99682475 0.0039136 0.02588555] [ 0.02749479 -0.00611815 0.99960322 0.06236452] [ 0. 0. 0. 1. ]] SLAMing on 93.334860624 meters Centerline goodness [0,1] 0.631548298954064 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99644625 -0.0794844 -0.02787664 0.43884685] [ 0.0796226 0.99681752 0.00388165 0.02545323] [ 0.02747939 -0.00608746 0.99960383 0.06256188] [ 0. 0. 0. 1. ]] SLAMing on 93.364860624 meters Centerline goodness [0,1] 0.6170441561932926 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99644337 -0.07957647 -0.02771636 0.43823212] [ 0.07971419 0.99681014 0.00389846 0.02487309] [ 0.02731772 -0.00609398 0.99960823 0.06300879] [ 0. 0. 0. 1. ]] SLAMing on 93.394860624 meters Centerline goodness [0,1] 0.6409514841718231 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99643603 -0.07965858 -0.02774451 0.43817114] [ 0.0797971 0.99680342 0.00392003 0.02451421] [ 0.02734356 -0.00612 0.99960736 0.06313233] [ 0. 0. 0. 1. ]] SLAMing on 93.424860624 meters Centerline goodness [0,1] 0.6393534502084921 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99643224 -0.07967696 -0.02782756 0.43827798] [ 0.07981957 0.9968011 0.00405042 0.0238681 ] [ 0.02741581 -0.00625715 0.99960453 0.06321072] [ 0. 0. 0. 1. ]] SLAMing on 93.454860624 meters Centerline goodness [0,1] 0.6439798770262717 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99643248 -0.07966865 -0.02784285 0.43847326] [ 0.07981876 0.99680003 0.00432018 0.02249025] [ 0.02740957 -0.00652715 0.99960298 0.06304761] [ 0. 0. 0. 1. ]] SLAMing on 93.48486062399999 meters Centerline goodness [0,1] 0.6395234476284144 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99644145 -0.07951796 -0.0279523 0.43884045] [ 0.0796749 0.99681054 0.00454473 0.02203 ] [ 0.02750176 -0.00675566 0.99959893 0.06288233] [ 0. 0. 0. 1. ]] SLAMing on 93.514860624 meters Centerline goodness [0,1] 0.6317034524314311 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9964581 -0.07929426 -0.02799436 0.43926218] [ 0.07945795 0.99682675 0.00478227 0.02167121] [ 0.02752633 -0.0069897 0.99959664 0.06253347] [ 0. 0. 0. 1. ]] SLAMing on 93.544860624 meters Centerline goodness [0,1] 0.6321289803939083 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99647218 -0.07908566 -0.02808301 0.43956113] [ 0.07925201 0.99684277 0.00485898 0.02166564] [ 0.02761007 -0.00706747 0.99959379 0.06251341] [ 0. 0. 0. 1. ]] SLAMing on 93.574860624 meters Centerline goodness [0,1] 0.6304508169240741 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99647545 -0.07901455 -0.02816707 0.43968502] [ 0.07917796 0.99684926 0.00473251 0.02221887] [ 0.02770439 -0.00694604 0.99959203 0.06267335] [ 0. 0. 0. 1. ]] SLAMing on 93.604860624 meters Centerline goodness [0,1] 0.6426543251279988 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99652064 -0.07841138 -0.02825361 0.43978005] [ 0.07857267 0.99689758 0.00464255 0.0234366 ] [ 0.02780192 -0.00684636 0.99959001 0.06316731] [ 0. 0. 0. 1. ]] SLAMing on 93.634860624 meters Centerline goodness [0,1] 0.6475692115031978 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99653625 -0.07816606 -0.0283826 0.43999967] [ 0.07832444 0.99691772 0.00451032 0.02436778] [ 0.02794256 -0.00671775 0.99958696 0.06339013] [ 0. 0. 0. 1. ]] SLAMing on 93.664860624 meters Centerline goodness [0,1] 0.6246282507099573 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99655867 -0.07780319 -0.02859179 0.44065049] [ 0.07796028 0.99694667 0.0044196 0.02526131] [ 0.02816063 -0.00663341 0.9995814 0.06333263] [ 0. 0. 0. 1. ]] SLAMing on 93.694860624 meters Centerline goodness [0,1] 0.6473009552359008 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99658379 -0.07740315 -0.02880096 0.44128797] [ 0.07756383 0.99697722 0.00450252 0.02568009] [ 0.02836539 -0.00672105 0.99957503 0.06321465] [ 0. 0. 0. 1. ]] SLAMing on 93.724860624 meters Centerline goodness [0,1] 0.6531442883978889 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99663319 -0.07673787 -0.0288718 0.44197666] [ 0.07690494 0.99702726 0.00471958 0.02615264] [ 0.0284238 -0.00692408 0.99957198 0.06275121] [ 0. 0. 0. 1. ]] SLAMing on 93.754860624 meters Centerline goodness [0,1] 0.6519997314294667 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99664023 -0.07663247 -0.02890889 0.44225425] [ 0.07680094 0.99703508 0.00476134 0.02647063] [ 0.02845831 -0.00696557 0.99957071 0.06250861] [ 0. 0. 0. 1. ]] SLAMing on 93.784860624 meters Centerline goodness [0,1] 0.6500480028578446 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99664254 -0.07659108 -0.02893879 0.44240603] [ 0.0767577 0.99703875 0.00468989 0.02690757] [ 0.02849389 -0.00689542 0.99957018 0.06248457] [ 0. 0. 0. 1. ]] SLAMing on 93.814860624 meters Centerline goodness [0,1] 0.6473097625801264 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99664214 -0.07658293 -0.02897419 0.44252095] [ 0.07674795 0.9970398 0.0046251 0.02736152] [ 0.02853421 -0.00683328 0.99956946 0.06244071] [ 0. 0. 0. 1. ]] SLAMing on 93.844860624 meters Centerline goodness [0,1] 0.6495101885269788 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99664325 -0.07651884 -0.02910508 0.44284202] [ 0.07668553 0.99704447 0.00465312 0.02740111] [ 0.028663 -0.00686944 0.99956553 0.06237446] [ 0. 0. 0. 1. ]] SLAMing on 93.874860624 meters Centerline goodness [0,1] 0.6464186959236464 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.9966348 -0.0765947 -0.02919454 0.44341627] [ 0.07676564 0.99703772 0.00477822 0.02665121] [ 0.02874207 -0.00700328 0.99956233 0.06187137] [ 0. 0. 0. 1. ]] SLAMing on 93.904860624 meters Centerline goodness [0,1] 0.6441174497394726 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99661931 -0.07683017 -0.02910456 0.44315215] [ 0.07700076 0.99701955 0.00478496 0.02586151] [ 0.02865019 -0.00700986 0.99956492 0.06192856] [ 0. 0. 0. 1. ]] SLAMing on 93.934860624 meters Centerline goodness [0,1] 0.6543546225993747 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.06 [[ 0.99660292 -0.07708447 -0.02899318 0.44274368] [ 0.07725453 0.9969999 0.00479016 0.02518466] [ 0.02853695 -0.00701375 0.99956813 0.06214462] [ 0. 0. 0. 1. ]] SLAMing on 93.964860624 meters Centerline goodness [0,1] 0.6495557089726745 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99656742 -0.07762631 -0.02876672 0.44205337] [ 0.07779143 0.99695875 0.00466409 0.02447136] [ 0.02831718 -0.00688589 0.99957527 0.06240676] [ 0. 0. 0. 1. ]] SLAMing on 93.994860624 meters Centerline goodness [0,1] 0.6472999465335947 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99655374 -0.07782289 -0.02870969 0.44187836] [ 0.07798813 0.9969433 0.00467989 0.02397896] [ 0.02825773 -0.00690278 0.99957684 0.06243861] [ 0. 0. 0. 1. ]] SLAMing on 94.024860624 meters Centerline goodness [0,1] 0.6478644279160914 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99653553 -0.0780785 -0.02864754 0.44166021] [ 0.07824245 0.99692354 0.00464573 0.02331347] [ 0.02819667 -0.00687109 0.99957878 0.06255836] [ 0. 0. 0. 1. ]] SLAMing on 94.054860624 meters Centerline goodness [0,1] 0.6458736406698246 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99651835 -0.07834288 -0.02852335 0.44128702] [ 0.07850662 0.99690268 0.00466495 0.02238512] [ 0.02806954 -0.00688798 0.99958224 0.06271951] [ 0. 0. 0. 1. ]] SLAMing on 94.084860624 meters Centerline goodness [0,1] 0.6465244689851717 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99650779 -0.07850846 -0.02843662 0.44109217] [ 0.07867592 0.99688861 0.00481697 0.02115751] [ 0.02796997 -0.00703742 0.99958399 0.06271979] [ 0. 0. 0. 1. ]] SLAMing on 94.114860624 meters Centerline goodness [0,1] 0.6413634045195484 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99645619 -0.07926861 -0.0281345 0.439972 ] [ 0.0794312 0.99682923 0.00470766 0.01892099] [ 0.02767212 -0.00692573 0.99959306 0.06331457] [ 0. 0. 0. 1. ]] SLAMing on 94.144860624 meters Centerline goodness [0,1] 0.6454362312102898 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.9964406 -0.07946389 -0.02813583 0.43991526] [ 0.07963199 0.99681227 0.00490364 0.01763971] [ 0.02765647 -0.0071267 0.99959208 0.06335577] [ 0. 0. 0. 1. ]] SLAMing on 94.174860624 meters Centerline goodness [0,1] 0.6347599257228755 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.06 [[ 0.99643189 -0.07960955 -0.0280321 0.43971208] [ 0.07978376 0.99679889 0.00515016 0.01649534] [ 0.02753237 -0.00736829 0.99959376 0.06330023] [ 0. 0. 0. 1. ]] SLAMing on 94.204860624 meters Centerline goodness [0,1] 0.6452852693658472 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99639885 -0.08009587 -0.02782067 0.43891965] [ 0.08027189 0.99675909 0.00526683 0.0144237 ] [ 0.02730866 -0.00748108 0.99959905 0.06374018] [ 0. 0. 0. 1. ]] SLAMing on 94.23486062399999 meters Centerline goodness [0,1] 0.6327421916357862 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99640382 -0.08000649 -0.02789973 0.43919814] [ 0.0801928 0.99676351 0.00562249 0.01315152] [ 0.0273596 -0.00783963 0.99959491 0.06361387] [ 0. 0. 0. 1. ]] SLAMing on 94.264860624 meters Centerline goodness [0,1] 0.6306544277884171 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99641064 -0.0799312 -0.0278719 0.43935184] [ 0.08012254 0.99676806 0.00581526 0.01240387] [ 0.027317 -0.00802755 0.99959459 0.06341667] [ 0. 0. 0. 1. ]] SLAMing on 94.294860624 meters Centerline goodness [0,1] 0.6434341205032001 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99641966 -0.07979197 -0.02794838 0.43951053] [ 0.07998804 0.99677796 0.00596747 0.01180411] [ 0.02738217 -0.00818164 0.99959156 0.06347131] [ 0. 0. 0. 1. ]] SLAMing on 94.324860624 meters Centerline goodness [0,1] 0.6422268676422049 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99643283 -0.07961281 -0.02798949 0.43979762] [ 0.07981374 0.99679092 0.00613455 0.01143584] [ 0.02741128 -0.00834661 0.99958939 0.06331864] [ 0. 0. 0. 1. ]] SLAMing on 94.354860624 meters Centerline goodness [0,1] 0.6429343152602915 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99646446 -0.07915724 -0.02815507 0.44030215] [ 0.07936754 0.99682468 0.00643034 0.01115278] [ 0.02755666 -0.0086422 0.99958288 0.06324695] [ 0. 0. 0. 1. ]] SLAMing on 94.384860624 meters Centerline goodness [0,1] 0.6484769614222379 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99648658 -0.07882062 -0.02831616 0.44094144] [ 0.07903627 0.99685004 0.00657743 0.01129526] [ 0.02770853 -0.00879232 0.99957738 0.06297571] [ 0. 0. 0. 1. ]] SLAMing on 94.414860624 meters Centerline goodness [0,1] 0.6484769614222379 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99648658 -0.07882062 -0.02831616 0.44094144] [ 0.07903627 0.99685004 0.00657743 0.01129526] [ 0.02770853 -0.00879232 0.99957738 0.06297571] [ 0. 0. 0. 1. ]] SLAMing on 94.444860624 meters Centerline goodness [0,1] 0.6452757033022714 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.9965076 -0.07846751 -0.02855608 0.44167636] [ 0.07868967 0.99687638 0.00673946 0.01140967] [ 0.02793806 -0.008963 0.99956947 0.06280034] [ 0. 0. 0. 1. ]] SLAMing on 94.474860624 meters Centerline goodness [0,1] 0.6433335534570428 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99653223 -0.07812043 -0.02864824 0.44209298] [ 0.07834825 0.99690206 0.006916 0.01145065] [ 0.02801921 -0.00913655 0.99956563 0.06261345] [ 0. 0. 0. 1. ]] SLAMing on 94.504860624 meters Centerline goodness [0,1] 0.6520982103499956 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99659086 -0.07727801 -0.02889228 0.44276363] [ 0.07751456 0.99696553 0.00715715 0.01183661] [ 0.02825152 -0.00937232 0.99955691 0.0627207 ] [ 0. 0. 0. 1. ]] SLAMing on 94.534860624 meters Centerline goodness [0,1] 0.6535669366049559 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99662056 -0.07680612 -0.02912523 0.44351506] [ 0.07704961 0.99700031 0.00733033 0.0120503 ] [ 0.02847485 -0.00954965 0.99954889 0.06257301] [ 0. 0. 0. 1. ]] SLAMing on 94.564860624 meters Centerline goodness [0,1] 0.6565198237885462 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99664667 -0.07640094 -0.02929687 0.44402322] [ 0.07664987 0.9970301 0.00746863 0.01226681] [ 0.02863925 -0.00968919 0.99954285 0.06249777] [ 0. 0. 0. 1. ]] SLAMing on 94.594860624 meters Centerline goodness [0,1] 0.652792459478506 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.9967093 -0.07548727 -0.02953365 0.44481648] [ 0.07574708 0.99709673 0.0077778 0.01270473] [ 0.02886078 -0.00998929 0.99953353 0.06249284] [ 0. 0. 0. 1. ]] SLAMing on 94.624860624 meters Centerline goodness [0,1] 0.659982390490865 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99673265 -0.07513569 -0.02964223 0.44524604] [ 0.07540088 0.99712176 0.0079309 0.01280027] [ 0.02896101 -0.01014003 0.99952911 0.0623872 ] [ 0. 0. 0. 1. ]] SLAMing on 94.654860624 meters Centerline goodness [0,1] 0.6592466885592754 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99674783 -0.0748598 -0.02982892 0.4457303 ] [ 0.07513262 0.9971404 0.0081311 0.01258077] [ 0.02913493 -0.01034578 0.99952195 0.06229782] [ 0. 0. 0. 1. ]] SLAMing on 94.684860624 meters Centerline goodness [0,1] 0.650448312236287 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99676523 -0.074591 -0.02992101 0.44628147] [ 0.07487071 0.99715839 0.00833777 0.01224589] [ 0.02921406 -0.010551 0.99951749 0.0619621 ] [ 0. 0. 0. 1. ]] SLAMing on 94.714860624 meters Centerline goodness [0,1] 0.6567193719349944 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99677606 -0.07444224 -0.02993069 0.44640284] [ 0.0747319 0.99716591 0.00867712 0.01100155] [ 0.02919992 -0.01088593 0.99951431 0.06191378] [ 0. 0. 0. 1. ]] SLAMing on 94.744860624 meters Centerline goodness [0,1] 0.6617854311635691 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99676296 -0.07463567 -0.0298852 0.44623779] [ 0.0749243 0.99715166 0.00865574 0.01043969] [ 0.02915405 -0.01086685 0.99951586 0.06205862] [ 0. 0. 0. 1. ]] SLAMing on 94.774860624 meters Centerline goodness [0,1] 0.645094634103449 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99674816 -0.07488295 -0.0297599 0.44597492] [ 0.07517214 0.99713246 0.00871875 0.00955327] [ 0.02902168 -0.01092751 0.99951905 0.06204842] [ 0. 0. 0. 1. ]] SLAMing on 94.804860624 meters Centerline goodness [0,1] 0.6545119058079255 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99671951 -0.07530918 -0.02964377 0.44553492] [ 0.07559776 0.99710013 0.00873601 0.00854862] [ 0.02889991 -0.01094835 0.99952235 0.06222174] [ 0. 0. 0. 1. ]] SLAMing on 94.834860624 meters Centerline goodness [0,1] 0.6476389193938064 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99657741 -0.07728994 -0.02932124 0.44406879] [ 0.07753529 0.99696271 0.00732325 0.00670081] [ 0.02866617 -0.00957162 0.99954321 0.06342216] [ 0. 0. 0. 1. ]] SLAMing on 94.864860624 meters Centerline goodness [0,1] 0.6439640035118526 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.06 [[ 0.99653506 -0.07790966 -0.02911967 0.44343094] [ 0.07815005 0.99691554 0.00720889 0.00540867] [ 0.02846821 -0.00945961 0.99954994 0.06365654] [ 0. 0. 0. 1. ]] SLAMing on 94.894860624 meters Centerline goodness [0,1] 0.6442794243280541 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99649702 -0.07845107 -0.02896755 0.44306848] [ 0.07868943 0.99687332 0.00718066 0.00415615] [ 0.02831365 -0.00943495 0.99955456 0.063626 ] [ 0. 0. 0. 1. ]] SLAMing on 94.924860624 meters Centerline goodness [0,1] 0.6372420139345341 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99646435 -0.07889507 -0.02888546 0.44277829] [ 0.07913489 0.99683753 0.00725384 0.00283626] [ 0.02822182 -0.00951404 0.99955641 0.06368877] [ 0. 0. 0. 1. ]] SLAMing on 94.954860624 meters Centerline goodness [0,1] 0.6333122090863399 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99644145 -0.0792029 -0.02883292 0.44278032] [ 0.07944679 0.99681155 0.00741176 0.00158639] [ 0.02815396 -0.00967606 0.99955677 0.06350624] [ 0. 0. 0. 1. ]] SLAMing on 94.98486062399999 meters Centerline goodness [0,1] 0.6285452282701252 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 9.96387613e-01 -7.98992471e-02 -2.87721115e-02 4.42576978e-01] [ 8.01411118e-02 9.96756417e-01 7.35169892e-03 1.81443846e-04] [ 2.80913916e-02 -9.63097075e-03 9.99558962e-01 6.34846156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014860624 meters Centerline goodness [0,1] 0.626406273893003 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 9.96359156e-01 -8.02916732e-02 -2.86649392e-02 4.42211230e-01] [ 8.05293750e-02 9.96725980e-01 7.23474287e-03 -3.81094737e-04] [ 2.79902000e-02 -9.51677194e-03 9.99562894e-01 6.36494086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044860624 meters Centerline goodness [0,1] 0.6162643225750022 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 9.96335494e-01 -8.05912650e-02 -2.86466753e-02 4.42252386e-01] [ 8.08257613e-02 9.96702797e-01 7.12248330e-03 -8.47419515e-04] [ 2.79782115e-02 -9.41177225e-03 9.99564224e-01 6.35447420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074860624 meters Centerline goodness [0,1] 0.6370360644257703 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 0.99630343 -0.08101781 -0.02855859 0.4419537 ] [ 0.08124586 0.9966701 0.00691546 -0.0014146 ] [ 0.02790322 -0.00921016 0.9995682 0.06374992] [ 0. 0. 0. 1. ]] SLAMing on 95.104860624 meters Centerline goodness [0,1] 0.6453328081922016 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 9.96282365e-01 -8.12621204e-02 -2.85992615e-02 4.41864441e-01] [ 8.14829170e-02 9.96652622e-01 6.63960609e-03 -9.58014948e-04] [ 2.79639805e-02 -8.94527370e-03 9.99568906e-01 6.39798416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134860624 meters Centerline goodness [0,1] 0.6031857167862769 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 9.96275339e-01 -8.13389869e-02 -2.86254697e-02 4.41847527e-01] [ 8.15548136e-02 9.96647969e-01 6.45276572e-03 -3.94228711e-04] [ 2.80046548e-02 -8.76327620e-03 9.99569379e-01 6.41188036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164860624 meters Centerline goodness [0,1] 0.6480978260869565 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.06 [[ 9.96275857e-01 -8.13453914e-02 -2.85892181e-02 4.41761245e-01] [ 8.15591673e-02 9.96648012e-01 6.39075323e-03 -1.06797690e-04] [ 2.79735291e-02 -8.69866598e-03 9.99570815e-01 6.41953358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194860624 meters Centerline goodness [0,1] 0.5999474364309336 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 9.96279801e-01 -8.12514671e-02 -2.87185727e-02 4.41831887e-01] [ 8.14629881e-02 9.96656634e-01 6.27175703e-03 3.47905561e-04] [ 2.81129666e-02 -8.58792560e-03 9.99567861e-01 6.45275857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224860624 meters Centerline goodness [0,1] 0.6515808372744789 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99631176 -0.08079419 -0.02889958 0.44229324] [ 0.08100696 0.99669383 0.00626694 0.00130142] [ 0.0282977 -0.00858489 0.99956267 0.06460547] [ 0. 0. 0. 1. ]] SLAMing on 95.254860624 meters Centerline goodness [0,1] 0.6470305361865833 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99632839 -0.08053861 -0.029039 0.44274496] [ 0.08075337 0.99671421 0.00629852 0.00187258] [ 0.02843631 -0.00862039 0.99955844 0.06448249] [ 0. 0. 0. 1. ]] SLAMing on 95.284860624 meters Centerline goodness [0,1] 0.6508054631413063 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99634417 -0.080294 -0.02917495 0.44316788] [ 0.08050878 0.99673423 0.00626149 0.0024701 ] [ 0.02857691 -0.00858744 0.99955471 0.06439595] [ 0. 0. 0. 1. ]] SLAMing on 95.314860624 meters Centerline goodness [0,1] 0.6519861452122062 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.9963909 -0.07963399 -0.02938725 0.44399606] [ 0.07985568 0.99678559 0.00644705 0.00319512] [ 0.02877939 -0.00877053 0.99954731 0.06408931] [ 0. 0. 0. 1. ]] SLAMing on 95.344860624 meters Centerline goodness [0,1] 0.658633219507924 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99640722 -0.07934921 -0.02960346 0.44456422] [ 0.07957487 0.99680755 0.00652248 0.00366547] [ 0.0289914 -0.00885474 0.99954044 0.06400767] [ 0. 0. 0. 1. ]] SLAMing on 95.374860624 meters Centerline goodness [0,1] 0.6474070514220804 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.06 [[ 0.99642285 -0.07911365 -0.0297076 0.44486654] [ 0.07934084 0.99682605 0.00654619 0.00411291] [ 0.02909542 -0.0088798 0.9995372 0.06398046] [ 0. 0. 0. 1. ]] SLAMing on 95.404860624 meters Centerline goodness [0,1] 0.6549061638741852 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:0.06 [[ 0.99642883 -0.07898504 -0.02984878 0.44523611] [ 0.07921211 0.99683659 0.00650106 0.00468368] [ 0.02924087 -0.00884223 0.99953328 0.06391403] [ 0. 0. 0. 1. ]] SLAMing on 95.434860624 meters Centerline goodness [0,1] 0.6605243576837221 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99643651 -0.07884658 -0.02995821 0.44552891] [ 0.07907558 0.9968472 0.0065358 0.00503399] [ 0.02934843 -0.00888148 0.99952978 0.06386313] [ 0. 0. 0. 1. ]] SLAMing on 95.464860624 meters Centerline goodness [0,1] 0.6428180364846813 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99645872 -0.07852163 -0.03007292 0.44600218] [ 0.07875229 0.99687262 0.00656208 0.0056291 ] [ 0.0294636 -0.00890715 0.99952617 0.0637355 ] [ 0. 0. 0. 1. ]] SLAMing on 95.494860624 meters Centerline goodness [0,1] 0.6413812747869148 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99646236 -0.07845799 -0.03011815 0.44619413] [ 0.07868699 0.99687823 0.00649309 0.00600334] [ 0.02951469 -0.00884002 0.99952526 0.06367259] [ 0. 0. 0. 1. ]] SLAMing on 95.524860624 meters Centerline goodness [0,1] 0.6523235423060061 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99646119 -0.0784609 -0.0301493 0.44635532] [ 0.07868762 0.99687873 0.00640676 0.00644454] [ 0.02955252 -0.00875646 0.99952487 0.06357821] [ 0. 0. 0. 1. ]] SLAMing on 95.554860624 meters Centerline goodness [0,1] 0.6506177166389205 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99645461 -0.07852627 -0.03019656 0.44646655] [ 0.07874609 0.99687568 0.00615888 0.00739635] [ 0.02961859 -0.00851491 0.99952501 0.0636421 ] [ 0. 0. 0. 1. ]] SLAMing on 95.584860624 meters Centerline goodness [0,1] 0.6537153638577478 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99644402 -0.07865912 -0.03020017 0.44631277] [ 0.07886218 0.99686985 0.00559078 0.00974426] [ 0.02966587 -0.00795255 0.99952824 0.06391943] [ 0. 0. 0. 1. ]] SLAMing on 95.614860624 meters Centerline goodness [0,1] 0.6690519177418645 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99643443 -0.0787738 -0.03021792 0.44626882] [ 0.07896601 0.99686365 0.00521917 0.01092945] [ 0.02971201 -0.00758675 0.99952971 0.06409508] [ 0. 0. 0. 1. ]] SLAMing on 95.644860624 meters Centerline goodness [0,1] 0.6460607394366198 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99642255 -0.07887591 -0.03034287 0.44660875] [ 0.07905707 0.99685846 0.00481596 0.01237407] [ 0.02986768 -0.00719755 0.99952795 0.06402339] [ 0. 0. 0. 1. ]] SLAMing on 95.674860624 meters Centerline goodness [0,1] 0.656283731688512 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.06 [[ 0.99641645 -0.07891289 -0.03044682 0.44689845] [ 0.0790827 0.99685829 0.00441217 0.01390464] [ 0.03000298 -0.00680417 0.99952665 0.06403212] [ 0. 0. 0. 1. ]] SLAMing on 95.704860624 meters Centerline goodness [0,1] 0.6633554083885209 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.06 [[ 0.99640941 -0.0790204 -0.03039829 0.44689317] [ 0.07916478 0.99685514 0.00357378 0.0171639 ] [ 0.03002029 -0.00596743 0.99953148 0.06410893] [ 0. 0. 0. 1. ]] SLAMing on 95.73486062399999 meters Centerline goodness [0,1] 0.6574607589906616 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.06 [[ 0.99639231 -0.07923754 -0.03039373 0.4467749 ] [ 0.07936216 0.99684159 0.00291415 0.01925896] [ 0.03006682 -0.00531575 0.99953376 0.064329 ] [ 0. 0. 0. 1. ]] SLAMing on 95.764860624 meters Centerline goodness [0,1] 0.6620477800614378 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.06 [[ 0.99638611 -0.07932034 -0.03038093 0.44671175] [ 0.07943067 0.99683741 0.00243998 0.02110499] [ 0.03009131 -0.00484434 0.99953541 0.06445246] [ 0. 0. 0. 1. ]] SLAMing on 95.794860624 meters Centerline goodness [0,1] 0.6638250638250638 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.06 [[ 0.9963769 -0.07941091 -0.0304465 0.44683628] [ 0.07950764 0.99683229 0.00197804 0.02304359] [ 0.03019297 -0.00439161 0.99953444 0.06450286] [ 0. 0. 0. 1. ]] SLAMing on 95.824860624 meters Centerline goodness [0,1] 0.6670515866847283 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.06 [[ 0.99636593 -0.07952763 -0.03050057 0.44697111] [ 0.07960916 0.99682508 0.00146632 0.02487036] [ 0.03028712 -0.00388912 0.99953367 0.06456825] [ 0. 0. 0. 1. ]] SLAMing on 95.854860624 meters Centerline goodness [0,1] 0.6601019204664308 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.06 [[ 0.99635504 -0.07965287 -0.03052957 0.44711259] [ 0.07972158 0.99681663 0.00103805 0.0265006 ] [ 0.0303497 -0.00346814 0.99953332 0.06447605] [ 0. 0. 0. 1. ]] SLAMing on 95.884860624 meters Centerline goodness [0,1] 0.6657314004498185 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.06 [[ 9.96346053e-01 -7.97269637e-02 -3.06292978e-02 4.47505730e-01] [ 7.97750050e-02 9.96812835e-01 3.47729521e-04 2.92469980e-02] [ 3.05039537e-02 -2.78991132e-03 9.99530753e-01 6.43902355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914860624 meters Centerline goodness [0,1] 0.6530885105624387 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.06 [[ 9.96338202e-01 -7.98393586e-02 -3.05918805e-02 4.47501606e-01] [ 7.98770588e-02 9.96804723e-01 1.03095883e-05 3.07420618e-02] [ 3.04933078e-02 -2.45386127e-03 9.99531959e-01 6.43248386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944860624 meters Centerline goodness [0,1] 0.6664205981701452 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.06 [[ 9.96330800e-01 -7.99137424e-02 -3.06387019e-02 4.47712767e-01] [ 7.99406776e-02 9.96799563e-01 -3.46755641e-04 3.22655038e-02] [ 3.05683551e-02 -2.10379526e-03 9.99530465e-01 6.42309908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974860624 meters Centerline goodness [0,1] 0.6563578503877011 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 0.99631975 -0.08008333 -0.03055503 0.4475172 ] [ 0.08008734 0.99678725 -0.00109453 0.03568791] [ 0.03054452 -0.00135657 0.99953249 0.06433633] [ 0. 0. 0. 1. ]] SLAMing on 96.004860624 meters Centerline goodness [0,1] 0.651804146844987 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 9.96304467e-01 -8.02372205e-02 -3.06495843e-02 4.47623801e-01] [ 8.02270932e-02 9.96775388e-01 -1.56202030e-03 3.74467897e-02] [ 3.06760834e-02 -9.02679251e-04 9.99528971e-01 6.44471370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034860624 meters Centerline goodness [0,1] 0.6526038974174553 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 9.96290807e-01 -8.04280249e-02 -3.05934602e-02 4.47674528e-01] [ 8.04085548e-02 9.96760239e-01 -1.86815296e-03 3.87836594e-02] [ 3.06445966e-02 -5.98752305e-04 9.99530165e-01 6.42010248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064860624 meters Centerline goodness [0,1] 0.6552606762764381 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 9.96287901e-01 -8.04531759e-02 -3.06219701e-02 4.47920587e-01] [ 8.04275483e-02 9.96758309e-01 -2.06969932e-03 3.95643233e-02] [ 3.06892170e-02 -4.00833595e-04 9.99528895e-01 6.40518643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094860624 meters Centerline goodness [0,1] 0.6460769074812462 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 9.96264975e-01 -8.07564724e-02 -3.05694510e-02 4.48031231e-01] [ 8.07146000e-02 9.96733854e-01 -2.60328642e-03 4.16237033e-02] [ 3.06798389e-02 1.26162070e-04 9.99529255e-01 6.37320080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124860624 meters Centerline goodness [0,1] 0.6441478068392285 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.06 [[ 9.96260926e-01 -8.07918426e-02 -3.06079236e-02 4.48289357e-01] [ 8.07403198e-02 9.96730901e-01 -2.91755297e-03 4.33329243e-02] [ 3.07435778e-02 4.35350485e-04 9.99527210e-01 6.35475110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154860624 meters Centerline goodness [0,1] 0.6629236376808313 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96255363e-01 -8.07998543e-02 -3.07674338e-02 4.48778566e-01] [ 8.07395993e-02 9.96730099e-01 -3.19779752e-03 4.50112772e-02] [ 3.09252089e-02 7.01672658e-04 9.99521455e-01 6.33391723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184860624 meters Centerline goodness [0,1] 0.6610034570596798 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96481976e-01 -7.79742993e-02 -3.07193889e-02 4.47541867e-01] [ 7.80038423e-02 9.96953030e-01 -2.37344696e-04 4.70869013e-02] [ 3.06442946e-02 -2.15972066e-03 9.99528020e-01 6.35392428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214860624 meters Centerline goodness [0,1] 0.6629767420628581 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96470290e-01 -7.81328892e-02 -3.06954918e-02 4.47522783e-01] [ 7.81442741e-02 9.96941715e-01 -8.30385519e-04 4.92802885e-02] [ 3.06664967e-02 -1.57122243e-03 9.99528437e-01 6.36099468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244860624 meters Centerline goodness [0,1] 0.6602083714129043 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 0.99647326 -0.07806291 -0.03077699 0.44785132] [ 0.07806557 0.9969476 -0.00111694 0.05095955] [ 0.03077023 -0.00128962 0.99952565 0.06350384] [ 0. 0. 0. 1. ]] SLAMing on 96.274860624 meters Centerline goodness [0,1] 0.6572288741295704 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96464161e-01 -7.81799389e-02 -3.07745654e-02 4.47857847e-01] [ 7.81677587e-02 9.96938935e-01 -1.60050918e-03 5.27121787e-02] [ 3.08054901e-02 -8.10728757e-04 9.99525069e-01 6.35692528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304860624 meters Centerline goodness [0,1] 0.6572288741295704 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96464161e-01 -7.81799389e-02 -3.07745654e-02 4.47857847e-01] [ 7.81677587e-02 9.96938935e-01 -1.60050918e-03 5.27121787e-02] [ 3.08054901e-02 -8.10728757e-04 9.99525069e-01 6.35692528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334860624 meters Centerline goodness [0,1] 0.6603070981978669 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.06 [[ 9.96462745e-01 -7.81626576e-02 -3.08641711e-02 4.48322560e-01] [ 7.81412996e-02 9.96940484e-01 -1.89941419e-03 5.44114607e-02] [ 3.09182050e-02 -5.19070968e-04 9.99521783e-01 6.32426137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364860624 meters Centerline goodness [0,1] 0.6584176717962937 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.06 [[ 9.96671485e-01 -7.55361675e-02 -3.06633005e-02 4.46897224e-01] [ 7.55952988e-02 9.97138283e-01 7.72076356e-04 5.69393742e-02] [ 3.05172312e-02 -3.08750786e-03 9.99529472e-01 6.33263577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394860624 meters Centerline goodness [0,1] 0.660696841419733 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.06 [[ 9.96662252e-01 -7.56251209e-02 -3.07440522e-02 4.47083951e-01] [ 7.56649797e-02 9.97133287e-01 1.33477487e-04 5.97235406e-02] [ 3.06458236e-02 -2.45928006e-03 9.99527281e-01 6.34028873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424860624 meters Centerline goodness [0,1] 0.6580201906898486 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.06 [[ 9.96666843e-01 -7.54674417e-02 -3.09817536e-02 4.47785326e-01] [ 7.54954318e-02 9.97146112e-01 -2.67005794e-04 6.23449719e-02] [ 3.09134854e-02 -2.07286505e-03 9.99519915e-01 6.32461861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454860624 meters Centerline goodness [0,1] 0.6602688941551891 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.06 [[ 9.96666387e-01 -7.54279816e-02 -3.10923361e-02 4.48145776e-01] [ 7.54407181e-02 9.97149995e-01 -7.64935511e-04 6.46367235e-02] [ 3.10614203e-02 -1.58324265e-03 9.99516224e-01 6.32341649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48486062399999 meters Centerline goodness [0,1] 0.6582945298904097 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99667407 -0.07527507 -0.03121632 0.44871942] [ 0.07527954 0.99716193 -0.00103383 0.06663663] [ 0.03120554 -0.00131956 0.99951212 0.06291866] [ 0. 0. 0. 1. ]] SLAMing on 96.514860624 meters Centerline goodness [0,1] 0.655469137845441 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 9.96806173e-01 -7.36453988e-02 -3.08838029e-02 4.48435747e-01] [ 7.36919049e-02 9.97280987e-01 3.68789267e-04 6.96967841e-02] [ 3.07726699e-02 -2.64349769e-03 9.99522914e-01 6.20321844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544860624 meters Centerline goodness [0,1] 0.658813180543008 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 9.96798608e-01 -7.37110680e-02 -3.09711808e-02 4.48605432e-01] [ 7.37420512e-02 9.97277338e-01 -1.42187896e-04 7.18867313e-02] [ 3.08973376e-02 -2.14214570e-03 9.99520268e-01 6.21521909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574860624 meters Centerline goodness [0,1] 0.6623212281832724 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 9.96789916e-01 -7.37645449e-02 -3.11232314e-02 4.48852803e-01] [ 7.37817317e-02 9.97274235e-01 -5.97429071e-04 7.41873084e-02] [ 3.10824658e-02 -1.70081463e-03 9.99515376e-01 6.22891460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604860624 meters Centerline goodness [0,1] 0.6600295688668447 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99678273 -0.07380465 -0.03125814 0.44912376] [ 0.07380876 0.99727189 -0.00102407 0.07628922] [ 0.03124844 -0.00128635 0.99951082 0.06237785] [ 0. 0. 0. 1. ]] SLAMing on 96.634860624 meters Centerline goodness [0,1] 0.6580643609601231 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99695553 -0.0715452 -0.03099921 0.44714775] [ 0.07163007 0.99742993 0.00163452 0.07802431] [ 0.03080259 -0.00385002 0.99951807 0.06281399] [ 0. 0. 0. 1. ]] SLAMing on 96.664860624 meters Centerline goodness [0,1] 0.6566009543548466 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99694215 -0.0716912 -0.03109229 0.44745259] [ 0.07176631 0.99742062 0.00130504 0.079247 ] [ 0.03091853 -0.00353243 0.99951567 0.06271191] [ 0. 0. 0. 1. ]] SLAMing on 96.694860624 meters Centerline goodness [0,1] 0.6530823983592713 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99693573 -0.07178973 -0.03107072 0.44775576] [ 0.07186015 0.99741405 0.00115447 0.08023128] [ 0.03090749 -0.00338368 0.99951652 0.06222829] [ 0. 0. 0. 1. ]] SLAMing on 96.724860624 meters Centerline goodness [0,1] 0.6650158239315827 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96923631e-01 -7.19527900e-02 -3.10816708e-02 4.47893410e-01] [ 7.20145872e-02 9.97403198e-01 8.71923766e-04 8.14360622e-02] [ 3.09382205e-02 -3.10757510e-03 9.99516468e-01 6.20850827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754860624 meters Centerline goodness [0,1] 0.6626430095016482 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96899290e-01 -7.23034828e-02 -3.10485482e-02 4.47880208e-01] [ 7.23468000e-02 9.97379500e-01 2.72539605e-04 8.40875117e-02] [ 3.09474799e-02 -2.51795765e-03 9.99517840e-01 6.19351070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784860624 meters Centerline goodness [0,1] 0.6607688947138488 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96886110e-01 -7.24607805e-02 -3.11049746e-02 4.47959995e-01] [ 7.24944644e-02 9.97368814e-01 -4.49472038e-05 8.54257442e-02] [ 3.10263885e-02 -2.21013123e-03 9.99516122e-01 6.19849650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814860624 meters Centerline goodness [0,1] 0.6485855934674832 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96869596e-01 -7.26967430e-02 -3.10836160e-02 4.47774917e-01] [ 7.27199640e-02 9.97352324e-01 -3.84270225e-04 8.67556400e-02] [ 3.10292519e-02 -1.87733213e-03 9.99516714e-01 6.21217572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844860624 meters Centerline goodness [0,1] 0.6605723177165641 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96849589e-01 -7.29541921e-02 -3.11220695e-02 4.47769608e-01] [ 7.29655221e-02 9.97334164e-01 -7.73005606e-04 8.79900282e-02] [ 3.10954972e-02 -1.50026773e-03 9.99515292e-01 6.22383837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874860624 meters Centerline goodness [0,1] 0.6560781918142944 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96818484e-01 -7.34121668e-02 -3.10413092e-02 4.47304538e-01] [ 7.34009281e-02 9.97301381e-01 -1.50294597e-03 9.03021318e-02] [ 3.10678751e-02 -7.80296579e-04 9.99516972e-01 6.25895911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904860624 meters Centerline goodness [0,1] 0.6583304840521662 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96808715e-01 -7.35562776e-02 -3.10138663e-02 4.47341413e-01] [ 7.35371253e-02 9.97290929e-01 -1.75924666e-03 9.14746746e-02] [ 3.10592512e-02 -5.27038176e-04 9.99517406e-01 6.24688731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934860624 meters Centerline goodness [0,1] 0.6642405528598736 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96786457e-01 -7.38442121e-02 -3.10449866e-02 4.47214896e-01] [ 7.38089627e-02 9.97269789e-01 -2.28144191e-03 9.30398653e-02] [ 3.11286985e-02 -1.72878576e-05 9.99515384e-01 6.27463792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964860624 meters Centerline goodness [0,1] 0.6688179431179603 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96780846e-01 -7.39080005e-02 -3.10733454e-02 4.47206100e-01] [ 7.38645409e-02 9.97265034e-01 -2.54575229e-03 9.42060957e-02] [ 3.11765123e-02 2.42338727e-04 9.99513865e-01 6.28699105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994860624 meters Centerline goodness [0,1] 0.666043030869972 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 9.96755257e-01 -7.42983836e-02 -3.09630211e-02 4.46810634e-01] [ 7.42340043e-02 9.97235635e-01 -3.22519228e-03 9.64722658e-02] [ 3.11170546e-02 9.16218310e-04 9.99515327e-01 6.30670321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024860624 meters Centerline goodness [0,1] 0.6625457762921818 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.9967503 -0.07437037 -0.03094983 0.44690441] [ 0.07430128 0.99723012 -0.00337815 0.09722228] [ 0.03111534 0.00106756 0.99951523 0.06293829] [ 0. 0. 0. 1. ]] SLAMing on 97.054860624 meters Centerline goodness [0,1] 0.6643759698514742 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.9967452 -0.07444678 -0.03093029 0.44697764] [ 0.07437228 0.99722422 -0.00355375 0.09800066] [ 0.031109 0.00124183 0.99951523 0.06283384] [ 0. 0. 0. 1. ]] SLAMing on 97.084860624 meters Centerline goodness [0,1] 0.6651475587525251 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99673603 -0.0745671 -0.03093599 0.44685181] [ 0.07448713 0.99721499 -0.0037312 0.09880278] [ 0.03112805 0.00141469 0.9995144 0.06296441] [ 0. 0. 0. 1. ]] SLAMing on 97.114860624 meters Centerline goodness [0,1] 0.6581906969861392 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99672619 -0.07468905 -0.03095889 0.44684982] [ 0.07460587 0.99720573 -0.00383462 0.09938075] [ 0.03115878 0.00151235 0.9995133 0.06295071] [ 0. 0. 0. 1. ]] SLAMing on 97.144860624 meters Centerline goodness [0,1] 0.6621384641983847 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99671123 -0.07487218 -0.03099808 0.44669481] [ 0.07478245 0.99719167 -0.00404557 0.09976914] [ 0.03121393 0.00171415 0.99951126 0.06326771] [ 0. 0. 0. 1. ]] SLAMing on 97.174860624 meters Centerline goodness [0,1] 0.6550001236736006 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99669655 -0.07511405 -0.03088468 0.44639726] [ 0.07502363 0.99717342 -0.00407794 0.09961727] [ 0.0311037 0.00174739 0.99951464 0.06323655] [ 0. 0. 0. 1. ]] SLAMing on 97.204860624 meters Centerline goodness [0,1] 0.6514641867827463 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.9966843 -0.07534116 -0.03072658 0.44598288] [ 0.07524942 0.99715618 -0.00413275 0.09949397] [ 0.03095057 0.00180689 0.99951928 0.06325847] [ 0. 0. 0. 1. ]] SLAMing on 97.23486062399999 meters Centerline goodness [0,1] 0.6601797519126495 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99668407 -0.07534596 -0.03072222 0.44616637] [ 0.07525983 0.99715613 -0.00395211 0.09912248] [ 0.03093263 0.00162686 0.99952015 0.06293685] [ 0. 0. 0. 1. ]] SLAMing on 97.264860624 meters Centerline goodness [0,1] 0.6548849863962405 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99668149 -0.07538642 -0.03070661 0.44612779] [ 0.07530529 0.99715332 -0.00379187 0.09863132] [ 0.03090506 0.00146692 0.99952125 0.06285831] [ 0. 0. 0. 1. ]] SLAMing on 97.294860624 meters Centerline goodness [0,1] 0.6592060080535587 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 0.99667363 -0.07554537 -0.0305708 0.44593622] [ 0.07547478 0.99714171 -0.00345807 0.09749389] [ 0.03074466 0.00113924 0.99952662 0.06253233] [ 0. 0. 0. 1. ]] SLAMing on 97.324860624 meters Centerline goodness [0,1] 0.6505589970137466 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 9.96667304e-01 -7.56235154e-02 -3.05837936e-02 4.45980240e-01] [ 7.55579028e-02 9.97135965e-01 -3.29702998e-03 9.67151843e-02] [ 3.07455335e-02 9.75194681e-04 9.99526769e-01 6.24439476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354860624 meters Centerline goodness [0,1] 0.6547645449841059 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:0.06 [[ 9.96648327e-01 -7.58725819e-02 -3.05853450e-02 4.45726797e-01] [ 7.58063032e-02 9.97117027e-01 -3.32244207e-03 9.60920488e-02] [ 3.07492505e-02 9.92744396e-04 9.99526637e-01 6.27169678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384860624 meters Centerline goodness [0,1] 0.6523332759341713 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96618177e-01 -7.63108427e-02 -3.04772682e-02 4.44976060e-01] [ 7.62494013e-02 9.97083722e-01 -3.17481823e-03 9.41189164e-02] [ 3.06306611e-02 8.40208103e-04 9.99530418e-01 6.32004694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414860624 meters Centerline goodness [0,1] 0.6460707269155206 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96605867e-01 -7.64948464e-02 -3.04185010e-02 4.44730580e-01] [ 7.64372465e-02 9.97069718e-01 -3.05362514e-03 9.32159030e-02] [ 3.05629528e-02 7.18154270e-04 9.99532586e-01 6.32626969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444860624 meters Centerline goodness [0,1] 0.6425523566629064 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96601242e-01 -7.65726783e-02 -3.03741445e-02 4.44594667e-01] [ 7.65228761e-02 9.97063893e-01 -2.80038591e-03 9.19968346e-02] [ 3.04993958e-02 4.66551190e-04 9.99534676e-01 6.32708616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474860624 meters Centerline goodness [0,1] 0.6398357891650173 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96597254e-01 -7.66078860e-02 -3.04161981e-02 4.44725225e-01] [ 7.65681584e-02 9.97061289e-01 -2.47043138e-03 9.07124036e-02] [ 3.05160682e-02 1.33112854e-04 9.99534267e-01 6.30950400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504860624 meters Centerline goodness [0,1] 0.6336912127956174 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96587920e-01 -7.67293876e-02 -3.04157769e-02 4.44535075e-01] [ 7.66915009e-02 9.97051953e-01 -2.41198374e-03 8.98682114e-02] [ 3.05111798e-02 7.11222799e-05 9.99534423e-01 6.33109795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534860624 meters Centerline goodness [0,1] 0.6346473231731145 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96592153e-01 -7.66563321e-02 -3.04612516e-02 4.44427519e-01] [ 7.66240103e-02 9.97057568e-01 -2.22869076e-03 8.85969400e-02] [ 3.05424647e-02 -1.12967534e-04 9.99533464e-01 6.36679125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564860624 meters Centerline goodness [0,1] 0.6452943473591721 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96593929e-01 -7.66033896e-02 -3.05362408e-02 4.44463286e-01] [ 7.65742026e-02 9.97061619e-01 -2.12581046e-03 8.81446674e-02] [ 3.06093580e-02 -2.19718491e-04 9.99531400e-01 6.38512600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594860624 meters Centerline goodness [0,1] 0.627672802633183 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:0.06 [[ 9.96605098e-01 -7.63966210e-02 -3.06893344e-02 4.44880155e-01] [ 7.63728951e-02 9.97077426e-01 -1.94626573e-03 8.77521941e-02] [ 3.07483306e-02 -4.04174971e-04 9.99527077e-01 6.38381263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624860624 meters Centerline goodness [0,1] 0.6243546030199707 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96613599e-01 -7.62405224e-02 -3.08012471e-02 4.45150420e-01] [ 7.62186731e-02 9.97089345e-01 -1.88454945e-03 8.76999510e-02] [ 3.08552743e-02 -4.69462571e-04 9.99523752e-01 6.38977056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654860624 meters Centerline goodness [0,1] 0.6444120505344995 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96629863e-01 -7.59693119e-02 -3.09447899e-02 4.45187726e-01] [ 7.59533923e-02 9.97109935e-01 -1.69129417e-03 8.67052727e-02] [ 3.09838439e-02 -6.64767488e-04 9.99519664e-01 6.44291706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684860624 meters Centerline goodness [0,1] 0.6540984403090229 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96641646e-01 -7.58055186e-02 -3.09669519e-02 4.45338510e-01] [ 7.57967234e-02 9.97122223e-01 -1.45948862e-03 8.60173293e-02] [ 3.09884732e-02 -8.92606349e-04 9.99519343e-01 6.43586808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714860624 meters Centerline goodness [0,1] 0.6437013128837333 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:0.06 [[ 9.96647561e-01 -7.56822231e-02 -3.10779813e-02 4.45568938e-01] [ 7.56758417e-02 9.97131513e-01 -1.38318342e-03 8.55216379e-02] [ 3.10935169e-02 -9.73306014e-04 9.99516006e-01 6.45238575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744860624 meters Centerline goodness [0,1] 0.6399825340222691 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99666311 -0.07538715 -0.0312959 0.44616149] [ 0.0753893 0.99715356 -0.00111282 0.08478286] [ 0.03129071 -0.00125027 0.99950954 0.06446446] [ 0. 0. 0. 1. ]] SLAMing on 97.774860624 meters Centerline goodness [0,1] 0.6482363464932428 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96684275e-01 -7.50759462e-02 -3.13696936e-02 4.46437198e-01] [ 7.50906969e-02 9.97176456e-01 -7.09255140e-04 8.32218243e-02] [ 3.13343679e-02 -1.64866871e-03 9.99507598e-01 6.44529998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804860624 meters Centerline goodness [0,1] 0.6483269216810627 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96694661e-01 -7.48989019e-02 -3.14627883e-02 4.46546774e-01] [ 7.49194445e-02 9.97189450e-01 -5.27112330e-04 8.24538558e-02] [ 3.14138407e-02 -1.83180458e-03 9.99504785e-01 6.46249480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834860624 meters Centerline goodness [0,1] 0.647051707033802 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96702913e-01 -7.47412897e-02 -3.15759807e-02 4.46728896e-01] [ 7.47687487e-02 9.97200851e-01 -3.11883734e-04 8.17357878e-02] [ 3.15109054e-02 -2.05004114e-03 9.99501306e-01 6.47178178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864860624 meters Centerline goodness [0,1] 0.6455635028030157 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96716886e-01 -7.45132633e-02 -3.16736907e-02 4.46971777e-01] [ 7.45486687e-02 9.97217374e-01 -6.32671381e-05 8.09456289e-02] [ 3.15902689e-02 -2.29817205e-03 9.99498261e-01 6.47625939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894860624 meters Centerline goodness [0,1] 0.6466652172862768 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96759206e-01 -7.38114971e-02 -3.19835556e-02 4.47854419e-01] [ 7.38676428e-02 9.97267888e-01 5.75830982e-04 7.94127179e-02] [ 3.18536700e-02 -2.93651469e-03 9.99488229e-01 6.46949568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924860624 meters Centerline goodness [0,1] 0.6422787738577213 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 9.96773871e-01 -7.35321665e-02 -3.21694147e-02 4.48305660e-01] [ 7.35957810e-02 9.97287836e-01 7.96295665e-04 7.87628399e-02] [ 3.20236126e-02 -3.16125991e-03 9.99482113e-01 6.47773431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954860624 meters Centerline goodness [0,1] 0.6448971728555604 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.06 [[ 0.99678594 -0.07330727 -0.03230845 0.44852532] [ 0.07337868 0.99730362 0.00102853 0.07803949] [ 0.03214593 -0.00339597 0.99947742 0.06493861] [ 0. 0. 0. 1. ]] SLAMing on 97.98486062399999 meters Centerline goodness [0,1] 0.6498136795287895 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.07 [[ 0.99679938 -0.07311364 -0.03233266 0.44851734] [ 0.07319171 0.99731712 0.001236 0.07715394] [ 0.03215555 -0.00359852 0.9994764 0.06516892] [ 0. 0. 0. 1. ]] SLAMing on 98.014860624 meters Centerline goodness [0,1] 0.642839998079785 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:0.07 [[ 0.99680607 -0.07299206 -0.03240074 0.44862985] [ 0.07307701 0.99732526 0.00144387 0.07614223] [ 0.03220868 -0.00380701 0.99947392 0.06527329] [ 0. 0. 0. 1. ]] SLAMing on 98.044860624 meters Centerline goodness [0,1] 0.6338734845756813 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.07 [[ 0.99683413 -0.07260348 -0.03241068 0.44888879] [ 0.07271062 0.99735079 0.00213799 0.07395016] [ 0.03216959 -0.00448783 0.99947235 0.06506374] [ 0. 0. 0. 1. ]] SLAMing on 98.074860624 meters Centerline goodness [0,1] 0.6522228071014978 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99684606 -0.0723977 -0.03250402 0.44933291] [ 0.07251729 0.99736399 0.00251392 0.07274364] [ 0.03223633 -0.00486309 0.99946844 0.0648285 ] [ 0. 0. 0. 1. ]] SLAMing on 98.104860624 meters Centerline goodness [0,1] 0.6530485325423971 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99685849 -0.07213127 -0.0327144 0.44990401] [ 0.07226362 0.99738141 0.00287999 0.0714372 ] [ 0.03242099 -0.005235 0.99946059 0.0647745 ] [ 0. 0. 0. 1. ]] SLAMing on 98.134860624 meters Centerline goodness [0,1] 0.6518813676600415 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99686884 -0.07202964 -0.03262287 0.44970876] [ 0.0721792 0.99738579 0.00342885 0.06911432] [ 0.03229061 -0.0057728 0.99946185 0.06475538] [ 0. 0. 0. 1. ]] SLAMing on 98.164860624 meters Centerline goodness [0,1] 0.6597349449189844 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99686843 -0.07204544 -0.03260034 0.44962592] [ 0.07220229 0.9973833 0.00365834 0.06776126] [ 0.03225146 -0.00600071 0.99946177 0.06483566] [ 0. 0. 0. 1. ]] SLAMing on 98.194860624 meters Centerline goodness [0,1] 0.655119231225531 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99687545 -0.07194907 -0.03259863 0.4497558 ] [ 0.07211745 0.99738805 0.00401762 0.06633148] [ 0.03222442 -0.006356 0.99946045 0.06470033] [ 0. 0. 0. 1. ]] SLAMing on 98.224860624 meters Centerline goodness [0,1] 0.655119231225531 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99687545 -0.07194907 -0.03259863 0.4497558 ] [ 0.07211745 0.99738805 0.00401762 0.06633148] [ 0.03222442 -0.006356 0.99946045 0.06470033] [ 0. 0. 0. 1. ]] SLAMing on 98.254860624 meters Centerline goodness [0,1] 0.653467927300301 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:0.06 [[ 0.99687941 -0.07189932 -0.0325872 0.44985398] [ 0.07207738 0.99738968 0.00432114 0.06507866] [ 0.03219145 -0.00665645 0.99945956 0.06456184] [ 0. 0. 0. 1. ]] SLAMing on 98.284860624 meters Centerline goodness [0,1] 0.6406689184401351 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.06 [[ 0.99688355 -0.07184445 -0.03258162 0.44975183] [ 0.07202774 0.99739254 0.00448562 0.06414706] [ 0.0321744 -0.00681842 0.99945901 0.06475082] [ 0. 0. 0. 1. ]] SLAMing on 98.314860624 meters Centerline goodness [0,1] 0.6539115646258503 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99689293 -0.07171235 -0.03258554 0.44960961] [ 0.07190292 0.9974005 0.00471312 0.06307606] [ 0.03216285 -0.00704148 0.99945784 0.06504325] [ 0. 0. 0. 1. ]] SLAMing on 98.344860624 meters Centerline goodness [0,1] 0.6664072999929264 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99688924 -0.07175126 -0.03261297 0.44940022] [ 0.07194287 0.9973975 0.00473881 0.06241004] [ 0.03218808 -0.00707034 0.99945682 0.06542995] [ 0. 0. 0. 1. ]] SLAMing on 98.374860624 meters Centerline goodness [0,1] 0.6574813349348784 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99688562 -0.0717911 -0.0326357 0.44928107] [ 0.07198546 0.99739404 0.0048183 0.0613498 ] [ 0.03220474 -0.00715259 0.9994557 0.06576853] [ 0. 0. 0. 1. ]] SLAMing on 98.404860624 meters Centerline goodness [0,1] 0.6556339684780053 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99688117 -0.07190573 -0.03251926 0.44883213] [ 0.07210347 0.99738488 0.00494794 0.06028921] [ 0.03207843 -0.00727726 0.99945886 0.06602422] [ 0. 0. 0. 1. ]] SLAMing on 98.434860624 meters Centerline goodness [0,1] 0.6442872585420877 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99686688 -0.0721179 -0.03248755 0.44834577] [ 0.07231664 0.99736928 0.00498309 0.0592553 ] [ 0.03204271 -0.00731687 0.99945972 0.06655497] [ 0. 0. 0. 1. ]] SLAMing on 98.464860624 meters Centerline goodness [0,1] 0.6522633744855967 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99685292 -0.0723231 -0.03245948 0.44796605] [ 0.072528 0.99735293 0.00517848 0.05732215] [ 0.03199903 -0.0075164 0.99945964 0.0669621 ] [ 0. 0. 0. 1. ]] SLAMing on 98.494860624 meters Centerline goodness [0,1] 0.6561199195547449 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99684254 -0.07245919 -0.03247486 0.44781305] [ 0.07266614 0.99734257 0.00523678 0.0562637 ] [ 0.03200911 -0.00758007 0.99945883 0.06721589] [ 0. 0. 0. 1. ]] SLAMing on 98.524860624 meters Centerline goodness [0,1] 0.6567811428971113 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99683532 -0.07257969 -0.03242725 0.44776909] [ 0.07279524 0.99733166 0.00551515 0.05473328] [ 0.03194044 -0.00785825 0.99945888 0.06710435] [ 0. 0. 0. 1. ]] SLAMing on 98.554860624 meters Centerline goodness [0,1] 0.6513850865389077 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99682466 -0.07271991 -0.03244075 0.44779659] [ 0.07294373 0.99731938 0.00576841 0.05291247] [ 0.03193431 -0.00811644 0.99945701 0.06709727] [ 0. 0. 0. 1. ]] SLAMing on 98.584860624 meters Centerline goodness [0,1] 0.6446729835914028 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99678296 -0.07335715 -0.03228726 0.44700544] [ 0.0735865 0.99727096 0.00597177 0.05004773] [ 0.03176107 -0.00832846 0.99946079 0.06747143] [ 0. 0. 0. 1. ]] SLAMing on 98.614860624 meters Centerline goodness [0,1] 0.6128041741700143 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99676888 -0.0736095 -0.03214723 0.44648192] [ 0.07384416 0.99725069 0.00617279 0.04855291] [ 0.03160447 -0.00852673 0.99946408 0.06769454] [ 0. 0. 0. 1. ]] SLAMing on 98.644860624 meters Centerline goodness [0,1] 0.6598648866754283 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99676099 -0.07375259 -0.03206362 0.44604724] [ 0.07399216 0.99723861 0.00634882 0.04707141] [ 0.03150684 -0.00870071 0.99946567 0.06803197] [ 0. 0. 0. 1. ]] SLAMing on 98.674860624 meters Centerline goodness [0,1] 0.6396630687441025 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.9967562 -0.07386072 -0.03196373 0.44583618] [ 0.07410644 0.99722869 0.00657086 0.04560468] [ 0.03138983 -0.00891826 0.99946743 0.06804664] [ 0. 0. 0. 1. ]] SLAMing on 98.704860624 meters Centerline goodness [0,1] 0.6393408714837286 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99676093 -0.07378235 -0.0319972 0.44588073] [ 0.0740398 0.99723117 0.00693562 0.04396548] [ 0.03139688 -0.00928222 0.99946389 0.06812709] [ 0. 0. 0. 1. ]] SLAMing on 98.73486062399999 meters Centerline goodness [0,1] 0.6486015988272213 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99675273 -0.0739315 -0.0319082 0.44570614] [ 0.07419447 0.99721826 0.00713609 0.04255848] [ 0.03129186 -0.00948033 0.99946533 0.06811745] [ 0. 0. 0. 1. ]] SLAMing on 98.764860624 meters Centerline goodness [0,1] 0.6407372767297033 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99673281 -0.07423268 -0.03183111 0.44533222] [ 0.07450775 0.99719191 0.00754282 0.03982723] [ 0.0311818 -0.00988984 0.9994648 0.06831866] [ 0. 0. 0. 1. ]] SLAMing on 98.794860624 meters Centerline goodness [0,1] 0.6406952965235173 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.9967235 -0.07438463 -0.03176777 0.4450538 ] [ 0.07466382 0.99717909 0.0076929 0.03864664] [ 0.03110592 -0.0100396 0.99946567 0.06848791] [ 0. 0. 0. 1. ]] SLAMing on 98.824860624 meters Centerline goodness [0,1] 0.6390820268120881 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.9967153 -0.07454012 -0.03166054 0.44468069] [ 0.07482505 0.9971653 0.00791056 0.03732941] [ 0.03098114 -0.01025358 0.99946737 0.06859951] [ 0. 0. 0. 1. ]] SLAMing on 98.854860624 meters Centerline goodness [0,1] 0.5746344780686841 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99667851 -0.07509775 -0.03150057 0.44391638] [ 0.07538411 0.99712246 0.0080021 0.03425523] [ 0.03080898 -0.01035017 0.9994717 0.06917433] [ 0. 0. 0. 1. ]] SLAMing on 98.884860624 meters Centerline goodness [0,1] 0.6542701283415198 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99666974 -0.07523043 -0.03146123 0.4437442 ] [ 0.07552131 0.9971108 0.00816043 0.03289117] [ 0.03075642 -0.01050925 0.99947166 0.06929879] [ 0. 0. 0. 1. ]] SLAMing on 98.914860624 meters Centerline goodness [0,1] 0.6473737716028465 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99666263 -0.07532833 -0.0314523 0.44364947] [ 0.07562345 0.99710191 0.00829961 0.03192954] [ 0.03073596 -0.01065044 0.99947079 0.06938709] [ 0. 0. 0. 1. ]] SLAMing on 98.944860624 meters Centerline goodness [0,1] 0.5640840298170319 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99665943 -0.07539396 -0.03139622 0.44345952] [ 0.07569115 0.99709605 0.0083858 0.03115744] [ 0.03067281 -0.01073421 0.99947184 0.06953104] [ 0. 0. 0. 1. ]] SLAMing on 98.974860624 meters Centerline goodness [0,1] 0.6485390524679537 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99665796 -0.07541012 -0.03140425 0.44351098] [ 0.0757116 0.99709334 0.00852257 0.03038596] [ 0.03067028 -0.01087175 0.99947043 0.06951369] [ 0. 0. 0. 1. ]] SLAMing on 99.004860624 meters Centerline goodness [0,1] 0.6451496817435505 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99666961 -0.07524355 -0.03143401 0.44363036] [ 0.07556012 0.99710058 0.00900583 0.02834857] [ 0.03066523 -0.01135099 0.99946526 0.06949196] [ 0. 0. 0. 1. ]] SLAMing on 99.034860624 meters Centerline goodness [0,1] 0.6401986784735021 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99666934 -0.07520385 -0.03153737 0.44369226] [ 0.07552668 0.9971016 0.00917129 0.02746678] [ 0.03075625 -0.01152266 0.9994605 0.06969864] [ 0. 0. 0. 1. ]] SLAMing on 99.064860624 meters Centerline goodness [0,1] 0.6387648392091739 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99667061 -0.0751836 -0.03154541 0.44375823] [ 0.07551164 0.99710119 0.00933834 0.02674004] [ 0.03075187 -0.01168929 0.99945869 0.06964897] [ 0. 0. 0. 1. ]] SLAMing on 99.094860624 meters Centerline goodness [0,1] 0.6429051631409107 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99667226 -0.07516195 -0.03154484 0.4439442 ] [ 0.07549721 0.99710006 0.00957317 0.02590982] [ 0.03073383 -0.01192286 0.99945649 0.06943673] [ 0. 0. 0. 1. ]] SLAMing on 99.124860624 meters Centerline goodness [0,1] 0.6340218875187431 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99666219 -0.07530622 -0.03151899 0.44371593] [ 0.07565033 0.99708556 0.00986959 0.02377802] [ 0.03068389 -0.01222107 0.99945442 0.0696337 ] [ 0. 0. 0. 1. ]] SLAMing on 99.154860624 meters Centerline goodness [0,1] 0.6489549569688164 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99665247 -0.07545899 -0.03146106 0.44342481] [ 0.07580556 0.99707276 0.00997111 0.02279294] [ 0.03061656 -0.01232266 0.99945524 0.069853 ] [ 0. 0. 0. 1. ]] SLAMing on 99.184860624 meters Centerline goodness [0,1] 0.6297122462636627 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99663689 -0.075675 -0.03143563 0.44308355] [ 0.07602146 0.99705629 0.00997458 0.02189231] [ 0.03058827 -0.01233081 0.99945601 0.07022211] [ 0. 0. 0. 1. ]] SLAMing on 99.214860624 meters Centerline goodness [0,1] 0.6248162174203609 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99662827 -0.07577915 -0.03145825 0.44295992] [ 0.0761304 0.99704651 0.0101205 0.02071151] [ 0.03059842 -0.0124813 0.99945383 0.07047463] [ 0. 0. 0. 1. ]] SLAMing on 99.244860624 meters Centerline goodness [0,1] 0.6242105028232197 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99661845 -0.07592238 -0.03142389 0.44263699] [ 0.07627595 0.99703448 0.01020859 0.01964485] [ 0.03055564 -0.01257096 0.99945401 0.07084197] [ 0. 0. 0. 1. ]] SLAMing on 99.274860624 meters Centerline goodness [0,1] 0.6437466642946095 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99659545 -0.07627566 -0.03129733 0.44184963] [ 0.07662991 0.99700663 0.01027818 0.01800574] [ 0.03041967 -0.0126415 0.99945727 0.07148638] [ 0. 0. 0. 1. ]] SLAMing on 99.304860624 meters Centerline goodness [0,1] 0.6481110666132692 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99659411 -0.07628714 -0.03131218 0.44174854] [ 0.07664372 0.99700484 0.01034831 0.01730414] [ 0.03042895 -0.01271295 0.99945608 0.07174354] [ 0. 0. 0. 1. ]] SLAMing on 99.334860624 meters Centerline goodness [0,1] 0.6494458387935056 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99659468 -0.07624212 -0.03140352 0.44202013] [ 0.07660397 0.99700648 0.01048357 0.01657848] [ 0.03051023 -0.0128535 0.99945181 0.07169775] [ 0. 0. 0. 1. ]] SLAMing on 99.364860624 meters Centerline goodness [0,1] 0.6475054952374608 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.07 [[ 0.99659811 -0.07616456 -0.03148287 0.44226852] [ 0.07653373 0.99700968 0.01069051 0.01565891] [ 0.03057449 -0.01306365 0.99944712 0.07163369] [ 0. 0. 0. 1. ]] SLAMing on 99.394860624 meters Centerline goodness [0,1] 0.6431206934874416 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99660836 -0.07598757 -0.0315857 0.4426226 ] [ 0.07636625 0.99701961 0.01095882 0.01472209] [ 0.03065883 -0.01333374 0.99944097 0.07153274] [ 0. 0. 0. 1. ]] SLAMing on 99.424860624 meters Centerline goodness [0,1] 0.6456369885796651 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99662484 -0.0757199 -0.03170835 0.44284311] [ 0.0761112 0.99703508 0.01131925 0.01342563] [ 0.03075725 -0.01369441 0.99943307 0.07171729] [ 0. 0. 0. 1. ]] SLAMing on 99.454860624 meters Centerline goodness [0,1] 0.643879314164193 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99662461 -0.07571332 -0.03173142 0.44272022] [ 0.07610491 0.99703558 0.01131826 0.01318899] [ 0.03078041 -0.01369497 0.99943235 0.0719723 ] [ 0. 0. 0. 1. ]] SLAMing on 99.48486062399999 meters Centerline goodness [0,1] 0.6444016128317605 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99662905 -0.07564 -0.03176681 0.44273864] [ 0.0760334 0.99704053 0.01136265 0.01286789] [ 0.03081333 -0.01373969 0.99943072 0.07214677] [ 0. 0. 0. 1. ]] SLAMing on 99.514860624 meters Centerline goodness [0,1] 0.6400990208430033 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99665548 -0.07526842 -0.03182008 0.4428922 ] [ 0.0756734 0.99706379 0.01171883 0.01188303] [ 0.03084459 -0.01408757 0.99942491 0.07223286] [ 0. 0. 0. 1. ]] SLAMing on 99.544860624 meters Centerline goodness [0,1] 0.6387967263879673 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99666868 -0.07505252 -0.03191639 0.44327006] [ 0.07546303 0.99707811 0.0118566 0.0116101 ] [ 0.03093326 -0.01422561 0.99942021 0.07210668] [ 0. 0. 0. 1. ]] SLAMing on 99.574860624 meters Centerline goodness [0,1] 0.6401759660447431 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99667679 -0.07489984 -0.0320218 0.4437256 ] [ 0.07531684 0.99708722 0.01201892 0.0111509 ] [ 0.03102832 -0.01439076 0.9994149 0.07184823] [ 0. 0. 0. 1. ]] SLAMing on 99.604860624 meters Centerline goodness [0,1] 0.6363253919050571 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99668542 -0.07474967 -0.03210404 0.44400027] [ 0.0751719 0.99709656 0.01215092 0.01080107] [ 0.03110255 -0.01452396 0.99941067 0.07177164] [ 0. 0. 0. 1. ]] SLAMing on 99.634860624 meters Centerline goodness [0,1] 0.6363394873157127 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99669349 -0.07460858 -0.03218145 0.44440879] [ 0.07503756 0.99710444 0.01233301 0.01044948] [ 0.03116811 -0.01470705 0.99940595 0.07148418] [ 0. 0. 0. 1. ]] SLAMing on 99.664860624 meters Centerline goodness [0,1] 0.6336609554168326 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99669462 -0.07455893 -0.03226155 0.44462279] [ 0.07498854 0.99710833 0.01231642 0.01026889] [ 0.03124996 -0.01469496 0.99940357 0.0715239 ] [ 0. 0. 0. 1. ]] SLAMing on 99.694860624 meters Centerline goodness [0,1] 0.6314495225857906 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99669555 -0.07451378 -0.03233696 0.44474278] [ 0.07494535 0.99711124 0.01234387 0.01004512] [ 0.03132376 -0.01472658 0.9994008 0.07161751] [ 0. 0. 0. 1. ]] SLAMing on 99.724860624 meters Centerline goodness [0,1] 0.6247761392027239 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99669137 -0.07455829 -0.03236322 0.44468754] [ 0.07498763 0.9971091 0.01226001 0.00995039] [ 0.03135558 -0.01464628 0.99940098 0.07182123] [ 0. 0. 0. 1. ]] SLAMing on 99.754860624 meters Centerline goodness [0,1] 0.6544923301680059 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99668655 -0.07461112 -0.03238991 0.44465436] [ 0.07504068 0.99710518 0.01225388 0.00963953] [ 0.03138188 -0.01464384 0.99940019 0.07195045] [ 0. 0. 0. 1. ]] SLAMing on 99.784860624 meters Centerline goodness [0,1] 0.6408416604305146 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99667422 -0.0747702 -0.03240245 0.4446703 ] [ 0.07520008 0.99709314 0.01225604 0.00903928] [ 0.03139187 -0.01465195 0.99939976 0.07195952] [ 0. 0. 0. 1. ]] SLAMing on 99.814860624 meters Centerline goodness [0,1] 0.6138990166832394 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.9966459 -0.07518801 -0.03230647 0.44418774] [ 0.07561479 0.99706251 0.01219647 0.00796328] [ 0.03129454 -0.01459841 0.99940359 0.07228581] [ 0. 0. 0. 1. ]] SLAMing on 99.844860624 meters Centerline goodness [0,1] 0.6534393286960363 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.996632 -0.07539269 -0.03225837 0.44386999] [ 0.07581843 0.99704721 0.01218284 0.00746012] [ 0.03124462 -0.01458759 0.99940531 0.07255944] [ 0. 0. 0. 1. ]] SLAMing on 99.874860624 meters Centerline goodness [0,1] 0.6494738467647643 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.9966123 -0.075657 -0.03224824 0.44361807] [ 0.07608099 0.99702788 0.01212831 0.00690816] [ 0.0312348 -0.0145407 0.9994063 0.07281179] [ 0. 0. 0. 1. ]] SLAMing on 99.904860624 meters Centerline goodness [0,1] 0.6508776572285437 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99659547 -0.07589795 -0.03220207 0.44343343] [ 0.07632399 0.99700828 0.01221233 0.00585744] [ 0.03117884 -0.01462854 0.99940677 0.07290652] [ 0. 0. 0. 1. ]] SLAMing on 99.934860624 meters Centerline goodness [0,1] 0.6452580502867226 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99657235 -0.07625141 -0.03208218 0.44299489] [ 0.07667704 0.99698072 0.01225071 0.00470026] [ 0.03105118 -0.01466869 0.99941015 0.07308231] [ 0. 0. 0. 1. ]] SLAMing on 99.964860624 meters Centerline goodness [0,1] 0.6434612596384086 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99641371 -0.07842022 -0.03178039 0.44245161] [ 0.07877682 0.99684084 0.01012664 0.00373304] [ 0.03088585 -0.01259388 0.99944357 0.07367242] [ 0. 0. 0. 1. ]] SLAMing on 99.994860624 meters Centerline goodness [0,1] 0.6412816855042247 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99639514 -0.07871373 -0.03163654 0.4419682 ] [ 0.07906817 0.99681793 0.01011109 0.00306773] [ 0.03073999 -0.01257609 0.9994483 0.07390118] [ 0. 0. 0. 1. ]] SLAMing on 100.024860624 meters Centerline goodness [0,1] 0.639615308609446 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99637376 -0.07898753 -0.03162751 0.44181242] [ 0.07934003 0.99679697 0.01004823 0.00271767] [ 0.03073252 -0.01252112 0.99944922 0.07400828] [ 0. 0. 0. 1. ]] SLAMing on 100.054860624 meters Centerline goodness [0,1] 0.6368011603375527 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99636078 -0.07918076 -0.03155323 0.44155621] [ 0.07953023 0.99678253 0.00997667 0.00232199] [ 0.03066175 -0.01244979 0.99945228 0.07413709] [ 0. 0. 0. 1. ]] SLAMing on 100.084860624 meters Centerline goodness [0,1] 0.6321276502348449 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99636558 -0.07912359 -0.03154508 0.44151747] [ 0.07947675 0.99678554 0.0101016 0.00169981] [ 0.03064441 -0.01257199 0.99945128 0.07422551] [ 0. 0. 0. 1. ]] SLAMing on 100.114860624 meters Centerline goodness [0,1] 0.6321276502348449 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99636558 -0.07912359 -0.03154508 0.44151747] [ 0.07947675 0.99678554 0.0101016 0.00169981] [ 0.03064441 -0.01257199 0.99945128 0.07422551] [ 0. 0. 0. 1. ]] SLAMing on 100.144860624 meters Centerline goodness [0,1] 0.6277608069797596 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.9963729 -0.07901717 -0.03158071 0.44158417] [ 0.07937018 0.99679421 0.01008346 0.00187833] [ 0.0306827 -0.01255345 0.99945034 0.07428243] [ 0. 0. 0. 1. ]] SLAMing on 100.174860624 meters Centerline goodness [0,1] 0.6499296826931529 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99637298 -0.07898101 -0.03166846 0.44160929] [ 0.07933344 0.99679768 0.01002919 0.00213632] [ 0.03077493 -0.01250518 0.99944811 0.07449185] [ 0. 0. 0. 1. ]] SLAMing on 100.204860624 meters Centerline goodness [0,1] 0.6251482018179423 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99637436 -0.07892622 -0.03176133 0.44177394] [ 0.07927727 0.99680297 0.00994731 0.00236003] [ 0.03087468 -0.0124292 0.99944598 0.07460895] [ 0. 0. 0. 1. ]] SLAMing on 100.23486062399999 meters Centerline goodness [0,1] 0.6498604978140996 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99637318 -0.0789106 -0.03183725 0.4417655 ] [ 0.07925994 0.99680519 0.00986231 0.00257209] [ 0.03095729 -0.01234996 0.99944441 0.0748847 ] [ 0. 0. 0. 1. ]] SLAMing on 100.264860624 meters Centerline goodness [0,1] 0.6519574514749424 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.9963654 -0.07900262 -0.03185255 0.44178874] [ 0.07934959 0.99679889 0.00977801 0.00268163] [ 0.0309781 -0.01226995 0.99944475 0.07490038] [ 0. 0. 0. 1. ]] SLAMing on 100.294860624 meters Centerline goodness [0,1] 0.6450917411008932 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99636181 -0.07904084 -0.03186991 0.44191539] [ 0.07939269 0.99679397 0.00992842 0.00194192] [ 0.03098299 -0.01242254 0.99944271 0.07476487] [ 0. 0. 0. 1. ]] SLAMing on 100.324860624 meters Centerline goodness [0,1] 0.6430059882866481 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99635549 -0.07913638 -0.03183026 0.44184972] [ 0.07948812 0.99678626 0.00993928 0.00149823] [ 0.03094141 -0.01243318 0.99944387 0.07473694] [ 0. 0. 0. 1. ]] SLAMing on 100.354860624 meters Centerline goodness [0,1] 0.6246625847652907 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.07 [[ 0.99634929 -0.07923327 -0.03178335 0.44172434] [ 0.07958387 0.99677882 0.00991977 0.0010115 ] [ 0.03089499 -0.012413 0.99944555 0.07483156] [ 0. 0. 0. 1. ]] SLAMing on 100.384860624 meters Centerline goodness [0,1] 0.6421569702418807 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 9.96335151e-01 -7.94234229e-02 -3.17519603e-02 4.41536238e-01] [ 7.97695274e-02 9.96765313e-01 9.78431466e-03 8.31821367e-04] [ 3.08721489e-02 -1.22812955e-02 9.99447888e-01 7.50201905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414860624 meters Centerline goodness [0,1] 0.6296393730132632 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 9.96323511e-01 -7.95802935e-02 -3.17244079e-02 4.41132704e-01] [ 7.99227993e-02 9.96754088e-01 9.67649858e-03 9.30867433e-04] [ 3.08513746e-02 -1.21764265e-02 9.99449812e-01 7.54628486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444860624 meters Centerline goodness [0,1] 0.6284999011792608 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 0.99631512 -0.07966912 -0.03176489 0.44111416] [ 0.08001027 0.99674766 0.00961556 0.00102443] [ 0.03089552 -0.01212164 0.99944911 0.07558866] [ 0. 0. 0. 1. ]] SLAMing on 100.474860624 meters Centerline goodness [0,1] 0.6253720238095238 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 9.96317335e-01 -7.96302860e-02 -3.17928601e-02 4.41348553e-01] [ 7.99737482e-02 9.96749970e-01 9.67973750e-03 6.55858090e-04] [ 3.09187321e-02 -1.21866845e-02 9.99447606e-01 7.54594535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504860624 meters Centerline goodness [0,1] 0.6236919304698104 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 9.96320435e-01 -7.95490871e-02 -3.18988013e-02 4.41763940e-01] [ 7.98986720e-02 9.96754456e-01 9.83649875e-03 1.57948928e-04] [ 3.10127879e-02 -1.23489766e-02 9.99442700e-01 7.52271991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534860624 meters Centerline goodness [0,1] 0.5767466247214577 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.07 [[ 9.96327304e-01 -7.94250493e-02 -3.19932039e-02 4.42236538e-01] [ 7.97836881e-02 9.96761115e-01 1.00917104e-02 -6.42327907e-04] [ 3.10880470e-02 -1.26071824e-02 9.99437138e-01 7.49113763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564860624 meters Centerline goodness [0,1] 0.6191903719912473 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.07 [[ 0.99632688 -0.0794249 -0.03200676 0.44237996] [ 0.07978726 0.99675967 0.0102059 -0.00107994] [ 0.03109244 -0.01272215 0.99943554 0.07476849] [ 0. 0. 0. 1. ]] SLAMing on 100.59486062399999 meters Centerline goodness [0,1] 0.6145171885263849 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 0.99632421 -0.07942216 -0.03209657 0.44238853] [ 0.07978618 0.99675958 0.01022228 -0.00136448] [ 0.03118068 -0.01274557 0.9994325 0.07503145] [ 0. 0. 0. 1. ]] SLAMing on 100.624860624 meters Centerline goodness [0,1] 0.6138091169963418 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 0.99632558 -0.07937857 -0.03216174 0.4424225 ] [ 0.0797406 0.99676415 0.01013287 -0.00103491] [ 0.03125334 -0.01266024 0.99943131 0.07523446] [ 0. 0. 0. 1. ]] SLAMing on 100.654860624 meters Centerline goodness [0,1] 0.6116173120728929 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96328498e-01 -7.93107587e-02 -3.22386010e-02 4.42601434e-01] [ 7.96724839e-02 9.96769998e-01 1.00929143e-02 -8.65775659e-04] [ 3.13339935e-02 -1.26243875e-02 9.99429240e-01 7.52697373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684860624 meters Centerline goodness [0,1] 0.6091966589408317 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96320035e-01 -7.93810889e-02 -3.23269265e-02 4.42479615e-01] [ 7.97392644e-02 9.96766159e-01 9.94352277e-03 -7.93463215e-04] [ 3.14330587e-02 -1.24846563e-02 9.99427884e-01 7.57139332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714860624 meters Centerline goodness [0,1] 0.6057883577065163 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96307436e-01 -7.95319409e-02 -3.23444567e-02 4.42185327e-01] [ 7.98810973e-02 9.96757708e-01 9.64790293e-03 -5.36370442e-04] [ 3.14722701e-02 -1.21959881e-02 9.99430215e-01 7.62321938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744860624 meters Centerline goodness [0,1] 0.646391662287616 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96299969e-01 -7.96110700e-02 -3.23797644e-02 4.41971803e-01] [ 7.99545361e-02 9.96753691e-01 9.45263089e-03 -3.67814491e-04] [ 3.15221156e-02 -1.20065649e-02 9.99430937e-01 7.66926325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774860624 meters Centerline goodness [0,1] 0.6492012918994414 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96280769e-01 -7.98975776e-02 -3.22646266e-02 4.41506455e-01] [ 8.02337195e-02 9.96733070e-01 9.25949248e-03 -3.14114117e-04] [ 3.14194093e-02 -1.18137653e-02 9.99436469e-01 7.69912962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804860624 meters Centerline goodness [0,1] 0.596639758482641 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96263728e-01 -8.01481271e-02 -3.21692835e-02 4.41159332e-01] [ 8.04770946e-02 9.96715255e-01 9.06297335e-03 -2.38903733e-04] [ 3.13372352e-02 -1.16180021e-02 9.99441344e-01 7.71783481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834860624 meters Centerline goodness [0,1] 0.590575664017167 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96239619e-01 -8.05093282e-02 -3.20135744e-02 4.40816671e-01] [ 8.08331361e-02 9.96687461e-01 8.95041765e-03 -5.84397552e-04] [ 3.11869360e-02 -1.15045183e-02 9.99447358e-01 7.71611683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864860624 meters Centerline goodness [0,1] 0.6393284741830281 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96229919e-01 -8.06645992e-02 -3.19244682e-02 4.40781241e-01] [ 8.09884016e-02 9.96674581e-01 8.98098297e-03 -9.12611477e-04] [ 3.10938586e-02 -1.15326356e-02 9.99449934e-01 7.69307837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894860624 meters Centerline goodness [0,1] 0.6377036632039366 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 0.9962074 -0.08096662 -0.03186262 0.44052397] [ 0.08128432 0.99665208 0.00880314 -0.00101369] [ 0.03104319 -0.01135969 0.99945349 0.07710972] [ 0. 0. 0. 1. ]] SLAMing on 100.924860624 meters Centerline goodness [0,1] 0.6215299062965234 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 0.99618824 -0.08123092 -0.03178895 0.44030942] [ 0.08154487 0.99663165 0.00870532 -0.00114934] [ 0.03097473 -0.01126437 0.99945669 0.07713914] [ 0. 0. 0. 1. ]] SLAMing on 100.954860624 meters Centerline goodness [0,1] 0.6231998421779443 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96169562e-01 -8.14923612e-02 -3.17048624e-02 4.40031957e-01] [ 8.17998799e-02 9.96612320e-01 8.52422426e-03 -9.40823405e-04] [ 3.09027973e-02 -1.10850267e-02 9.99460924e-01 7.72489356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98486062399999 meters Centerline goodness [0,1] 0.6170832056725172 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.08 [[ 9.96139693e-01 -8.18764943e-02 -3.16536103e-02 4.39777500e-01] [ 8.21728901e-02 9.96584544e-01 8.17691018e-03 -4.05104202e-04] [ 3.08760020e-02 -1.07464134e-02 9.99465451e-01 7.74084999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014860624 meters Centerline goodness [0,1] 0.6283795646067416 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 0.99609452 -0.08249799 -0.03146083 0.4387969 ] [ 0.08277016 0.99654084 0.00744685 0.00108929] [ 0.03073765 -0.01002178 0.99947724 0.07811514] [ 0. 0. 0. 1. ]] SLAMing on 101.044860624 meters Centerline goodness [0,1] 0.6376970467650347 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 0.99607764 -0.08272113 -0.03140948 0.43858632] [ 0.0829836 0.9965253 0.00714449 0.00154917] [ 0.03070934 -0.00972294 0.99948107 0.0783059 ] [ 0. 0. 0. 1. ]] SLAMing on 101.074860624 meters Centerline goodness [0,1] 0.6364813270724536 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 0.99606062 -0.0829844 -0.03125445 0.43809851] [ 0.08323444 0.9965069 0.00678381 0.00218316] [ 0.03058233 -0.00935854 0.99948844 0.0785415 ] [ 0. 0. 0. 1. ]] SLAMing on 101.104860624 meters Centerline goodness [0,1] 0.6379325487440717 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.08 [[ 0.99604879 -0.08314345 -0.0312085 0.43783645] [ 0.08338272 0.99649677 0.00644321 0.00302285] [ 0.03056346 -0.00902 0.99949213 0.07879352] [ 0. 0. 0. 1. ]] SLAMing on 101.134860624 meters Centerline goodness [0,1] 0.6221084774060324 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99603721 -0.08330253 -0.03115385 0.43759711] [ 0.0835223 0.99648892 0.00581857 0.00503068] [ 0.03055976 -0.00839755 0.99949766 0.07902998] [ 0. 0. 0. 1. ]] SLAMing on 101.164860624 meters Centerline goodness [0,1] 0.6388974573657075 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99603058 -0.08338862 -0.03113558 0.43752137] [ 0.08359879 0.99648427 0.00550848 0.00615313] [ 0.03056677 -0.00808951 0.99949999 0.07912879] [ 0. 0. 0. 1. ]] SLAMing on 101.194860624 meters Centerline goodness [0,1] 0.6413134380914653 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99602257 -0.08343924 -0.03125601 0.43778983] [ 0.08364212 0.99648209 0.00523862 0.00723489] [ 0.03070895 -0.0078321 0.99949768 0.07910527] [ 0. 0. 0. 1. ]] SLAMing on 101.224860624 meters Centerline goodness [0,1] 0.6334804678878835 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99602584 -0.08336016 -0.03136251 0.43814348] [ 0.083559 0.99648988 0.0050814 0.00830146] [ 0.03082884 -0.00768183 0.99949516 0.07893283] [ 0. 0. 0. 1. ]] SLAMing on 101.254860624 meters Centerline goodness [0,1] 0.6417594064652888 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99603812 -0.08315128 -0.03152666 0.438663 ] [ 0.08334026 0.99650994 0.00472611 0.01008763] [ 0.03102365 -0.00733482 0.99949174 0.07883195] [ 0. 0. 0. 1. ]] SLAMing on 101.284860624 meters Centerline goodness [0,1] 0.63798010103907 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.9960398 -0.08311096 -0.0315799 0.43888073] [ 0.08329147 0.99651533 0.00444195 0.0112172 ] [ 0.03110068 -0.00705469 0.99949136 0.07878419] [ 0. 0. 0. 1. ]] SLAMing on 101.314860624 meters Centerline goodness [0,1] 0.6487072302213965 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99604508 -0.08302359 -0.03164315 0.43909769] [ 0.08319592 0.9965245 0.0041669 0.01246767] [ 0.03118722 -0.006783 0.99949054 0.07877059] [ 0. 0. 0. 1. ]] SLAMing on 101.34486062399999 meters Centerline goodness [0,1] 0.6472552010789061 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.08 [[ 0.99604421 -0.08297675 -0.03179294 0.43945488] [ 0.08313906 0.99653065 0.0038154 0.01403198] [ 0.03136605 -0.00644354 0.99948719 0.07876479] [ 0. 0. 0. 1. ]] SLAMing on 101.374860624 meters Centerline goodness [0,1] 0.6322443746960789 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99604908 -0.08289763 -0.03184674 0.4396361 ] [ 0.08305249 0.99653878 0.00356886 0.01518624] [ 0.03144066 -0.00619971 0.99948639 0.07875561] [ 0. 0. 0. 1. ]] SLAMing on 101.404860624 meters Centerline goodness [0,1] 0.6477617224668628 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99605211 -0.08283933 -0.03190352 0.43986216] [ 0.08298618 0.99654522 0.00330442 0.01636027] [ 0.03151956 -0.00593892 0.99948549 0.07871583] [ 0. 0. 0. 1. ]] SLAMing on 101.434860624 meters Centerline goodness [0,1] 0.648293439716312 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99606163 -0.08274055 -0.03186275 0.4398496 ] [ 0.0828735 0.99655593 0.00287267 0.01821223] [ 0.03151532 -0.00550194 0.99948813 0.07876548] [ 0. 0. 0. 1. ]] SLAMing on 101.464860624 meters Centerline goodness [0,1] 0.6491450144348212 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99605394 -0.08282467 -0.03188449 0.43975607] [ 0.08294855 0.99655049 0.0025802 0.01914215] [ 0.0315608 -0.00521479 0.99948823 0.07896652] [ 0. 0. 0. 1. ]] SLAMing on 101.494860624 meters Centerline goodness [0,1] 0.6426879220635449 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99605258 -0.08281255 -0.03195837 0.43995791] [ 0.08293109 0.9965524 0.00239947 0.01990662] [ 0.03164949 -0.00504034 0.99948632 0.07894318] [ 0. 0. 0. 1. ]] SLAMing on 101.524860624 meters Centerline goodness [0,1] 0.6467446704782165 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99605515 -0.08278509 -0.03194943 0.44016774] [ 0.08289273 0.99655635 0.00205692 0.02157292] [ 0.03166913 -0.00469718 0.99948737 0.07875883] [ 0. 0. 0. 1. ]] SLAMing on 101.554860624 meters Centerline goodness [0,1] 0.6541102740182678 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99605272 -0.08281416 -0.03194991 0.44018093] [ 0.08291529 0.99655488 0.00185099 0.02252911] [ 0.03168655 -0.00449282 0.99948776 0.07874087] [ 0. 0. 0. 1. ]] SLAMing on 101.584860624 meters Centerline goodness [0,1] 0.6511596877849185 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99604438 -0.08293405 -0.03189899 0.43989004] [ 0.08302832 0.99654584 0.00163967 0.02331002] [ 0.03165282 -0.0042817 0.99948975 0.0789392 ] [ 0. 0. 0. 1. ]] SLAMing on 101.614860624 meters Centerline goodness [0,1] 0.6415002110782767 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.9960308 -0.08312711 -0.03182023 0.43955006] [ 0.08321224 0.99653092 0.00135792 0.02396547] [ 0.03159696 -0.00400036 0.99949269 0.07919878] [ 0. 0. 0. 1. ]] SLAMing on 101.644860624 meters Centerline goodness [0,1] 0.6408411609264317 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99602378 -0.08325626 -0.03170201 0.43933699] [ 0.08333785 0.99652056 0.00125897 0.02425797] [ 0.03148688 -0.00389594 0.99949657 0.07915658] [ 0. 0. 0. 1. ]] SLAMing on 101.674860624 meters Centerline goodness [0,1] 0.6457731133543825 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.08 [[ 0.99601566 -0.08335931 -0.03168631 0.43936897] [ 0.08343959 0.99651209 0.00121745 0.024363 ] [ 0.03147431 -0.00385649 0.99949712 0.07906128] [ 0. 0. 0. 1. ]] SLAMing on 101.704860624 meters Centerline goodness [0,1] 0.6407633112406032 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 9.95990952e-01 -8.37163420e-02 -3.15213806e-02 4.39189210e-01] [ 8.37829693e-02 9.96483708e-01 7.96555190e-04 2.59749275e-02] [ 3.13438575e-02 -3.43431662e-03 9.99502760e-01 7.87498204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73486062399999 meters Centerline goodness [0,1] 0.6466614647196522 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 9.95985891e-01 -8.37526804e-02 -3.15846899e-02 4.39429957e-01] [ 8.38129805e-02 9.96481329e-01 5.87749004e-04 2.70833504e-02] [ 3.14243282e-02 -3.23259671e-03 9.99500906e-01 7.86241380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764860624 meters Centerline goodness [0,1] 0.6523171437474959 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 9.95972300e-01 -8.38777031e-02 -3.16813556e-02 4.39626543e-01] [ 8.39228419e-02 9.96472251e-01 9.53951908e-05 2.87687026e-02] [ 3.15615902e-02 -2.75380036e-03 9.99498015e-01 7.87208991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794860624 meters Centerline goodness [0,1] 0.6414176356372888 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 9.95959962e-01 -8.39649027e-02 -3.18378601e-02 4.39887733e-01] [ 8.39950779e-02 9.96466093e-01 -3.90855365e-04 3.04473890e-02] [ 3.17581662e-02 -2.28494724e-03 9.99492970e-01 7.88802305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824860624 meters Centerline goodness [0,1] 0.6505363100969612 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 9.95972813e-01 -8.38153317e-02 -3.18299525e-02 4.39895000e-01] [ 8.38263112e-02 9.96479887e-01 -9.91683731e-04 3.30775341e-02] [ 3.18010258e-02 -1.68049747e-03 9.99492807e-01 7.90919083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854860624 meters Centerline goodness [0,1] 0.6504238238328026 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.08 [[ 0.99596788 -0.08385409 -0.03188231 0.4397848 ] [ 0.08384849 0.99647736 -0.00151497 0.03472832] [ 0.03189704 -0.00116442 0.99949048 0.07950672] [ 0. 0. 0. 1. ]] SLAMing on 101.884860624 meters Centerline goodness [0,1] 0.6285328532853285 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 9.95981319e-01 -8.36678620e-02 -3.19515546e-02 4.39990762e-01] [ 8.36523563e-02 9.96493330e-01 -1.82408450e-03 3.63899416e-02] [ 3.19921283e-02 -8.56068740e-04 9.99487754e-01 7.95958764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914860624 meters Centerline goodness [0,1] 0.6491212257773772 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 9.95981984e-01 -8.36331124e-02 -3.20217212e-02 4.40065440e-01] [ 8.36010424e-02 9.96496555e-01 -2.34142070e-03 3.83392750e-02] [ 3.21053552e-02 -3.45036441e-04 9.99484431e-01 7.98306802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944860624 meters Centerline goodness [0,1] 0.6486547490068617 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 9.96218266e-01 -8.08205061e-02 -3.18937542e-02 4.38317973e-01] [ 8.08854739e-02 9.96723120e-01 7.49974891e-04 3.86078958e-02] [ 3.17286289e-02 -3.32688011e-03 9.99490983e-01 8.05801537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974860624 meters Centerline goodness [0,1] 0.646114177146476 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99648599 -0.07745731 -0.03187535 0.43723134] [ 0.07762461 0.99697446 0.00404315 0.0398862 ] [ 0.03146574 -0.00650326 0.99948367 0.08085509] [ 0. 0. 0. 1. ]] SLAMing on 102.004860624 meters Centerline goodness [0,1] 0.6574489287493772 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99649186 -0.07732969 -0.03200155 0.43765271] [ 0.07748946 0.996986 0.00378103 0.04102549] [ 0.03161271 -0.00624755 0.99948067 0.08080578] [ 0. 0. 0. 1. ]] SLAMing on 102.034860624 meters Centerline goodness [0,1] 0.648410214541661 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99649112 -0.07732173 -0.03204372 0.43788836] [ 0.07747469 0.99698797 0.00355788 0.04192023] [ 0.0316721 -0.00602797 0.99948014 0.08069365] [ 0. 0. 0. 1. ]] SLAMing on 102.064860624 meters Centerline goodness [0,1] 0.648410214541661 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99649112 -0.07732173 -0.03204372 0.43788836] [ 0.07747469 0.99698797 0.00355788 0.04192023] [ 0.0316721 -0.00602797 0.99948014 0.08069365] [ 0. 0. 0. 1. ]] SLAMing on 102.09486062399999 meters Centerline goodness [0,1] 0.6437672878973382 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99648762 -0.07739092 -0.03198548 0.43784813] [ 0.07753642 0.99698395 0.00333179 0.04280945] [ 0.03163116 -0.00580013 0.99948278 0.08059195] [ 0. 0. 0. 1. ]] SLAMing on 102.124860624 meters Centerline goodness [0,1] 0.6481964314054458 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99648136 -0.07747998 -0.03196478 0.43787 ] [ 0.07761798 0.99697836 0.00309728 0.04352342] [ 0.03162822 -0.00556743 0.9994842 0.0805476 ] [ 0. 0. 0. 1. ]] SLAMing on 102.154860624 meters Centerline goodness [0,1] 0.6537231508993173 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647344 -0.07759612 -0.03193005 0.43782706] [ 0.07772661 0.9969706 0.00286397 0.04443621] [ 0.03161108 -0.00533568 0.999486 0.08051294] [ 0. 0. 0. 1. ]] SLAMing on 102.184860624 meters Centerline goodness [0,1] 0.6593862568966303 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99645199 -0.07793583 -0.03177173 0.43723857] [ 0.07804756 0.99694701 0.0022899 0.0462923 ] [ 0.03149626 -0.00476148 0.99949253 0.08084576] [ 0. 0. 0. 1. ]] SLAMing on 102.214860624 meters Centerline goodness [0,1] 0.6596321085461914 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99644216 -0.07809546 -0.03168772 0.43703715] [ 0.07820088 0.99693541 0.00209953 0.04698565] [ 0.03142665 -0.00457007 0.99949561 0.08084171] [ 0. 0. 0. 1. ]] SLAMing on 102.244860624 meters Centerline goodness [0,1] 0.657531748022161 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99642774 -0.07833872 -0.03154046 0.43675702] [ 0.07843831 0.9969171 0.00193105 0.04733323] [ 0.03129195 -0.00439813 0.99950061 0.08074604] [ 0. 0. 0. 1. ]] SLAMing on 102.274860624 meters Centerline goodness [0,1] 0.6549148219003371 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99640171 -0.0787276 -0.03139436 0.43677386] [ 0.07882242 0.99688706 0.00179232 0.04723917] [ 0.03115553 -0.00426045 0.99950547 0.08020786] [ 0. 0. 0. 1. ]] SLAMing on 102.304860624 meters Centerline goodness [0,1] 0.6532557874330026 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638969 -0.07888608 -0.03137777 0.43691946] [ 0.07897643 0.99687512 0.00164847 0.04754652] [ 0.03114968 -0.00412062 0.99950624 0.07997016] [ 0. 0. 0. 1. ]] SLAMing on 102.334860624 meters Centerline goodness [0,1] 0.6527894940835822 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99637548 -0.07909432 -0.03130466 0.43669853] [ 0.07917911 0.99685931 0.00147632 0.04795497] [ 0.03108957 -0.00394964 0.9995088 0.07999178] [ 0. 0. 0. 1. ]] SLAMing on 102.364860624 meters Centerline goodness [0,1] 0.6520984213291905 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99636011 -0.07933777 -0.03117784 0.43633771] [ 0.07941577 0.99684077 0.00126954 0.0484617 ] [ 0.03097862 -0.00374093 0.99951305 0.08005251] [ 0. 0. 0. 1. ]] SLAMing on 102.394860624 meters Centerline goodness [0,1] 0.6466701721496994 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96336131e-01 -7.96971624e-02 -3.10270154e-02 4.35653620e-01] [ 7.97645058e-02 9.96813295e-01 9.36861394e-04 4.88922849e-02] [ 3.08534763e-02 -3.40828341e-03 9.99518107e-01 8.05160085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424860624 meters Centerline goodness [0,1] 0.6520564257579922 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96314399e-01 -8.00034062e-02 -3.09366145e-02 4.35060310e-01] [ 8.00636574e-02 9.96789498e-01 7.11764359e-04 4.91552665e-02] [ 3.07803489e-02 -3.18603958e-03 9.99521095e-01 8.09837544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454860624 meters Centerline goodness [0,1] 0.655438163190633 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96245003e-01 -8.09858152e-02 -3.06135889e-02 4.33531124e-01] [ 8.10341236e-02 9.96711270e-01 3.38606857e-04 4.89767334e-02] [ 3.04854868e-02 -2.81808074e-03 9.99531237e-01 8.17265203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48486062399999 meters Centerline goodness [0,1] 0.6495714775454233 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96216280e-01 -8.14191378e-02 -3.03981623e-02 4.32906540e-01] [ 8.14665701e-02 9.96676022e-01 3.23077044e-04 4.83850584e-02] [ 3.02708149e-02 -2.79828863e-03 9.99537817e-01 8.17992429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514860624 meters Centerline goodness [0,1] 0.6432574631133479 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96182023e-01 -8.18951436e-02 -3.02417457e-02 4.32399403e-01] [ 8.19398446e-02 9.96637248e-01 2.39721810e-04 4.76251872e-02] [ 3.01204182e-02 -2.71681050e-03 9.99542585e-01 8.19279098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544860624 meters Centerline goodness [0,1] 0.643397563372877 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96170223e-01 -8.20775402e-02 -3.01357657e-02 4.32381557e-01] [ 8.21317690e-02 9.96621319e-01 5.63988530e-04 4.65170260e-02] [ 2.99876558e-02 -3.03693233e-03 9.99545656e-01 8.15149692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574860624 meters Centerline goodness [0,1] 0.6391053028399095 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96130174e-01 -8.25622923e-02 -3.01354400e-02 4.32295709e-01] [ 8.26174024e-02 9.96581166e-01 5.86083636e-04 4.56436458e-02] [ 2.99840235e-02 -3.07352737e-03 9.99545653e-01 8.14563068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604860624 meters Centerline goodness [0,1] 0.6398246054765113 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96119077e-01 -8.26910356e-02 -3.01492467e-02 4.32387997e-01] [ 8.27477264e-02 9.96570324e-01 6.35398980e-04 4.54370103e-02] [ 2.99933028e-02 -3.12771466e-03 9.99545206e-01 8.13352109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634860624 meters Centerline goodness [0,1] 0.6370676657376525 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96113765e-01 -8.27269822e-02 -3.02260423e-02 4.32446491e-01] [ 8.27837208e-02 9.96567339e-01 6.28441667e-04 4.54765984e-02] [ 3.00702975e-02 -3.12822365e-03 9.99542891e-01 8.14567498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664860624 meters Centerline goodness [0,1] 0.6389911508471864 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96105482e-01 -8.27925797e-02 -3.03192687e-02 4.32396763e-01] [ 8.28422840e-02 9.96562596e-01 3.84740423e-04 4.61499891e-02] [ 3.01831955e-02 -2.89495952e-03 9.99540191e-01 8.18384254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694860624 meters Centerline goodness [0,1] 0.6163944924751841 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96116832e-01 -8.26026830e-02 -3.04639733e-02 4.32583058e-01] [ 8.26524132e-02 9.96578365e-01 3.74646127e-04 4.64234355e-02] [ 3.03287899e-02 -2.89111222e-03 9.99535795e-01 8.21051201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724860624 meters Centerline goodness [0,1] 0.6406793627540743 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96147094e-01 -8.20990782e-02 -3.08335751e-02 4.33027764e-01] [ 8.21465517e-02 9.96620223e-01 2.73959624e-04 4.69684609e-02] [ 3.07068727e-02 -2.80577596e-03 9.99524495e-01 8.28666373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754860624 meters Centerline goodness [0,1] 0.6501706875615736 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96171068e-01 -8.17113940e-02 -3.10878001e-02 4.33587455e-01] [ 8.17600049e-02 9.96652003e-01 2.93586353e-04 4.73587517e-02] [ 3.09597289e-02 -2.83420092e-03 9.99516614e-01 8.30697131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784860624 meters Centerline goodness [0,1] 0.6412465627864344 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96189542e-01 -8.13779099e-02 -3.13692907e-02 4.34129320e-01] [ 8.14247447e-02 9.96679469e-01 2.16358604e-04 4.79556037e-02] [ 3.12475212e-02 -2.76977066e-03 9.99507839e-01 8.33593537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814860624 meters Centerline goodness [0,1] 0.6457104834453801 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.08 [[ 9.96208261e-01 -8.10691411e-02 -3.15736597e-02 4.34480808e-01] [ 8.11137178e-02 9.96704845e-01 1.31437438e-04 4.86736466e-02] [ 3.14589641e-02 -2.69199599e-03 9.99501419e-01 8.36551445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84486062399999 meters Centerline goodness [0,1] 0.6487280067900809 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96256972e-01 -8.03446846e-02 -3.18869475e-02 4.35297191e-01] [ 8.03970348e-02 9.96762854e-01 3.60940963e-04 4.86990882e-02] [ 3.17547251e-02 -2.92320598e-03 9.99491417e-01 8.38252826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874860624 meters Centerline goodness [0,1] 0.6391920396184887 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96269794e-01 -8.01442862e-02 -3.19904900e-02 4.35532073e-01] [ 8.02002148e-02 9.96778665e-01 4.66913164e-04 4.85057352e-02] [ 3.18500175e-02 -3.03081565e-03 9.99488064e-01 8.38920313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904860624 meters Centerline goodness [0,1] 0.6520813785843422 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96291088e-01 -7.98026603e-02 -3.21807869e-02 4.36240625e-01] [ 7.98639758e-02 9.96805577e-01 6.22437669e-04 4.82915809e-02] [ 3.20283157e-02 -3.19021469e-03 9.99481871e-01 8.37138334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934860624 meters Centerline goodness [0,1] 0.6552260662639575 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96311077e-01 -7.94912579e-02 -3.23323027e-02 4.36827077e-01] [ 7.95596794e-02 9.96829756e-01 8.33178812e-04 4.81399317e-02] [ 3.21635710e-02 -3.40245292e-03 9.99476827e-01 8.34754354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964860624 meters Centerline goodness [0,1] 0.659812913112092 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99634143 -0.07897263 -0.03266608 0.43795183] [ 0.07905245 0.99686979 0.00115735 0.04799418] [ 0.03247243 -0.00373545 0.99946565 0.08311045] [ 0. 0. 0. 1. ]] SLAMing on 102.994860624 meters Centerline goodness [0,1] 0.6624891368979555 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99635668 -0.07868224 -0.03290104 0.43869105] [ 0.07876792 0.99689211 0.00131403 0.04806046] [ 0.0326954 -0.00390079 0.99945775 0.08289334] [ 0. 0. 0. 1. ]] SLAMing on 103.024860624 meters Centerline goodness [0,1] 0.6629409070087036 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.9963722 -0.07840256 -0.03309804 0.43933584] [ 0.07849313 0.99691361 0.00144389 0.04814574] [ 0.03288268 -0.00403662 0.99945107 0.08272059] [ 0. 0. 0. 1. ]] SLAMing on 103.054860624 meters Centerline goodness [0,1] 0.6523936961046685 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99637635 -0.07830884 -0.03319478 0.43958986] [ 0.07839835 0.99692113 0.00140176 0.04845634] [ 0.03298281 -0.0039991 0.99944792 0.08276292] [ 0. 0. 0. 1. ]] SLAMing on 103.084860624 meters Centerline goodness [0,1] 0.6652156979541342 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638244 -0.07820894 -0.03324756 0.43968534] [ 0.07830089 0.99692869 0.00147084 0.04798549] [ 0.03303042 -0.00406883 0.99944606 0.0828893 ] [ 0. 0. 0. 1. ]] SLAMing on 103.114860624 meters Centerline goodness [0,1] 0.647583949458649 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99637624 -0.07828339 -0.03325794 0.43957681] [ 0.07837314 0.99692311 0.0014015 0.04782053] [ 0.03304589 -0.00400295 0.99944582 0.08309099] [ 0. 0. 0. 1. ]] SLAMing on 103.144860624 meters Centerline goodness [0,1] 0.6704529840150231 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99636713 -0.07844638 -0.0331467 0.43914471] [ 0.07853189 0.99691078 0.00128364 0.0478438 ] [ 0.0329436 -0.00388205 0.99944967 0.08335612] [ 0. 0. 0. 1. ]] SLAMing on 103.174860624 meters Centerline goodness [0,1] 0.6636740489659437 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99635404 -0.07862568 -0.03311544 0.43884894] [ 0.0787033 0.99689754 0.00104496 0.04813649] [ 0.03293054 -0.00364745 0.99945099 0.08372109] [ 0. 0. 0. 1. ]] SLAMing on 103.204860624 meters Centerline goodness [0,1] 0.6487594785915558 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96347686e-01 -7.86933271e-02 -3.31458729e-02 4.38758929e-01] [ 7.87672997e-02 9.96892596e-01 9.29878045e-04 4.84141706e-02] [ 3.29697000e-02 -3.53729274e-03 9.99450092e-01 8.39464731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23486062399999 meters Centerline goodness [0,1] 0.6633867749260305 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96345521e-01 -7.87304605e-02 -3.31227645e-02 4.38629292e-01] [ 7.88001652e-02 9.96890109e-01 8.02296496e-04 4.84546084e-02] [ 3.29565911e-02 -3.40944383e-03 9.99450969e-01 8.41697283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264860624 meters Centerline goodness [0,1] 0.6583975169559719 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96339541e-01 -7.87949398e-02 -3.31493067e-02 4.38635281e-01] [ 7.88623483e-02 9.96885249e-01 7.28905679e-04 4.84900480e-02] [ 3.29886207e-02 -3.34046972e-03 9.99450145e-01 8.42445757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294860624 meters Centerline goodness [0,1] 0.6649672752325181 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96333449e-01 -7.88811201e-02 -3.31274472e-02 4.38577495e-01] [ 7.89460847e-02 9.96878672e-01 6.55610330e-04 4.85181684e-02] [ 3.29723303e-02 -3.26848876e-03 9.99450920e-01 8.43063403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324860624 meters Centerline goodness [0,1] 0.6536547326896172 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96329689e-01 -7.89569362e-02 -3.30598513e-02 4.38395561e-01] [ 7.90191836e-02 9.96872928e-01 5.78539486e-04 4.85705100e-02] [ 3.29107911e-02 -3.18877853e-03 9.99453206e-01 8.44193230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354860624 meters Centerline goodness [0,1] 0.658804634622003 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96333832e-01 -7.89209598e-02 -3.30208653e-02 4.38337781e-01] [ 7.89841785e-02 9.96875682e-01 6.12449040e-04 4.83186957e-02] [ 3.28693625e-02 -3.21832962e-03 9.99454475e-01 8.45145585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384860624 meters Centerline goodness [0,1] 0.6564224700574806 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96333548e-01 -7.89220859e-02 -3.30267523e-02 4.38405256e-01] [ 7.89834465e-02 9.96875773e-01 5.55370683e-04 4.86413358e-02] [ 3.28797382e-02 -3.16190117e-03 9.99454314e-01 8.44497201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414860624 meters Centerline goodness [0,1] 0.6573747191783963 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96344538e-01 -7.87935816e-02 -3.30020184e-02 4.38494794e-01] [ 7.88566916e-02 9.96885774e-01 6.13094281e-04 4.87802993e-02] [ 3.28509347e-02 -3.21328312e-03 9.99455097e-01 8.43380263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444860624 meters Centerline goodness [0,1] 0.6519146984636551 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96363078e-01 -7.85107042e-02 -3.31162377e-02 4.39017827e-01] [ 7.85821081e-02 9.96907275e-01 8.58157440e-04 4.85514288e-02] [ 3.29464437e-02 -3.45738016e-03 9.99451139e-01 8.40689574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474860624 meters Centerline goodness [0,1] 0.650875338877912 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638202 -0.07823556 -0.03319727 0.43943365] [ 0.07831673 0.99692786 0.00114996 0.04827372] [ 0.03300531 -0.0037457 0.99944816 0.08378763] [ 0. 0. 0. 1. ]] SLAMing on 103.504860624 meters Centerline goodness [0,1] 0.6598840539859306 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638289 -0.07822203 -0.03320324 0.43953681] [ 0.07830776 0.9969284 0.00128741 0.04799593] [ 0.03300054 -0.00388282 0.99944779 0.0836477 ] [ 0. 0. 0. 1. ]] SLAMing on 103.534860624 meters Centerline goodness [0,1] 0.6530373831775701 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638628 -0.07815399 -0.03326157 0.43969718] [ 0.07824848 0.99693269 0.00154669 0.04728179] [ 0.03303866 -0.00414377 0.99944548 0.0835361 ] [ 0. 0. 0. 1. ]] SLAMing on 103.564860624 meters Centerline goodness [0,1] 0.6504692149233234 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638378 -0.0781519 -0.0333414 0.43986721] [ 0.0782507 0.99693232 0.00166673 0.0466357 ] [ 0.03310886 -0.00426969 0.99944263 0.0835608 ] [ 0. 0. 0. 1. ]] SLAMing on 103.59486062399999 meters Centerline goodness [0,1] 0.6630902269399708 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638582 -0.07813164 -0.03332773 0.43990737] [ 0.07823675 0.99693307 0.00185953 0.04577917] [ 0.03308023 -0.00446027 0.99944275 0.0834995 ] [ 0. 0. 0. 1. ]] SLAMing on 103.624860624 meters Centerline goodness [0,1] 0.6675871197425773 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99636285 -0.07852156 -0.03309726 0.43901953] [ 0.07862838 0.99690212 0.00193633 0.0443629 ] [ 0.03284268 -0.00453167 0.99945026 0.08392243] [ 0. 0. 0. 1. ]] SLAMing on 103.654860624 meters Centerline goodness [0,1] 0.6624871999089772 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99634946 -0.0787362 -0.03299039 0.43858 ] [ 0.07884272 0.99688518 0.00193858 0.04377194] [ 0.03273499 -0.00453255 0.99945379 0.0841687 ] [ 0. 0. 0. 1. ]] SLAMing on 103.684860624 meters Centerline goodness [0,1] 0.6544040505405282 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99633663 -0.07893928 -0.03289243 0.43815804] [ 0.0790461 0.99686904 0.00195778 0.04318691] [ 0.0326349 -0.00455063 0.99945698 0.0844011 ] [ 0. 0. 0. 1. ]] SLAMing on 103.714860624 meters Centerline goodness [0,1] 0.6643019554342884 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99633949 -0.07894501 -0.03279176 0.43804508] [ 0.07906542 0.99686657 0.00238963 0.04175087] [ 0.03250036 -0.00497357 0.99945935 0.0842077 ] [ 0. 0. 0. 1. ]] SLAMing on 103.744860624 meters Centerline goodness [0,1] 0.6560067182641458 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99634044 -0.07890615 -0.03285653 0.43822801] [ 0.07903154 0.9968689 0.00253341 0.04127596] [ 0.03255375 -0.00512084 0.99945687 0.08414129] [ 0. 0. 0. 1. ]] SLAMing on 103.774860624 meters Centerline goodness [0,1] 0.6638310421487228 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.9963414 -0.07888631 -0.03287501 0.43829732] [ 0.07901677 0.99686967 0.00268621 0.04083551] [ 0.03256019 -0.00527406 0.99945586 0.0840454 ] [ 0. 0. 0. 1. ]] SLAMing on 103.804860624 meters Centerline goodness [0,1] 0.6616963901289401 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99633687 -0.07895189 -0.03285474 0.43827351] [ 0.07908492 0.99686404 0.00276731 0.04033139] [ 0.03253322 -0.00535548 0.99945631 0.08403001] [ 0. 0. 0. 1. ]] SLAMing on 103.834860624 meters Centerline goodness [0,1] 0.6509078529278257 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.9963292 -0.07904957 -0.03285271 0.43815774] [ 0.07918387 0.99685608 0.00280531 0.03977129] [ 0.03252767 -0.00539642 0.99945627 0.08418942] [ 0. 0. 0. 1. ]] SLAMing on 103.864860624 meters Centerline goodness [0,1] 0.6421588594704684 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99631309 -0.07926784 -0.03281532 0.43800654] [ 0.0794057 0.99683811 0.00291758 0.03876332] [ 0.0324803 -0.00551255 0.99945717 0.08422345] [ 0. 0. 0. 1. ]] SLAMing on 103.894860624 meters Centerline goodness [0,1] 0.6462154277572989 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99630891 -0.07931573 -0.03282639 0.43803678] [ 0.07945515 0.99683404 0.00296275 0.0383209 ] [ 0.03248747 -0.00556004 0.99945668 0.08421865] [ 0. 0. 0. 1. ]] SLAMing on 103.924860624 meters Centerline goodness [0,1] 0.6628221911253556 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99629742 -0.07948101 -0.03277531 0.43780896] [ 0.07961838 0.99682118 0.0029056 0.0380382 ] [ 0.03244018 -0.00550436 0.99945852 0.08435524] [ 0. 0. 0. 1. ]] SLAMing on 103.954860624 meters Centerline goodness [0,1] 0.6628221911253556 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99629742 -0.07948101 -0.03277531 0.43780896] [ 0.07961838 0.99682118 0.0029056 0.0380382 ] [ 0.03244018 -0.00550436 0.99945852 0.08435524] [ 0. 0. 0. 1. ]] SLAMing on 103.98486062399999 meters Centerline goodness [0,1] 0.6566404128191201 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99627887 -0.07974579 -0.03269607 0.43721812] [ 0.07987776 0.99680088 0.00274809 0.03790178] [ 0.03237232 -0.00534955 0.99946156 0.0848921 ] [ 0. 0. 0. 1. ]] SLAMing on 104.014860624 meters Centerline goodness [0,1] 0.6605982383443154 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99626927 -0.07994146 -0.03250993 0.43649109] [ 0.08006738 0.99678609 0.002588 0.03780808] [ 0.03219856 -0.00518133 0.99946806 0.0854157 ] [ 0. 0. 0. 1. ]] SLAMing on 104.044860624 meters Centerline goodness [0,1] 0.650196823673137 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99627324 -0.07986202 -0.0325837 0.43663019] [ 0.07998741 0.99679258 0.00256117 0.03786906] [ 0.03227465 -0.00515791 0.99946573 0.08552599] [ 0. 0. 0. 1. ]] SLAMing on 104.074860624 meters Centerline goodness [0,1] 0.6569865985671992 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99628644 -0.0796517 -0.03269472 0.43706865] [ 0.07977955 0.99680908 0.00262279 0.03814014] [ 0.03238149 -0.00522142 0.99946194 0.08532736] [ 0. 0. 0. 1. ]] SLAMing on 104.104860624 meters Centerline goodness [0,1] 0.6656407006744218 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99630069 -0.07943657 -0.03278375 0.43737417] [ 0.07956473 0.99682625 0.00262149 0.03853212] [ 0.03247146 -0.00522022 0.99945903 0.08530118] [ 0. 0. 0. 1. ]] SLAMing on 104.134860624 meters Centerline goodness [0,1] 0.6570749915167968 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99634173 -0.07888183 -0.03287574 0.43759439] [ 0.07901303 0.9968699 0.00270907 0.03887749] [ 0.03255914 -0.00529677 0.99945578 0.08554276] [ 0. 0. 0. 1. ]] SLAMing on 104.164860624 meters Centerline goodness [0,1] 0.6688889893328511 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99635569 -0.07867849 -0.03293996 0.43771362] [ 0.0788123 0.99688559 0.00278198 0.03889954] [ 0.03261848 -0.00536791 0.99945346 0.08564377] [ 0. 0. 0. 1. ]] SLAMing on 104.194860624 meters Centerline goodness [0,1] 0.6731082180634662 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99636685 -0.07847636 -0.03308427 0.43792494] [ 0.07861413 0.99690095 0.00288235 0.0386918 ] [ 0.03275554 -0.00547277 0.99944841 0.08579793] [ 0. 0. 0. 1. ]] SLAMing on 104.224860624 meters Centerline goodness [0,1] 0.6738261399823836 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99638476 -0.07821442 -0.03316508 0.43827847] [ 0.07835729 0.99692074 0.00302816 0.03860279] [ 0.03282611 -0.00561594 0.9994453 0.08565183] [ 0. 0. 0. 1. ]] SLAMing on 104.254860624 meters Centerline goodness [0,1] 0.6784381994528724 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99641694 -0.07776748 -0.03324908 0.43873568] [ 0.07791685 0.99695466 0.00321879 0.03887847] [ 0.03289751 -0.00579793 0.99944191 0.0854547 ] [ 0. 0. 0. 1. ]] SLAMing on 104.284860624 meters Centerline goodness [0,1] 0.663290223387899 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99641485 -0.0777384 -0.03337941 0.43901727] [ 0.07788726 0.9969571 0.00318073 0.03919014] [ 0.03303058 -0.00576916 0.99943769 0.08543681] [ 0. 0. 0. 1. ]] SLAMing on 104.314860624 meters Centerline goodness [0,1] 0.6825034468729516 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.09 [[ 0.99642825 -0.07755277 -0.03341112 0.43937631] [ 0.07770712 0.99697062 0.0033443 0.03906241] [ 0.03305054 -0.00592864 0.9994361 0.08514128] [ 0. 0. 0. 1. ]] SLAMing on 104.34486062399999 meters Centerline goodness [0,1] 0.6741197461435959 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99644042 -0.07735835 -0.03349884 0.43978446] [ 0.07751866 0.99698472 0.00351168 0.03880235] [ 0.03312617 -0.00609597 0.99943259 0.08488785] [ 0. 0. 0. 1. ]] SLAMing on 104.374860624 meters Centerline goodness [0,1] 0.6596267966334981 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647295 -0.07693057 -0.03351645 0.44054621] [ 0.07709996 0.99701617 0.00378927 0.03892698] [ 0.03312494 -0.00636002 0.99943098 0.08410301] [ 0. 0. 0. 1. ]] SLAMing on 104.404860624 meters Centerline goodness [0,1] 0.6873167651436561 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647534 -0.07684447 -0.03364258 0.4408092 ] [ 0.07700923 0.99702378 0.00362726 0.03965231] [ 0.03326371 -0.00620527 0.99942735 0.0841602 ] [ 0. 0. 0. 1. ]] SLAMing on 104.434860624 meters Centerline goodness [0,1] 0.6832869143853453 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647128 -0.07688486 -0.03367068 0.44090584] [ 0.07703922 0.99702257 0.00330936 0.04081129] [ 0.03331599 -0.00589165 0.9994275 0.08420202] [ 0. 0. 0. 1. ]] SLAMing on 104.464860624 meters Centerline goodness [0,1] 0.6850104346248072 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647795 -0.07677993 -0.03371261 0.44099547] [ 0.07692094 0.99703297 0.00290378 0.04246444] [ 0.03338963 -0.00548675 0.99942735 0.08438978] [ 0. 0. 0. 1. ]] SLAMing on 104.494860624 meters Centerline goodness [0,1] 0.6572160856449454 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99647169 -0.07687432 -0.03368236 0.44087957] [ 0.07700934 0.99702664 0.00272784 0.04293412] [ 0.03337251 -0.00531207 0.99942887 0.08447207] [ 0. 0. 0. 1. ]] SLAMing on 104.524860624 meters Centerline goodness [0,1] 0.6810540663334848 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99645864 -0.07707207 -0.03361663 0.44066533] [ 0.07720102 0.99701228 0.002553 0.04324258] [ 0.03331942 -0.0051392 0.99943154 0.08454346] [ 0. 0. 0. 1. ]] SLAMing on 104.554860624 meters Centerline goodness [0,1] 0.6784295926472257 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.99643812 -0.07739023 -0.03349357 0.44033565] [ 0.07750964 0.996989 0.00227948 0.04367751] [ 0.03321631 -0.00486743 0.99943633 0.08458652] [ 0. 0. 0. 1. ]] SLAMing on 104.584860624 meters Centerline goodness [0,1] 0.6694836320679707 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.08 [[ 0.9964085 -0.07785699 -0.03329251 0.4398545 ] [ 0.07796054 0.99695478 0.00182147 0.04469462] [ 0.03304931 -0.00441043 0.99944399 0.08464283] [ 0. 0. 0. 1. ]] SLAMing on 104.614860624 meters Centerline goodness [0,1] 0.6832704631186657 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99639355 -0.07809639 -0.03317889 0.4396314 ] [ 0.07819046 0.99693724 0.00154534 0.04536126] [ 0.03295659 -0.00413404 0.99944823 0.08464477] [ 0. 0. 0. 1. ]] SLAMing on 104.644860624 meters Centerline goodness [0,1] 0.6773841714194824 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 0.99638259 -0.07828653 -0.03305981 0.43936352] [ 0.07837438 0.99692306 0.00136804 0.04592085] [ 0.03285099 -0.00395413 0.99945244 0.08462809] [ 0. 0. 0. 1. ]] SLAMing on 104.674860624 meters Centerline goodness [0,1] 0.671416195513405 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96349924e-01 -7.87943358e-02 -3.28372055e-02 4.38725687e-01] [ 7.88653092e-02 9.96884901e-01 8.69777073e-04 4.68318217e-02] [ 3.26663809e-02 -3.45631868e-03 9.99460335e-01 8.48403660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704860624 meters Centerline goodness [0,1] 0.6643361436698882 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96335715e-01 -7.90275317e-02 -3.27076767e-02 4.38382198e-01] [ 7.90915600e-02 9.96867133e-01 6.66417512e-04 4.72143957e-02] [ 3.25525425e-02 -3.25087674e-03 9.99464739e-01 8.48894269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73486062399999 meters Centerline goodness [0,1] 0.6767111395412593 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96328380e-01 -7.91166673e-02 -3.27156149e-02 4.38466015e-01] [ 7.91788676e-02 9.96860240e-01 6.08059533e-04 4.75266364e-02] [ 3.25647881e-02 -3.19621232e-03 9.99464516e-01 8.47545169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764860624 meters Centerline goodness [0,1] 0.6610002970274408 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96320315e-01 -7.92290018e-02 -3.26893650e-02 4.38382879e-01] [ 7.92870120e-02 9.96851714e-01 4.80111052e-04 4.80445353e-02] [ 3.25484108e-02 -3.07018647e-03 9.99465445e-01 8.47692037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794860624 meters Centerline goodness [0,1] 0.6771397864215316 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96309766e-01 -7.93925549e-02 -3.26140003e-02 4.38153830e-01] [ 7.94425801e-02 9.96839415e-01 2.38867474e-04 4.87262385e-02] [ 3.24919567e-02 -2.82892633e-03 9.99467993e-01 8.48690316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824860624 meters Centerline goodness [0,1] 0.6511862233214253 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.09 [[ 9.96310711e-01 -7.94214937e-02 -3.25145035e-02 4.37888572e-01] [ 7.94623210e-02 9.96837870e-01 -3.66314834e-05 4.99587683e-02] [ 3.24145977e-02 -2.54718157e-03 9.99471263e-01 8.50400332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854860624 meters Centerline goodness [0,1] 0.6775241319365022 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.09 [[ 9.96307701e-01 -7.94260942e-02 -3.25954076e-02 4.38096228e-01] [ 7.94632496e-02 9.96837784e-01 -1.55978779e-04 5.03712130e-02] [ 3.25047227e-02 -2.43473415e-03 9.99468616e-01 8.50260134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884860624 meters Centerline goodness [0,1] 0.6772160601338344 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96308805e-01 -7.94082396e-02 -3.26051577e-02 4.38270303e-01] [ 7.94447301e-02 9.96839257e-01 -1.76857376e-04 5.05899817e-02] [ 3.25161451e-02 -2.41410339e-03 9.99468295e-01 8.48486542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914860624 meters Centerline goodness [0,1] 0.670333952187765 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96307825e-01 -7.94358971e-02 -3.25677137e-02 4.38337873e-01] [ 7.94729000e-02 9.96837014e-01 -1.58756453e-04 5.07834907e-02] [ 3.24773134e-02 -2.43008036e-03 9.99469519e-01 8.46362549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944860624 meters Centerline goodness [0,1] 0.6516946627861677 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96308443e-01 -7.94338297e-02 -3.25538526e-02 4.38762796e-01] [ 7.94708721e-02 9.96837176e-01 -1.56468524e-04 5.12909147e-02] [ 3.24633194e-02 -2.43119214e-03 9.99469971e-01 8.40306964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974860624 meters Centerline goodness [0,1] 0.6688533614698259 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96303179e-01 -7.95130423e-02 -3.25215714e-02 4.38804337e-01] [ 7.95495745e-02 9.96830896e-01 -1.71065347e-04 5.13663706e-02] [ 3.24321091e-02 -2.41664422e-03 9.99471019e-01 8.38396812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004860624 meters Centerline goodness [0,1] 0.6562829505340853 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96297829e-01 -7.95873967e-02 -3.25035849e-02 4.38889890e-01] [ 7.96259620e-02 9.96824806e-01 -1.08243057e-04 5.12239754e-02] [ 3.24089945e-02 -2.48028690e-03 9.99471613e-01 8.35871880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034860624 meters Centerline goodness [0,1] 0.6648653599560359 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96298070e-01 -7.96044726e-02 -3.24543341e-02 4.39101635e-01] [ 7.96471578e-02 9.96823119e-01 2.25229989e-05 5.11908755e-02] [ 3.23494376e-02 -2.60733509e-03 9.99473219e-01 8.31265983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064860624 meters Centerline goodness [0,1] 0.6669573398811299 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96275975e-01 -7.99417150e-02 -3.23033000e-02 4.38834651e-01] [ 7.99763862e-02 9.96796734e-01 -2.19427195e-04 5.18632542e-02] [ 3.22173653e-02 -2.36489115e-03 9.99478088e-01 8.29280430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09486062399999 meters Centerline goodness [0,1] 0.6668656031217721 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96270008e-01 -8.00275722e-02 -3.22747287e-02 4.38849760e-01] [ 8.00573953e-02 9.96790187e-01 -3.69228449e-04 5.24021741e-02] [ 3.22006814e-02 -2.21597949e-03 9.99478967e-01 8.28289175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124860624 meters Centerline goodness [0,1] 0.6607636330140014 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.08 [[ 9.96269909e-01 -8.00389730e-02 -3.22495076e-02 4.39004277e-01] [ 8.00649614e-02 9.96789529e-01 -4.86778237e-04 5.30740105e-02] [ 3.21849327e-02 -2.09709307e-03 9.99479731e-01 8.25602825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154860624 meters Centerline goodness [0,1] 0.6588615633298696 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96283262e-01 -7.98815197e-02 -3.22273983e-02 4.39521986e-01] [ 7.98980735e-02 9.96802737e-01 -7.75868109e-04 5.50432954e-02] [ 3.21863363e-02 -1.80192263e-03 9.99480261e-01 8.19560312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184860624 meters Centerline goodness [0,1] 0.6607039681989415 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 0.996282 -0.07989014 -0.03224506 0.43984844] [ 0.07989737 0.99680252 -0.00106641 0.05635144] [ 0.03222715 -0.00151385 0.99947942 0.08168282] [ 0. 0. 0. 1. ]] SLAMing on 105.214860624 meters Centerline goodness [0,1] 0.6534231668634669 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 0.99628049 -0.07987458 -0.03233009 0.44009128] [ 0.07987295 0.99680415 -0.00134395 0.05746709] [ 0.03233411 -0.00124335 0.99947634 0.08168681] [ 0. 0. 0. 1. ]] SLAMing on 105.244860624 meters Centerline goodness [0,1] 0.662272558484961 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96279650e-01 -7.98614284e-02 -3.23884413e-02 4.40284506e-01] [ 7.98491550e-02 9.96805552e-01 -1.67427133e-03 5.87532253e-02] [ 3.24186879e-02 -9.18147219e-04 9.99473954e-01 8.16864191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274860624 meters Centerline goodness [0,1] 0.6622105458941691 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96281778e-01 -7.98171465e-02 -3.24321245e-02 4.40460441e-01] [ 7.97965691e-02 9.96809300e-01 -1.93037710e-03 6.00198297e-02] [ 3.24827205e-02 -6.64772739e-04 9.99472076e-01 8.16396751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304860624 meters Centerline goodness [0,1] 0.6439501572143939 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96304436e-01 -7.95673899e-02 -3.23496752e-02 4.40817971e-01] [ 7.95344589e-02 9.96829451e-01 -2.30553616e-03 6.24779010e-02] [ 3.24305545e-02 -2.75898008e-04 9.99473953e-01 8.11742523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334860624 meters Centerline goodness [0,1] 0.6519719953325553 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96300848e-01 -7.96155501e-02 -3.23416826e-02 4.40783790e-01] [ 7.95729260e-02 9.96825644e-01 -2.60494604e-03 6.37837152e-02] [ 3.24464128e-02 2.17876272e-05 9.99473476e-01 8.12589846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364860624 meters Centerline goodness [0,1] 0.6489470980996405 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96303631e-01 -7.95914478e-02 -3.23152593e-02 4.40958155e-01] [ 7.95433439e-02 9.96827550e-01 -2.77347407e-03 6.48745890e-02] [ 3.24334856e-02 1.92758497e-04 9.99473878e-01 8.09882854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394860624 meters Centerline goodness [0,1] 0.6448781857754686 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96302562e-01 -7.96567815e-02 -3.21869773e-02 4.40957650e-01] [ 7.95975723e-02 9.96822201e-01 -3.11874691e-03 6.65338183e-02] [ 3.23331229e-02 5.45210287e-04 9.99476999e-01 8.06883328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424860624 meters Centerline goodness [0,1] 0.6519981304043001 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96298168e-01 -7.97070495e-02 -3.21985566e-02 4.41155911e-01] [ 7.96458100e-02 9.96818148e-01 -3.18209508e-03 6.71590865e-02] [ 3.23497410e-02 6.05835378e-04 9.99476427e-01 8.03973714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454860624 meters Centerline goodness [0,1] 0.6431467204086894 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96293600e-01 -7.97559476e-02 -3.22188043e-02 4.41422594e-01] [ 7.96924299e-02 9.96814193e-01 -3.25284180e-03 6.76989397e-02] [ 3.23755949e-02 6.73190664e-04 9.99475546e-01 8.00710123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48486062399999 meters Centerline goodness [0,1] 0.6506598412623867 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96297440e-01 -7.97102570e-02 -3.22131360e-02 4.41710532e-01] [ 7.96468572e-02 9.96817849e-01 -3.24858081e-03 6.81864785e-02] [ 3.23695742e-02 6.70877698e-04 9.99475743e-01 7.96810373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514860624 meters Centerline goodness [0,1] 0.6494313518583656 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96298927e-01 -7.96633027e-02 -3.22832169e-02 4.42341895e-01] [ 7.95967640e-02 9.96821538e-01 -3.34308035e-03 6.91826326e-02] [ 3.24469267e-02 7.61067770e-04 9.99473170e-01 7.90600551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544860624 meters Centerline goodness [0,1] 0.6422018348623852 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96300957e-01 -7.96929857e-02 -3.21470306e-02 4.42357386e-01] [ 7.96267685e-02 9.96819163e-01 -3.33684345e-03 6.96725621e-02] [ 3.23106991e-02 7.64736161e-04 9.99477580e-01 7.86296331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574860624 meters Centerline goodness [0,1] 0.6466865840175022 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96291545e-01 -7.98612714e-02 -3.20208431e-02 4.42089648e-01] [ 7.97914213e-02 9.96805593e-01 -3.45536162e-03 7.00501768e-02] [ 3.21945050e-02 8.87558989e-04 9.99481228e-01 7.85816292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604860624 meters Centerline goodness [0,1] 0.6489431658055425 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96292431e-01 -7.98961601e-02 -3.19060562e-02 4.42098676e-01] [ 7.98287083e-02 9.96802851e-01 -3.38438131e-03 6.99671419e-02] [ 3.20744468e-02 8.24814233e-04 9.99485142e-01 7.82605051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634860624 meters Centerline goodness [0,1] 0.6433924585927405 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96284568e-01 -7.99995721e-02 -3.18924459e-02 4.42167024e-01] [ 7.99306921e-02 9.96794519e-01 -3.43090600e-03 6.99861591e-02] [ 3.20646863e-02 8.68973425e-04 9.99485418e-01 7.81006633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664860624 meters Centerline goodness [0,1] 0.6426575233085179 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96270940e-01 -8.02373887e-02 -3.17202743e-02 4.41876938e-01] [ 8.01657478e-02 9.96775311e-01 -3.52592126e-03 7.00030912e-02] [ 3.19008970e-02 9.69893373e-04 9.99490566e-01 7.79898271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694860624 meters Centerline goodness [0,1] 0.6468725814395272 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99625908 -0.08038338 -0.03172321 0.4419337 ] [ 0.08030947 0.99676348 -0.00359911 0.07006006] [ 0.03190985 0.00103797 0.99949021 0.07791722] [ 0. 0. 0. 1. ]] SLAMing on 105.724860624 meters Centerline goodness [0,1] 0.6476671759313668 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99625005 -0.08050216 -0.03170564 0.44202654] [ 0.0804278 0.99675388 -0.00361579 0.07012965] [ 0.0318938 0.00105222 0.99949071 0.0776657 ] [ 0. 0. 0. 1. ]] SLAMing on 105.754860624 meters Centerline goodness [0,1] 0.6341755506504485 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99624236 -0.08059063 -0.03172225 0.44214262] [ 0.08051692 0.99674675 -0.0035964 0.07008646] [ 0.03190888 0.00102871 0.99949025 0.07748993] [ 0. 0. 0. 1. ]] SLAMing on 105.784860624 meters Centerline goodness [0,1] 0.6436192714453584 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.9962101 -0.08104708 -0.0315721 0.44151838] [ 0.08096522 0.99670943 -0.00386469 0.07043971] [ 0.03178143 0.0012938 0.99949401 0.0777086 ] [ 0. 0. 0. 1. ]] SLAMing on 105.814860624 meters Centerline goodness [0,1] 0.637807690497482 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99620709 -0.081081 -0.03158027 0.44161858] [ 0.08099851 0.99670665 -0.00388485 0.07075336] [ 0.03179125 0.00131216 0.99949367 0.07757132] [ 0. 0. 0. 1. ]] SLAMing on 105.84486062399999 meters Centerline goodness [0,1] 0.637807690497482 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99620709 -0.081081 -0.03158027 0.44161858] [ 0.08099851 0.99670665 -0.00388485 0.07075336] [ 0.03179125 0.00131216 0.99949367 0.07757132] [ 0. 0. 0. 1. ]] SLAMing on 105.874860624 meters Centerline goodness [0,1] 0.6429663428746148 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99620102 -0.08113372 -0.03163613 0.44183128] [ 0.08104827 0.99670225 -0.00397636 0.07107776] [ 0.03185442 0.0013972 0.99949154 0.07746356] [ 0. 0. 0. 1. ]] SLAMing on 105.904860624 meters Centerline goodness [0,1] 0.645033673998022 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99621123 -0.08100527 -0.03164393 0.44217358] [ 0.08092081 0.99671274 -0.00394293 0.07147055] [ 0.03185931 0.00136734 0.99949143 0.07705636] [ 0. 0. 0. 1. ]] SLAMing on 105.934860624 meters Centerline goodness [0,1] 0.6358839050131926 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99622492 -0.08082884 -0.03166388 0.44249617] [ 0.08074846 0.99672723 -0.00381114 0.07158546] [ 0.0318683 0.00123994 0.99949131 0.07673604] [ 0. 0. 0. 1. ]] SLAMing on 105.964860624 meters Centerline goodness [0,1] 0.6460081063248185 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.9962284 -0.08074604 -0.03176562 0.44291396] [ 0.08066665 0.99673399 -0.00377506 0.07168568] [ 0.0319667 0.0011984 0.99948822 0.07650105] [ 0. 0. 0. 1. ]] SLAMing on 105.994860624 meters Centerline goodness [0,1] 0.6439643799472295 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.99623194 -0.08066591 -0.03185795 0.44329822] [ 0.08058708 0.99674051 -0.00375286 0.07177056] [ 0.03205684 0.00117138 0.99948536 0.07629868] [ 0. 0. 0. 1. ]] SLAMing on 106.024860624 meters Centerline goodness [0,1] 0.6477382551917592 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 0.9962425 -0.08051081 -0.03192003 0.44356586] [ 0.08043591 0.99675319 -0.00362596 0.07168197] [ 0.03210832 0.00104482 0.99948385 0.07609603] [ 0. 0. 0. 1. ]] SLAMing on 106.054860624 meters Centerline goodness [0,1] 0.6463360195474943 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96257300e-01 -8.03183401e-02 -3.19430231e-02 4.43814477e-01] [ 8.02530220e-02 9.96768983e-01 -3.32376655e-03 7.14366660e-02] [ 3.21067740e-02 7.47802557e-04 9.99484165e-01 7.57536963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084860624 meters Centerline goodness [0,1] 0.6474894415767245 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96261615e-01 -8.02524499e-02 -3.19740368e-02 4.43911281e-01] [ 8.01901644e-02 9.96774357e-01 -3.22766650e-03 7.12249549e-02] [ 3.21299281e-02 6.51596972e-04 9.99483488e-01 7.57237563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114860624 meters Centerline goodness [0,1] 0.6469621174757509 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96265199e-01 -8.02445692e-02 -3.18819925e-02 4.43615842e-01] [ 8.01885755e-02 9.96775096e-01 -3.03308994e-03 7.04379008e-02] [ 3.20225652e-02 4.65190394e-04 9.99487038e-01 7.58337081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144860624 meters Centerline goodness [0,1] 0.6473889358504743 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96261438e-01 -8.03050564e-02 -3.18472037e-02 4.43463488e-01] [ 8.02510175e-02 9.96770251e-01 -2.97348081e-03 7.00105740e-02] [ 3.19831307e-02 4.06593772e-04 9.99488326e-01 7.59174987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174860624 meters Centerline goodness [0,1] 0.6499121265377856 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96266586e-01 -8.02604358e-02 -3.17986312e-02 4.43436973e-01] [ 8.02165370e-02 9.96773923e-01 -2.65589856e-03 6.89518297e-02] [ 3.19092099e-02 9.52069152e-05 9.99490767e-01 7.57562564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204860624 meters Centerline goodness [0,1] 0.6369057362673339 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96269120e-01 -8.02588880e-02 -3.17230480e-02 4.43465844e-01] [ 8.02215025e-02 9.96774047e-01 -2.45155829e-03 6.79916201e-02] [ 3.18174702e-02 -1.02458749e-04 9.99493691e-01 7.55303273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23486062399999 meters Centerline goodness [0,1] 0.6524437186515806 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96266366e-01 -8.03324636e-02 -3.16231438e-02 4.43377131e-01] [ 8.03110806e-02 9.96767945e-01 -1.94781896e-03 6.59695451e-02] [ 3.16774092e-02 -5.99142335e-04 9.99497965e-01 7.52094779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264860624 meters Centerline goodness [0,1] 0.6397534310304722 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.08 [[ 9.96265436e-01 -8.03433576e-02 -3.16247735e-02 4.43468833e-01] [ 8.03261087e-02 9.96766980e-01 -1.81756733e-03 6.53816843e-02] [ 3.16685594e-02 -7.29515487e-04 9.99498159e-01 7.51348543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294860624 meters Centerline goodness [0,1] 0.6498846772126832 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.08 [[ 9.96266293e-01 -8.03310421e-02 -3.16290508e-02 4.43545770e-01] [ 8.03199384e-02 9.96767812e-01 -1.62350107e-03 6.46407342e-02] [ 3.16572373e-02 -9.23004021e-04 9.99498358e-01 7.50574734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324860624 meters Centerline goodness [0,1] 0.6438486980015838 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 0.99626074 -0.08038417 -0.03166896 0.44368108] [ 0.08038038 0.99676329 -0.00139495 0.06374415] [ 0.03167859 -0.00115583 0.99949744 0.07491246] [ 0. 0. 0. 1. ]] SLAMing on 106.354860624 meters Centerline goodness [0,1] 0.6462185264331506 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 0.99623699 -0.0807737 -0.03142389 0.44319893] [ 0.08078033 0.99673136 -0.00106036 0.06160721] [ 0.03140683 -0.00148206 0.99950559 0.0746781 ] [ 0. 0. 0. 1. ]] SLAMing on 106.384860624 meters Centerline goodness [0,1] 0.6414770486860112 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96228608e-01 -8.09429980e-02 -3.12536554e-02 4.42941768e-01] [ 8.09563134e-02 9.96717296e-01 -8.41201979e-04 6.05403340e-02] [ 3.12191483e-02 -1.69215125e-03 9.99511131e-01 7.44484919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414860624 meters Centerline goodness [0,1] 0.6424434766493698 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96214893e-01 -8.11534897e-02 -3.11448015e-02 4.42720408e-01] [ 8.11706556e-02 9.96699962e-01 -7.14856749e-04 5.95485570e-02] [ 3.11000356e-02 -1.81589302e-03 9.99514627e-01 7.43759301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444860624 meters Centerline goodness [0,1] 0.6346549531846029 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96212622e-01 -8.12408090e-02 -3.09893810e-02 4.42598568e-01] [ 8.12645751e-02 9.96692442e-01 -4.93875231e-04 5.85663828e-02] [ 3.09270047e-02 -2.02633414e-03 9.99519592e-01 7.40954884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474860624 meters Centerline goodness [0,1] 0.6275954454119224 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96213148e-01 -8.11937386e-02 -3.10956782e-02 4.42882098e-01] [ 8.12170319e-02 9.96696307e-01 -5.15325487e-04 5.88030959e-02] [ 3.10347888e-02 -2.01212466e-03 9.99516280e-01 7.40445235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504860624 meters Centerline goodness [0,1] 0.644229437029511 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96218179e-01 -8.11160813e-02 -3.11371491e-02 4.43122822e-01] [ 8.11396723e-02 9.96702612e-01 -5.07223159e-04 5.91586236e-02] [ 3.10756218e-02 -2.02115315e-03 9.99514993e-01 7.38722588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534860624 meters Centerline goodness [0,1] 0.6367497691597415 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96227494e-01 -8.09223254e-02 -3.13425715e-02 4.43775862e-01] [ 8.09465878e-02 9.96718317e-01 -4.96057287e-04 5.94664234e-02] [ 3.12798573e-02 -2.04288831e-03 9.99508578e-01 7.36840588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564860624 meters Centerline goodness [0,1] 0.6401766514832713 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96265326e-01 -8.03440293e-02 -3.16265318e-02 4.44715172e-01] [ 8.03739379e-02 9.96764728e-01 -3.26534266e-04 5.95447585e-02] [ 3.15504465e-02 -2.21663414e-03 9.99499703e-01 7.34813456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59486062399999 meters Centerline goodness [0,1] 0.6356155517544265 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:0.07 [[ 9.96278895e-01 -8.01452356e-02 -3.17033831e-02 4.44994541e-01] [ 8.01769667e-02 9.96780608e-01 -2.71164157e-04 5.98322540e-02] [ 3.16230500e-02 -2.27172597e-03 9.99497285e-01 7.33764121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624860624 meters Centerline goodness [0,1] 0.6326587255695617 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96287760e-01 -7.99685592e-02 -3.18705008e-02 4.45296265e-01] [ 7.99999103e-02 9.96794828e-01 -2.92271113e-04 6.03478666e-02] [ 3.17917229e-02 -2.25845107e-03 9.99491964e-01 7.34963969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654860624 meters Centerline goodness [0,1] 0.6350447719752886 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96297433e-01 -7.97739736e-02 -3.20552304e-02 4.45704984e-01] [ 7.98064546e-02 9.96810342e-01 -2.66916000e-04 6.07324120e-02] [ 3.19742782e-02 -2.29228657e-03 9.99486063e-01 7.35233790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684860624 meters Centerline goodness [0,1] 0.6380035107169253 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96310850e-01 -7.95602003e-02 -3.21693051e-02 4.46041285e-01] [ 7.95945727e-02 9.96827296e-01 -2.12717709e-04 6.09511924e-02] [ 3.20841653e-02 -2.34856913e-03 9.99482411e-01 7.34875620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714860624 meters Centerline goodness [0,1] 0.6403072438285172 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96331552e-01 -7.92844508e-02 -3.22089093e-02 4.46273616e-01] [ 7.93276715e-02 9.96848593e-01 6.42336824e-05 6.05335027e-02] [ 3.21023132e-02 -2.61905582e-03 9.99481156e-01 7.33164825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744860624 meters Centerline goodness [0,1] 0.6360949478156461 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96339088e-01 -7.91898082e-02 -3.22086348e-02 4.46372670e-01] [ 7.92400414e-02 9.96855524e-01 2.84175580e-04 5.97959831e-02] [ 3.20848517e-02 -2.83534880e-03 9.99481127e-01 7.32028056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774860624 meters Centerline goodness [0,1] 0.6477952683420787 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96349920e-01 -7.90617607e-02 -3.21881088e-02 4.46583031e-01] [ 7.91211853e-02 9.96864839e-01 5.74662532e-04 5.89386640e-02] [ 3.20417601e-02 -3.11932629e-03 9.99481663e-01 7.29121188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804860624 meters Centerline goodness [0,1] 0.6486268917613506 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96356941e-01 -7.89538033e-02 -3.22357521e-02 4.46930401e-01] [ 7.90216934e-02 9.96872546e-01 8.35523041e-04 5.81781156e-02] [ 3.20689685e-02 -3.37980289e-03 9.99479944e-01 7.25884700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834860624 meters Centerline goodness [0,1] 0.6476343592099219 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99636613 -0.07883828 -0.03223459 0.44721958] [ 0.07891886 0.99688028 0.00123317 0.05693145] [ 0.0320368 -0.00377261 0.99947957 0.07219186] [ 0. 0. 0. 1. ]] SLAMing on 106.864860624 meters Centerline goodness [0,1] 0.644997134670487 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.9963686 -0.07879896 -0.03225434 0.44739976] [ 0.07888582 0.99688264 0.00142757 0.0563318 ] [ 0.0320413 -0.0039668 0.99947867 0.07197918] [ 0. 0. 0. 1. ]] SLAMing on 106.894860624 meters Centerline goodness [0,1] 0.6477840414317797 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 0.99636492 -0.07882292 -0.03230935 0.44747021] [ 0.07891503 0.99688009 0.00158372 0.05548343] [ 0.03208371 -0.00412765 0.99947666 0.07202085] [ 0. 0. 0. 1. ]] SLAMing on 106.924860624 meters Centerline goodness [0,1] 0.641497767090347 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99633288 -0.07933107 -0.03205261 0.44652731] [ 0.07942476 0.99683948 0.00165862 0.05367499] [ 0.03181973 -0.00419831 0.99948481 0.07246113] [ 0. 0. 0. 1. ]] SLAMing on 106.954860624 meters Centerline goodness [0,1] 0.6442419941859134 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99631785 -0.07956883 -0.03193017 0.44628241] [ 0.07966608 0.99682001 0.00178322 0.05273693] [ 0.03168674 -0.0043204 0.99948851 0.07237689] [ 0. 0. 0. 1. ]] SLAMing on 106.98486062399999 meters Centerline goodness [0,1] 0.6388571689581144 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99630576 -0.07975746 -0.03183677 0.44618718] [ 0.07985958 0.99680422 0.00194696 0.05173552] [ 0.03157974 -0.00448224 0.99949119 0.07219388] [ 0. 0. 0. 1. ]] SLAMing on 107.014860624 meters Centerline goodness [0,1] 0.6322655821604826 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99629318 -0.07994407 -0.03176226 0.44608133] [ 0.08005298 0.99678825 0.00217007 0.05056888] [ 0.03148677 -0.00470469 0.9994931 0.07201469] [ 0. 0. 0. 1. ]] SLAMing on 107.044860624 meters Centerline goodness [0,1] 0.632532313853996 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99627136 -0.08024223 -0.03169485 0.4459933 ] [ 0.08035379 0.99676384 0.00225973 0.04985279] [ 0.03141095 -0.00479811 0.99949504 0.07178858] [ 0. 0. 0. 1. ]] SLAMing on 107.074860624 meters Centerline goodness [0,1] 0.6305325820230846 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.9962369 -0.08074738 -0.03149454 0.44547848] [ 0.08086297 0.99672231 0.00241176 0.04868385] [ 0.03119656 -0.00494943 0.99950101 0.07164186] [ 0. 0. 0. 1. ]] SLAMing on 107.104860624 meters Centerline goodness [0,1] 0.6249687549708001 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.9962265 -0.08091885 -0.03138326 0.44523792] [ 0.08103547 0.99670818 0.0024599 0.04816929] [ 0.0310809 -0.00499377 0.9995044 0.07157303] [ 0. 0. 0. 1. ]] SLAMing on 107.134860624 meters Centerline goodness [0,1] 0.6292825702228071 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99622184 -0.08099204 -0.03134223 0.44526659] [ 0.08110987 0.99670202 0.00250437 0.04773226] [ 0.03103603 -0.00503707 0.99950557 0.07145859] [ 0. 0. 0. 1. ]] SLAMing on 107.164860624 meters Centerline goodness [0,1] 0.6339646636689831 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99621984 -0.08101952 -0.03133484 0.4452942 ] [ 0.08113806 0.99669967 0.00252803 0.04742844] [ 0.0310266 -0.00506092 0.99950575 0.07144315] [ 0. 0. 0. 1. ]] SLAMing on 107.194860624 meters Centerline goodness [0,1] 0.6279617632401577 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99621307 -0.08110301 -0.03133414 0.44520264] [ 0.08122135 0.9966929 0.00252044 0.04725893] [ 0.0310261 -0.00505589 0.99950579 0.07154676] [ 0. 0. 0. 1. ]] SLAMing on 107.224860624 meters Centerline goodness [0,1] 0.6152627529081609 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.07 [[ 0.99616803 -0.081709 -0.03119121 0.44413488] [ 0.08181918 0.9966446 0.00227044 0.04656549] [ 0.03090104 -0.00481378 0.99951086 0.07242315] [ 0. 0. 0. 1. ]] SLAMing on 107.254860624 meters Centerline goodness [0,1] 0.6355059645303216 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.07 [[ 0.99615538 -0.08187742 -0.03115368 0.44391089] [ 0.08198864 0.99663059 0.00230724 0.046015 ] [ 0.0308598 -0.00485261 0.99951194 0.07257291] [ 0. 0. 0. 1. ]] SLAMing on 107.284860624 meters Centerline goodness [0,1] 0.6330437143632908 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.07 [[ 0.99614481 -0.08202692 -0.03109828 0.44388323] [ 0.08213985 0.996618 0.00236937 0.04536968] [ 0.03079875 -0.00491465 0.99951352 0.07242994] [ 0. 0. 0. 1. ]] SLAMing on 107.314860624 meters Centerline goodness [0,1] 0.631733550253073 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99614158 -0.08209687 -0.03101713 0.44385189] [ 0.08221594 0.9966112 0.00258102 0.04446057] [ 0.03070013 -0.00512116 0.99951552 0.07222201] [ 0. 0. 0. 1. ]] SLAMing on 107.34486062399999 meters Centerline goodness [0,1] 0.6277590469768488 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99610462 -0.08264356 -0.030751 0.44300046] [ 0.08276301 0.99656579 0.00263012 0.04244942] [ 0.03042803 -0.00516493 0.99952362 0.07250464] [ 0. 0. 0. 1. ]] SLAMing on 107.374860624 meters Centerline goodness [0,1] 0.6224489795918368 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99609327 -0.08285098 -0.03055987 0.4425639 ] [ 0.08297298 0.99654802 0.00274392 0.04125499] [ 0.03022705 -0.00526885 0.99952917 0.07257078] [ 0. 0. 0. 1. ]] SLAMing on 107.404860624 meters Centerline goodness [0,1] 0.6218447800040388 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99609347 -0.08285727 -0.03053645 0.44258066] [ 0.08299124 0.99654532 0.00314417 0.03978492] [ 0.03017044 -0.00566615 0.99952871 0.07241592] [ 0. 0. 0. 1. ]] SLAMing on 107.434860624 meters Centerline goodness [0,1] 0.6148348940364712 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99608507 -0.0830332 -0.03033172 0.44243439] [ 0.08317882 0.99652825 0.00356898 0.03772137] [ 0.02993007 -0.00607796 0.99953352 0.07202718] [ 0. 0. 0. 1. ]] SLAMing on 107.464860624 meters Centerline goodness [0,1] 0.6111135987104286 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.9960892 -0.08299735 -0.03029436 0.44248291] [ 0.08315029 0.99652969 0.00382205 0.03677766] [ 0.02987201 -0.00632608 0.99953371 0.07188813] [ 0. 0. 0. 1. ]] SLAMing on 107.494860624 meters Centerline goodness [0,1] 0.6182763178529023 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.07 [[ 0.99609571 -0.08294045 -0.03023588 0.44261646] [ 0.08310083 0.99653277 0.00408464 0.03593336] [ 0.02979227 -0.00658132 0.99953445 0.07159211] [ 0. 0. 0. 1. ]] SLAMing on 107.524860624 meters Centerline goodness [0,1] 0.6041284198271616 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99611152 -0.08276079 -0.0302074 0.44289812] [ 0.08293534 0.99654445 0.00456973 0.03408366] [ 0.02972482 -0.00705722 0.99953321 0.071183 ] [ 0. 0. 0. 1. ]] SLAMing on 107.554860624 meters Centerline goodness [0,1] 0.6011465280720929 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99612437 -0.08261792 -0.03017484 0.44323623] [ 0.08280112 0.99655419 0.00487093 0.03310559] [ 0.02966843 -0.00735056 0.99953277 0.07072359] [ 0. 0. 0. 1. ]] SLAMing on 107.584860624 meters Centerline goodness [0,1] 0.5994422132976349 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.9961336 -0.08250527 -0.0301782 0.44333872] [ 0.08269111 0.99656288 0.00496067 0.03270315] [ 0.02966519 -0.00743696 0.99953222 0.07070114] [ 0. 0. 0. 1. ]] SLAMing on 107.614860624 meters Centerline goodness [0,1] 0.6009234681358882 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99614967 -0.08228267 -0.03025549 0.44373914] [ 0.08247538 0.99657966 0.00517545 0.03235621] [ 0.02972616 -0.00765085 0.9995288 0.07046022] [ 0. 0. 0. 1. ]] SLAMing on 107.644860624 meters Centerline goodness [0,1] 0.6130840704011435 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.99618148 -0.08181255 -0.03048219 0.444285 ] [ 0.08201253 0.99661685 0.00536695 0.03264845] [ 0.02993998 -0.00784638 0.9995209 0.07048403] [ 0. 0. 0. 1. ]] SLAMing on 107.674860624 meters Centerline goodness [0,1] 0.6342540943370967 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.07 [[ 0.9961935 -0.08161181 -0.03062718 0.44478346] [ 0.08181785 0.99663194 0.0055334 0.03264592] [ 0.03007244 -0.00801818 0.99951556 0.07023297] [ 0. 0. 0. 1. ]] SLAMing on 107.704860624 meters Centerline goodness [0,1] 0.6325490984650446 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99620846 -0.08136765 -0.03078975 0.44532132] [ 0.08157882 0.9966508 0.00566363 0.03269793] [ 0.0302258 -0.00815395 0.99950984 0.07004474] [ 0. 0. 0. 1. ]] SLAMing on 107.73486062399999 meters Centerline goodness [0,1] 0.6325490984650446 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99620846 -0.08136765 -0.03078975 0.44532132] [ 0.08157882 0.9966508 0.00566363 0.03269793] [ 0.0302258 -0.00815395 0.99950984 0.07004474] [ 0. 0. 0. 1. ]] SLAMing on 107.764860624 meters Centerline goodness [0,1] 0.6331478626175951 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99622283 -0.08114424 -0.03091403 0.44564417] [ 0.08135906 0.99666825 0.00575348 0.03262175] [ 0.03034417 -0.00824689 0.99950549 0.07003914] [ 0. 0. 0. 1. ]] SLAMing on 107.794860624 meters Centerline goodness [0,1] 0.6357155627067131 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99625354 -0.08073948 -0.03098405 0.44579749] [ 0.08095888 0.99670003 0.00589101 0.03232665] [ 0.03040616 -0.00837737 0.99950252 0.0702243 ] [ 0. 0. 0. 1. ]] SLAMing on 107.824860624 meters Centerline goodness [0,1] 0.6335326135451058 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99626626 -0.0805752 -0.03100275 0.4458734 ] [ 0.08079567 0.99671308 0.0059234 0.03241803] [ 0.03042357 -0.00840617 0.99950175 0.07028132] [ 0. 0. 0. 1. ]] SLAMing on 107.854860624 meters Centerline goodness [0,1] 0.6277574350272395 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99627707 -0.0804152 -0.03107082 0.44595056] [ 0.08063491 0.99672635 0.00588199 0.03269302] [ 0.03049611 -0.00836549 0.99949988 0.07044596] [ 0. 0. 0. 1. ]] SLAMing on 107.884860624 meters Centerline goodness [0,1] 0.6270644764778188 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99630598 -0.07999725 -0.03122234 0.44636155] [ 0.08022303 0.99675861 0.0060447 0.03305108] [ 0.03063757 -0.00852712 0.99949419 0.07043272] [ 0. 0. 0. 1. ]] SLAMing on 107.914860624 meters Centerline goodness [0,1] 0.6294046715198071 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99632106 -0.07978879 -0.03127441 0.44659016] [ 0.08001747 0.99677462 0.00612808 0.03331799] [ 0.03068459 -0.00860804 0.99949205 0.0703286 ] [ 0. 0. 0. 1. ]] SLAMing on 107.944860624 meters Centerline goodness [0,1] 0.6307802337795856 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99634696 -0.07940082 -0.03143629 0.44716724] [ 0.07963911 0.99680322 0.00639995 0.03308628] [ 0.03082763 -0.00888013 0.99948527 0.07011085] [ 0. 0. 0. 1. ]] SLAMing on 107.974860624 meters Centerline goodness [0,1] 0.6405305985954743 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99636592 -0.07911563 -0.03155428 0.44766955] [ 0.07936148 0.99682396 0.00661456 0.03252683] [ 0.03093075 -0.00909472 0.99948015 0.06991494] [ 0. 0. 0. 1. ]] SLAMing on 108.004860624 meters Centerline goodness [0,1] 0.6298326536978853 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99639959 -0.07862359 -0.03172033 0.44826282] [ 0.07888538 0.99685851 0.00708575 0.03131263] [ 0.03106358 -0.00956251 0.99947167 0.0697102 ] [ 0. 0. 0. 1. ]] SLAMing on 108.034860624 meters Centerline goodness [0,1] 0.6433031532937871 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99640093 -0.07857706 -0.03179372 0.4482909 ] [ 0.07884014 0.99686195 0.00710546 0.03100371] [ 0.03113563 -0.00958651 0.99946919 0.06995831] [ 0. 0. 0. 1. ]] SLAMing on 108.064860624 meters Centerline goodness [0,1] 0.6459070378034399 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99639413 -0.07867994 -0.03175225 0.447977 ] [ 0.07894268 0.99685383 0.00710598 0.03055967] [ 0.03109325 -0.00958696 0.99947051 0.07029211] [ 0. 0. 0. 1. ]] SLAMing on 108.09486062399999 meters Centerline goodness [0,1] 0.6470091171892373 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99638994 -0.07876906 -0.03166273 0.4476691 ] [ 0.07903489 0.99684562 0.00723157 0.02978341] [ 0.03099323 -0.00970792 0.99947245 0.07044723] [ 0. 0. 0. 1. ]] SLAMing on 108.124860624 meters Centerline goodness [0,1] 0.6463721064686131 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99637808 -0.0789639 -0.03155026 0.44731091] [ 0.07924203 0.99682596 0.0076626 0.02720317] [ 0.03084505 -0.01013495 0.99947279 0.07058608] [ 0. 0. 0. 1. ]] SLAMing on 108.154860624 meters Centerline goodness [0,1] 0.6415499822757887 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99636482 -0.07918403 -0.03141716 0.44696864] [ 0.0794664 0.9968067 0.00784129 0.02551836] [ 0.03069593 -0.0103094 0.9994756 0.07070406] [ 0. 0. 0. 1. ]] SLAMing on 108.184860624 meters Centerline goodness [0,1] 0.64269434179372 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99633392 -0.07959072 -0.03136924 0.44688407] [ 0.07988255 0.99677088 0.00816019 0.02243877] [ 0.03061847 -0.01063613 0.99947455 0.07065739] [ 0. 0. 0. 1. ]] SLAMing on 108.214860624 meters Centerline goodness [0,1] 0.6307213353646419 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99631343 -0.07986161 -0.03133173 0.44675954] [ 0.08015546 0.99674835 0.00823538 0.02116317] [ 0.03057216 -0.01071643 0.99947511 0.07075325] [ 0. 0. 0. 1. ]] SLAMing on 108.244860624 meters Centerline goodness [0,1] 0.6317184118712185 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99629386 -0.08016248 -0.03118514 0.44634615] [ 0.08045645 0.99672368 0.00828697 0.02017536] [ 0.03041866 -0.01076531 0.99947927 0.07085319] [ 0. 0. 0. 1. ]] SLAMing on 108.274860624 meters Centerline goodness [0,1] 0.646641782803631 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.9962534 -0.080702 -0.03108606 0.44590413] [ 0.08099561 0.99667988 0.00830275 0.01842812] [ 0.03031281 -0.01078948 0.99948223 0.07110933] [ 0. 0. 0. 1. ]] SLAMing on 108.304860624 meters Centerline goodness [0,1] 0.6391950273320401 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99624381 -0.08086816 -0.03096157 0.44573052] [ 0.08116223 0.99666584 0.00835996 0.01760438] [ 0.03018229 -0.01084147 0.99948561 0.07104758] [ 0. 0. 0. 1. ]] SLAMing on 108.334860624 meters Centerline goodness [0,1] 0.6407668576465404 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99622259 -0.08113886 -0.03093598 0.44555241] [ 0.08143156 0.99664421 0.00831984 0.01694648] [ 0.0301571 -0.01080758 0.99948674 0.07121272] [ 0. 0. 0. 1. ]] SLAMing on 108.364860624 meters Centerline goodness [0,1] 0.6428602908770383 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99619823 -0.08146561 -0.03086178 0.44524917] [ 0.0817556 0.99661824 0.00825203 0.01609743] [ 0.03008516 -0.01074378 0.9994896 0.07139671] [ 0. 0. 0. 1. ]] SLAMing on 108.394860624 meters Centerline goodness [0,1] 0.6371090057811092 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99613601 -0.08228286 -0.03070147 0.44410747] [ 0.08256034 0.99655491 0.00788042 0.01448846] [ 0.02994727 -0.0103847 0.99949753 0.07242493] [ 0. 0. 0. 1. ]] SLAMing on 108.424860624 meters Centerline goodness [0,1] 0.639546134224646 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99612881 -0.08238973 -0.03064838 0.44383766] [ 0.08266591 0.99654637 0.00785367 0.01408 ] [ 0.02989547 -0.01035685 0.99949937 0.072691 ] [ 0. 0. 0. 1. ]] SLAMing on 108.454860624 meters Centerline goodness [0,1] 0.6359699261343651 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99611833 -0.08249191 -0.0307141 0.44383754] [ 0.08276518 0.99653908 0.00773265 0.01413 ] [ 0.02996992 -0.0102447 0.9994983 0.07289489] [ 0. 0. 0. 1. ]] SLAMing on 108.48486062399999 meters Centerline goodness [0,1] 0.6376904112001409 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99612095 -0.08246159 -0.03071068 0.44362376] [ 0.08273402 0.99654187 0.00770626 0.01420326] [ 0.02996901 -0.01021718 0.99949861 0.07317875] [ 0. 0. 0. 1. ]] SLAMing on 108.514860624 meters Centerline goodness [0,1] 0.636139322773237 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99612772 -0.08237419 -0.03072558 0.44369733] [ 0.08264792 0.99654871 0.00774547 0.01418076] [ 0.02998151 -0.01025488 0.99949785 0.0731308 ] [ 0. 0. 0. 1. ]] SLAMing on 108.544860624 meters Centerline goodness [0,1] 0.628298733286418 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99613987 -0.08221631 -0.03075462 0.44398302] [ 0.08249399 0.99656049 0.0078696 0.01392348] [ 0.03000183 -0.01037629 0.99949598 0.07293572] [ 0. 0. 0. 1. ]] SLAMing on 108.574860624 meters Centerline goodness [0,1] 0.6441497900037382 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99615081 -0.08205073 -0.03084224 0.4443537 ] [ 0.08233009 0.99657382 0.00789735 0.01391501] [ 0.03008859 -0.01040619 0.99949307 0.07278303] [ 0. 0. 0. 1. ]] SLAMing on 108.604860624 meters Centerline goodness [0,1] 0.6440830677947478 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.07 [[ 0.99616606 -0.08183575 -0.03092078 0.4446944 ] [ 0.08212011 0.99659002 0.00803904 0.01364972] [ 0.03015746 -0.01054744 0.99948951 0.07262904] [ 0. 0. 0. 1. ]] SLAMing on 108.634860624 meters Centerline goodness [0,1] 0.6426843216610945 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.07 [[ 0.996225 -0.08106658 -0.03104785 0.44545256] [ 0.08136428 0.99664864 0.00844606 0.01365433] [ 0.0302591 -0.01094036 0.99948221 0.07221924] [ 0. 0. 0. 1. ]] SLAMing on 108.664860624 meters Centerline goodness [0,1] 0.6458553326293559 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.07 [[ 0.9962519 -0.08065387 -0.03125867 0.44611193] [ 0.08095815 0.99668047 0.00859221 0.01413574] [ 0.03046191 -0.01109065 0.9994744 0.07200769] [ 0. 0. 0. 1. ]] SLAMing on 108.694860624 meters Centerline goodness [0,1] 0.6453888241886221 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:0.07 [[ 0.99627302 -0.08029638 -0.03150494 0.44676526] [ 0.08060309 0.99670929 0.00858713 0.01497915] [ 0.03071175 -0.01109452 0.99946671 0.07190237] [ 0. 0. 0. 1. ]] SLAMing on 108.724860624 meters Centerline goodness [0,1] 0.6481834725602402 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99630169 -0.07987849 -0.03166024 0.44732774] [ 0.08018569 0.99674325 0.00855313 0.01582047] [ 0.03087392 -0.0110602 0.99946209 0.07180604] [ 0. 0. 0. 1. ]] SLAMing on 108.754860624 meters Centerline goodness [0,1] 0.6515544041450777 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99637307 -0.07882898 -0.03204226 0.44862281] [ 0.07915315 0.99682206 0.00897549 0.0162137 ] [ 0.0312329 -0.01147919 0.99944621 0.07145585] [ 0. 0. 0. 1. ]] SLAMing on 108.784860624 meters Centerline goodness [0,1] 0.6491073784187846 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99638969 -0.0785827 -0.03213018 0.44892071] [ 0.07890938 0.99684092 0.00902728 0.0165978 ] [ 0.03131929 -0.01153006 0.99944292 0.07136285] [ 0. 0. 0. 1. ]] SLAMing on 108.814860624 meters Centerline goodness [0,1] 0.6493815204472422 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99642055 -0.07818243 -0.03214951 0.44903035] [ 0.0785074 0.99687316 0.00897138 0.01747735] [ 0.03134758 -0.01146324 0.99944281 0.0714797 ] [ 0. 0. 0. 1. ]] SLAMing on 108.84486062399999 meters Centerline goodness [0,1] 0.6603466836566558 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99642439 -0.07808769 -0.03226058 0.44917591] [ 0.07841107 0.99688155 0.00888166 0.0179134 ] [ 0.03146643 -0.01137949 0.99944003 0.07167962] [ 0. 0. 0. 1. ]] SLAMing on 108.874860624 meters Centerline goodness [0,1] 0.6616981049114012 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99642342 -0.07807862 -0.03231258 0.44935623] [ 0.07839677 0.9968843 0.00869703 0.0185062 ] [ 0.03153285 -0.01119913 0.99943997 0.07167903] [ 0. 0. 0. 1. ]] SLAMing on 108.904860624 meters Centerline goodness [0,1] 0.6600887795016042 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99641992 -0.07810667 -0.03235257 0.44926292] [ 0.07841386 0.99688604 0.0083356 0.01976017] [ 0.03160076 -0.01084265 0.99944176 0.07198557] [ 0. 0. 0. 1. ]] SLAMing on 108.934860624 meters Centerline goodness [0,1] 0.6686132351968972 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.9964084 -0.07826917 -0.03231471 0.44913987] [ 0.07856791 0.99687603 0.00807866 0.02033891] [ 0.03158145 -0.01058854 0.99944509 0.07208469] [ 0. 0. 0. 1. ]] SLAMing on 108.964860624 meters Centerline goodness [0,1] 0.6618304308579732 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99640131 -0.07839111 -0.0322376 0.44925054] [ 0.07868474 0.99686792 0.00794098 0.02052313] [ 0.03151412 -0.01044901 0.99944869 0.0717938 ] [ 0. 0. 0. 1. ]] SLAMing on 108.994860624 meters Centerline goodness [0,1] 0.6592290748898678 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.9963827 -0.07863551 -0.0322175 0.44954268] [ 0.07892169 0.99685102 0.00770757 0.02087217] [ 0.03150996 -0.01022234 0.99945116 0.0713422 ] [ 0. 0. 0. 1. ]] SLAMing on 109.024860624 meters Centerline goodness [0,1] 0.6581437931566988 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99637348 -0.07872497 -0.03228407 0.44970154] [ 0.07900849 0.99684497 0.00760024 0.02115478] [ 0.03158388 -0.0101234 0.99944984 0.07130659] [ 0. 0. 0. 1. ]] SLAMing on 109.054860624 meters Centerline goodness [0,1] 0.6636580306307102 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99635904 -0.07891758 -0.03225946 0.44951021] [ 0.07918742 0.99683394 0.00717232 0.02265711] [ 0.0315913 -0.00970075 0.99945379 0.07151431] [ 0. 0. 0. 1. ]] SLAMing on 109.084860624 meters Centerline goodness [0,1] 0.660952549262172 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99635687 -0.07890611 -0.03235445 0.44963869] [ 0.07917056 0.99683669 0.00697352 0.02352685] [ 0.03170185 -0.00950963 0.99945213 0.07166746] [ 0. 0. 0. 1. ]] SLAMing on 109.114860624 meters Centerline goodness [0,1] 0.6641209579516609 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99635181 -0.07896584 -0.0323647 0.44965111] [ 0.07922521 0.99683349 0.0068095 0.02417122] [ 0.03172449 -0.00934876 0.99945293 0.07170868] [ 0. 0. 0. 1. ]] SLAMing on 109.144860624 meters Centerline goodness [0,1] 0.6594617269776787 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99634051 -0.07909481 -0.03239739 0.44970784] [ 0.07934647 0.99682554 0.00655529 0.02464071] [ 0.03177606 -0.00910192 0.99945357 0.071822 ] [ 0. 0. 0. 1. ]] SLAMing on 109.174860624 meters Centerline goodness [0,1] 0.6602981778023191 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.07 [[ 0.99633732 -0.07913764 -0.03239103 0.44967583] [ 0.07938658 0.9968229 0.00647109 0.02478595] [ 0.03177601 -0.0090188 0.99945432 0.07187976] [ 0. 0. 0. 1. ]] SLAMing on 109.204860624 meters Centerline goodness [0,1] 0.664707182320442 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99633571 -0.07915993 -0.032386 0.44959242] [ 0.07940274 0.99682284 0.00627932 0.0250746 ] [ 0.03178604 -0.00882784 0.99945571 0.07207896] [ 0. 0. 0. 1. ]] SLAMing on 109.23486062399999 meters Centerline goodness [0,1] 0.6567428280728141 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99633488 -0.07913115 -0.0324819 0.44973458] [ 0.07936949 0.99682652 0.0061131 0.02551801] [ 0.03189508 -0.00866876 0.99945363 0.07222033] [ 0. 0. 0. 1. ]] SLAMing on 109.264860624 meters Centerline goodness [0,1] 0.6616388815383258 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99635299 -0.07890165 -0.03248459 0.44952576] [ 0.07912735 0.9968481 0.00572023 0.0272872 ] [ 0.03193087 -0.00826979 0.99945587 0.0727212 ] [ 0. 0. 0. 1. ]] SLAMing on 109.294860624 meters Centerline goodness [0,1] 0.6577252506473674 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99636685 -0.07866239 -0.0326395 0.44981129] [ 0.07888377 0.99686838 0.00554907 0.02848723] [ 0.03210078 -0.00810364 0.99945179 0.07287324] [ 0. 0. 0. 1. ]] SLAMing on 109.324860624 meters Centerline goodness [0,1] 0.652105600920578 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99638154 -0.0783715 -0.03288987 0.45041129] [ 0.07858655 0.99689323 0.00529559 0.02991844] [ 0.03237267 -0.00786113 0.99944495 0.07293934] [ 0. 0. 0. 1. ]] SLAMing on 109.354860624 meters Centerline goodness [0,1] 0.656993076599792 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99641167 -0.07790172 -0.03309248 0.45118327] [ 0.07811858 0.99692994 0.00530961 0.03111513] [ 0.03257726 -0.0078757 0.99943819 0.07263711] [ 0. 0. 0. 1. ]] SLAMing on 109.384860624 meters Centerline goodness [0,1] 0.6639089739608748 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99651604 -0.07641054 -0.03342479 0.45309637] [ 0.07665314 0.99703955 0.00603608 0.03274064] [ 0.03286462 -0.00857716 0.99942301 0.07135065] [ 0. 0. 0. 1. ]] SLAMing on 109.414860624 meters Centerline goodness [0,1] 0.6564858385865222 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.07 [[ 0.99652435 -0.0762241 -0.03360211 0.45365973] [ 0.07646452 0.99705469 0.00592703 0.03352388] [ 0.03305136 -0.0084758 0.99941771 0.07118062] [ 0. 0. 0. 1. ]] SLAMing on 109.444860624 meters Centerline goodness [0,1] 0.6536512733899285 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99655002 -0.07587202 -0.0336377 0.45406694] [ 0.07610665 0.99708311 0.00574887 0.03519562] [ 0.03310341 -0.00828909 0.99941756 0.07093354] [ 0. 0. 0. 1. ]] SLAMing on 109.474860624 meters Centerline goodness [0,1] 0.674712771890686 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.9965495 -0.07584419 -0.03371579 0.4541934 ] [ 0.07607004 0.9970875 0.00546524 0.03651056] [ 0.03320309 -0.00801114 0.99941652 0.07105945] [ 0. 0. 0. 1. ]] SLAMing on 109.504860624 meters Centerline goodness [0,1] 0.6705220381369178 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99654804 -0.07580837 -0.03383919 0.4542999 ] [ 0.07602329 0.99709295 0.00510874 0.03812664] [ 0.03335354 -0.00766368 0.99941423 0.07134136] [ 0. 0. 0. 1. ]] SLAMing on 109.534860624 meters Centerline goodness [0,1] 0.6676667487629582 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99654483 -0.07582456 -0.03389732 0.45441153] [ 0.0760272 0.99709454 0.00472782 0.03970121] [ 0.03344035 -0.00728861 0.99941414 0.071412 ] [ 0. 0. 0. 1. ]] SLAMing on 109.564860624 meters Centerline goodness [0,1] 0.670876404494382 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.9965507 -0.07575001 -0.03389171 0.45453147] [ 0.07593102 0.99710471 0.00408417 0.04272223] [ 0.03348421 -0.00664351 0.99941717 0.07143698] [ 0. 0. 0. 1. ]] SLAMing on 109.59486062399999 meters Centerline goodness [0,1] 0.6796994167788246 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:0.07 [[ 0.99654364 -0.07581768 -0.0339479 0.45487717] [ 0.07598695 0.99710186 0.00372218 0.0443493 ] [ 0.03356731 -0.00628891 0.99941667 0.07118779] [ 0. 0. 0. 1. ]] SLAMing on 109.624860624 meters Centerline goodness [0,1] 0.6774666305916306 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99651181 -0.0762719 -0.03386458 0.45448826] [ 0.07640906 0.9970727 0.00277279 0.04727026] [ 0.03355397 -0.00535068 0.99942258 0.07153177] [ 0. 0. 0. 1. ]] SLAMing on 109.654860624 meters Centerline goodness [0,1] 0.6774666305916306 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99651181 -0.0762719 -0.03386458 0.45448826] [ 0.07640906 0.9970727 0.00277279 0.04727026] [ 0.03355397 -0.00535068 0.99942258 0.07153177] [ 0. 0. 0. 1. ]] SLAMing on 109.684860624 meters Centerline goodness [0,1] 0.6657394214894723 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99648179 -0.07671145 -0.03375508 0.45399182] [ 0.07683034 0.99704167 0.00223748 0.04855241] [ 0.03348359 -0.00482302 0.99942763 0.07181149] [ 0. 0. 0. 1. ]] SLAMing on 109.714860624 meters Centerline goodness [0,1] 0.6658970528317262 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99646381 -0.0769448 -0.03375446 0.45399795] [ 0.07704944 0.99702563 0.0018083 0.05005689] [ 0.03351493 -0.00440267 0.99942852 0.07180767] [ 0. 0. 0. 1. ]] SLAMing on 109.744860624 meters Centerline goodness [0,1] 0.669311567842852 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 0.99644848 -0.07713724 -0.03376786 0.45448077] [ 0.07722281 0.99701309 0.00123543 0.05309792] [ 0.0335717 -0.00383869 0.99942894 0.07116603] [ 0. 0. 0. 1. ]] SLAMing on 109.774860624 meters Centerline goodness [0,1] 0.6572567783094099 Centerline is valid? [False, False] Translation: X:0.45, Y:0.05, Z:0.07 [[ 9.96430583e-01 -7.74049834e-02 -3.36832668e-02 4.54278632e-01] [ 7.74737745e-02 9.96994116e-01 7.39992891e-04 5.49068093e-02] [ 3.35247397e-02 -3.34692137e-03 9.99432284e-01 7.11487128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804860624 meters Centerline goodness [0,1] 0.6653795183475757 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:0.07 [[ 9.96426351e-01 -7.74282565e-02 -3.37548948e-02 4.54501617e-01] [ 7.74860563e-02 9.96993353e-01 4.05608003e-04 5.66359907e-02] [ 3.36220002e-02 -3.01969218e-03 9.99430059e-01 7.11008327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834860624 meters Centerline goodness [0,1] 0.6208081423165587 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:0.07 [[ 0.99656704 -0.07713993 -0.03005948 0.49375122] [ 0.07695728 0.99700848 -0.00718833 0.05957323] [ 0.03052407 0.00485036 0.99952226 0.07155141] [ 0. 0. 0. 1. ]] SLAMing on 109.864860624 meters Centerline goodness [0,1] 0.668029867892016 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 0.99686546 -0.0742988 -0.02718346 0.42252077] [ 0.07410489 0.99721777 -0.00807395 0.06154067] [ 0.02770771 0.00603421 0.99959785 0.06713311] [ 0. 0. 0. 1. ]] SLAMing on 109.894860624 meters Centerline goodness [0,1] 0.6676580439894868 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 0.99705389 -0.07180533 -0.02697277 0.4208613 ] [ 0.07169901 0.99741433 -0.00488995 0.06078584] [ 0.02725416 0.00294162 0.99962421 0.06750968] [ 0. 0. 0. 1. ]] SLAMing on 109.924860624 meters Centerline goodness [0,1] 0.6647241736726938 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 0.9970504 -0.07185514 -0.02696923 0.42095401] [ 0.07174279 0.99741007 -0.00511194 0.06198775] [ 0.0272667 0.00316202 0.99962319 0.06736966] [ 0. 0. 0. 1. ]] SLAMing on 109.954860624 meters Centerline goodness [0,1] 0.6646064435783308 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 0.99704908 -0.07182316 -0.02710301 0.42126649] [ 0.07170484 0.99741174 -0.00531349 0.06309093] [ 0.02741449 0.00335439 0.99961852 0.06735863] [ 0. 0. 0. 1. ]] SLAMing on 109.98486062399999 meters Centerline goodness [0,1] 0.665362080544684 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97250817e-01 -6.90110442e-02 -2.69867482e-02 4.20238546e-01] [ 6.89813261e-02 9.97615882e-01 -2.03173631e-03 6.32938851e-02] [ 2.70626208e-02 1.64569017e-04 9.99633727e-01 6.71909026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014860624 meters Centerline goodness [0,1] 0.6645481858100301 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97264880e-01 -6.87423875e-02 -2.71522258e-02 4.20856838e-01] [ 6.87164113e-02 9.97634444e-01 -1.88971305e-03 6.38514373e-02] [ 2.72178990e-02 1.87409468e-05 9.99629524e-01 6.68373981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044860624 meters Centerline goodness [0,1] 0.6736323243543461 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97271429e-01 -6.85978276e-02 -2.72770025e-02 4.21262303e-01] [ 6.85725693e-02 9.97644394e-01 -1.86141908e-03 6.42241906e-02] [ 2.73404380e-02 -1.41140809e-05 9.99626180e-01 6.66812083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074860624 meters Centerline goodness [0,1] 0.6667671474284654 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97267368e-01 -6.86416153e-02 -2.73152866e-02 4.21301367e-01] [ 6.86126632e-02 9.97641376e-01 -1.99688443e-03 6.47425741e-02] [ 2.73879294e-02 1.17253126e-04 9.99624873e-01 6.67509280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104860624 meters Centerline goodness [0,1] 0.6673244799405647 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97261781e-01 -6.86855289e-02 -2.74087360e-02 4.21451943e-01] [ 6.86559356e-02 9.97638352e-01 -2.02042068e-03 6.49918335e-02] [ 2.74827799e-02 1.33115910e-04 9.99622268e-01 6.67772348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134860624 meters Centerline goodness [0,1] 0.6693181818181818 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97264026e-01 -6.86324117e-02 -2.74600440e-02 4.21704765e-01] [ 6.86082439e-02 9.97642014e-01 -1.82242446e-03 6.49289507e-02] [ 2.75203710e-02 -6.65470426e-05 9.99621241e-01 6.65215436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164860624 meters Centerline goodness [0,1] 0.6597307790667938 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97255420e-01 -6.87416404e-02 -2.74993351e-02 4.21915221e-01] [ 6.87195637e-02 9.97634485e-01 -1.74817741e-03 6.48137180e-02] [ 2.75544576e-02 -1.46362911e-04 9.99620293e-01 6.62769721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194860624 meters Centerline goodness [0,1] 0.6670078154075176 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97220611e-01 -6.92945334e-02 -2.73737228e-02 4.21771531e-01] [ 6.92737701e-02 9.97596226e-01 -1.70724441e-03 6.42263457e-02] [ 2.74262252e-02 -1.93781665e-04 9.99623812e-01 6.57938534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224860624 meters Centerline goodness [0,1] 0.6667826167617458 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97214471e-01 -6.93691297e-02 -2.74084397e-02 4.22162018e-01] [ 6.93545194e-02 9.97590972e-01 -1.48447478e-03 6.35380089e-02] [ 2.74453888e-02 -4.20559436e-04 9.99623216e-01 6.53091781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254860624 meters Centerline goodness [0,1] 0.6664265297111385 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97195978e-01 -6.96580225e-02 -2.73485141e-02 4.21887441e-01] [ 6.96408395e-02 9.97570876e-01 -1.58141996e-03 6.31101189e-02] [ 2.73922398e-02 -3.27587863e-04 9.99624709e-01 6.54522191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284860624 meters Centerline goodness [0,1] 0.6626312854354495 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97173413e-01 -6.99872017e-02 -2.73308527e-02 4.21622593e-01] [ 6.99661234e-02 9.97547871e-01 -1.72793863e-03 6.28463307e-02] [ 2.73847675e-02 -1.89179345e-04 9.99624949e-01 6.56715938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314860624 meters Centerline goodness [0,1] 0.6574033162019488 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97130803e-01 -7.06829387e-02 -2.70939948e-02 4.20498440e-01] [ 7.06481464e-02 9.97498782e-01 -2.24043516e-03 6.35910581e-02] [ 2.71845874e-02 3.19866393e-04 9.99630380e-01 6.63248133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34486062399999 meters Centerline goodness [0,1] 0.6550606343283583 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97115145e-01 -7.09134148e-02 -2.70679675e-02 4.20135194e-01] [ 7.08702054e-02 9.97482277e-01 -2.55354930e-03 6.43048359e-02] [ 2.71808987e-02 6.27870272e-04 9.99630334e-01 6.67379615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374860624 meters Centerline goodness [0,1] 0.6539162112932605 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97111792e-01 -7.09291127e-02 -2.71502332e-02 4.20224308e-01] [ 7.08828052e-02 9.97481089e-01 -2.66545530e-03 6.47389698e-02] [ 2.72709026e-02 7.33272223e-04 9.99627811e-01 6.68635866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404860624 meters Centerline goodness [0,1] 0.6463198620239594 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97113512e-01 -7.08907051e-02 -2.71873517e-02 4.20608442e-01] [ 7.08436221e-02 9.97483801e-01 -2.69232233e-03 6.49891967e-02] [ 2.73098035e-02 7.58500512e-04 9.99626730e-01 6.65288845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434860624 meters Centerline goodness [0,1] 0.6514875531268973 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97119617e-01 -7.07617763e-02 -2.72991011e-02 4.20958920e-01] [ 7.07129768e-02 9.97492913e-01 -2.75005494e-03 6.54395117e-02] [ 2.74252586e-02 8.11733029e-04 9.99623527e-01 6.64823960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464860624 meters Centerline goodness [0,1] 0.6601117684195759 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97125130e-01 -7.06607757e-02 -2.73592837e-02 4.21119649e-01] [ 7.06088085e-02 9.97499977e-01 -2.86209316e-03 6.61879826e-02] [ 2.74931226e-02 9.22058584e-04 9.99621567e-01 6.64911336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494860624 meters Centerline goodness [0,1] 0.6576724158105357 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 0.99712872 -0.07054559 -0.02752505 0.42140667] [ 0.07048925 0.99750799 -0.00301278 0.06705392] [ 0.02766899 0.00106391 0.99961657 0.06663587] [ 0. 0. 0. 1. ]] SLAMing on 110.524860624 meters Centerline goodness [0,1] 0.6553267261779245 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 0.99715274 -0.07018434 -0.02757857 0.42154742] [ 0.0701236 0.99753329 -0.00316466 0.06830076] [ 0.02773265 0.00122174 0.99961463 0.066909 ] [ 0. 0. 0. 1. ]] SLAMing on 110.554860624 meters Centerline goodness [0,1] 0.6619381462636873 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 0.99716199 -0.06999686 -0.02772029 0.42184894] [ 0.06993505 0.99754643 -0.00319417 0.06887785] [ 0.02787585 0.00124649 0.99961062 0.06698165] [ 0. 0. 0. 1. ]] SLAMing on 110.584860624 meters Centerline goodness [0,1] 0.6651107149559017 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 0.99717776 -0.06972307 -0.02784257 0.42236379] [ 0.06966433 0.99756575 -0.00307539 0.06935844] [ 0.02798922 0.00112707 0.99960759 0.06671428] [ 0. 0. 0. 1. ]] SLAMing on 110.614860624 meters Centerline goodness [0,1] 0.6590887740723343 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97205239e-01 -6.92503183e-02 -2.80375677e-02 4.23134225e-01] [ 6.91957133e-02 9.97598847e-01 -2.91430225e-03 6.97804534e-02] [ 2.81720616e-02 9.66077975e-04 9.99602622e-01 6.64373086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644860624 meters Centerline goodness [0,1] 0.6643959502948016 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97214913e-01 -6.90987486e-02 -2.80674377e-02 4.23407148e-01] [ 6.90456960e-02 9.97609410e-01 -2.85612407e-03 7.00467948e-02] [ 2.81976945e-02 9.10233741e-04 9.99601952e-01 6.62110217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674860624 meters Centerline goodness [0,1] 0.6664556962025316 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97222755e-01 -6.89428023e-02 -2.81721014e-02 4.23865060e-01] [ 6.88918806e-02 9.97620272e-01 -2.77530651e-03 7.04783335e-02] [ 2.82963968e-02 8.26769758e-04 9.99599235e-01 6.59094277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704860624 meters Centerline goodness [0,1] 0.6603521440461397 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97238158e-01 -6.86711163e-02 -2.82901723e-02 4.24363081e-01] [ 6.86257909e-02 9.97639158e-01 -2.57111929e-03 7.06188319e-02] [ 2.83999454e-02 6.22582819e-04 9.99596446e-01 6.56221624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73486062399999 meters Centerline goodness [0,1] 0.6627416025520736 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97251700e-01 -6.84014307e-02 -2.84655959e-02 4.24907942e-01] [ 6.83561291e-02 9.97657693e-01 -2.56265965e-03 7.10383839e-02] [ 2.85742103e-02 6.09818743e-04 9.99591488e-01 6.55119514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764860624 meters Centerline goodness [0,1] 0.6718191229060795 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.07 [[ 9.97258116e-01 -6.82423420e-02 -2.86222428e-02 4.25412498e-01] [ 6.81983279e-02 9.97668621e-01 -2.51228410e-03 7.12655277e-02] [ 2.87269576e-02 5.53406606e-04 9.99587143e-01 6.53441195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794860624 meters Centerline goodness [0,1] 0.6638691021933846 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.07 [[ 9.97269086e-01 -6.80496187e-02 -2.86987582e-02 4.25761455e-01] [ 6.80088022e-02 9.97681842e-01 -2.39706516e-03 7.14540004e-02] [ 2.87953493e-02 4.38750817e-04 9.99585232e-01 6.51257352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824860624 meters Centerline goodness [0,1] 0.6646824930004941 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.07 [[ 9.97267886e-01 -6.80208162e-02 -2.88085324e-02 4.25919486e-01] [ 6.79783086e-02 9.97683783e-01 -2.45347646e-03 7.18579086e-02] [ 2.89086930e-02 4.88417979e-04 9.99581937e-01 6.52230085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854860624 meters Centerline goodness [0,1] 0.6629073271802599 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.07 [[ 9.97270873e-01 -6.79482829e-02 -2.88762152e-02 4.26018572e-01] [ 6.79031127e-02 9.97688679e-01 -2.54313408e-03 7.26753184e-02] [ 2.89822746e-02 5.75408648e-04 9.99579760e-01 6.53132650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884860624 meters Centerline goodness [0,1] 0.67301893903703 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.07 [[ 9.97269761e-01 -6.79425147e-02 -2.89281728e-02 4.26261848e-01] [ 6.78981742e-02 9.97689090e-01 -2.51345943e-03 7.28731080e-02] [ 2.90320932e-02 5.42426967e-04 9.99578333e-01 6.50804539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914860624 meters Centerline goodness [0,1] 0.6591792046337501 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97273376e-01 -6.78680015e-02 -2.89784162e-02 4.26587468e-01] [ 6.78272413e-02 9.97694222e-01 -2.38836617e-03 7.29264949e-02] [ 2.90736920e-02 4.16327968e-04 9.99577184e-01 6.47790647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944860624 meters Centerline goodness [0,1] 0.669955959586444 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97265874e-01 -6.80142893e-02 -2.88934599e-02 4.26406776e-01] [ 6.79745728e-02 9.97684273e-01 -2.35572263e-03 7.27550171e-02] [ 2.89867733e-02 3.85261195e-04 9.99579721e-01 6.46960335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974860624 meters Centerline goodness [0,1] 0.6630089245767301 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97241113e-01 -6.83957727e-02 -2.88475384e-02 4.26157879e-01] [ 6.83537251e-02 9.97658159e-01 -2.44234833e-03 7.23619042e-02] [ 2.89470284e-02 4.63773456e-04 9.99580839e-01 6.46993069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004860624 meters Centerline goodness [0,1] 0.6668945519696363 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97230163e-01 -6.86138928e-02 -2.87077646e-02 4.25857541e-01] [ 6.85714093e-02 9.97643171e-01 -2.46288367e-03 7.20732572e-02] [ 2.88090933e-02 4.87530010e-04 9.99584813e-01 6.46283162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034860624 meters Centerline goodness [0,1] 0.6582499116711813 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97223594e-01 -6.87380572e-02 -2.86388428e-02 4.25719946e-01] [ 6.86977282e-02 9.97634655e-01 -2.39090013e-03 7.16351661e-02] [ 2.87354479e-02 4.16838575e-04 9.99586965e-01 6.45289617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064860624 meters Centerline goodness [0,1] 0.6601035050576335 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97216316e-01 -6.88313247e-02 -2.86682302e-02 4.25797646e-01] [ 6.87955567e-02 9.97628279e-01 -2.23328975e-03 7.10314574e-02] [ 2.87539574e-02 2.54826127e-04 9.99586487e-01 6.43933025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09486062399999 meters Centerline goodness [0,1] 0.6649849113542059 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97182255e-01 -6.94190288e-02 -2.84349956e-02 4.24944355e-01] [ 6.93798924e-02 9.97587516e-01 -2.36184041e-03 7.03654883e-02] [ 2.85303533e-02 3.82368412e-04 9.99592853e-01 6.46419986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124860624 meters Centerline goodness [0,1] 0.6628557986356152 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97173875e-01 -6.95886840e-02 -2.83139148e-02 4.24608008e-01] [ 6.95532297e-02 9.97575735e-01 -2.23631949e-03 6.96068925e-02] [ 2.84008969e-02 2.60675152e-04 9.99596579e-01 6.46687995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154860624 meters Centerline goodness [0,1] 0.661675025311389 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97166226e-01 -6.97405203e-02 -2.82095279e-02 4.24301507e-01] [ 6.97100302e-02 9.97565161e-01 -2.06404339e-03 6.87876263e-02] [ 2.82847897e-02 9.17073166e-05 9.99599901e-01 6.46605720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184860624 meters Centerline goodness [0,1] 0.6601321016383424 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97163043e-01 -6.98307227e-02 -2.80986872e-02 4.24013262e-01] [ 6.98061239e-02 9.97558849e-01 -1.85661541e-03 6.78210291e-02] [ 2.81597429e-02 -1.10112164e-04 9.99603430e-01 6.46601127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214860624 meters Centerline goodness [0,1] 0.6554682921111241 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97154840e-01 -7.00489327e-02 -2.78455036e-02 4.23298440e-01] [ 7.00324592e-02 9.97543481e-01 -1.56759663e-03 6.60263784e-02] [ 2.78869091e-02 -3.86952524e-04 9.99611010e-01 6.48152044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244860624 meters Centerline goodness [0,1] 0.6512651265126512 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.07 [[ 9.97141465e-01 -7.02778942e-02 -2.77473796e-02 4.22870798e-01] [ 7.02640632e-02 9.97527337e-01 -1.47436656e-03 6.50943771e-02] [ 2.77823851e-02 -4.79491602e-04 9.99613880e-01 6.50130633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274860624 meters Centerline goodness [0,1] 0.6501788260595152 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97131798e-01 -7.04313560e-02 -2.77056075e-02 4.22482030e-01] [ 7.04238380e-02 9.97516378e-01 -1.24822535e-03 6.37558879e-02] [ 2.77247114e-02 -7.06490025e-04 9.99615347e-01 6.52969127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304860624 meters Centerline goodness [0,1] 0.6478771327871531 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97108885e-01 -7.08536040e-02 -2.74524806e-02 4.21561113e-01] [ 7.08511150e-02 9.97486334e-01 -1.06458309e-03 6.18090398e-02] [ 2.74589038e-02 -8.83533600e-04 9.99622543e-01 6.56979659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334860624 meters Centerline goodness [0,1] 0.643778619743846 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97114566e-01 -7.07756099e-02 -2.74473016e-02 4.21727554e-01] [ 7.07821584e-02 9.97491527e-01 -7.34137320e-04 6.05474795e-02] [ 2.74304098e-02 -1.21076024e-03 9.99622982e-01 6.54796735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364860624 meters Centerline goodness [0,1] 0.6570270896040751 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97117117e-01 -7.08050310e-02 -2.72782579e-02 4.21671465e-01] [ 7.08256632e-02 9.97488687e-01 -2.10289838e-04 5.80819249e-02] [ 2.72246433e-02 -1.72231711e-03 9.99627857e-01 6.50534556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394860624 meters Centerline goodness [0,1] 0.6626779833959464 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.07 [[ 9.97115811e-01 -7.08369597e-02 -2.72430509e-02 4.21625021e-01] [ 7.08615464e-02 9.97486159e-01 -6.30793261e-05 5.74659339e-02] [ 2.71790346e-02 -1.86758732e-03 9.99628837e-01 6.50156563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424860624 meters Centerline goodness [0,1] 0.6595798942780302 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97119514e-01 -7.07671313e-02 -2.72889544e-02 4.21765473e-01] [ 7.07948806e-02 9.97490893e-01 5.08645042e-05 5.73119707e-02] [ 2.72168840e-02 -1.98263626e-03 9.99627586e-01 6.49548051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454860624 meters Centerline goodness [0,1] 0.6581721301980772 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97133219e-01 -7.05336690e-02 -2.73924148e-02 4.22192644e-01] [ 7.05684906e-02 9.97506890e-01 3.05392261e-04 5.68955113e-02] [ 2.73025820e-02 -2.23755814e-03 9.99624711e-01 6.47272595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48486062399999 meters Centerline goodness [0,1] 0.6562246951854337 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97143851e-01 -7.03756262e-02 -2.74118859e-02 4.22504001e-01] [ 7.04136436e-02 9.97517789e-01 4.22906971e-04 5.68588345e-02] [ 2.73140815e-02 -2.35186985e-03 9.99624134e-01 6.44388214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514860624 meters Centerline goodness [0,1] 0.6562246951854337 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97143851e-01 -7.03756262e-02 -2.74118859e-02 4.22504001e-01] [ 7.04136436e-02 9.97517789e-01 4.22906971e-04 5.68588345e-02] [ 2.73140815e-02 -2.35186985e-03 9.99624134e-01 6.44388214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544860624 meters Centerline goodness [0,1] 0.6562246951854337 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97143851e-01 -7.03756262e-02 -2.74118859e-02 4.22504001e-01] [ 7.04136436e-02 9.97517789e-01 4.22906971e-04 5.68588345e-02] [ 2.73140815e-02 -2.35186985e-03 9.99624134e-01 6.44388214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574860624 meters Centerline goodness [0,1] 0.6572208471165191 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97178651e-01 -6.98322723e-02 -2.75352738e-02 4.22936867e-01] [ 6.98729708e-02 9.97555763e-01 5.17484327e-04 5.73739282e-02] [ 2.74318340e-02 -2.43999571e-03 9.99620699e-01 6.45113133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604860624 meters Centerline goodness [0,1] 0.6660344189489267 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97187556e-01 -6.96885229e-02 -2.75769618e-02 4.23141646e-01] [ 6.97269869e-02 9.97566017e-01 4.34471607e-04 5.80306796e-02] [ 2.74795623e-02 -2.35610813e-03 9.99619589e-01 6.44793124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634860624 meters Centerline goodness [0,1] 0.6707865689639181 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97215784e-01 -6.92231725e-02 -2.77278213e-02 4.23665929e-01] [ 6.92585260e-02 9.97598695e-01 3.15521353e-04 5.94237207e-02] [ 2.76393970e-02 -2.23503091e-03 9.99615460e-01 6.44821562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664860624 meters Centerline goodness [0,1] 0.6694389102534402 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97225554e-01 -6.90661029e-02 -2.77680920e-02 4.24020213e-01] [ 6.90981025e-02 9.97609851e-01 1.93350615e-04 6.05128623e-02] [ 2.76883682e-02 -2.11153664e-03 9.99614373e-01 6.42626273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694860624 meters Centerline goodness [0,1] 0.6644408893835061 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97235342e-01 -6.88904141e-02 -2.78528993e-02 4.24460534e-01] [ 6.89201578e-02 9.97622173e-01 1.08158702e-04 6.13284934e-02] [ 2.77792188e-02 -2.02748590e-03 9.99612027e-01 6.40311690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724860624 meters Centerline goodness [0,1] 0.6697288143456979 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97247417e-01 -6.86700569e-02 -2.79644869e-02 4.24941770e-01] [ 6.87004859e-02 9.97637322e-01 1.27675872e-04 6.20289553e-02] [ 2.78896483e-02 -2.04849827e-03 9.99608909e-01 6.37892115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754860624 meters Centerline goodness [0,1] 0.6621178658607463 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 9.97255088e-01 -6.85160527e-02 -2.80684952e-02 4.25362573e-01] [ 6.85434891e-02 9.97648129e-01 1.53715771e-05 6.28088648e-02] [ 2.80014286e-02 -1.93924198e-03 9.99606002e-01 6.36263953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784860624 meters Centerline goodness [0,1] 0.6419695521413751 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 9.97274540e-01 -6.82210245e-02 -2.80959564e-02 4.25867378e-01] [ 6.82459591e-02 9.97668524e-01 -7.15892939e-05 6.40252946e-02] [ 2.80353352e-02 -1.84604131e-03 9.99605228e-01 6.31822623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814860624 meters Centerline goodness [0,1] 0.6671799538041576 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 9.97284055e-01 -6.80765750e-02 -2.81086163e-02 4.26200350e-01] [ 6.81019642e-02 9.97678365e-01 -5.41852147e-05 6.44892782e-02] [ 2.80470471e-02 -1.86021393e-03 9.99604873e-01 6.28474991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84486062399999 meters Centerline goodness [0,1] 0.6665733417325774 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97281848e-01 -6.81167794e-02 -2.80894956e-02 4.26273238e-01] [ 6.81374430e-02 9.97675919e-01 -2.21981312e-04 6.54746188e-02] [ 2.80393340e-02 -1.69256848e-03 9.99605388e-01 6.26886728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874860624 meters Centerline goodness [0,1] 0.6641635670339439 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97278316e-01 -6.81572652e-02 -2.81166730e-02 4.26204195e-01] [ 6.81736627e-02 9.97673399e-01 -3.76103815e-04 6.61330553e-02] [ 2.80768910e-02 -1.54173641e-03 9.99604577e-01 6.28361579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904860624 meters Centerline goodness [0,1] 0.6614294732412148 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97273072e-01 -6.82826446e-02 -2.79982197e-02 4.25895133e-01] [ 6.82936934e-02 9.97665102e-01 -5.62542231e-04 6.69673720e-02] [ 2.79712585e-02 -1.35109361e-03 9.99607815e-01 6.29229813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934860624 meters Centerline goodness [0,1] 0.6622710451117253 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97266304e-01 -6.84018007e-02 -2.79483858e-02 4.25857619e-01] [ 6.84125945e-02 9.97656951e-01 -5.70930757e-04 6.68501862e-02] [ 2.79219540e-02 -1.34265158e-03 9.99609205e-01 6.28015285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964860624 meters Centerline goodness [0,1] 0.6699419801609583 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 9.97251492e-01 -6.86595075e-02 -2.78448128e-02 4.25520322e-01] [ 6.86707816e-02 9.97639223e-01 -5.52283770e-04 6.62139106e-02] [ 2.78169969e-02 -1.36135925e-03 9.99612105e-01 6.28707864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994860624 meters Centerline goodness [0,1] 0.6616406432067117 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.97213979e-01 -6.93528863e-02 -2.74673786e-02 4.24680695e-01] [ 6.93664459e-02 9.97591141e-01 -4.60018020e-04 6.50228480e-02] [ 2.74331171e-02 -1.44657803e-03 9.99622595e-01 6.26384322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024860624 meters Centerline goodness [0,1] 0.6637374420176686 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97184358e-01 -6.99226270e-02 -2.70957979e-02 4.23757829e-01] [ 6.99336488e-02 9.97551498e-01 -5.41803070e-04 6.46455631e-02] [ 2.70673380e-02 -1.35463047e-03 9.99632695e-01 6.26057940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054860624 meters Centerline goodness [0,1] 0.6562339900330678 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97158417e-01 -7.03797884e-02 -2.68659200e-02 4.23273181e-01] [ 7.03927047e-02 9.97519248e-01 -4.65853430e-04 6.40198499e-02] [ 2.68320590e-02 -1.42663511e-03 9.99638937e-01 6.23629836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084860624 meters Centerline goodness [0,1] 0.6491236237517748 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97117086e-01 -7.10973766e-02 -2.65081061e-02 4.22420748e-01] [ 7.11053873e-02 9.97468602e-01 -6.41474538e-04 6.36782190e-02] [ 2.64866107e-02 -1.24524393e-03 9.99648393e-01 6.22496392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114860624 meters Centerline goodness [0,1] 0.6437884950610111 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.97018664e-01 -7.26424197e-02 -2.60165927e-02 4.21074397e-01] [ 7.26392922e-02 9.97357707e-01 -1.06651661e-03 6.25910341e-02] [ 2.60253236e-02 -8.26489911e-04 9.99660942e-01 6.20814963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144860624 meters Centerline goodness [0,1] 0.6443808593295648 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96979492e-01 -7.32683008e-02 -2.57613949e-02 4.20621834e-01] [ 7.32637703e-02 9.97311969e-01 -1.12093466e-03 6.18280759e-02] [ 2.57742765e-02 -7.69828058e-04 9.99667492e-01 6.17143515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174860624 meters Centerline goodness [0,1] 0.6406711128668696 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96950324e-01 -7.37496188e-02 -2.55156039e-02 4.20337281e-01] [ 7.37465042e-02 9.97276451e-01 -1.06432506e-03 6.10411846e-02] [ 2.55246045e-02 -8.20607374e-04 9.99673857e-01 6.11925396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204860624 meters Centerline goodness [0,1] 0.6278523411876904 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96917185e-01 -7.42922532e-02 -2.52346449e-02 4.19735277e-01] [ 7.42829353e-02 9.97236349e-01 -1.30774997e-03 6.11223982e-02] [ 2.52620609e-02 -5.70785077e-04 9.99680700e-01 6.10569651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23486062399999 meters Centerline goodness [0,1] 0.6418324741666861 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96868549e-01 -7.49905083e-02 -2.50902421e-02 4.19261289e-01] [ 7.49685876e-02 9.97184245e-01 -1.81450176e-03 6.24929634e-02] [ 2.51556645e-02 -7.21602788e-05 9.99683544e-01 6.10506544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264860624 meters Centerline goodness [0,1] 0.6370758401347022 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96843465e-01 -7.53471369e-02 -2.50182887e-02 4.18791169e-01] [ 7.53171611e-02 9.97157333e-01 -2.13964052e-03 6.32331973e-02] [ 2.51083858e-02 2.48580192e-04 9.99684704e-01 6.13793538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294860624 meters Centerline goodness [0,1] 0.6385232294418854 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96833421e-01 -7.54926624e-02 -2.49797587e-02 4.18742494e-01] [ 7.54561753e-02 9.97146227e-01 -2.40139005e-03 6.42657571e-02] [ 2.50897595e-02 5.08908809e-04 9.99685073e-01 6.13105234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324860624 meters Centerline goodness [0,1] 0.6372310000468846 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.96826430e-01 -7.55729655e-02 -2.50159068e-02 4.18963127e-01] [ 7.55296764e-02 9.97139974e-01 -2.67218841e-03 6.53011576e-02] [ 2.51463059e-02 7.74264687e-04 9.99683482e-01 6.11532393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354860624 meters Centerline goodness [0,1] 0.6484626406407817 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.96827687e-01 -7.55537440e-02 -2.50238573e-02 4.19123356e-01] [ 7.55082809e-02 9.97141360e-01 -2.75808857e-03 6.59946107e-02] [ 2.51607070e-02 8.59830608e-04 9.99683050e-01 6.09696669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384860624 meters Centerline goodness [0,1] 0.6451406951998109 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682035 -0.07564981 -0.02502575 0.41925212] [ 0.07559589 0.99713373 -0.00309517 0.06752625] [ 0.02518817 0.00119349 0.99968202 0.06080445] [ 0. 0. 0. 1. ]] SLAMing on 112.414860624 meters Centerline goodness [0,1] 0.6216292664529511 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682808 -0.0755026 -0.0251621 0.41982074] [ 0.07544733 0.99714484 -0.00314009 0.06842315] [ 0.02532734 0.00123172 0.99967845 0.06052579] [ 0. 0. 0. 1. ]] SLAMing on 112.444860624 meters Centerline goodness [0,1] 0.633189634752949 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682622 -0.07555067 -0.02509149 0.41962619] [ 0.07548962 0.99714088 -0.00337289 0.06946811] [ 0.02527457 0.00146803 0.99967947 0.06061184] [ 0. 0. 0. 1. ]] SLAMing on 112.474860624 meters Centerline goodness [0,1] 0.6408393866020985 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682487 -0.07556359 -0.02510636 0.41947922] [ 0.07549078 0.99713912 -0.00383698 0.0711085 ] [ 0.02532447 0.0019295 0.99967742 0.0610275 ] [ 0. 0. 0. 1. ]] SLAMing on 112.504860624 meters Centerline goodness [0,1] 0.6504875148632581 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682508 -0.07556208 -0.02510254 0.41943373] [ 0.07548773 0.99713911 -0.00389764 0.07137425] [ 0.02532524 0.00199033 0.99967728 0.06108988] [ 0. 0. 0. 1. ]] SLAMing on 112.534860624 meters Centerline goodness [0,1] 0.6378486339967188 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99682943 -0.07551242 -0.02507929 0.41950746] [ 0.07544109 0.9971431 -0.00377965 0.07131874] [ 0.02529305 0.00187566 0.99967832 0.06087308] [ 0. 0. 0. 1. ]] SLAMing on 112.564860624 meters Centerline goodness [0,1] 0.6476025281566317 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99683211 -0.07548671 -0.02505004 0.41958723] [ 0.07542115 0.99714544 -0.00355338 0.07102058] [ 0.02524676 0.00165282 0.99967988 0.06058436] [ 0. 0. 0. 1. ]] SLAMing on 112.59486062399999 meters Centerline goodness [0,1] 0.6418069717808869 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.9968214 -0.07562889 -0.02504744 0.4198108 ] [ 0.07557014 0.99713508 -0.00328544 0.06998492] [ 0.02522416 0.00138216 0.99968086 0.06012877] [ 0. 0. 0. 1. ]] SLAMing on 112.624860624 meters Centerline goodness [0,1] 0.6410621147463254 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99681044 -0.07581399 -0.02492364 0.41952627] [ 0.07575873 0.99712119 -0.00315524 0.06947651] [ 0.0250911 0.00125699 0.99968438 0.06002312] [ 0. 0. 0. 1. ]] SLAMing on 112.654860624 meters Centerline goodness [0,1] 0.6386582452156222 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.96806192e-01 -7.59071038e-02 -2.48098089e-02 4.19502204e-01] [ 7.58602855e-02 9.97114457e-01 -2.82421682e-03 6.85722256e-02] [ 2.49525972e-02 9.33117633e-04 9.99688200e-01 5.96030750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684860624 meters Centerline goodness [0,1] 0.6365961679653269 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.96794202e-01 -7.61184695e-02 -2.46434167e-02 4.19283854e-01] [ 7.60759261e-02 9.97098478e-01 -2.66067299e-03 6.76792715e-02] [ 2.47744396e-02 7.77372663e-04 9.99692764e-01 5.93229871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714860624 meters Centerline goodness [0,1] 0.6398754775718126 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 9.96739448e-01 -7.68810913e-02 -2.44901998e-02 4.18786216e-01] [ 7.68424943e-02 9.97040073e-01 -2.51461618e-03 6.54180792e-02] [ 2.46110371e-02 6.24529104e-04 9.99696907e-01 5.92145148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744860624 meters Centerline goodness [0,1] 0.5728972623735528 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96712251e-01 -7.73071659e-02 -2.42547134e-02 4.18170115e-01] [ 7.72697333e-02 9.97007145e-01 -2.47815812e-03 6.45038703e-02] [ 2.43737019e-02 5.95855325e-04 9.99702740e-01 5.92058579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774860624 meters Centerline goodness [0,1] 0.6163633359299389 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96681653e-01 -7.77767781e-02 -2.40094678e-02 4.17504000e-01] [ 7.77401498e-02 9.96970629e-01 -2.45662793e-03 6.37933456e-02] [ 2.41278028e-02 5.81976364e-04 9.99708713e-01 5.91802224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804860624 meters Centerline goodness [0,1] 0.6206043179032714 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96617634e-01 -7.87081565e-02 -2.36287380e-02 4.15964338e-01] [ 7.86681614e-02 9.96897418e-01 -2.61888875e-03 6.28801370e-02] [ 2.37615558e-02 7.51201339e-04 9.99717372e-01 5.98012539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834860624 meters Centerline goodness [0,1] 0.6271996984616834 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96591940e-01 -7.90810276e-02 -2.34669264e-02 4.15418356e-01] [ 7.90398770e-02 9.96867860e-01 -2.67740349e-03 6.24062611e-02] [ 2.36051565e-02 8.13455760e-04 9.99721029e-01 5.99715042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864860624 meters Centerline goodness [0,1] 0.6323903219732631 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96582108e-01 -7.92295039e-02 -2.33835073e-02 4.15262658e-01] [ 7.91903192e-02 9.96856129e-01 -2.59847113e-03 6.17449447e-02] [ 2.35158681e-02 7.37842427e-04 9.99723191e-01 5.98968271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894860624 meters Centerline goodness [0,1] 0.6236079131619754 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96568529e-01 -7.94264733e-02 -2.32938171e-02 4.15199929e-01] [ 7.93895934e-02 9.96840517e-01 -2.50523242e-03 6.10414831e-02] [ 2.34192025e-02 6.47349119e-04 9.99725523e-01 5.96633776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924860624 meters Centerline goodness [0,1] 0.6187768719310198 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96542519e-01 -7.98135093e-02 -2.30827278e-02 4.14702969e-01] [ 7.97758447e-02 9.96809568e-01 -2.54945998e-03 6.04103281e-02] [ 2.32125653e-02 6.99201164e-04 9.99730308e-01 5.96313003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954860624 meters Centerline goodness [0,1] 0.6116851399586699 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96540361e-01 -7.98667996e-02 -2.29913660e-02 4.14475626e-01] [ 7.98307765e-02 9.96805341e-01 -2.48186726e-03 6.00167602e-02] [ 2.31161352e-02 6.37862293e-04 9.99732583e-01 5.96790182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98486062399999 meters Centerline goodness [0,1] 0.6280685285144332 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96534375e-01 -7.99416094e-02 -2.29908218e-02 4.14339875e-01] [ 7.99071188e-02 9.96799385e-01 -2.41645872e-03 5.95984599e-02] [ 2.31104126e-02 5.70953851e-04 9.99732756e-01 5.97987032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014860624 meters Centerline goodness [0,1] 0.6168303142502285 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96540150e-01 -7.98637738e-02 -2.30110136e-02 4.14347762e-01] [ 7.98313469e-02 9.96805671e-01 -2.32585477e-03 5.92738683e-02] [ 2.31232604e-02 4.80807458e-04 9.99732506e-01 5.99225614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044860624 meters Centerline goodness [0,1] 0.6113068395340098 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96539678e-01 -7.98522038e-02 -2.30715290e-02 4.14308744e-01] [ 7.98188851e-02 9.96806582e-01 -2.36292167e-03 5.89858088e-02] [ 2.31865364e-02 5.13201481e-04 9.99731024e-01 6.02221348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074860624 meters Centerline goodness [0,1] 0.6108704306489006 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 9.96556768e-01 -7.96492141e-02 -2.30349845e-02 4.14414677e-01] [ 7.96224750e-02 9.96822927e-01 -2.07711351e-03 5.83651148e-02] [ 2.31272411e-02 2.35859051e-04 9.99732502e-01 6.00323670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104860624 meters Centerline goodness [0,1] 0.6139227190911429 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96588494e-01 -7.91937782e-02 -2.32318473e-02 4.15069071e-01] [ 7.91788214e-02 9.96859201e-01 -1.56440645e-03 5.68613646e-02] [ 2.32827720e-02 -2.80400828e-04 9.99728880e-01 5.98607426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134860624 meters Centerline goodness [0,1] 0.6291123598125393 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 9.96614829e-01 -7.88269255e-02 -2.33494969e-02 4.15663382e-01] [ 7.88220767e-02 9.96888060e-01 -1.12937816e-03 5.58573506e-02] [ 2.33658601e-02 -7.14900810e-04 9.99726725e-01 5.95087615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164860624 meters Centerline goodness [0,1] 0.6369954058907208 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 9.96656634e-01 -7.82559922e-02 -2.34851753e-02 4.15984795e-01] [ 7.82625406e-02 9.96932577e-01 -6.41583795e-04 5.47920229e-02] [ 2.34633441e-02 -1.19857074e-03 9.99723979e-01 5.96538717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194860624 meters Centerline goodness [0,1] 0.6358605938015857 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 9.96680644e-01 -7.78864128e-02 -2.36938973e-02 4.16389713e-01] [ 7.78989872e-02 9.96961179e-01 -3.93235815e-04 5.41117495e-02] [ 2.36525235e-02 -1.45380008e-03 9.99719183e-01 5.98378261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224860624 meters Centerline goodness [0,1] 0.6120467971736361 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 9.96695940e-01 -7.76610852e-02 -2.37899044e-02 4.16511770e-01] [ 7.76787470e-02 9.96978425e-01 -1.82203921e-04 5.32403085e-02] [ 2.37321716e-02 -1.66636806e-03 9.99716964e-01 6.00540736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254860624 meters Centerline goodness [0,1] 0.6307645982442731 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 9.96713349e-01 -7.74167514e-02 -2.38568040e-02 4.16730513e-01] [ 7.74434428e-02 9.96996728e-01 1.95561239e-04 5.19543864e-02] [ 2.37700158e-02 -2.04247153e-03 9.99715367e-01 5.99831569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284860624 meters Centerline goodness [0,1] 0.6322107600499607 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 9.96738754e-01 -7.70507245e-02 -2.39800252e-02 4.17202550e-01] [ 7.70897728e-02 9.97023905e-01 7.06834266e-04 5.03902156e-02] [ 2.38541963e-02 -2.55314380e-03 9.99712188e-01 5.97990612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314860624 meters Centerline goodness [0,1] 0.6409253978474841 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99677507 -0.07654817 -0.02407976 0.41777538] [ 0.07661146 0.99705955 0.00171585 0.04689263] [ 0.02387761 -0.0035551 0.99970857 0.0594107 ] [ 0. 0. 0. 1. ]] SLAMing on 113.34486062399999 meters Centerline goodness [0,1] 0.6322251691970002 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.06 [[ 0.99679497 -0.07628297 -0.02409754 0.41817167] [ 0.07636187 0.99707735 0.00236979 0.04481688] [ 0.02384634 -0.00420233 0.9997068 0.05898938] [ 0. 0. 0. 1. ]] SLAMing on 113.374860624 meters Centerline goodness [0,1] 0.636288829458959 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.06 [[ 0.99679873 -0.07626123 -0.02401067 0.4181818 ] [ 0.07634962 0.99707722 0.00278486 0.04303878] [ 0.02372811 -0.00460915 0.99970782 0.05876207] [ 0. 0. 0. 1. ]] SLAMing on 113.404860624 meters Centerline goodness [0,1] 0.6339125496876774 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.06 [[ 0.99676832 -0.07668757 -0.02391513 0.41770403] [ 0.07678658 0.99704226 0.00324817 0.03915409] [ 0.0235953 -0.00507403 0.99970872 0.05903598] [ 0. 0. 0. 1. ]] SLAMing on 113.434860624 meters Centerline goodness [0,1] 0.6390269362561554 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.06 [[ 0.9967622 -0.07680031 -0.02380811 0.41743595] [ 0.07690654 0.99703189 0.00357747 0.03701052] [ 0.02346269 -0.00539689 0.99971015 0.05910682] [ 0. 0. 0. 1. ]] SLAMing on 113.464860624 meters Centerline goodness [0,1] 0.6390269362561554 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.06 [[ 0.9967622 -0.07680031 -0.02380811 0.41743595] [ 0.07690654 0.99703189 0.00357747 0.03701052] [ 0.02346269 -0.00539689 0.99971015 0.05910682] [ 0. 0. 0. 1. ]] SLAMing on 113.494860624 meters Centerline goodness [0,1] 0.622530941014096 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.99675434 -0.0769368 -0.02369616 0.41703617] [ 0.07705066 0.99701944 0.0039289 0.03469549] [ 0.02332325 -0.00574196 0.99971149 0.05932594] [ 0. 0. 0. 1. ]] SLAMing on 113.524860624 meters Centerline goodness [0,1] 0.6224914975562512 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.99675571 -0.07692969 -0.0236617 0.41713139] [ 0.0770546 0.99701711 0.00441205 0.03242282] [ 0.0232517 -0.00622098 0.99971029 0.05912315] [ 0. 0. 0. 1. ]] SLAMing on 113.554860624 meters Centerline goodness [0,1] 0.6301070422535211 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.99674385 -0.07713167 -0.02350322 0.41659279] [ 0.07726038 0.99700026 0.00461688 0.03076351] [ 0.02307661 -0.00641771 0.9997131 0.0593655 ] [ 0. 0. 0. 1. ]] SLAMing on 113.584860624 meters Centerline goodness [0,1] 0.6317527347873941 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.99673412 -0.0773049 -0.02334641 0.41603377] [ 0.0774378 0.99698543 0.00484204 0.02904335] [ 0.02290172 -0.00663412 0.99971571 0.05971893] [ 0. 0. 0. 1. ]] SLAMing on 113.614860624 meters Centerline goodness [0,1] 0.6273898912921663 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.99674077 -0.07724123 -0.02327282 0.41569198] [ 0.07738563 0.99698679 0.00536781 0.02648831] [ 0.02278808 -0.0071513 0.99971474 0.06003363] [ 0. 0. 0. 1. ]] SLAMing on 113.644860624 meters Centerline goodness [0,1] 0.6222883213311268 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.06 [[ 0.9967456 -0.07716678 -0.02331281 0.4157925 ] [ 0.0773175 0.99699061 0.00563308 0.02530931] [ 0.02280796 -0.00741724 0.99971235 0.06005341] [ 0. 0. 0. 1. ]] SLAMing on 113.674860624 meters Centerline goodness [0,1] 0.6205612893158868 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99675919 -0.07699379 -0.02330413 0.41592099] [ 0.07715382 0.99700087 0.00604611 0.02370406] [ 0.02276873 -0.00782452 0.99971014 0.0598982 ] [ 0. 0. 0. 1. ]] SLAMing on 113.704860624 meters Centerline goodness [0,1] 0.6180417992833136 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99681206 -0.07627332 -0.02341149 0.4166356 ] [ 0.07645564 0.99704846 0.00699254 0.0207346 ] [ 0.02280904 -0.00876019 0.99970146 0.059439 ] [ 0. 0. 0. 1. ]] SLAMing on 113.73486062399999 meters Centerline goodness [0,1] 0.6281329923273657 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99683707 -0.07590233 -0.02355173 0.4169644 ] [ 0.07609385 0.99707361 0.00734403 0.01991953] [ 0.02292538 -0.00911295 0.99969564 0.05947029] [ 0. 0. 0. 1. ]] SLAMing on 113.764860624 meters Centerline goodness [0,1] 0.6314597762386787 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99686011 -0.07556194 -0.02367086 0.41725408] [ 0.07575979 0.99709733 0.00757489 0.0195217 ] [ 0.02302977 -0.0093444 0.99969111 0.05951596] [ 0. 0. 0. 1. ]] SLAMing on 113.794860624 meters Centerline goodness [0,1] 0.6309230803343755 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99689098 -0.07512573 -0.02375906 0.41755557] [ 0.07533114 0.99712751 0.00787084 0.01911207] [ 0.02309951 -0.00963616 0.99968673 0.05949008] [ 0. 0. 0. 1. ]] SLAMing on 113.824860624 meters Centerline goodness [0,1] 0.6348613719209102 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.9970021 -0.07356976 -0.02396473 0.41850086] [ 0.07380173 0.99723284 0.00894193 0.01772595] [ 0.02324056 -0.01068376 0.99967281 0.05928516] [ 0. 0. 0. 1. ]] SLAMing on 113.854860624 meters Centerline goodness [0,1] 0.6384707076950245 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99705172 -0.07281904 -0.02419215 0.41928281] [ 0.07306338 0.99728325 0.00937354 0.01733858] [ 0.02344385 -0.01111347 0.99966338 0.05908482] [ 0. 0. 0. 1. ]] SLAMing on 113.884860624 meters Centerline goodness [0,1] 0.6438413545272161 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99709328 -0.07216926 -0.02442511 0.41995762] [ 0.07242577 0.99732581 0.0097843 0.01680314] [ 0.02365366 -0.01152487 0.99965378 0.05900153] [ 0. 0. 0. 1. ]] SLAMing on 113.914860624 meters Centerline goodness [0,1] 0.6437295072948529 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:0.06 [[ 0.99718858 -0.07073968 -0.02471486 0.42137192] [ 0.07102622 0.99741474 0.01091374 0.01515402] [ 0.02387893 -0.01263846 0.99963497 0.05824333] [ 0. 0. 0. 1. ]] SLAMing on 113.944860624 meters Centerline goodness [0,1] 0.6402616279069768 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99722896 -0.07009499 -0.02492178 0.42228572] [ 0.07039503 0.99745437 0.0113719 0.01464928] [ 0.02406122 -0.01309476 0.99962472 0.0577477 ] [ 0. 0. 0. 1. ]] SLAMing on 113.974860624 meters Centerline goodness [0,1] 0.6417552430624326 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99726204 -0.06956377 -0.02508596 0.42297079] [ 0.06987413 0.99748704 0.01171408 0.01437749] [ 0.02420805 -0.01343486 0.99961666 0.0574234 ] [ 0. 0. 0. 1. ]] SLAMing on 114.004860624 meters Centerline goodness [0,1] 0.6501634955121031 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99728609 -0.06915554 -0.02525814 0.4235791 ] [ 0.06947439 0.99751191 0.01197082 0.01424092] [ 0.02436745 -0.01369313 0.99960929 0.05717961] [ 0. 0. 0. 1. ]] SLAMing on 114.034860624 meters Centerline goodness [0,1] 0.6490592548683836 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99730824 -0.06881337 -0.02531775 0.4238389 ] [ 0.06913994 0.99753167 0.01225713 0.01381779] [ 0.0244118 -0.01397461 0.99960431 0.05704691] [ 0. 0. 0. 1. ]] SLAMing on 114.064860624 meters Centerline goodness [0,1] 0.6574128765505021 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99735646 -0.0680736 -0.02541797 0.42461917] [ 0.06841661 0.99757373 0.01287722 0.01284355] [ 0.0244797 -0.01458219 0.99959397 0.05651354] [ 0. 0. 0. 1. ]] SLAMing on 114.09486062399999 meters Centerline goodness [0,1] 0.6472483397988034 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99736421 -0.06793768 -0.02547738 0.42483947] [ 0.06828511 0.99758084 0.01302319 0.01241366] [ 0.02453098 -0.01472859 0.99959057 0.05644653] [ 0. 0. 0. 1. ]] SLAMing on 114.124860624 meters Centerline goodness [0,1] 0.6568087580351463 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99736383 -0.06796014 -0.02543265 0.42497358] [ 0.06830922 0.99757796 0.01311734 0.01175877] [ 0.0244796 -0.01482004 0.99959047 0.05622496] [ 0. 0. 0. 1. ]] SLAMing on 114.154860624 meters Centerline goodness [0,1] 0.6368800524360936 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99736001 -0.06804914 -0.02534421 0.42494077] [ 0.06839913 0.99757061 0.01320769 0.01088606] [ 0.02438387 -0.01490635 0.99959153 0.05608566] [ 0. 0. 0. 1. ]] SLAMing on 114.184860624 meters Centerline goodness [0,1] 0.6345720104232816 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99734828 -0.06823569 -0.02530408 0.42496687] [ 0.06858622 0.99755716 0.01325283 0.01001495] [ 0.02433795 -0.0149532 0.99959195 0.05594501] [ 0. 0. 0. 1. ]] SLAMing on 114.214860624 meters Centerline goodness [0,1] 0.643085479068138 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99708769 -0.07195063 -0.02528342 0.42576434] [ 0.07221076 0.99734387 0.00952951 0.01021719] [ 0.02453061 -0.01132749 0.9996349 0.05576893] [ 0. 0. 0. 1. ]] SLAMing on 114.244860624 meters Centerline goodness [0,1] 0.6406790799561883 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99705523 -0.07246255 -0.02510056 0.42541766] [ 0.07271977 0.99730726 0.00948985 0.00927533] [ 0.02434531 -0.01128721 0.99963989 0.05564635] [ 0. 0. 0. 1. ]] SLAMing on 114.274860624 meters Centerline goodness [0,1] 0.6350949989080585 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99701233 -0.07309703 -0.0249649 0.42501317] [ 0.073349 0.99726269 0.0093298 0.00849744] [ 0.02421459 -0.01113308 0.99964479 0.05568368] [ 0. 0. 0. 1. ]] SLAMing on 114.304860624 meters Centerline goodness [0,1] 0.6306278713629403 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.9967223 -0.07700464 -0.02479802 0.42556012] [ 0.0771634 0.99700324 0.0055089 0.00831146] [ 0.0242995 -0.00740435 0.9996773 0.05549834] [ 0. 0. 0. 1. ]] SLAMing on 114.334860624 meters Centerline goodness [0,1] 0.6375243643371805 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99669036 -0.07749011 -0.02456831 0.42490401] [ 0.07764365 0.99696678 0.00535718 0.00776395] [ 0.02407866 -0.00724702 0.9996838 0.05566044] [ 0. 0. 0. 1. ]] SLAMing on 114.364860624 meters Centerline goodness [0,1] 0.6313221911095555 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99666322 -0.07787317 -0.02445822 0.42455811] [ 0.07802079 0.99693849 0.0051388 0.0077217 ] [ 0.02398317 -0.0070299 0.99968765 0.05579643] [ 0. 0. 0. 1. ]] SLAMing on 114.394860624 meters Centerline goodness [0,1] 0.6304874587963064 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.9966514 -0.07803222 -0.02443294 0.42450993] [ 0.07817847 0.9969264 0.00508745 0.00761803] [ 0.02396086 -0.00698055 0.99968853 0.05576753] [ 0. 0. 0. 1. ]] SLAMing on 114.424860624 meters Centerline goodness [0,1] 0.6297781869191654 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99664199 -0.07817605 -0.02435658 0.42434724] [ 0.07831846 0.99691611 0.00494769 0.00804726] [ 0.02389468 -0.00683865 0.99969109 0.05573386] [ 0. 0. 0. 1. ]] SLAMing on 114.454860624 meters Centerline goodness [0,1] 0.6318528723567102 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.06 [[ 0.99665972 -0.07791992 -0.02445189 0.42493752] [ 0.07806739 0.99693486 0.00513405 0.00802172] [ 0.0239769 -0.0070258 0.99968782 0.05526828] [ 0. 0. 0. 1. ]] SLAMing on 114.48486062399999 meters Centerline goodness [0,1] 0.6319675723049956 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.9966731 -0.07772058 -0.02454045 0.42536009] [ 0.07787017 0.99694996 0.00519842 0.00821491] [ 0.02406157 -0.00709209 0.99968532 0.05500794] [ 0. 0. 0. 1. ]] SLAMing on 114.514860624 meters Centerline goodness [0,1] 0.635797597123564 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99668473 -0.07752379 -0.02469029 0.42581499] [ 0.07767606 0.99696474 0.0052673 0.00844302] [ 0.024207 -0.00716768 0.99968127 0.05485382] [ 0. 0. 0. 1. ]] SLAMing on 114.544860624 meters Centerline goodness [0,1] 0.6356480364856272 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99673132 -0.07685167 -0.0249097 0.42652903] [ 0.07700855 0.99701581 0.00539966 0.00931742] [ 0.02442039 -0.00730027 0.99967512 0.0547283 ] [ 0. 0. 0. 1. ]] SLAMing on 114.574860624 meters Centerline goodness [0,1] 0.6381408993388502 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99674444 -0.07662984 -0.02506769 0.4269064 ] [ 0.07678555 0.9970335 0.00530776 0.01027256] [ 0.02458659 -0.00721532 0.99967167 0.05471512] [ 0. 0. 0. 1. ]] SLAMing on 114.604860624 meters Centerline goodness [0,1] 0.638684135698506 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99700119 -0.07313124 -0.02530699 0.42621773] [ 0.07337363 0.99726583 0.0087847 0.01048923] [ 0.02459537 -0.01061522 0.99964113 0.05532686] [ 0. 0. 0. 1. ]] SLAMing on 114.634860624 meters Centerline goodness [0,1] 0.6439113177342601 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99702232 -0.07279048 -0.02545645 0.42670884] [ 0.07303208 0.99729171 0.00869243 0.01133409] [ 0.02475478 -0.01052569 0.99963814 0.05528012] [ 0. 0. 0. 1. ]] SLAMing on 114.664860624 meters Centerline goodness [0,1] 0.6430043407725698 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99703593 -0.07256097 -0.0255786 0.42709576] [ 0.07280066 0.99730972 0.00856609 0.01227468] [ 0.02488823 -0.01040284 0.99963611 0.05521383] [ 0. 0. 0. 1. ]] SLAMing on 114.694860624 meters Centerline goodness [0,1] 0.6438154952426887 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99704532 -0.07239172 -0.02569191 0.42742989] [ 0.07262996 0.99732305 0.0084629 0.01296447] [ 0.02501049 -0.0103039 0.99963409 0.05516167] [ 0. 0. 0. 1. ]] SLAMing on 114.724860624 meters Centerline goodness [0,1] 0.6393607926521844 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99705203 -0.07222295 -0.02590565 0.42790293] [ 0.07245844 0.99733716 0.00826854 0.01393658] [ 0.02523949 -0.01012124 0.9996302 0.05522206] [ 0. 0. 0. 1. ]] SLAMing on 114.754860624 meters Centerline goodness [0,1] 0.6482046107613679 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99708151 -0.07177914 -0.026004 0.42857299] [ 0.07200959 0.99737157 0.00803561 0.01600143] [ 0.02535886 -0.00988469 0.99962954 0.05483156] [ 0. 0. 0. 1. ]] SLAMing on 114.784860624 meters Centerline goodness [0,1] 0.6506820727983657 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.9970873 -0.07165096 -0.02613548 0.42905096] [ 0.07187909 0.9973821 0.00789535 0.01706364] [ 0.02550135 -0.00975095 0.99962723 0.05458734] [ 0. 0. 0. 1. ]] SLAMing on 114.814860624 meters Centerline goodness [0,1] 0.6436475635243648 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99708067 -0.07171872 -0.02620244 0.42930694] [ 0.07193974 0.99738009 0.00759095 0.01835083] [ 0.02558938 -0.00945378 0.99962784 0.05443764] [ 0. 0. 0. 1. ]] SLAMing on 114.84486062399999 meters Centerline goodness [0,1] 0.6444072720869833 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99707625 -0.07176201 -0.02625199 0.42951637] [ 0.07196975 0.99738187 0.00705469 0.02059027] [ 0.025677 -0.00892342 0.99963046 0.05438491] [ 0. 0. 0. 1. ]] SLAMing on 114.874860624 meters Centerline goodness [0,1] 0.6473125852885504 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99705922 -0.07198641 -0.02628426 0.42952831] [ 0.07218281 0.99736958 0.00660002 0.02212784] [ 0.02574001 -0.00847788 0.99963272 0.05443253] [ 0. 0. 0. 1. ]] SLAMing on 114.904860624 meters Centerline goodness [0,1] 0.6463718296203257 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.9970432 -0.07218778 -0.02633976 0.4295523 ] [ 0.07237313 0.99735866 0.00615158 0.02345517] [ 0.02582612 -0.00803968 0.99963412 0.05457535] [ 0. 0. 0. 1. ]] SLAMing on 114.934860624 meters Centerline goodness [0,1] 0.6499115826702033 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99700055 -0.07281591 -0.02622484 0.42932792] [ 0.0729794 0.9973192 0.00533069 0.02559698] [ 0.02576638 -0.00722857 0.99964186 0.05446908] [ 0. 0. 0. 1. ]] SLAMing on 114.964860624 meters Centerline goodness [0,1] 0.6444296935501714 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99697501 -0.0731865 -0.02616431 0.4290742 ] [ 0.07333838 0.99729512 0.00489186 0.02649224] [ 0.02573552 -0.00679591 0.99964569 0.05461002] [ 0. 0. 0. 1. ]] SLAMing on 114.994860624 meters Centerline goodness [0,1] 0.6428492447864835 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99695293 -0.07349555 -0.0261394 0.42896699] [ 0.07363709 0.99727499 0.00449259 0.02749512] [ 0.02573799 -0.00640373 0.99964821 0.05468048] [ 0. 0. 0. 1. ]] SLAMing on 115.024860624 meters Centerline goodness [0,1] 0.6478720580428243 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99693167 -0.07381687 -0.02604466 0.42878871] [ 0.0739463 0.99725404 0.0040406 0.02872324] [ 0.02567488 -0.00595411 0.99965261 0.05464971] [ 0. 0. 0. 1. ]] SLAMing on 115.054860624 meters Centerline goodness [0,1] 0.646913963704131 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99691832 -0.07398736 -0.02607164 0.42877686] [ 0.07410544 0.99724395 0.00359085 0.03013213] [ 0.02573411 -0.00551183 0.99965363 0.05479457] [ 0. 0. 0. 1. ]] SLAMing on 115.084860624 meters Centerline goodness [0,1] 0.6434132668950483 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.06 [[ 0.99690176 -0.07420503 -0.02608617 0.4285967 ] [ 0.07430534 0.99723133 0.00289604 0.03251843] [ 0.02579905 -0.0048254 0.9996555 0.05507577] [ 0. 0. 0. 1. ]] SLAMing on 115.114860624 meters Centerline goodness [0,1] 0.6448433885032925 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99690045 -0.07421695 -0.02610253 0.42876705] [ 0.07431084 0.99723162 0.00264413 0.03378551] [ 0.02583402 -0.00457563 0.99965577 0.05491702] [ 0. 0. 0. 1. ]] SLAMing on 115.144860624 meters Centerline goodness [0,1] 0.6421566442294834 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99690272 -0.07416347 -0.02616777 0.42908239] [ 0.07425266 0.99723645 0.00245198 0.03487133] [ 0.02591361 -0.00438742 0.99965456 0.05472609] [ 0. 0. 0. 1. ]] SLAMing on 115.174860624 meters Centerline goodness [0,1] 0.6499543195846424 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99691069 -0.07401907 -0.02627262 0.42941029] [ 0.07410733 0.99724738 0.00240042 0.03574096] [ 0.02602263 -0.00434 0.99965193 0.05461276] [ 0. 0. 0. 1. ]] SLAMing on 115.20486062399999 meters Centerline goodness [0,1] 0.6393058684451185 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99691766 -0.07390807 -0.02632058 0.42956498] [ 0.07399043 0.99725659 0.00216786 0.0370084 ] [ 0.02608815 -0.00410865 0.9996512 0.05466363] [ 0. 0. 0. 1. ]] SLAMing on 115.23486062399999 meters Centerline goodness [0,1] 0.6381047937569677 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99692273 -0.07382255 -0.02636873 0.4297071 ] [ 0.0739046 0.997263 0.0021494 0.03747867] [ 0.02613789 -0.00409156 0.99964997 0.05462226] [ 0. 0. 0. 1. ]] SLAMing on 115.264860624 meters Centerline goodness [0,1] 0.638846838824577 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99692264 -0.07380954 -0.0264085 0.42990927] [ 0.07389035 0.99726417 0.00209583 0.03796745] [ 0.02618156 -0.00404072 0.99964904 0.05449103] [ 0. 0. 0. 1. ]] SLAMing on 115.294860624 meters Centerline goodness [0,1] 0.6405748663101605 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99693092 -0.07365419 -0.02652916 0.43042219] [ 0.07373257 0.99727607 0.00198731 0.0390812 ] [ 0.02631052 -0.00393727 0.99964606 0.05422085] [ 0. 0. 0. 1. ]] SLAMing on 115.324860624 meters Centerline goodness [0,1] 0.6562506984957196 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99693367 -0.07360912 -0.02655081 0.43078928] [ 0.07368722 0.99727945 0.00197374 0.03950325] [ 0.02633329 -0.00392414 0.99964552 0.05384231] [ 0. 0. 0. 1. ]] SLAMing on 115.354860624 meters Centerline goodness [0,1] 0.6562506984957196 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99693367 -0.07360912 -0.02655081 0.43078928] [ 0.07368722 0.99727945 0.00197374 0.03950325] [ 0.02633329 -0.00392414 0.99964552 0.05384231] [ 0. 0. 0. 1. ]] SLAMing on 115.384860624 meters Centerline goodness [0,1] 0.6395499397240703 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99693245 -0.07362066 -0.0265647 0.43108617] [ 0.07369544 0.99727909 0.00184589 0.04028463] [ 0.02635652 -0.00379793 0.99964539 0.05351959] [ 0. 0. 0. 1. ]] SLAMing on 115.414860624 meters Centerline goodness [0,1] 0.6580835512639979 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99693841 -0.07347631 -0.02674028 0.43203731] [ 0.07354456 0.99729069 0.00157634 0.04213865] [ 0.02655201 -0.00353811 0.99964117 0.05284831] [ 0. 0. 0. 1. ]] SLAMing on 115.444860624 meters Centerline goodness [0,1] 0.6605741197577932 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99694321 -0.0733917 -0.02679352 0.43233454] [ 0.07345246 0.99729789 0.00128907 0.04366884] [ 0.02662652 -0.00325318 0.99964016 0.05267931] [ 0. 0. 0. 1. ]] SLAMing on 115.474860624 meters Centerline goodness [0,1] 0.6464115692086589 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 9.96939537e-01 -7.34226489e-02 -2.68453612e-02 4.32574838e-01] [ 7.34719677e-02 9.97296917e-01 8.54082271e-04 4.56800049e-02] [ 2.67100870e-02 -2.82384989e-03 9.99639233e-01 5.25517181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504860624 meters Centerline goodness [0,1] 0.6513982316812527 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 9.96952264e-01 -7.32095240e-02 -2.69545685e-02 4.33065078e-01] [ 7.32505578e-02 9.97313425e-01 5.36769049e-04 4.76577261e-02] [ 2.68428564e-02 -2.50957030e-03 9.99636515e-01 5.23419555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534860624 meters Centerline goodness [0,1] 0.6682882679036091 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99716906 -0.0702585 -0.02678828 0.43184587] [ 0.07036584 0.99751648 0.00308449 0.05059908] [ 0.02650504 -0.00496074 0.99963637 0.05263417] [ 0. 0. 0. 1. ]] SLAMing on 115.564860624 meters Centerline goodness [0,1] 0.6636016891431685 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99718236 -0.07001511 -0.02693016 0.43230086] [ 0.07011031 0.99753584 0.00260573 0.05313171] [ 0.02668136 -0.00448647 0.99963392 0.05264627] [ 0. 0. 0. 1. ]] SLAMing on 115.59486062399999 meters Centerline goodness [0,1] 0.6745744171737198 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99718501 -0.06993734 -0.02703358 0.43247835] [ 0.07001352 0.99754427 0.00188041 0.05626677] [ 0.02683568 -0.00376783 0.99963276 0.05291151] [ 0. 0. 0. 1. ]] SLAMing on 115.624860624 meters Centerline goodness [0,1] 0.6694114686978201 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99740043 -0.06682441 -0.02696076 0.4314263 ] [ 0.0669675 0.99774528 0.00443873 0.06005551] [ 0.02660336 -0.00623269 0.99962664 0.05323168] [ 0. 0. 0. 1. ]] SLAMing on 115.654860624 meters Centerline goodness [0,1] 0.6668735061592204 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99739477 -0.06690722 -0.02696481 0.43149516] [ 0.06703343 0.99774348 0.00380304 0.06253442] [ 0.02664952 -0.00560068 0.99962915 0.05326976] [ 0. 0. 0. 1. ]] SLAMing on 115.684860624 meters Centerline goodness [0,1] 0.6725833256393685 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99739267 -0.06693286 -0.02697895 0.43177945] [ 0.06704587 0.99774442 0.0033052 0.06470356] [ 0.02669687 -0.00510541 0.99963054 0.05304492] [ 0. 0. 0. 1. ]] SLAMing on 115.714860624 meters Centerline goodness [0,1] 0.6745058968002039 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99737643 -0.06717143 -0.02698607 0.43177669] [ 0.06726688 0.99773152 0.00264386 0.06699269] [ 0.02674726 -0.00445219 0.99963231 0.05311615] [ 0. 0. 0. 1. ]] SLAMing on 115.744860624 meters Centerline goodness [0,1] 0.6680725137477863 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99736094 -0.06742355 -0.02693004 0.43196728] [ 0.06749534 0.99771803 0.00176452 0.07111522] [ 0.02674961 -0.00357751 0.99963576 0.05276042] [ 0. 0. 0. 1. ]] SLAMing on 115.774860624 meters Centerline goodness [0,1] 0.6681917923339091 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99735402 -0.06755963 -0.02684491 0.43197466] [ 0.0676227 0.99770991 0.00144767 0.07266793] [ 0.02668563 -0.00325917 0.99963856 0.05254024] [ 0. 0. 0. 1. ]] SLAMing on 115.804860624 meters Centerline goodness [0,1] 0.6632956434206523 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99734063 -0.06780782 -0.02671653 0.43178547] [ 0.06786143 0.99769414 0.00110424 0.07415878] [ 0.02658005 -0.00291432 0.99964244 0.0523474 ] [ 0. 0. 0. 1. ]] SLAMing on 115.834860624 meters Centerline goodness [0,1] 0.6631233133873049 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97328943e-01 -6.79789948e-02 -2.67176900e-02 4.31878131e-01] [ 6.80254147e-02 9.97683242e-01 8.31323289e-04 7.53770273e-02] [ 2.65992791e-02 -2.64658472e-03 9.99642673e-01 5.21921892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864860624 meters Centerline goodness [0,1] 0.6638872577803876 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97314400e-01 -6.82386021e-02 -2.65985146e-02 4.31813070e-01] [ 6.82758497e-02 9.97666359e-01 4.93648319e-04 7.65039237e-02] [ 2.65027573e-02 -2.30835876e-03 9.99646075e-01 5.19493583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894860624 meters Centerline goodness [0,1] 0.6632703484951878 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97289535e-01 -6.86595443e-02 -2.64471264e-02 4.32027478e-01] [ 6.86903947e-02 9.97637992e-01 2.58703842e-04 7.76834651e-02] [ 2.63668955e-02 -2.07466618e-03 9.99650180e-01 5.10831778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924860624 meters Centerline goodness [0,1] 0.6585417649834828 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97273370e-01 -6.89414824e-02 -2.63229540e-02 4.31877249e-01] [ 6.89673803e-02 9.97618913e-01 7.61710935e-05 7.83545557e-02] [ 2.62550254e-02 -1.89138858e-03 9.99653488e-01 5.08449217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95486062399999 meters Centerline goodness [0,1] 0.6568458357944478 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97258260e-01 -6.92066583e-02 -2.61992740e-02 4.31774930e-01] [ 6.92294332e-02 9.97600764e-01 -3.78278959e-05 7.89606791e-02] [ 2.61390337e-02 -1.77603671e-03 9.99656739e-01 5.05218680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98486062399999 meters Centerline goodness [0,1] 0.6612426385374045 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97240028e-01 -6.95050168e-02 -2.61032588e-02 4.31654749e-01] [ 6.95256694e-02 9.97580156e-01 -1.16654067e-04 7.93010967e-02] [ 2.60482010e-02 -1.69851443e-03 9.99659245e-01 5.02599200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014860624 meters Centerline goodness [0,1] 0.6523786982248521 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97194579e-01 -7.02705254e-02 -2.57880823e-02 4.30811639e-01] [ 7.02797224e-02 9.97527171e-01 -5.50652169e-04 8.02332805e-02] [ 2.57630074e-02 -1.26327191e-03 9.99667280e-01 5.02195345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044860624 meters Centerline goodness [0,1] 0.6633954392452472 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97184212e-01 -7.04707433e-02 -2.56421695e-02 4.30556061e-01] [ 7.04775729e-02 9.97513160e-01 -6.38433157e-04 8.08675303e-02] [ 2.56233924e-02 -1.17056241e-03 9.99670982e-01 5.00074591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074860624 meters Centerline goodness [0,1] 0.6516435267592263 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97164754e-01 -7.07673677e-02 -2.55818916e-02 4.30300663e-01] [ 7.07658538e-02 9.97492487e-01 -9.65620799e-04 8.18425219e-02] [ 2.55860791e-02 -8.47441373e-04 9.99672263e-01 5.01270489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104860624 meters Centerline goodness [0,1] 0.6566646060202577 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97155230e-01 -7.08970351e-02 -2.55940899e-02 4.30335419e-01] [ 7.08878723e-02 9.97483487e-01 -1.26627562e-03 8.30648178e-02] [ 2.56194572e-02 -5.51637217e-04 9.99671616e-01 5.01248778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134860624 meters Centerline goodness [0,1] 0.6607906365699272 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 9.97140281e-01 -7.11553873e-02 -2.54591814e-02 4.30034796e-01] [ 7.11303176e-02 9.97465240e-01 -1.89010758e-03 8.56734634e-02] [ 2.55291398e-02 7.37827525e-05 9.99674076e-01 5.01424515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164860624 meters Centerline goodness [0,1] 0.6588843172902115 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 9.97135166e-01 -7.12221470e-02 -2.54728509e-02 4.30151534e-01] [ 7.11873729e-02 9.97460376e-01 -2.27052287e-03 8.71845006e-02] [ 2.55698710e-02 4.50672858e-04 9.99672936e-01 5.01357453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194860624 meters Centerline goodness [0,1] 0.6571819622532776 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 9.97165698e-01 -7.07463175e-02 -2.56033108e-02 4.31154338e-01] [ 7.07055911e-02 9.97494111e-01 -2.49362495e-03 8.95779180e-02] [ 2.57155665e-02 6.76260039e-04 9.99669071e-01 4.94880276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224860624 meters Centerline goodness [0,1] 0.6539907460960093 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 0.99716475 -0.07073064 -0.02568332 0.43137084] [ 0.07068026 0.99749491 -0.00286501 0.09116386] [ 0.02582163 0.00104158 0.99966602 0.04955279] [ 0. 0. 0. 1. ]] SLAMing on 116.254860624 meters Centerline goodness [0,1] 0.6546287367405978 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 0.99718254 -0.07044661 -0.0257731 0.43189684] [ 0.07039131 0.9975148 -0.00304755 0.09265249] [ 0.02592374 0.00122476 0.99966317 0.04933859] [ 0. 0. 0. 1. ]] SLAMing on 116.284860624 meters Centerline goodness [0,1] 0.6522001934235977 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 9.97403255e-01 -6.72967273e-02 -2.56495064e-02 4.30937558e-01] [ 6.73326397e-02 9.97730438e-01 5.38052277e-04 9.24706103e-02] [ 2.55550841e-02 -2.26370406e-03 9.99670852e-01 4.90901228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314860624 meters Centerline goodness [0,1] 0.6576662044807706 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.05 [[ 0.99762469 -0.06401717 -0.02543169 0.42969783] [ 0.06413372 0.9979341 0.00379343 0.09443969] [ 0.02513631 -0.00541544 0.99966936 0.04909482] [ 0. 0. 0. 1. ]] SLAMing on 116.34486062399999 meters Centerline goodness [0,1] 0.657491161770084 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99762844 -0.0638872 -0.02561106 0.4302023 ] [ 0.06399252 0.99794488 0.00331296 0.09663817] [ 0.02534677 -0.00494402 0.99966649 0.04921089] [ 0. 0. 0. 1. ]] SLAMing on 116.374860624 meters Centerline goodness [0,1] 0.6587818869766875 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99764032 -0.06364079 -0.02576142 0.4308072 ] [ 0.06373929 0.99796201 0.00302008 0.09823855] [ 0.02551672 -0.00465497 0.99966356 0.04913182] [ 0. 0. 0. 1. ]] SLAMing on 116.404860624 meters Centerline goodness [0,1] 0.6599554216572366 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99764979 -0.06349204 -0.02576142 0.43103869] [ 0.06358375 0.9979727 0.00275568 0.09957774] [ 0.02553423 -0.00438721 0.99966432 0.04902933] [ 0. 0. 0. 1. ]] SLAMing on 116.434860624 meters Centerline goodness [0,1] 0.6616688715762653 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99765947 -0.0633777 -0.02566812 0.43120325] [ 0.06346562 0.99798057 0.00262437 0.10061676] [ 0.02544996 -0.00424727 0.99966707 0.04865227] [ 0. 0. 0. 1. ]] SLAMing on 116.464860624 meters Centerline goodness [0,1] 0.6618155090040426 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99766701 -0.06329963 -0.02556729 0.43119472] [ 0.0633736 0.99798768 0.00209252 0.10292817] [ 0.02538339 -0.00370793 0.99967091 0.04867308] [ 0. 0. 0. 1. ]] SLAMing on 116.494860624 meters Centerline goodness [0,1] 0.6612368246480431 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.05 [[ 0.99767147 -0.06319591 -0.02564972 0.4315187 ] [ 0.06326585 0.99799486 0.00192385 0.10402915] [ 0.02547671 -0.00354212 0.99966914 0.04858427] [ 0. 0. 0. 1. ]] SLAMing on 116.524860624 meters Centerline goodness [0,1] 0.6595518926121502 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.9976804 -0.06305026 -0.02566097 0.43185572] [ 0.06310832 0.99800562 0.0014582 0.1066808 ] [ 0.02551786 -0.00307424 0.99966964 0.04843582] [ 0. 0. 0. 1. ]] SLAMing on 116.554860624 meters Centerline goodness [0,1] 0.658875849289685 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99768733 -0.06292559 -0.02569739 0.43222131] [ 0.06298163 0.99801374 0.0013761 0.10765485] [ 0.02555975 -0.00299138 0.99966882 0.04817078] [ 0. 0. 0. 1. ]] SLAMing on 116.584860624 meters Centerline goodness [0,1] 0.6584176792298746 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.997685 -0.0629866 -0.02563827 0.43228345] [ 0.0630392 0.99801027 0.00124802 0.10852737] [ 0.02550865 -0.00286135 0.99967051 0.04792283] [ 0. 0. 0. 1. ]] SLAMing on 116.614860624 meters Centerline goodness [0,1] 0.6706089021946211 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99767407 -0.06321397 -0.02550384 0.43199332] [ 0.06326079 0.9979965 0.00103224 0.1092488 ] [ 0.02538749 -0.00264323 0.99967419 0.04784796] [ 0. 0. 0. 1. ]] SLAMing on 116.644860624 meters Centerline goodness [0,1] 0.6692624373790983 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97651812e-01 -6.36807114e-02 -2.52116886e-02 4.31330279e-01] [ 6.37173256e-02 9.97967774e-01 6.50787914e-04 1.10775721e-01] [ 2.51190101e-02 -2.25568111e-03 9.99681923e-01 4.77117554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674860624 meters Centerline goodness [0,1] 0.6680140859041761 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97637508e-01 -6.39528200e-02 -2.50886424e-02 4.31028908e-01] [ 6.39836637e-02 9.97950854e-01 4.27739627e-04 1.11623771e-01] [ 2.50098770e-02 -2.03199235e-03 9.99685139e-01 4.76692183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70486062399999 meters Centerline goodness [0,1] 0.6697963238946846 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97626629e-01 -6.41438058e-02 -2.50336133e-02 4.30887640e-01] [ 6.41712612e-02 9.97938857e-01 2.94113228e-04 1.12252248e-01] [ 2.49631499e-02 -1.89985372e-03 9.99686567e-01 4.75941055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73486062399999 meters Centerline goodness [0,1] 0.6666832150126595 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97616559e-01 -6.43738373e-02 -2.48436995e-02 4.30758888e-01] [ 6.44014409e-02 9.97924024e-01 3.11755964e-04 1.12518753e-01] [ 2.47720556e-02 -1.91098296e-03 9.99691299e-01 4.70645504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764860624 meters Centerline goodness [0,1] 0.6642230560870754 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97593448e-01 -6.48799029e-02 -2.44522049e-02 4.30317766e-01] [ 6.49031874e-02 9.97891553e-01 1.58984300e-04 1.13250488e-01] [ 2.43903338e-02 -1.74562773e-03 9.99700987e-01 4.62575856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794860624 meters Centerline goodness [0,1] 0.6657710774435903 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97583075e-01 -6.50935611e-02 -2.43071192e-02 4.30231431e-01] [ 6.51145799e-02 9.97877791e-01 7.33890004e-05 1.13542761e-01] [ 2.42507573e-02 -1.65595948e-03 9.99704536e-01 4.58773208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824860624 meters Centerline goodness [0,1] 0.6674308497383503 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97568490e-01 -6.53083304e-02 -2.43295892e-02 4.30285401e-01] [ 6.53246102e-02 9.97864059e-01 -1.25892163e-04 1.14092553e-01] [ 2.42858444e-02 -1.46373487e-03 9.99703984e-01 4.57970116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854860624 meters Centerline goodness [0,1] 0.6642910540742586 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 9.97560673e-01 -6.54891377e-02 -2.41635187e-02 4.30269837e-01] [ 6.55040902e-02 9.97852286e-01 -1.73044957e-04 1.14496159e-01] [ 2.41229549e-02 -1.41018646e-03 9.99708005e-01 4.52428520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884860624 meters Centerline goodness [0,1] 0.6648336541105306 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97534888e-01 -6.59673010e-02 -2.39261953e-02 4.29842042e-01] [ 6.59725836e-02 9.97821274e-01 -5.69354492e-04 1.15880705e-01] [ 2.39116254e-02 -1.01052195e-03 9.99713565e-01 4.49447527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914860624 meters Centerline goodness [0,1] 0.666341585396349 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97531072e-01 -6.60112778e-02 -2.39639692e-02 4.30213215e-01] [ 6.60152935e-02 9.97818416e-01 -6.24360045e-04 1.16548093e-01] [ 2.39529046e-02 -9.59169915e-04 9.99712628e-01 4.45267982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944860624 meters Centerline goodness [0,1] 0.666775113869563 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97523451e-01 -6.61488707e-02 -2.39017103e-02 4.30144358e-01] [ 6.61491969e-02 9.97809440e-01 -7.77872406e-04 1.17248219e-01] [ 2.39008076e-02 -8.05132976e-04 9.99714011e-01 4.43636614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974860624 meters Centerline goodness [0,1] 0.6664246733089672 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97511386e-01 -6.63976979e-02 -2.37145528e-02 4.29681638e-01] [ 6.63946888e-02 9.97793019e-01 -9.15105013e-04 1.17837859e-01] [ 2.37229761e-02 -6.61692684e-04 9.99718352e-01 4.43426877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004860624 meters Centerline goodness [0,1] 0.6629440863438765 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97503377e-01 -6.65896660e-02 -2.35123138e-02 4.29251577e-01] [ 6.65853935e-02 9.97780263e-01 -9.65435289e-04 1.17808682e-01] [ 2.35244106e-02 -6.02551702e-04 9.99723081e-01 4.43161412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034860624 meters Centerline goodness [0,1] 0.6663835103060587 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97499736e-01 -6.66620206e-02 -2.34616960e-02 4.29123081e-01] [ 6.66606745e-02 9.97775350e-01 -8.40335727e-04 1.17336508e-01] [ 2.34655204e-02 -7.25737813e-04 9.99724383e-01 4.42685708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064860624 meters Centerline goodness [0,1] 0.6601300650325163 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97492173e-01 -6.68129305e-02 -2.33537234e-02 4.28845636e-01] [ 6.68136809e-02 9.97765188e-01 -7.49020063e-04 1.16719831e-01] [ 2.33515764e-02 -8.13206570e-04 9.99726984e-01 4.42288308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09486062399999 meters Centerline goodness [0,1] 0.6610321615557218 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97482542e-01 -6.69975966e-02 -2.32357606e-02 4.28558061e-01] [ 6.70034316e-02 9.97752605e-01 -5.28207632e-04 1.15648748e-01] [ 2.32189293e-02 -1.02999780e-03 9.99729874e-01 4.41253218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124860624 meters Centerline goodness [0,1] 0.6582114469389281 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.04 [[ 9.97473253e-01 -6.71352979e-02 -2.32370864e-02 4.28439321e-01] [ 6.71414827e-02 9.97743332e-01 -5.14810458e-04 1.15194569e-01] [ 2.32192100e-02 -1.04666278e-03 9.99729850e-01 4.42445043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154860624 meters Centerline goodness [0,1] 0.6571250932603829 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97475690e-01 -6.71128577e-02 -2.31972314e-02 4.28445336e-01] [ 6.71244237e-02 9.97744573e-01 -2.80578875e-04 1.14377903e-01] [ 2.31637422e-02 -1.27723018e-03 9.99730869e-01 4.40951377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184860624 meters Centerline goodness [0,1] 0.653739337433049 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97480949e-01 -6.70529550e-02 -2.31442669e-02 4.28500145e-01] [ 6.70740674e-02 9.97747990e-01 1.36250409e-04 1.12706928e-01] [ 2.30830098e-02 -1.68828730e-03 9.99732126e-01 4.38334275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214860624 meters Centerline goodness [0,1] 0.6524147481391727 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97486862e-01 -6.69461579e-02 -2.31985323e-02 4.28763943e-01] [ 6.69741849e-02 9.97754615e-01 4.32418212e-04 1.11714141e-01] [ 2.31174940e-02 -1.98503428e-03 9.99730784e-01 4.36167129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244860624 meters Centerline goodness [0,1] 0.6525729836714498 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97495165e-01 -6.68066920e-02 -2.32435411e-02 4.28999909e-01] [ 6.68383879e-02 9.97763641e-01 5.88569956e-04 1.11240440e-01] [ 2.31522398e-02 -2.14065650e-03 9.99729659e-01 4.35035331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274860624 meters Centerline goodness [0,1] 0.6525729836714498 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97495165e-01 -6.68066920e-02 -2.32435411e-02 4.28999909e-01] [ 6.68383879e-02 9.97763641e-01 5.88569956e-04 1.11240440e-01] [ 2.31522398e-02 -2.14065650e-03 9.99729659e-01 4.35035331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304860624 meters Centerline goodness [0,1] 0.6460408243762943 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97504767e-01 -6.66212224e-02 -2.33634807e-02 4.29331906e-01] [ 6.66575465e-02 9.97775609e-01 7.78551235e-04 1.10714213e-01] [ 2.32596431e-02 -2.33396087e-03 9.99726733e-01 4.34852510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334860624 meters Centerline goodness [0,1] 0.6487824095732894 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 9.97509735e-01 -6.65484426e-02 -2.33587836e-02 4.29070512e-01] [ 6.65887432e-02 9.97780053e-01 9.50864742e-04 1.09630437e-01] [ 2.32436498e-02 -2.50392888e-03 9.99726694e-01 4.38979337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364860624 meters Centerline goodness [0,1] 0.6582368874661413 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99751235 -0.06647501 -0.02345616 0.4292251 ] [ 0.06651722 0.99778475 0.00102309 0.1091848 ] [ 0.02333619 -0.00258078 0.99972434 0.04403246] [ 0. 0. 0. 1. ]] SLAMing on 117.394860624 meters Centerline goodness [0,1] 0.6585083878585133 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99753269 -0.06611539 -0.02360694 0.42988518] [ 0.06616635 0.99780765 0.00138317 0.10847074] [ 0.02346374 -0.00294174 0.99972036 0.04370129] [ 0. 0. 0. 1. ]] SLAMing on 117.424860624 meters Centerline goodness [0,1] 0.643609576427256 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99754858 -0.06581314 -0.0237794 0.4305627 ] [ 0.06587108 0.99782676 0.00166072 0.10803296] [ 0.02361842 -0.00322302 0.99971585 0.04337642] [ 0. 0. 0. 1. ]] SLAMing on 117.45486062399999 meters Centerline goodness [0,1] 0.6642429006583472 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99757724 -0.06531687 -0.02394467 0.43136732] [ 0.06538291 0.99785827 0.00198462 0.10758719] [ 0.02376376 -0.00354538 0.99971132 0.04302444] [ 0. 0. 0. 1. ]] SLAMing on 117.48486062399999 meters Centerline goodness [0,1] 0.6439200471466457 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99758358 -0.06518164 -0.02404894 0.43156256] [ 0.06524944 0.99786689 0.0020449 0.10746565] [ 0.02386435 -0.00360914 0.99970869 0.04314155] [ 0. 0. 0. 1. ]] SLAMing on 117.514860624 meters Centerline goodness [0,1] 0.6595483554246441 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99759282 -0.06500876 -0.02413338 0.43185331] [ 0.06507744 0.99787807 0.00207048 0.10749406] [ 0.02394757 -0.00363604 0.9997066 0.04313782] [ 0. 0. 0. 1. ]] SLAMing on 117.544860624 meters Centerline goodness [0,1] 0.6612895305440974 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99759215 -0.06500781 -0.02416361 0.43183331] [ 0.06507373 0.99787855 0.00195077 0.1077428 ] [ 0.02398553 -0.00351848 0.99970611 0.04333792] [ 0. 0. 0. 1. ]] SLAMing on 117.574860624 meters Centerline goodness [0,1] 0.6621475851924492 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99760623 -0.06473501 -0.02431416 0.43217319] [ 0.0648033 0.99789599 0.00203023 0.10773005] [ 0.02413158 -0.00360101 0.99970231 0.04345606] [ 0. 0. 0. 1. ]] SLAMing on 117.604860624 meters Centerline goodness [0,1] 0.6639293880461239 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99761588 -0.06453279 -0.02445548 0.43264099] [ 0.06460202 0.997909 0.00205053 0.10792839] [ 0.02427201 -0.00362551 0.99969882 0.04337307] [ 0. 0. 0. 1. ]] SLAMing on 117.634860624 meters Centerline goodness [0,1] 0.6603068450039339 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99762643 -0.06434484 -0.02452037 0.43301624] [ 0.06441585 0.9979209 0.00211627 0.10822062] [ 0.02433322 -0.00369075 0.99969709 0.04313918] [ 0. 0. 0. 1. ]] SLAMing on 117.664860624 meters Centerline goodness [0,1] 0.6666584706171625 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99764058 -0.06408677 -0.02462021 0.43361706] [ 0.06416059 0.99793712 0.00221943 0.10838941] [ 0.02442718 -0.00379384 0.99969441 0.04277556] [ 0. 0. 0. 1. ]] SLAMing on 117.694860624 meters Centerline goodness [0,1] 0.6639883666477706 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.04 [[ 0.99765513 -0.06380391 -0.02476494 0.43420023] [ 0.06388098 0.9979548 0.00233238 0.10839328] [ 0.02456548 -0.00390892 0.99969058 0.04259458] [ 0. 0. 0. 1. ]] SLAMing on 117.724860624 meters Centerline goodness [0,1] 0.6713076106544225 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.99768822 -0.06317595 -0.02504023 0.43542021] [ 0.06326213 0.99799339 0.00266393 0.10849941] [ 0.02482169 -0.00424187 0.99968289 0.04204598] [ 0. 0. 0. 1. ]] SLAMing on 117.754860624 meters Centerline goodness [0,1] 0.6745673160012838 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.997691 -0.06308769 -0.02515187 0.43569353] [ 0.06317305 0.99799917 0.00261318 0.10881238] [ 0.02493669 -0.00419607 0.99968023 0.04206221] [ 0. 0. 0. 1. ]] SLAMing on 117.784860624 meters Centerline goodness [0,1] 0.6656214507925535 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.99770006 -0.06290653 -0.02524616 0.43609356] [ 0.06299702 0.99800977 0.00280439 0.10854473] [ 0.0250195 -0.00438837 0.99967733 0.0418605 ] [ 0. 0. 0. 1. ]] SLAMing on 117.814860624 meters Centerline goodness [0,1] 0.6683295465771016 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.99769685 -0.06297251 -0.02520821 0.43607677] [ 0.06306784 0.99800472 0.00300382 0.10785686] [ 0.02496876 -0.00458673 0.99967771 0.04167614] [ 0. 0. 0. 1. ]] SLAMing on 117.84486062399999 meters Centerline goodness [0,1] 0.67360185596525 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.99769753 -0.06298445 -0.0251515 0.43609788] [ 0.06308473 0.998003 0.00321319 0.10708829] [ 0.02489889 -0.00479247 0.99967849 0.0414677 ] [ 0. 0. 0. 1. ]] SLAMing on 117.874860624 meters Centerline goodness [0,1] 0.6678997731084146 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:0.04 [[ 0.99768659 -0.06320842 -0.0250234 0.4356039 ] [ 0.06330877 0.99798874 0.00323784 0.10636955] [ 0.02476841 -0.00481455 0.99968162 0.04169606] [ 0. 0. 0. 1. ]] SLAMing on 117.904860624 meters Centerline goodness [0,1] 0.6705029943071198 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99767107 -0.06350266 -0.02489665 0.43513649] [ 0.06360787 0.99796898 0.0034563 0.10479188] [ 0.0246266 -0.00503187 0.99968406 0.04174466] [ 0. 0. 0. 1. ]] SLAMing on 117.934860624 meters Centerline goodness [0,1] 0.6707616707616708 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99768351 -0.06327995 -0.02496511 0.43579654] [ 0.06339522 0.99798106 0.00385253 0.10371454] [ 0.02467092 -0.00542627 0.9996809 0.04117831] [ 0. 0. 0. 1. ]] SLAMing on 117.964860624 meters Centerline goodness [0,1] 0.6712619300106044 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99768178 -0.06332753 -0.02491369 0.43566843] [ 0.06344519 0.99797747 0.00396017 0.10318328] [ 0.02461251 -0.00553164 0.99968176 0.04119809] [ 0. 0. 0. 1. ]] SLAMing on 117.994860624 meters Centerline goodness [0,1] 0.6678719897670529 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99767755 -0.06342339 -0.02483924 0.43563912] [ 0.06354397 0.99797064 0.00409493 0.10270068] [ 0.02452912 -0.00566381 0.99968307 0.04095085] [ 0. 0. 0. 1. ]] SLAMing on 118.024860624 meters Centerline goodness [0,1] 0.6643635201258944 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99767522 -0.06346321 -0.02483111 0.43567808] [ 0.06358714 0.99796731 0.00423276 0.1018529 ] [ 0.02451201 -0.00580186 0.9996827 0.04088968] [ 0. 0. 0. 1. ]] SLAMing on 118.054860624 meters Centerline goodness [0,1] 0.6625909681213398 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99765978 -0.06373519 -0.02475452 0.43549288] [ 0.0638633 0.99794887 0.00441845 0.10002081] [ 0.02442213 -0.00598902 0.9996838 0.04083895] [ 0. 0. 0. 1. ]] SLAMing on 118.084860624 meters Centerline goodness [0,1] 0.660896180215475 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:0.04 [[ 0.99764281 -0.06403763 -0.02465773 0.43514784] [ 0.06416568 0.9979294 0.00443672 0.09923413] [ 0.02432256 -0.00600844 0.99968611 0.04090346] [ 0. 0. 0. 1. ]] SLAMing on 118.114860624 meters Centerline goodness [0,1] 0.661506809052611 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.04 [[ 0.99762283 -0.06438215 -0.02456887 0.43472013] [ 0.06450973 0.99790722 0.00443499 0.09838016] [ 0.02423192 -0.00600938 0.9996883 0.04108868] [ 0. 0. 0. 1. ]] SLAMing on 118.144860624 meters Centerline goodness [0,1] 0.6684829085933491 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.04 [[ 0.99760702 -0.06470062 -0.02437344 0.4342314 ] [ 0.06482924 0.99788612 0.0045237 0.09743991] [ 0.02402923 -0.00609299 0.99969269 0.04106216] [ 0. 0. 0. 1. ]] SLAMing on 118.174860624 meters Centerline goodness [0,1] 0.6539230994437396 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.04 [[ 0.99758897 -0.06501243 -0.02428228 0.4337304 ] [ 0.06514007 0.99786597 0.00450203 0.09663957] [ 0.02393778 -0.00607292 0.999695 0.04139917] [ 0. 0. 0. 1. ]] SLAMing on 118.20486062399999 meters Centerline goodness [0,1] 0.6501644536484347 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99756397 -0.06548501 -0.0240383 0.43303588] [ 0.06561452 0.99783427 0.00463791 0.09499753] [ 0.02368253 -0.00620388 0.99970028 0.04143738] [ 0. 0. 0. 1. ]] SLAMing on 118.23486062399999 meters Centerline goodness [0,1] 0.6632891660171474 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.9975521 -0.0657042 -0.0239325 0.43268381] [ 0.06583398 0.99781964 0.004675 0.09400339] [ 0.02357315 -0.00623913 0.99970265 0.04158149] [ 0. 0. 0. 1. ]] SLAMing on 118.264860624 meters Centerline goodness [0,1] 0.6575562310030395 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99754501 -0.06582304 -0.02390141 0.43260417] [ 0.06595555 0.99781103 0.00479782 0.0927637 ] [ 0.02353328 -0.00636247 0.99970281 0.04162393] [ 0. 0. 0. 1. ]] SLAMing on 118.294860624 meters Centerline goodness [0,1] 0.656290909090909 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99752662 -0.06616781 -0.02371635 0.43191568] [ 0.06630108 0.99778774 0.00487688 0.09080429] [ 0.0233412 -0.00643724 0.99970683 0.04196166] [ 0. 0. 0. 1. ]] SLAMing on 118.324860624 meters Centerline goodness [0,1] 0.6597790804709074 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99752372 -0.06621023 -0.02371978 0.43164824] [ 0.06634505 0.9977845 0.00494203 0.09018782] [ 0.02334001 -0.00650348 0.99970643 0.04234627] [ 0. 0. 0. 1. ]] SLAMing on 118.354860624 meters Centerline goodness [0,1] 0.6556657532917869 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99752227 -0.06623905 -0.0237002 0.43140857] [ 0.06637542 0.99778213 0.00501327 0.08974716] [ 0.02331556 -0.00657396 0.99970654 0.04260417] [ 0. 0. 0. 1. ]] SLAMing on 118.384860624 meters Centerline goodness [0,1] 0.6628865730106148 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99752143 -0.06622415 -0.02377707 0.43118193] [ 0.06636673 0.99778145 0.00525745 0.08779109] [ 0.02337615 -0.00682243 0.99970346 0.04322483] [ 0. 0. 0. 1. ]] SLAMing on 118.414860624 meters Centerline goodness [0,1] 0.6561798295385952 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99753059 -0.06604515 -0.02389055 0.43152121] [ 0.06619507 0.99779133 0.00553874 0.08679767] [ 0.02347197 -0.00710649 0.99969924 0.04315721] [ 0. 0. 0. 1. ]] SLAMing on 118.444860624 meters Centerline goodness [0,1] 0.6607198823501048 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.04 [[ 0.99754573 -0.06577978 -0.02399039 0.43182238] [ 0.06593663 0.99780692 0.00580567 0.08573396] [ 0.02355588 -0.00737327 0.99969533 0.0432293 ] [ 0. 0. 0. 1. ]] SLAMing on 118.474860624 meters Centerline goodness [0,1] 0.6567701952871658 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99755534 -0.06563055 -0.02399942 0.43195332] [ 0.06579231 0.99781522 0.00601298 0.08489001] [ 0.02355235 -0.00757725 0.99969389 0.04318028] [ 0. 0. 0. 1. ]] SLAMing on 118.504860624 meters Centerline goodness [0,1] 0.6591165661854779 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99758736 -0.06507559 -0.02417915 0.43244267] [ 0.06525339 0.99784665 0.00663784 0.08312307] [ 0.02369512 -0.0081996 0.9996856 0.04322174] [ 0. 0. 0. 1. ]] SLAMing on 118.534860624 meters Centerline goodness [0,1] 0.6598323353293414 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99759826 -0.0648997 -0.02420219 0.43259866] [ 0.06508229 0.9978565 0.00683384 0.08255363] [ 0.0237068 -0.00839256 0.99968373 0.04319105] [ 0. 0. 0. 1. ]] SLAMing on 118.564860624 meters Centerline goodness [0,1] 0.6606135907483514 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99760289 -0.06480182 -0.02427355 0.43267839] [ 0.06498896 0.99786142 0.00700125 0.08170235] [ 0.02376795 -0.00856198 0.99968084 0.04341675] [ 0. 0. 0. 1. ]] SLAMing on 118.59486062399999 meters Centerline goodness [0,1] 0.6560798548094373 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99761455 -0.06456096 -0.02443541 0.43312487] [ 0.06475607 0.99787458 0.00727873 0.08074477] [ 0.02391355 -0.00884371 0.99967491 0.0433932 ] [ 0. 0. 0. 1. ]] SLAMing on 118.624860624 meters Centerline goodness [0,1] 0.661181003115413 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99762876 -0.06427036 -0.02462078 0.4337605 ] [ 0.06448199 0.9978876 0.00789966 0.07818015] [ 0.02406106 -0.00946852 0.99966565 0.04317661] [ 0. 0. 0. 1. ]] SLAMing on 118.654860624 meters Centerline goodness [0,1] 0.6575381475592681 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99762815 -0.06426878 -0.02464952 0.43380642] [ 0.06448613 0.99788552 0.00812578 0.07698847] [ 0.02407517 -0.00969605 0.99966313 0.04321234] [ 0. 0. 0. 1. ]] SLAMing on 118.684860624 meters Centerline goodness [0,1] 0.6595044842518754 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.04 [[ 0.99762254 -0.06435869 -0.02464195 0.43343411] [ 0.06458316 0.99787678 0.00842337 0.07508014] [ 0.02404751 -0.0099948 0.99966085 0.04369138] [ 0. 0. 0. 1. ]] SLAMing on 118.714860624 meters Centerline goodness [0,1] 0.655324079547873 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99761734 -0.06444141 -0.02463649 0.43318161] [ 0.06466795 0.99787054 0.00851121 0.07421718] [ 0.02403556 -0.01008413 0.99966024 0.04401975] [ 0. 0. 0. 1. ]] SLAMing on 118.744860624 meters Centerline goodness [0,1] 0.6589249540679323 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99761161 -0.06451701 -0.02467053 0.43311069] [ 0.06474769 0.99786402 0.00866802 0.07294386] [ 0.0240586 -0.01024468 0.99965806 0.04424725] [ 0. 0. 0. 1. ]] SLAMing on 118.774860624 meters Centerline goodness [0,1] 0.655744650801497 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99760676 -0.06462393 -0.02458648 0.4329514 ] [ 0.06486009 0.9978544 0.00893147 0.07135673] [ 0.02395654 -0.01050477 0.99965781 0.04420661] [ 0. 0. 0. 1. ]] SLAMing on 118.804860624 meters Centerline goodness [0,1] 0.649399681080574 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.9976022 -0.06474197 -0.02446072 0.4328399 ] [ 0.06498089 0.99784501 0.00910112 0.06988952] [ 0.02381879 -0.01066878 0.99965936 0.04409182] [ 0. 0. 0. 1. ]] SLAMing on 118.834860624 meters Centerline goodness [0,1] 0.6551974176646707 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99759848 -0.0647717 -0.02453368 0.43302678] [ 0.06501768 0.99784018 0.00936377 0.06823956] [ 0.02387418 -0.0109364 0.99965515 0.0440833 ] [ 0. 0. 0. 1. ]] SLAMing on 118.864860624 meters Centerline goodness [0,1] 0.6565501165501165 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99757298 -0.06522267 -0.02437534 0.43266258] [ 0.06547296 0.99780803 0.00961418 0.06551183] [ 0.02369485 -0.01118677 0.99965665 0.04398905] [ 0. 0. 0. 1. ]] SLAMing on 118.894860624 meters Centerline goodness [0,1] 0.6461155910854965 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.04 [[ 0.9975598 -0.06545409 -0.02429436 0.43232437] [ 0.06570594 0.99779172 0.00971672 0.06420604] [ 0.02360471 -0.0112893 0.99965763 0.04421694] [ 0. 0. 0. 1. ]] SLAMing on 118.924860624 meters Centerline goodness [0,1] 0.6422635903625644 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.04 [[ 0.99755207 -0.06559699 -0.02422595 0.43209836] [ 0.06585276 0.9977801 0.00991438 0.06277123] [ 0.02352182 -0.01148546 0.99965735 0.04431725] [ 0. 0. 0. 1. ]] SLAMing on 118.95486062399999 meters Centerline goodness [0,1] 0.6405611832844913 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99750235 -0.06637631 -0.02415034 0.43113444] [ 0.0666296 0.99772928 0.00983813 0.06028815] [ 0.02344248 -0.01142269 0.99965993 0.04524926] [ 0. 0. 0. 1. ]] SLAMing on 118.98486062399999 meters Centerline goodness [0,1] 0.6473231776174783 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99748233 -0.06675254 -0.02393952 0.43035646] [ 0.06700574 0.99770313 0.00993451 0.05865207] [ 0.02322138 -0.01151359 0.99966405 0.04562797] [ 0. 0. 0. 1. ]] SLAMing on 119.014860624 meters Centerline goodness [0,1] 0.6300765358891264 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99746345 -0.06708927 -0.02378429 0.42971442] [ 0.06734449 0.9976787 0.01009618 0.05689592] [ 0.02305173 -0.01167232 0.99966613 0.04593396] [ 0. 0. 0. 1. ]] SLAMing on 119.044860624 meters Centerline goodness [0,1] 0.6442942254812098 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99744797 -0.06735274 -0.02368871 0.42929448] [ 0.06760936 0.99765969 0.01020333 0.05537885] [ 0.02294604 -0.01177887 0.99966731 0.04616453] [ 0. 0. 0. 1. ]] SLAMing on 119.074860624 meters Centerline goodness [0,1] 0.6415777177149664 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99743244 -0.06762519 -0.02356608 0.42876361] [ 0.06788199 0.99764048 0.01027184 0.05388968] [ 0.02281584 -0.01184518 0.99966951 0.04655244] [ 0. 0. 0. 1. ]] SLAMing on 119.104860624 meters Centerline goodness [0,1] 0.6381926722566533 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99741374 -0.0679358 -0.02346392 0.42836301] [ 0.06819776 0.99761604 0.01054998 0.051479 ] [ 0.02269126 -0.01212289 0.99966902 0.04673402] [ 0. 0. 0. 1. ]] SLAMing on 119.134860624 meters Centerline goodness [0,1] 0.6381970239044732 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99741541 -0.06793 -0.02340957 0.42835693] [ 0.06819729 0.99761324 0.01081423 0.05029379] [ 0.02261909 -0.01238275 0.99966747 0.04660386] [ 0. 0. 0. 1. ]] SLAMing on 119.164860624 meters Centerline goodness [0,1] 0.6381970239044732 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99741541 -0.06793 -0.02340957 0.42835693] [ 0.06819729 0.99761324 0.01081423 0.05029379] [ 0.02261909 -0.01238275 0.99966747 0.04660386] [ 0. 0. 0. 1. ]] SLAMing on 119.194860624 meters Centerline goodness [0,1] 0.6378208771969713 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99741327 -0.06797004 -0.02338446 0.42831852] [ 0.06824042 0.99760865 0.01096457 0.04935629] [ 0.02258328 -0.01253198 0.99966642 0.0466221 ] [ 0. 0. 0. 1. ]] SLAMing on 119.224860624 meters Centerline goodness [0,1] 0.6300412829469673 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.997417 -0.06792247 -0.02336376 0.42798919] [ 0.06820185 0.99760669 0.01137562 0.04715696] [ 0.02253519 -0.01293968 0.99966231 0.04703225] [ 0. 0. 0. 1. ]] SLAMing on 119.254860624 meters Centerline goodness [0,1] 0.6325433722644291 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99742031 -0.06785426 -0.02342042 0.42805021] [ 0.06813993 0.99760808 0.01162194 0.0458434 ] [ 0.0225758 -0.01318782 0.99965815 0.04715331] [ 0. 0. 0. 1. ]] SLAMing on 119.284860624 meters Centerline goodness [0,1] 0.6284202433178057 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99741911 -0.067878 -0.02340295 0.42795107] [ 0.06816727 0.99760422 0.01179162 0.04465653] [ 0.02254649 -0.0133565 0.99965657 0.04728598] [ 0. 0. 0. 1. ]] SLAMing on 119.314860624 meters Centerline goodness [0,1] 0.6256573453404655 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99742453 -0.06778353 -0.02344585 0.42786677] [ 0.06808346 0.99760456 0.01223887 0.04241563] [ 0.02256009 -0.01380363 0.99965019 0.04759755] [ 0. 0. 0. 1. ]] SLAMing on 119.34486062399999 meters Centerline goodness [0,1] 0.6373571895351196 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99742607 -0.06776595 -0.02343085 0.42777787] [ 0.06806771 0.99760452 0.01232946 0.04160322] [ 0.02253921 -0.01389261 0.99964943 0.04777969] [ 0. 0. 0. 1. ]] SLAMing on 119.374860624 meters Centerline goodness [0,1] 0.6199869395843185 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99743235 -0.06767657 -0.02342188 0.42785657] [ 0.06798824 0.99760432 0.01277603 0.03953418] [ 0.02250113 -0.01433563 0.99964403 0.04770505] [ 0. 0. 0. 1. ]] SLAMing on 119.404860624 meters Centerline goodness [0,1] 0.6358567349416553 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99742264 -0.0678652 -0.02328949 0.42755436] [ 0.0681761 0.99759087 0.01282487 0.03851146] [ 0.02236302 -0.0143796 0.9996465 0.04777292] [ 0. 0. 0. 1. ]] SLAMing on 119.434860624 meters Centerline goodness [0,1] 0.6384819342081611 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99742089 -0.06791429 -0.02322094 0.42755623] [ 0.06822958 0.99758409 0.01306568 0.03716756] [ 0.02227749 -0.01461633 0.99964498 0.04761854] [ 0. 0. 0. 1. ]] SLAMing on 119.464860624 meters Centerline goodness [0,1] 0.6204659723469205 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99739585 -0.06830123 -0.02316183 0.4270419 ] [ 0.06861524 0.99755792 0.01304423 0.03535461] [ 0.02221433 -0.01459952 0.99964663 0.04817601] [ 0. 0. 0. 1. ]] SLAMing on 119.494860624 meters Centerline goodness [0,1] 0.6341266458805321 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99739272 -0.06836736 -0.02310101 0.4267926 ] [ 0.06868195 0.99755247 0.01310948 0.03458399] [ 0.02214821 -0.01466192 0.99964718 0.04838329] [ 0. 0. 0. 1. ]] SLAMing on 119.524860624 meters Centerline goodness [0,1] 0.6362616403006844 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99739168 -0.06836117 -0.02316413 0.42683498] [ 0.06867808 0.9975519 0.01317265 0.03391781] [ 0.02220693 -0.01472916 0.99964489 0.04857919] [ 0. 0. 0. 1. ]] SLAMing on 119.554860624 meters Centerline goodness [0,1] 0.6269469532283005 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99738932 -0.06841683 -0.0231016 0.42667692] [ 0.06873258 0.9975483 0.01316125 0.03339308] [ 0.02214451 -0.01471472 0.99964649 0.04871097] [ 0. 0. 0. 1. ]] SLAMing on 119.584860624 meters Centerline goodness [0,1] 0.6384369909174087 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99739753 -0.06826128 -0.02320695 0.42701136] [ 0.06858262 0.99755619 0.01334402 0.03255799] [ 0.02223935 -0.01490089 0.99964162 0.04868806] [ 0. 0. 0. 1. ]] SLAMing on 119.614860624 meters Centerline goodness [0,1] 0.6249469190711396 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99741892 -0.06790056 -0.02334559 0.42727136] [ 0.06822947 0.99757705 0.01359263 0.03185864] [ 0.02236608 -0.0151504 0.99963505 0.0488944 ] [ 0. 0. 0. 1. ]] SLAMing on 119.644860624 meters Centerline goodness [0,1] 0.6356479928435648 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99743324 -0.06765739 -0.02343957 0.42763109] [ 0.06799188 0.99759072 0.01377916 0.03166701] [ 0.02245084 -0.0153375 0.99963029 0.04875297] [ 0. 0. 0. 1. ]] SLAMing on 119.674860624 meters Centerline goodness [0,1] 0.6409090909090909 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99744469 -0.06747402 -0.02348066 0.42796227] [ 0.06781381 0.99759993 0.01398789 0.03123587] [ 0.02248049 -0.01554446 0.99962643 0.04852454] [ 0. 0. 0. 1. ]] SLAMing on 119.70486062399999 meters Centerline goodness [0,1] 0.6445406660119632 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99746384 -0.06714524 -0.02360932 0.42833204] [ 0.06749409 0.99761716 0.01430226 0.03005487] [ 0.02259273 -0.01585948 0.99961895 0.04862194] [ 0. 0. 0. 1. ]] SLAMing on 119.73486062399999 meters Centerline goodness [0,1] 0.6425394707582833 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99746294 -0.06713779 -0.0236686 0.4284796 ] [ 0.06748916 0.99761648 0.01437229 0.02951384] [ 0.02264726 -0.0159332 0.99961654 0.04870825] [ 0. 0. 0. 1. ]] SLAMing on 119.764860624 meters Centerline goodness [0,1] 0.6418172914255187 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.9974685 -0.06705073 -0.02368102 0.42839208] [ 0.06740609 0.99761967 0.01454033 0.02875006] [ 0.02264971 -0.01609977 0.99961382 0.04891394] [ 0. 0. 0. 1. ]] SLAMing on 119.794860624 meters Centerline goodness [0,1] 0.6352935950963845 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99746651 -0.0670858 -0.02366549 0.4281148 ] [ 0.0674449 0.99761446 0.01471649 0.02706763] [ 0.02262176 -0.01627533 0.99961161 0.04933874] [ 0. 0. 0. 1. ]] SLAMing on 119.824860624 meters Centerline goodness [0,1] 0.6411692786484384 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99746376 -0.06714027 -0.02362679 0.42788834] [ 0.06750063 0.99760946 0.01479953 0.0261228 ] [ 0.02257667 -0.01635682 0.9996113 0.04958063] [ 0. 0. 0. 1. ]] SLAMing on 119.854860624 meters Centerline goodness [0,1] 0.6364461364793377 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.9974616 -0.06716264 -0.02365464 0.42792974] [ 0.06752519 0.99760666 0.01487591 0.02516139] [ 0.02259892 -0.01643543 0.99960951 0.04972575] [ 0. 0. 0. 1. ]] SLAMing on 119.884860624 meters Centerline goodness [0,1] 0.629778761061947 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.9974573 -0.06726142 -0.02355477 0.4276684 ] [ 0.06762434 0.99759862 0.01496481 0.02422932] [ 0.02249165 -0.01651963 0.99961054 0.04982805] [ 0. 0. 0. 1. ]] SLAMing on 119.914860624 meters Centerline goodness [0,1] 0.6381766381766382 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99745349 -0.06734177 -0.0234864 0.42748491] [ 0.06771093 0.99758777 0.0152929 0.02213198] [ 0.0223999 -0.01684425 0.99960718 0.04996923] [ 0. 0. 0. 1. ]] SLAMing on 119.944860624 meters Centerline goodness [0,1] 0.638452210340646 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99744716 -0.06742233 -0.02352447 0.42745405] [ 0.0677937 0.99758108 0.01536246 0.02117621] [ 0.02243179 -0.01691805 0.99960522 0.05020198] [ 0. 0. 0. 1. ]] SLAMing on 119.974860624 meters Centerline goodness [0,1] 0.641369869063128 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99744614 -0.06746446 -0.02344655 0.42730272] [ 0.06783866 0.99757515 0.01554761 0.02000294] [ 0.02234079 -0.01709848 0.99960419 0.05024468] [ 0. 0. 0. 1. ]] SLAMing on 120.004860624 meters Centerline goodness [0,1] 0.6414024912673828 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99721398 -0.07079036 -0.02351586 0.42813356] [ 0.07109431 0.99739314 0.01235038 0.01851236] [ 0.02258027 -0.01398781 0.99964717 0.05036605] [ 0. 0. 0. 1. ]] SLAMing on 120.034860624 meters Centerline goodness [0,1] 0.6229681279282053 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99719718 -0.07105276 -0.02343671 0.42770037] [ 0.07136043 0.99737149 0.01256224 0.01668666] [ 0.02248252 -0.01419949 0.99964639 0.05072558] [ 0. 0. 0. 1. ]] SLAMing on 120.064860624 meters Centerline goodness [0,1] 0.6450643023306852 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99717673 -0.07135937 -0.02337532 0.42738537] [ 0.07166858 0.99734805 0.01266782 0.01504295] [ 0.02240936 -0.01430733 0.9996465 0.05101186] [ 0. 0. 0. 1. ]] SLAMing on 120.09486062399999 meters Centerline goodness [0,1] 0.6378967603818512 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99695071 -0.07441885 -0.0234757 0.42875623] [ 0.07466133 0.99716249 0.009626 0.01363929] [ 0.02269273 -0.01134938 0.99967806 0.05061072] [ 0. 0. 0. 1. ]] SLAMing on 120.124860624 meters Centerline goodness [0,1] 0.6430403613005065 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99693956 -0.07457439 -0.02345571 0.42859449] [ 0.07482029 0.99714902 0.00978515 0.01200246] [ 0.02265912 -0.01151017 0.99967699 0.0508122 ] [ 0. 0. 0. 1. ]] SLAMing on 120.154860624 meters Centerline goodness [0,1] 0.6190601207666053 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99693386 -0.07467228 -0.02338649 0.4285077 ] [ 0.07492219 0.99713927 0.00999739 0.01049378] [ 0.02257306 -0.0117189 0.99967651 0.05081056] [ 0. 0. 0. 1. ]] SLAMing on 120.184860624 meters Centerline goodness [0,1] 0.6358682569208884 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99693608 -0.07465825 -0.02333659 0.42856975] [ 0.07491232 0.99713787 0.0102084 0.00941309] [ 0.02250766 -0.01192532 0.99967554 0.05068986] [ 0. 0. 0. 1. ]] SLAMing on 120.214860624 meters Centerline goodness [0,1] 0.6381085630588287 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99695604 -0.07435954 -0.02343746 0.42895286] [ 0.0746244 0.997155 0.01063514 0.00825783] [ 0.02257996 -0.01235177 0.99966873 0.05057305] [ 0. 0. 0. 1. ]] SLAMing on 120.244860624 meters Centerline goodness [0,1] 0.6412397272250394 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99696653 -0.07421438 -0.02345148 0.4290437 ] [ 0.07448347 0.99716359 0.01081573 0.00767127] [ 0.02258228 -0.01252967 0.99966647 0.05057109] [ 0. 0. 0. 1. ]] SLAMing on 120.274860624 meters Centerline goodness [0,1] 0.6314341246096394 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.9969803 -0.07397993 -0.02360619 0.42948337] [ 0.07425465 0.99717886 0.01098018 0.00732206] [ 0.02272728 -0.01269989 0.99966103 0.05049182] [ 0. 0. 0. 1. ]] SLAMing on 120.304860624 meters Centerline goodness [0,1] 0.642620232172471 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99699525 -0.07372251 -0.02377933 0.42977098] [ 0.07400149 0.99719666 0.01107213 0.00702514] [ 0.0228964 -0.01279857 0.99965592 0.05073469] [ 0. 0. 0. 1. ]] SLAMing on 120.334860624 meters Centerline goodness [0,1] 0.6309593878752207 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99704423 -0.07300114 -0.02395079 0.43024583] [ 0.07329122 0.99724468 0.01146459 0.00672337] [ 0.02304787 -0.01318608 0.9996474 0.05081695] [ 0. 0. 0. 1. ]] SLAMing on 120.364860624 meters Centerline goodness [0,1] 0.631131458469588 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99707023 -0.07261469 -0.02404278 0.43049433] [ 0.07291015 0.99727049 0.01164798 0.00669296] [ 0.02313134 -0.01336682 0.99964307 0.05086344] [ 0. 0. 0. 1. ]] SLAMing on 120.394860624 meters Centerline goodness [0,1] 0.630019807152341 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99709221 -0.07223897 -0.02426221 0.43090062] [ 0.07253928 0.99729654 0.01173321 0.00683034] [ 0.02334903 -0.01345905 0.99963677 0.05109495] [ 0. 0. 0. 1. ]] SLAMing on 120.424860624 meters Centerline goodness [0,1] 0.6285204370347799 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99712245 -0.07174229 -0.02449209 0.43152296] [ 0.07204976 0.99732993 0.01191 0.00713076] [ 0.02357225 -0.01364038 0.99962908 0.05108163] [ 0. 0. 0. 1. ]] SLAMing on 120.45486062399999 meters Centerline goodness [0,1] 0.6560813163851645 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99738869 -0.06784968 -0.0247431 0.43090986] [ 0.06825283 0.99754247 0.01582942 0.00577482] [ 0.02360827 -0.01747687 0.99956851 0.0517774 ] [ 0. 0. 0. 1. ]] SLAMing on 120.48486062399999 meters Centerline goodness [0,1] 0.6534237936808228 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.997422 -0.06729456 -0.02491596 0.43164012] [ 0.06770773 0.99757485 0.01612697 0.00553612] [ 0.02377028 -0.0177724 0.99955946 0.05148719] [ 0. 0. 0. 1. ]] SLAMing on 120.514860624 meters Centerline goodness [0,1] 0.6553737303585381 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99748353 -0.06630131 -0.02511458 0.43273995] [ 0.0667316 0.9976312 0.01670003 0.00529228] [ 0.02394786 -0.01833394 0.99954508 0.05086351] [ 0. 0. 0. 1. ]] SLAMing on 120.544860624 meters Centerline goodness [0,1] 0.6430047193405972 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99749901 -0.06601236 -0.02526055 0.43333939] [ 0.06644746 0.99764864 0.01679047 0.00572892] [ 0.02409277 -0.01842697 0.99953989 0.05054707] [ 0. 0. 0. 1. ]] SLAMing on 120.574860624 meters Centerline goodness [0,1] 0.6559793344476523 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99750995 -0.06579197 -0.02540299 0.43378942] [ 0.0662289 0.99766371 0.01675898 0.00636376] [ 0.02424103 -0.01839966 0.99953681 0.05042245] [ 0. 0. 0. 1. ]] SLAMing on 120.604860624 meters Centerline goodness [0,1] 0.6530070690592713 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99752091 -0.06558389 -0.02551036 0.43421319] [ 0.06602211 0.99767787 0.01673176 0.00688002] [ 0.02435378 -0.01837452 0.99953453 0.05027926] [ 0. 0. 0. 1. ]] SLAMing on 120.634860624 meters Centerline goodness [0,1] 0.6542277216976012 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99752339 -0.06549422 -0.02564339 0.43471966] [ 0.06592988 0.99768736 0.01652819 0.00772582] [ 0.02450159 -0.01817792 0.99953451 0.05010356] [ 0. 0. 0. 1. ]] SLAMing on 120.664860624 meters Centerline goodness [0,1] 0.6545719696145224 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99752831 -0.06538809 -0.02572286 0.43495877] [ 0.06581985 0.99769819 0.01631165 0.00872229] [ 0.02459707 -0.01796441 0.99953602 0.05011249] [ 0. 0. 0. 1. ]] SLAMing on 120.694860624 meters Centerline goodness [0,1] 0.6503747929922427 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99751982 -0.06558127 -0.02555979 0.43447143] [ 0.06599376 0.99769742 0.01564236 0.01087694] [ 0.02447509 -0.01729035 0.99955091 0.05040849] [ 0. 0. 0. 1. ]] SLAMing on 120.724860624 meters Centerline goodness [0,1] 0.6479775207475658 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99750441 -0.0658057 -0.02558456 0.43449948] [ 0.06620812 0.99768986 0.01521257 0.01171789] [ 0.02452438 -0.01686851 0.99955691 0.05051502] [ 0. 0. 0. 1. ]] SLAMing on 120.754860624 meters Centerline goodness [0,1] 0.6478716680107234 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99749078 -0.06601012 -0.02558909 0.43458937] [ 0.06640218 0.99768338 0.01478597 0.01267838] [ 0.02455379 -0.01644804 0.99956319 0.05048936] [ 0. 0. 0. 1. ]] SLAMing on 120.784860624 meters Centerline goodness [0,1] 0.6608688051743729 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99747398 -0.06629753 -0.02550109 0.43440764] [ 0.06667731 0.99767152 0.0143415 0.01365533] [ 0.02449091 -0.01600562 0.99957192 0.05053481] [ 0. 0. 0. 1. ]] SLAMing on 120.814860624 meters Centerline goodness [0,1] 0.6602335989520794 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.9974514 -0.06668891 -0.02536324 0.43409442] [ 0.06705059 0.9976557 0.01368677 0.01527723] [ 0.02439102 -0.01535251 0.9995846 0.05064314] [ 0. 0. 0. 1. ]] SLAMing on 120.84486062399999 meters Centerline goodness [0,1] 0.6622056025716723 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99741151 -0.0673053 -0.02530349 0.43374509] [ 0.06764181 0.99762902 0.01268578 0.01759565] [ 0.02438967 -0.01436452 0.99959932 0.05100466] [ 0. 0. 0. 1. ]] SLAMing on 120.874860624 meters Centerline goodness [0,1] 0.6569870573549701 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99739028 -0.06768081 -0.02513825 0.4334462 ] [ 0.06800559 0.99760915 0.0122971 0.01827017] [ 0.02424588 -0.01397455 0.99960835 0.05091963] [ 0. 0. 0. 1. ]] SLAMing on 120.904860624 meters Centerline goodness [0,1] 0.6576150086571548 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99736536 -0.06809079 -0.02501984 0.43323681] [ 0.0684019 0.99758811 0.01179564 0.01921242] [ 0.02415632 -0.01347597 0.99961736 0.05090206] [ 0. 0. 0. 1. ]] SLAMing on 120.934860624 meters Centerline goodness [0,1] 0.6606390449438202 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99731605 -0.06887456 -0.02483948 0.43259826] [ 0.06916061 0.99754658 0.01084583 0.02139673] [ 0.02403153 -0.01253463 0.99963262 0.05118546] [ 0. 0. 0. 1. ]] SLAMing on 120.964860624 meters Centerline goodness [0,1] 0.6547935573183327 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99728722 -0.06935198 -0.02466781 0.4320696 ] [ 0.06962397 0.99751969 0.0103427 0.02238244] [ 0.02388934 -0.01203211 0.9996422 0.05137482] [ 0. 0. 0. 1. ]] SLAMing on 120.994860624 meters Centerline goodness [0,1] 0.6503975508226328 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99726514 -0.06972077 -0.02452071 0.43178114] [ 0.06998083 0.99749909 0.00991179 0.02328161] [ 0.02376832 -0.01160067 0.99965018 0.05136991] [ 0. 0. 0. 1. ]] SLAMing on 121.024860624 meters Centerline goodness [0,1] 0.6485747668702189 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99722897 -0.07036201 -0.02415709 0.43105747] [ 0.0706019 0.99746192 0.00922416 0.02480681] [ 0.02344675 -0.01090413 0.99966562 0.05131168] [ 0. 0. 0. 1. ]] SLAMing on 121.054860624 meters Centerline goodness [0,1] 0.6571333922261484 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99721029 -0.07063869 -0.02412088 0.43085666] [ 0.07086877 0.99744666 0.00881969 0.02573817] [ 0.02343628 -0.0105045 0.99967014 0.05151387] [ 0. 0. 0. 1. ]] SLAMing on 121.084860624 meters Centerline goodness [0,1] 0.6571333922261484 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99721029 -0.07063869 -0.02412088 0.43085666] [ 0.07086877 0.99744666 0.00881969 0.02573817] [ 0.02343628 -0.0105045 0.99967014 0.05151387] [ 0. 0. 0. 1. ]] SLAMing on 121.114860624 meters Centerline goodness [0,1] 0.6411979224223672 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99719524 -0.07085646 -0.02410427 0.43074788] [ 0.07107847 0.99743467 0.00848089 0.02664816] [ 0.0234415 -0.0101704 0.99967348 0.05160385] [ 0. 0. 0. 1. ]] SLAMing on 121.144860624 meters Centerline goodness [0,1] 0.6444532855911411 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99717645 -0.07114965 -0.02401786 0.43036384] [ 0.0713608 0.99741808 0.00805081 0.02779434] [ 0.02338304 -0.00974201 0.99967911 0.05188999] [ 0. 0. 0. 1. ]] SLAMing on 121.174860624 meters Centerline goodness [0,1] 0.6373533967691967 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99716355 -0.07133758 -0.02399587 0.43023382] [ 0.07153448 0.99741031 0.00744867 0.03011651] [ 0.02340235 -0.00914407 0.99968431 0.05205158] [ 0. 0. 0. 1. ]] SLAMing on 121.20486062399999 meters Centerline goodness [0,1] 0.6532090180271959 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99716289 -0.07130556 -0.0241182 0.43067138] [ 0.07149958 0.99741407 0.00727925 0.03099312] [ 0.02353678 -0.00898304 0.99968261 0.05187248] [ 0. 0. 0. 1. ]] SLAMing on 121.23486062399999 meters Centerline goodness [0,1] 0.6526670210880737 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99715735 -0.07136849 -0.02416089 0.43083095] [ 0.07155686 0.9974118 0.00702283 0.03194461] [ 0.02359715 -0.00873175 0.99968342 0.05182171] [ 0. 0. 0. 1. ]] SLAMing on 121.264860624 meters Centerline goodness [0,1] 0.654285904580068 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99715402 -0.07139718 -0.02421381 0.43134311] [ 0.07157579 0.99741339 0.00659023 0.03401388] [ 0.02368066 -0.00830459 0.99968508 0.05137581] [ 0. 0. 0. 1. ]] SLAMing on 121.294860624 meters Centerline goodness [0,1] 0.6318853460726586 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99714648 -0.07151852 -0.02416588 0.43138156] [ 0.07168968 0.99740715 0.00629094 0.03496877] [ 0.02365331 -0.00800543 0.99968817 0.05127257] [ 0. 0. 0. 1. ]] SLAMing on 121.324860624 meters Centerline goodness [0,1] 0.6508508508508508 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99712754 -0.07180503 -0.02409784 0.43134499] [ 0.07196708 0.99738941 0.00592525 0.0359213 ] [ 0.02360947 -0.00764248 0.99969205 0.05113831] [ 0. 0. 0. 1. ]] SLAMing on 121.354860624 meters Centerline goodness [0,1] 0.6467129877071085 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99708986 -0.07236957 -0.02396787 0.43095844] [ 0.07251557 0.99735332 0.00527798 0.03748515] [ 0.02352247 -0.00700066 0.9996988 0.05126021] [ 0. 0. 0. 1. ]] SLAMing on 121.384860624 meters Centerline goodness [0,1] 0.6491646246380041 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99706914 -0.07266588 -0.02393339 0.43081255] [ 0.07280437 0.99733388 0.00496583 0.03813703] [ 0.02350873 -0.00669373 0.99970122 0.05135513] [ 0. 0. 0. 1. ]] SLAMing on 121.414860624 meters Centerline goodness [0,1] 0.6518161749949829 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99705309 -0.07294708 -0.02374575 0.43053937] [ 0.07307725 0.9973154 0.00465996 0.03896628] [ 0.02334208 -0.0063815 0.99970717 0.05119268] [ 0. 0. 0. 1. ]] SLAMing on 121.444860624 meters Centerline goodness [0,1] 0.652414779073404 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99701354 -0.07352868 -0.02361233 0.42982473] [ 0.07364079 0.99727716 0.00391286 0.04057854] [ 0.02326033 -0.00564 0.99971353 0.05173862] [ 0. 0. 0. 1. ]] SLAMing on 121.474860624 meters Centerline goodness [0,1] 0.6356654909139616 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99699057 -0.07388513 -0.02346884 0.42921782] [ 0.07398556 0.99725338 0.00343904 0.04170174] [ 0.02315028 -0.00516504 0.99971865 0.05214301] [ 0. 0. 0. 1. ]] SLAMing on 121.504860624 meters Centerline goodness [0,1] 0.6478105451295799 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99697485 -0.07410922 -0.02343021 0.42895866] [ 0.07420125 0.99723852 0.00308209 0.04282171] [ 0.02313709 -0.00481132 0.99972072 0.05236209] [ 0. 0. 0. 1. ]] SLAMing on 121.534860624 meters Centerline goodness [0,1] 0.6458268068919222 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99695836 -0.07431689 -0.0234741 0.42885116] [ 0.07439817 0.99722521 0.00260713 0.04431918] [ 0.02321521 -0.00434563 0.99972105 0.05264473] [ 0. 0. 0. 1. ]] SLAMing on 121.564860624 meters Centerline goodness [0,1] 0.643211233485117 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696229 -0.07421228 -0.02363746 0.42921507] [ 0.07428412 0.99723475 0.00217451 0.0467012 ] [ 0.02341072 -0.00392379 0.99971823 0.05272312] [ 0. 0. 0. 1. ]] SLAMing on 121.59486062399999 meters Centerline goodness [0,1] 0.6403806018715917 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696617 -0.07415859 -0.02364215 0.42940325] [ 0.07422563 0.99723953 0.00196978 0.04791463] [ 0.02343081 -0.00371866 0.99971854 0.0525539 ] [ 0. 0. 0. 1. ]] SLAMing on 121.624860624 meters Centerline goodness [0,1] 0.6481081567462996 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99697891 -0.07394511 -0.02377354 0.43000538] [ 0.07400938 0.99725586 0.00183372 0.04912371] [ 0.02357271 -0.00358765 0.99971569 0.05220915] [ 0. 0. 0. 1. ]] SLAMing on 121.654860624 meters Centerline goodness [0,1] 0.6388531727233764 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99723206 -0.07044657 -0.02378037 0.42959518] [ 0.0705898 0.99749168 0.00523715 0.04994624] [ 0.02335178 -0.0069013 0.99970349 0.05188594] [ 0. 0. 0. 1. ]] SLAMing on 121.684860624 meters Centerline goodness [0,1] 0.6531817976818654 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9972548 -0.07007345 -0.02392844 0.4301634 ] [ 0.07021368 0.99751909 0.00507039 0.05141852] [ 0.02351378 -0.00673657 0.99970082 0.05175449] [ 0. 0. 0. 1. ]] SLAMing on 121.714860624 meters Centerline goodness [0,1] 0.6567912385683641 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99726995 -0.06980645 -0.02407728 0.43057132] [ 0.06994085 0.99753966 0.00478484 0.05320446] [ 0.02368403 -0.00645577 0.99969865 0.05181525] [ 0. 0. 0. 1. ]] SLAMing on 121.744860624 meters Centerline goodness [0,1] 0.6543251811594203 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99727651 -0.06965332 -0.02424813 0.43085054] [ 0.06978111 0.99755234 0.00446327 0.05478135] [ 0.0238779 -0.00614318 0.99969601 0.05205377] [ 0. 0. 0. 1. ]] SLAMing on 121.774860624 meters Centerline goodness [0,1] 0.6568511796733212 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99733942 -0.06866279 -0.02448463 0.43189648] [ 0.0687958 0.99762001 0.00463142 0.05682563] [ 0.02410835 -0.00630353 0.99968948 0.05168591] [ 0. 0. 0. 1. ]] SLAMing on 121.804860624 meters Centerline goodness [0,1] 0.6574804044075884 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99734563 -0.06854892 -0.02455082 0.43235586] [ 0.06867976 0.99762849 0.00452553 0.05762734] [ 0.02418238 -0.00619966 0.99968834 0.05136711] [ 0. 0. 0. 1. ]] SLAMing on 121.834860624 meters Centerline goodness [0,1] 0.6612529529347628 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99735017 -0.06845498 -0.02462823 0.43274192] [ 0.06858677 0.9976348 0.00454594 0.05791131] [ 0.02425879 -0.00622306 0.99968634 0.05112921] [ 0. 0. 0. 1. ]] SLAMing on 121.864860624 meters Centerline goodness [0,1] 0.6582615220208726 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99735419 -0.0683788 -0.02467692 0.43316291] [ 0.06851049 0.99764011 0.00453005 0.05819931] [ 0.02430893 -0.0062087 0.99968521 0.05078081] [ 0. 0. 0. 1. ]] SLAMing on 121.894860624 meters Centerline goodness [0,1] 0.6534716679968077 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99733543 -0.0687052 -0.02452816 0.43293606] [ 0.06883105 0.99761897 0.0043227 0.05902531] [ 0.02417276 -0.00599948 0.99968979 0.05051931] [ 0. 0. 0. 1. ]] SLAMing on 121.924860624 meters Centerline goodness [0,1] 0.6604518484710178 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99731513 -0.06902281 -0.02446192 0.43277619] [ 0.06914156 0.99759867 0.00404121 0.05961223] [ 0.02412424 -0.00572169 0.99969259 0.0505069 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95486062399999 meters Centerline goodness [0,1] 0.64368843069874 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99728746 -0.06953456 -0.02413858 0.43220939] [ 0.06964668 0.99756435 0.0038343 0.06003571] [ 0.02381317 -0.00550507 0.99970127 0.05022588] [ 0. 0. 0. 1. ]] SLAMing on 121.98486062399999 meters Centerline goodness [0,1] 0.6547548189185477 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99726998 -0.06986718 -0.02389912 0.43174612] [ 0.06997499 0.99754187 0.00370393 0.06006189] [ 0.02358159 -0.00536616 0.99970751 0.0501292 ] [ 0. 0. 0. 1. ]] SLAMing on 122.014860624 meters Centerline goodness [0,1] 0.6382179034697713 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.9972469 -0.07025015 -0.02373891 0.43141844] [ 0.07035246 0.99751605 0.00350165 0.06007033] [ 0.02343395 -0.0051621 0.99971206 0.05006603] [ 0. 0. 0. 1. ]] SLAMing on 122.044860624 meters Centerline goodness [0,1] 0.6546670330676926 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99723243 -0.07051905 -0.0235489 0.43119765] [ 0.07061761 0.99749774 0.00337924 0.06022119] [ 0.02325167 -0.00503286 0.99971697 0.04976821] [ 0. 0. 0. 1. ]] SLAMing on 122.074860624 meters Centerline goodness [0,1] 0.6340265344534729 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99720492 -0.07097627 -0.02333915 0.43057633] [ 0.0710655 0.99746709 0.00301533 0.06080545] [ 0.02306602 -0.00466551 0.99972306 0.04995857] [ 0. 0. 0. 1. ]] SLAMing on 122.104860624 meters Centerline goodness [0,1] 0.6478244871676939 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99717069 -0.07151436 -0.0231586 0.42997457] [ 0.07159036 0.99743106 0.00246861 0.06263891] [ 0.02292257 -0.00411956 0.99972876 0.05011765] [ 0. 0. 0. 1. ]] SLAMing on 122.134860624 meters Centerline goodness [0,1] 0.6494673845229568 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99715468 -0.07173639 -0.02316114 0.42987211] [ 0.07180371 0.9974166 0.00208734 0.06366307] [ 0.02295157 -0.00374446 0.99972957 0.05028231] [ 0. 0. 0. 1. ]] SLAMing on 122.164860624 meters Centerline goodness [0,1] 0.6487543084503458 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99714784 -0.07185477 -0.02308829 0.43001757] [ 0.0719168 0.99740889 0.00186621 0.06490311] [ 0.02289437 -0.00352132 0.99973169 0.04984691] [ 0. 0. 0. 1. ]] SLAMing on 122.194860624 meters Centerline goodness [0,1] 0.6428521722994132 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99713627 -0.07204029 -0.02300975 0.42982605] [ 0.07209554 0.99739648 0.00157964 0.06561109] [ 0.02283605 -0.00323402 0.99973399 0.04990265] [ 0. 0. 0. 1. ]] SLAMing on 122.224860624 meters Centerline goodness [0,1] 0.6502760124321566 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99713165 -0.07211321 -0.0229818 0.42988156] [ 0.07216589 0.99739156 0.00147009 0.06615758] [ 0.02281584 -0.00312437 0.9997348 0.04975093] [ 0. 0. 0. 1. ]] SLAMing on 122.254860624 meters Centerline goodness [0,1] 0.6525266142903631 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99711753 -0.07232357 -0.0229331 0.42969897] [ 0.07236814 0.99737736 0.00111836 0.06712414] [ 0.02279207 -0.00277476 0.99973638 0.04989261] [ 0. 0. 0. 1. ]] SLAMing on 122.284860624 meters Centerline goodness [0,1] 0.6525536225808706 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97105140e-01 -7.24890252e-02 -2.29495109e-02 4.29544078e-01] [ 7.25278758e-02 9.97366011e-01 8.63978925e-04 6.81133135e-02] [ 2.28264331e-02 -2.52595710e-03 9.99736252e-01 5.01027075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314860624 meters Centerline goodness [0,1] 0.653517576210261 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97093577e-01 -7.26704219e-02 -2.28781357e-02 4.29198977e-01] [ 7.27020918e-02 9.97353547e-01 5.54489812e-04 6.92471226e-02] [ 2.27772947e-02 -2.21616655e-03 9.99738107e-01 5.03478872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34486062399999 meters Centerline goodness [0,1] 0.6521039373017354 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97093426e-01 -7.27162872e-02 -2.27385373e-02 4.29146108e-01] [ 7.27502885e-02 9.97349962e-01 6.70585084e-04 6.91141335e-02] [ 2.26295168e-02 -2.32287112e-03 9.99741221e-01 4.99602902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374860624 meters Centerline goodness [0,1] 0.6393496086470369 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97092329e-01 -7.27481047e-02 -2.26848001e-02 4.29338877e-01] [ 7.27829867e-02 9.97347545e-01 7.14759059e-04 6.91926307e-02] [ 2.25726323e-02 -2.36374828e-03 9.99742411e-01 4.95511942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404860624 meters Centerline goodness [0,1] 0.6387178051511758 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97086534e-01 -7.28574676e-02 -2.25883493e-02 4.29139366e-01] [ 7.28907016e-02 9.97339723e-01 6.50357436e-04 6.94662000e-02] [ 2.24808746e-02 -2.29494327e-03 9.99744639e-01 4.94981621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434860624 meters Centerline goodness [0,1] 0.6380240569893729 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97091221e-01 -7.27988411e-02 -2.25704469e-02 4.29323203e-01] [ 7.28353829e-02 9.97343655e-01 8.00101246e-04 6.93596951e-02] [ 2.24522456e-02 -2.44170107e-03 9.99744935e-01 4.92074276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464860624 meters Centerline goodness [0,1] 0.6396056219844766 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97090900e-01 -7.28249177e-02 -2.25004037e-02 4.29389191e-01] [ 7.28630720e-02 9.97341566e-01 8.79472785e-04 6.93708074e-02] [ 2.23765403e-02 -2.51636284e-03 9.99746447e-01 4.89075498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494860624 meters Centerline goodness [0,1] 0.6421527388296878 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97091422e-01 -7.27982611e-02 -2.25634636e-02 4.29648437e-01] [ 7.28368863e-02 9.97343466e-01 8.93679743e-04 6.94785351e-02] [ 2.24384647e-02 -2.53453284e-03 9.99745013e-01 4.87710833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524860624 meters Centerline goodness [0,1] 0.640258161070059 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97092419e-01 -7.27925020e-02 -2.25379495e-02 4.29902923e-01] [ 7.28317158e-02 9.97343817e-01 9.22883094e-04 6.97459273e-02] [ 2.24109056e-02 -2.56167727e-03 9.99745562e-01 4.83631969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554860624 meters Centerline goodness [0,1] 0.6517127537521366 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97088745e-01 -7.28414792e-02 -2.25422733e-02 4.30022519e-01] [ 7.28779472e-02 9.97340547e-01 7.99393897e-04 7.04682769e-02] [ 2.24240941e-02 -2.43990126e-03 9.99745571e-01 4.82481073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584860624 meters Centerline goodness [0,1] 0.6388042203985932 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97080311e-01 -7.29460046e-02 -2.25773075e-02 4.30011017e-01] [ 7.29774922e-02 9.97333423e-01 5.72789427e-04 7.12594794e-02] [ 2.24753206e-02 -2.21875234e-03 9.99744936e-01 4.83860609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614860624 meters Centerline goodness [0,1] 0.6399163907090349 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97092939e-01 -7.27432346e-02 -2.26736169e-02 4.30531492e-01] [ 7.27722769e-02 9.97348478e-01 4.57321868e-04 7.27818004e-02] [ 2.25802303e-02 -2.10600314e-03 9.99742816e-01 4.81211567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644860624 meters Centerline goodness [0,1] 0.649998823446361 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97096602e-01 -7.26663935e-02 -2.27587784e-02 4.30849384e-01] [ 7.26933519e-02 9.97354274e-01 3.58366926e-04 7.35837686e-02] [ 2.26725237e-02 -2.01173833e-03 9.99740921e-01 4.79789880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674860624 meters Centerline goodness [0,1] 0.6491037991379514 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 9.97097975e-01 -7.26249800e-02 -2.28307004e-02 4.31053452e-01] [ 7.26479378e-02 9.97357632e-01 1.76670801e-04 7.44250396e-02] [ 2.27575426e-02 -1.83476140e-03 9.99739330e-01 4.80024047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70486062399999 meters Centerline goodness [0,1] 0.6424910663908219 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97106725e-01 -7.24910147e-02 -2.28742511e-02 4.31500173e-01] [ 7.25148568e-02 9.97367309e-01 2.13478016e-04 7.50251226e-02] [ 2.27985550e-02 -1.87158341e-03 9.99738327e-01 4.75553777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73486062399999 meters Centerline goodness [0,1] 0.6429227616422868 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97101244e-01 -7.25774529e-02 -2.28390450e-02 4.31300347e-01] [ 7.25954637e-02 9.97361468e-01 -4.06237874e-05 7.58912845e-02] [ 2.27817318e-02 -1.61750503e-03 9.99739154e-01 4.77504904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764860624 meters Centerline goodness [0,1] 0.6525819371045335 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97098947e-01 -7.25948410e-02 -2.28840400e-02 4.31571898e-01] [ 7.26061419e-02 9.97360634e-01 -3.37748372e-04 7.77562594e-02] [ 2.28481594e-02 -1.32475331e-03 9.99738069e-01 4.74905006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794860624 meters Centerline goodness [0,1] 0.6561824957865502 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97103418e-01 -7.25314132e-02 -2.28903587e-02 4.31879871e-01] [ 7.25459411e-02 9.97365052e-01 -1.96189722e-04 7.79718477e-02] [ 2.28442737e-02 -1.46498117e-03 9.99737962e-01 4.70865945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824860624 meters Centerline goodness [0,1] 0.6425301804900031 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97090614e-01 -7.27311260e-02 -2.28142668e-02 4.31832956e-01] [ 7.27427502e-02 9.97350685e-01 -3.21069369e-04 7.83319946e-02] [ 2.27771764e-02 -1.33943726e-03 9.99739669e-01 4.68799453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854860624 meters Centerline goodness [0,1] 0.6545199886050708 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97076461e-01 -7.29571705e-02 -2.27108541e-02 4.31872383e-01] [ 7.29674797e-02 9.97334250e-01 -3.75529435e-04 7.83931720e-02] [ 2.26777102e-02 -1.28272222e-03 9.99742005e-01 4.64514912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884860624 meters Centerline goodness [0,1] 0.656005314857875 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97063725e-01 -7.31551891e-02 -2.26328522e-02 4.31634864e-01] [ 7.31634237e-02 9.97319857e-01 -4.65120436e-04 7.81888883e-02] [ 2.26062189e-02 -1.19214224e-03 9.99743736e-01 4.65291388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914860624 meters Centerline goodness [0,1] 0.6324515735659678 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97062851e-01 -7.31536042e-02 -2.26764346e-02 4.31923569e-01] [ 7.31629745e-02 9.97319911e-01 -4.17262431e-04 7.80767934e-02] [ 2.26461840e-02 -1.24303854e-03 9.99742770e-01 4.63053406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944860624 meters Centerline goodness [0,1] 0.6521141448615851 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97045302e-01 -7.34158219e-02 -2.26005019e-02 4.31399799e-01] [ 7.34203268e-02 9.97300886e-01 -6.31502184e-04 7.80274632e-02] [ 2.25858628e-02 -1.02969995e-03 9.99744377e-01 4.67863225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974860624 meters Centerline goodness [0,1] 0.6521141448615851 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97045302e-01 -7.34158219e-02 -2.26005019e-02 4.31399799e-01] [ 7.34203268e-02 9.97300886e-01 -6.31502184e-04 7.80274632e-02] [ 2.25858628e-02 -1.02969995e-03 9.99744377e-01 4.67863225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004860624 meters Centerline goodness [0,1] 0.6469696610851905 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97033017e-01 -7.36198115e-02 -2.24785961e-02 4.30808717e-01] [ 7.36245539e-02 9.97285838e-01 -6.17668896e-04 7.78425858e-02] [ 2.24630582e-02 -1.03914033e-03 9.99747134e-01 4.70871272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034860624 meters Centerline goodness [0,1] 0.6444228536221237 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97049186e-01 -7.33629319e-02 -2.26009042e-02 4.31283402e-01] [ 7.33724281e-02 9.97304527e-01 -4.09909070e-04 7.76407123e-02] [ 2.25700562e-02 -1.24958371e-03 9.99744483e-01 4.68731704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064860624 meters Centerline goodness [0,1] 0.6423653013416626 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97056617e-01 -7.32495616e-02 -2.26407534e-02 4.31553977e-01] [ 7.32654571e-02 9.97312467e-01 -1.27738251e-04 7.67872644e-02] [ 2.25892624e-02 -1.53142288e-03 9.99743657e-01 4.65942533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09486062399999 meters Centerline goodness [0,1] 0.6417610479275531 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97063475e-01 -7.31192557e-02 -2.27596461e-02 4.31977814e-01] [ 7.31375797e-02 9.97321861e-01 -2.73652855e-05 7.65389623e-02] [ 2.27006935e-02 -1.63730050e-03 9.99740965e-01 4.64380012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124860624 meters Centerline goodness [0,1] 0.6429059547093339 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97088756e-01 -7.27330145e-02 -2.28893476e-02 4.32751058e-01] [ 7.27609016e-02 9.97349338e-01 3.86770268e-04 7.60950595e-02] [ 2.28005447e-02 -2.05109386e-03 9.99737930e-01 4.58125985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154860624 meters Centerline goodness [0,1] 0.6477465986394557 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97096090e-01 -7.26136434e-02 -2.29487640e-02 4.33018291e-01] [ 7.26443607e-02 9.97357779e-01 5.06599783e-04 7.60676781e-02] [ 2.28513423e-02 -2.17222696e-03 9.99736514e-01 4.56498665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184860624 meters Centerline goodness [0,1] 0.6373288562037409 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97103306e-01 -7.24737150e-02 -2.30772277e-02 4.33295037e-01] [ 7.25063713e-02 9.97367780e-01 5.80410144e-04 7.60522296e-02] [ 2.29744189e-02 -2.25197491e-03 9.99733517e-01 4.56838975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214860624 meters Centerline goodness [0,1] 0.641220290883292 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97115587e-01 -7.23030335e-02 -2.30819563e-02 4.33584242e-01] [ 7.23412450e-02 9.97379600e-01 8.23688928e-04 7.56498333e-02] [ 2.29619171e-02 -2.49109052e-03 9.99733237e-01 4.53958165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244860624 meters Centerline goodness [0,1] 0.6355681683812227 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.05 [[ 9.97103958e-01 -7.25100840e-02 -2.29343544e-02 4.33169470e-01] [ 7.25481364e-02 9.97364566e-01 8.30433649e-04 7.53534426e-02] [ 2.28136976e-02 -2.49187335e-03 9.99736628e-01 4.54236555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274860624 meters Centerline goodness [0,1] 0.6512999575331477 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.997107 -0.07247993 -0.02289755 0.43334054] [ 0.07252417 0.99736604 0.0011061 0.07441261] [ 0.02275707 -0.00276352 0.9997372 0.0450946 ] [ 0. 0. 0. 1. ]] SLAMing on 123.304860624 meters Centerline goodness [0,1] 0.65569584338204 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99711001 -0.07245296 -0.0228518 0.43345606] [ 0.07250209 0.99736738 0.00132756 0.07358792] [ 0.02269546 -0.00298053 0.99973798 0.04481948] [ 0. 0. 0. 1. ]] SLAMing on 123.334860624 meters Centerline goodness [0,1] 0.6406548109763279 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99709245 -0.07273256 -0.02272949 0.4332808 ] [ 0.07278643 0.99734634 0.00155082 0.07219943] [ 0.02255638 -0.00320071 0.99974045 0.04456438] [ 0. 0. 0. 1. ]] SLAMing on 123.364860624 meters Centerline goodness [0,1] 0.6431324621603836 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99707644 -0.07302573 -0.02249046 0.43275262] [ 0.07308009 0.99732479 0.00160353 0.07143037] [ 0.0223132 -0.00324245 0.99974577 0.04452237] [ 0. 0. 0. 1. ]] SLAMing on 123.394860624 meters Centerline goodness [0,1] 0.6518168125764849 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99705142 -0.07342841 -0.02228733 0.43206701] [ 0.07348036 0.99729551 0.00151979 0.07054588] [ 0.02211546 -0.00315299 0.99975045 0.04481889] [ 0. 0. 0. 1. ]] SLAMing on 123.424860624 meters Centerline goodness [0,1] 0.6431590813019585 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.04 [[ 0.99702564 -0.07383117 -0.02210963 0.43147946] [ 0.07388396 0.9972656 0.00157905 0.06936948] [ 0.02193259 -0.0032079 0.99975431 0.0449687 ] [ 0. 0. 0. 1. ]] SLAMing on 123.45486062399999 meters Centerline goodness [0,1] 0.6335451614410541 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99697659 -0.07458026 -0.0218052 0.43050376] [ 0.07463023 0.99721017 0.0014859 0.06739833] [ 0.02163355 -0.00310874 0.99976113 0.04525296] [ 0. 0. 0. 1. ]] SLAMing on 123.48486062399999 meters Centerline goodness [0,1] 0.5763932739306346 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99696108 -0.07481361 -0.02171462 0.4302529 ] [ 0.07486441 0.99719254 0.00153458 0.06652162] [ 0.02153885 -0.00315557 0.99976303 0.04531224] [ 0. 0. 0. 1. ]] SLAMing on 123.514860624 meters Centerline goodness [0,1] 0.6257727389367111 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99694796 -0.07504199 -0.02152809 0.42978522] [ 0.07509277 0.99717533 0.00155887 0.06592227] [ 0.0213503 -0.00317072 0.99976703 0.04537909] [ 0. 0. 0. 1. ]] SLAMing on 123.544860624 meters Centerline goodness [0,1] 0.6410800475668618 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99693234 -0.07531329 -0.02130321 0.42919777] [ 0.07536223 0.99715509 0.00150289 0.06544279] [ 0.02112941 -0.00310374 0.99977193 0.04552181] [ 0. 0. 0. 1. ]] SLAMing on 123.574860624 meters Centerline goodness [0,1] 0.6412645900799105 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99694187 -0.07518645 -0.02130509 0.42898863] [ 0.07523877 0.99716416 0.00166396 0.06473322] [ 0.02111956 -0.00326184 0.99977164 0.04590336] [ 0. 0. 0. 1. ]] SLAMing on 123.604860624 meters Centerline goodness [0,1] 0.6459264432029795 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99695111 -0.07503178 -0.02141765 0.42928514] [ 0.07508517 0.99717568 0.0016984 0.06481948] [ 0.02122972 -0.00330137 0.99976917 0.04590376] [ 0. 0. 0. 1. ]] SLAMing on 123.634860624 meters Centerline goodness [0,1] 0.6346073274056143 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99697268 -0.07470366 -0.02155991 0.42976618] [ 0.07476093 0.99719975 0.00186178 0.06460989] [ 0.02136046 -0.00346798 0.99976582 0.0457942 ] [ 0. 0. 0. 1. ]] SLAMing on 123.664860624 meters Centerline goodness [0,1] 0.6392085745506964 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99700711 -0.07417623 -0.02178804 0.43063899] [ 0.07424011 0.99723811 0.00213686 0.06448626] [ 0.02156936 -0.00374801 0.99976033 0.04546907] [ 0. 0. 0. 1. ]] SLAMing on 123.694860624 meters Centerline goodness [0,1] 0.6476017762897863 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.04 [[ 0.99729918 -0.07003568 -0.02212106 0.43108348] [ 0.07019132 0.99751341 0.00633884 0.06324624] [ 0.02162211 -0.00787443 0.9997352 0.04499411] [ 0. 0. 0. 1. ]] SLAMing on 123.724860624 meters Centerline goodness [0,1] 0.6378317913821631 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99731128 -0.06979164 -0.02234569 0.43143985] [ 0.06994831 0.99753068 0.00630726 0.06378856] [ 0.02185032 -0.00785334 0.99973041 0.04527936] [ 0. 0. 0. 1. ]] SLAMing on 123.754860624 meters Centerline goodness [0,1] 0.6476201559408821 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.9973069 -0.06984186 -0.02238442 0.43111735] [ 0.06999512 0.99752846 0.00613704 0.06406319] [ 0.02190048 -0.00768731 0.9997306 0.04588334] [ 0. 0. 0. 1. ]] SLAMing on 123.784860624 meters Centerline goodness [0,1] 0.6474299282987243 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99731016 -0.06977477 -0.02244845 0.4311659 ] [ 0.06992911 0.99753292 0.0061644 0.06388346] [ 0.02196295 -0.00771762 0.999729 0.04606788] [ 0. 0. 0. 1. ]] SLAMing on 123.814860624 meters Centerline goodness [0,1] 0.6503164556962026 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99733014 -0.06945048 -0.0225659 0.43181415] [ 0.0696191 0.99755065 0.00677386 0.06162862] [ 0.02204018 -0.00832679 0.99972241 0.04560389] [ 0. 0. 0. 1. ]] SLAMing on 123.84486062399999 meters Centerline goodness [0,1] 0.6409038238702202 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.9973195 -0.06964004 -0.02245168 0.43169613] [ 0.06981026 0.9975365 0.00688827 0.06044344] [ 0.02191667 -0.00843717 0.9997242 0.04544645] [ 0. 0. 0. 1. ]] SLAMing on 123.874860624 meters Centerline goodness [0,1] 0.6490539010697041 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99730786 -0.06981697 -0.02241941 0.43161176] [ 0.06998871 0.99752345 0.00696796 0.05917993] [ 0.0218774 -0.00851831 0.99972437 0.04550238] [ 0. 0. 0. 1. ]] SLAMing on 123.904860624 meters Centerline goodness [0,1] 0.6450434621786574 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99728438 -0.07020561 -0.0222494 0.43097283] [ 0.07037419 0.9974969 0.00688594 0.05824393] [ 0.02171027 -0.00843303 0.99972874 0.04584348] [ 0. 0. 0. 1. ]] SLAMing on 123.934860624 meters Centerline goodness [0,1] 0.6436508119845687 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99723552 -0.0709785 -0.02198567 0.4297723 ] [ 0.07114096 0.99744379 0.00669639 0.05656812] [ 0.02145417 -0.00824196 0.99973586 0.04659272] [ 0. 0. 0. 1. ]] SLAMing on 123.964860624 meters Centerline goodness [0,1] 0.6366004333594578 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99722194 -0.0711982 -0.02189117 0.42950343] [ 0.07136286 0.99742701 0.006834 0.05510704] [ 0.02134828 -0.00837723 0.999737 0.04669621] [ 0. 0. 0. 1. ]] SLAMing on 123.994860624 meters Centerline goodness [0,1] 0.6290215016672416 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99720241 -0.07150931 -0.02176613 0.42911018] [ 0.0716751 0.99740393 0.00693357 0.05350056] [ 0.02121381 -0.00847426 0.99973905 0.04686525] [ 0. 0. 0. 1. ]] SLAMing on 124.024860624 meters Centerline goodness [0,1] 0.6378784053613642 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99718346 -0.07180169 -0.02167179 0.42880859] [ 0.0719679 0.99738247 0.0069885 0.05205669] [ 0.02111327 -0.00852849 0.99974071 0.04705136] [ 0. 0. 0. 1. ]] SLAMing on 124.054860624 meters Centerline goodness [0,1] 0.6308887365775646 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99712443 -0.07263533 -0.02160967 0.42789676] [ 0.07279857 0.99732304 0.00686479 0.04973215] [ 0.02105319 -0.0084182 0.99974292 0.04790988] [ 0. 0. 0. 1. ]] SLAMing on 124.084860624 meters Centerline goodness [0,1] 0.632468508690007 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99710808 -0.07288329 -0.02152929 0.42753298] [ 0.0730456 0.99730507 0.00685071 0.04874498] [ 0.02097197 -0.00840352 0.99974475 0.04822378] [ 0. 0. 0. 1. ]] SLAMing on 124.114860624 meters Centerline goodness [0,1] 0.6207556629141789 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99709812 -0.07302685 -0.02150401 0.42727911] [ 0.07319152 0.99729354 0.00697168 0.04765037] [ 0.02093669 -0.00852536 0.99974445 0.04848441] [ 0. 0. 0. 1. ]] SLAMing on 124.144860624 meters Centerline goodness [0,1] 0.6176070391872279 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99708035 -0.07327091 -0.02149756 0.42688681] [ 0.0734397 0.99727389 0.0071689 0.04532628] [ 0.02091368 -0.00872674 0.9997432 0.04900622] [ 0. 0. 0. 1. ]] SLAMing on 124.174860624 meters Centerline goodness [0,1] 0.6130004304778304 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99707363 -0.07337729 -0.02144622 0.42669851] [ 0.07354905 0.99726465 0.00733227 0.04379484] [ 0.02084953 -0.00888816 0.99974312 0.04917798] [ 0. 0. 0. 1. ]] SLAMing on 124.20486062399999 meters Centerline goodness [0,1] 0.6392575343085167 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99706565 -0.07347714 -0.02147546 0.42672567] [ 0.07365351 0.99725539 0.00753961 0.04210714] [ 0.02086253 -0.00909923 0.99974095 0.04927 ] [ 0. 0. 0. 1. ]] SLAMing on 124.23486062399999 meters Centerline goodness [0,1] 0.6235713158547307 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99706082 -0.07356537 -0.02139766 0.42655589] [ 0.07374607 0.9972467 0.00778109 0.04061613] [ 0.02076633 -0.00933621 0.99974076 0.04928453] [ 0. 0. 0. 1. ]] SLAMing on 124.264860624 meters Centerline goodness [0,1] 0.633714388586345 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99705678 -0.07365507 -0.02127685 0.42631972] [ 0.07383773 0.99723874 0.00792968 0.0394226 ] [ 0.02063404 -0.00947738 0.99974217 0.04936432] [ 0. 0. 0. 1. ]] SLAMing on 124.294860624 meters Centerline goodness [0,1] 0.6315268942884757 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99705505 -0.07367243 -0.02129791 0.4260203 ] [ 0.07386427 0.99723322 0.00836485 0.03707247] [ 0.02062272 -0.00991337 0.99973818 0.04980701] [ 0. 0. 0. 1. ]] SLAMing on 124.324860624 meters Centerline goodness [0,1] 0.6334455667789001 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.9970618 -0.07358717 -0.02127642 0.42599151] [ 0.073784 0.99723701 0.00861784 0.03604147] [ 0.02058347 -0.01016238 0.99973649 0.04983462] [ 0. 0. 0. 1. ]] SLAMing on 124.354860624 meters Centerline goodness [0,1] 0.6335708523796719 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99708159 -0.07327406 -0.02142914 0.42614426] [ 0.07348284 0.99725476 0.00912223 0.03414137] [ 0.02070189 -0.01067028 0.99972875 0.05017384] [ 0. 0. 0. 1. ]] SLAMing on 124.384860624 meters Centerline goodness [0,1] 0.6334266203962835 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99709396 -0.07309059 -0.02148001 0.42626248] [ 0.07330461 0.99726577 0.00935013 0.03328787] [ 0.02073787 -0.01089754 0.99972555 0.0502684 ] [ 0. 0. 0. 1. ]] SLAMing on 124.414860624 meters Centerline goodness [0,1] 0.6321636119803308 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99710773 -0.07289098 -0.02151913 0.42639928] [ 0.07311085 0.99727749 0.00961293 0.0323712 ] [ 0.02075985 -0.01115841 0.99972222 0.05028182] [ 0. 0. 0. 1. ]] SLAMing on 124.444860624 meters Centerline goodness [0,1] 0.6320900020089735 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99712331 -0.07264978 -0.02161272 0.42661059] [ 0.07287624 0.99729205 0.00988067 0.03144677] [ 0.02083637 -0.0114273 0.99971759 0.0503861 ] [ 0. 0. 0. 1. ]] SLAMing on 124.474860624 meters Centerline goodness [0,1] 0.6312284935424767 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99713738 -0.07243026 -0.0217004 0.42682977] [ 0.07266137 0.99730597 0.01005665 0.03083611] [ 0.02091353 -0.01160465 0.99971394 0.05047375] [ 0. 0. 0. 1. ]] SLAMing on 124.504860624 meters Centerline goodness [0,1] 0.6302164695380496 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99717905 -0.07180914 -0.02184923 0.42714861] [ 0.07205501 0.99734347 0.01068102 0.02969699] [ 0.02102419 -0.01222524 0.99970422 0.05056888] [ 0. 0. 0. 1. ]] SLAMing on 124.534860624 meters Centerline goodness [0,1] 0.6307061340941512 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99717797 -0.07182215 -0.02185557 0.42687836] [ 0.07207002 0.9973414 0.01077217 0.02885835] [ 0.02102378 -0.0123169 0.9997031 0.05099437] [ 0. 0. 0. 1. ]] SLAMing on 124.564860624 meters Centerline goodness [0,1] 0.6371699119765271 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99720954 -0.0713661 -0.02190899 0.42727874] [ 0.07162848 0.99736585 0.0114332 0.02660157] [ 0.02103533 -0.01297061 0.99969459 0.05082226] [ 0. 0. 0. 1. ]] SLAMing on 124.59486062399999 meters Centerline goodness [0,1] 0.6403290903446135 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99722315 -0.07115944 -0.0219617 0.42768707] [ 0.07142959 0.99737618 0.01177128 0.02544703] [ 0.02106644 -0.0133073 0.99968951 0.05053076] [ 0. 0. 0. 1. ]] SLAMing on 124.624860624 meters Centerline goodness [0,1] 0.6204719175805915 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99722615 -0.07111502 -0.02196973 0.42780099] [ 0.07138882 0.9973771 0.01193969 0.02440747] [ 0.02106301 -0.01347496 0.99968734 0.05050683] [ 0. 0. 0. 1. ]] SLAMing on 124.654860624 meters Centerline goodness [0,1] 0.632749341070677 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99723475 -0.07102137 -0.02188192 0.42776733] [ 0.07130019 0.99737985 0.01223568 0.02303842] [ 0.02095559 -0.01376203 0.99968569 0.05042291] [ 0. 0. 0. 1. ]] SLAMing on 124.684860624 meters Centerline goodness [0,1] 0.6362794594237087 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99724287 -0.07090144 -0.02190084 0.42784893] [ 0.0711904 0.99738179 0.01270807 0.02063069] [ 0.02094248 -0.01423216 0.99967938 0.05047183] [ 0. 0. 0. 1. ]] SLAMing on 124.714860624 meters Centerline goodness [0,1] 0.63872717650172 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99724234 -0.07091452 -0.02188237 0.42778339] [ 0.07120499 0.99737967 0.01279245 0.01969434] [ 0.02091786 -0.01431531 0.99967871 0.05060802] [ 0. 0. 0. 1. ]] SLAMing on 124.744860624 meters Centerline goodness [0,1] 0.6351285783600193 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99724451 -0.07088665 -0.02187377 0.42764242] [ 0.07118032 0.99737937 0.01295167 0.018708 ] [ 0.02089834 -0.01447296 0.99967684 0.05084399] [ 0. 0. 0. 1. ]] SLAMing on 124.774860624 meters Centerline goodness [0,1] 0.6335894669631652 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99724237 -0.07090697 -0.02190544 0.42762354] [ 0.07120399 0.99737588 0.01308984 0.01767466] [ 0.0209198 -0.0146135 0.99967435 0.05103151] [ 0. 0. 0. 1. ]] SLAMing on 124.804860624 meters Centerline goodness [0,1] 0.6372820919175911 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99723958 -0.07092748 -0.02196607 0.42762679] [ 0.07122784 0.99737264 0.0132064 0.01670921] [ 0.02097166 -0.01473454 0.99967149 0.05127389] [ 0. 0. 0. 1. ]] SLAMing on 124.834860624 meters Centerline goodness [0,1] 0.6287946967535176 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99725341 -0.07069113 -0.0220996 0.42786621] [ 0.07100365 0.9973821 0.01369071 0.01468631] [ 0.02107393 -0.01522226 0.99966203 0.0514591 ] [ 0. 0. 0. 1. ]] SLAMing on 124.864860624 meters Centerline goodness [0,1] 0.6348305960468746 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99725142 -0.07070528 -0.02214446 0.42787606] [ 0.0710218 0.99737864 0.01384776 0.01351273] [ 0.0211073 -0.01538244 0.99965887 0.05165019] [ 0. 0. 0. 1. ]] SLAMing on 124.894860624 meters Centerline goodness [0,1] 0.6350225768269695 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99723046 -0.07101207 -0.02210644 0.42762278] [ 0.0713259 0.99735834 0.01374614 0.01251014] [ 0.0210719 -0.01528484 0.99966112 0.05193284] [ 0. 0. 0. 1. ]] SLAMing on 124.924860624 meters Centerline goodness [0,1] 0.6350225768269695 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99723046 -0.07101207 -0.02210644 0.42762278] [ 0.0713259 0.99735834 0.01374614 0.01251014] [ 0.0210719 -0.01528484 0.99966112 0.05193284] [ 0. 0. 0. 1. ]] SLAMing on 124.95486062399999 meters Centerline goodness [0,1] 0.6384391227186083 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99721277 -0.07131917 -0.02191502 0.42711122] [ 0.07163002 0.99733661 0.01374147 0.01144104] [ 0.02087662 -0.01527295 0.9996654 0.05212743] [ 0. 0. 0. 1. ]] SLAMing on 124.98486062399999 meters Centerline goodness [0,1] 0.631932883553842 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99715128 -0.07225858 -0.02163403 0.42554498] [ 0.0725581 0.99727424 0.01339459 0.00951467] [ 0.02060718 -0.01492616 0.99967622 0.05338274] [ 0. 0. 0. 1. ]] SLAMing on 125.014860624 meters Centerline goodness [0,1] 0.6337501639630974 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99713537 -0.0724985 -0.02156452 0.42533177] [ 0.07279565 0.99725781 0.01332858 0.00873867] [ 0.02053908 -0.01486021 0.99967861 0.05354972] [ 0. 0. 0. 1. ]] SLAMing on 125.044860624 meters Centerline goodness [0,1] 0.6349352240896359 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99712448 -0.07268198 -0.02145021 0.42516093] [ 0.07297679 0.997245 0.01329622 0.00792717] [ 0.02042472 -0.01482336 0.9996815 0.05356053] [ 0. 0. 0. 1. ]] SLAMing on 125.074860624 meters Centerline goodness [0,1] 0.6332007517811093 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:0.05 [[ 0.99711004 -0.0728862 -0.02142831 0.42496046] [ 0.07318002 0.99723056 0.01326257 0.0068639 ] [ 0.02040231 -0.01479236 0.99968242 0.05384621] [ 0. 0. 0. 1. ]] SLAMing on 125.104860624 meters Centerline goodness [0,1] 0.6333107709775323 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99711547 -0.07280011 -0.0214681 0.42503173] [ 0.07310118 0.99723195 0.01358846 0.00520097] [ 0.02041944 -0.01511861 0.99967719 0.0539741 ] [ 0. 0. 0. 1. ]] SLAMing on 125.134860624 meters Centerline goodness [0,1] 0.6334742991672844 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.99711531 -0.07277595 -0.02155754 0.42509266] [ 0.07307878 0.99723332 0.0136088 0.00496533] [ 0.02050751 -0.01514494 0.99967498 0.05419395] [ 0. 0. 0. 1. ]] SLAMing on 125.164860624 meters Centerline goodness [0,1] 0.6324691438646901 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.9971259 -0.07261918 -0.02159618 0.4253178 ] [ 0.07292459 0.99724327 0.01370639 0.00489612] [ 0.0205413 -0.01524189 0.99967282 0.05410834] [ 0. 0. 0. 1. ]] SLAMing on 125.194860624 meters Centerline goodness [0,1] 0.6336486898896978 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.99715813 -0.07214366 -0.02170162 0.42564649] [ 0.07245852 0.99727191 0.01408919 0.00381137] [ 0.02062597 -0.01562162 0.99966521 0.05418912] [ 0. 0. 0. 1. ]] SLAMing on 125.224860624 meters Centerline goodness [0,1] 0.6335263134984548 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.99715662 -0.07215861 -0.02172135 0.42555699] [ 0.07247438 0.99727035 0.01411811 0.00324312] [ 0.02064332 -0.01565221 0.99966437 0.05445146] [ 0. 0. 0. 1. ]] SLAMing on 125.254860624 meters Centerline goodness [0,1] 0.6370195975846358 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.99715449 -0.07218724 -0.02172398 0.42543218] [ 0.07250398 0.99726755 0.01416326 0.00271845] [ 0.02064221 -0.01569803 0.99966368 0.05467428] [ 0. 0. 0. 1. ]] SLAMing on 125.284860624 meters Centerline goodness [0,1] 0.6356198867212083 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.9971601 -0.0721271 -0.02166622 0.42536359] [ 0.07244431 0.99727094 0.01423023 0.00222498] [ 0.02058071 -0.01575942 0.99966398 0.05478492] [ 0. 0. 0. 1. ]] SLAMing on 125.314860624 meters Centerline goodness [0,1] 0.6382065347006916 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.05 [[ 0.99715303 -0.07223789 -0.02162231 0.42523682] [ 0.07255173 0.99726498 0.01409955 0.0019355 ] [ 0.02054465 -0.01562814 0.99966678 0.05495367] [ 0. 0. 0. 1. ]] SLAMing on 125.34486062399999 meters Centerline goodness [0,1] 0.6380652857607635 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 0.99714371 -0.07239512 -0.02152609 0.42504026] [ 0.07270717 0.99725387 0.01408459 0.00135752] [ 0.02044732 -0.01560946 0.99966907 0.05502887] [ 0. 0. 0. 1. ]] SLAMing on 125.374860624 meters Centerline goodness [0,1] 0.635165073848827 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 9.97135544e-01 -7.25143937e-02 -2.15027789e-02 4.25039610e-01] [ 7.28277432e-02 9.97243935e-01 1.41652384e-02 3.49869470e-04] [ 2.04163321e-02 -1.56906616e-02 9.99668433e-01 5.50438686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404860624 meters Centerline goodness [0,1] 0.6365288505224898 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.05 [[ 0.99710677 -0.07294006 -0.02139726 0.42491119] [ 0.07325491 0.99721046 0.01431847 -0.00181378] [ 0.02029318 -0.0158445 0.99966851 0.05493604] [ 0. 0. 0. 1. ]] SLAMing on 125.434860624 meters Centerline goodness [0,1] 0.637065386611313 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.05 [[ 0.99709758 -0.0730787 -0.0213523 0.42499377] [ 0.07339528 0.99719841 0.01443824 -0.00287092] [ 0.02023735 -0.01596349 0.99966775 0.05476884] [ 0. 0. 0. 1. ]] SLAMing on 125.464860624 meters Centerline goodness [0,1] 0.6391324014043552 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.05 [[ 0.99709335 -0.07309333 -0.02149931 0.4255011 ] [ 0.07341491 0.99719507 0.01456857 -0.00377651] [ 0.02037414 -0.01610459 0.99966271 0.05458418] [ 0. 0. 0. 1. ]] SLAMing on 125.494860624 meters Centerline goodness [0,1] 0.6384744739565367 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.05 [[ 0.99708984 -0.07314906 -0.02147235 0.42551706] [ 0.07346948 0.99719158 0.01453255 -0.00413621] [ 0.020349 -0.01606782 0.99966382 0.05461331] [ 0. 0. 0. 1. ]] SLAMing on 125.524860624 meters Centerline goodness [0,1] 0.6361698462598511 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.05 [[ 0.99709359 -0.07309459 -0.02148375 0.42575401] [ 0.07341484 0.99719586 0.01451505 -0.00427904] [ 0.02036254 -0.01605009 0.99966382 0.05450616] [ 0. 0. 0. 1. ]] SLAMing on 125.554860624 meters Centerline goodness [0,1] 0.6379235916252968 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99710889 -0.07288476 -0.02148663 0.42541556] [ 0.07320452 0.99721168 0.01449026 -0.00404373] [ 0.0203706 -0.01602128 0.99966412 0.05505844] [ 0. 0. 0. 1. ]] SLAMing on 125.584860624 meters Centerline goodness [0,1] 0.6358702702702703 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99711541 -0.07276588 -0.02158663 0.42544382] [ 0.07308621 0.99722108 0.01444034 -0.00384668] [ 0.02047587 -0.01597637 0.99966269 0.05536183] [ 0. 0. 0. 1. ]] SLAMing on 125.614860624 meters Centerline goodness [0,1] 0.6372261514576505 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99713717 -0.07247148 -0.02157196 0.425173 ] [ 0.07279233 0.99724202 0.01447836 -0.00385194] [ 0.0204632 -0.01600718 0.99966246 0.05579375] [ 0. 0. 0. 1. ]] SLAMing on 125.644860624 meters Centerline goodness [0,1] 0.6403762350606205 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99714073 -0.07240688 -0.02162406 0.4252765 ] [ 0.0727273 0.99724765 0.01441761 -0.00378117] [ 0.02052061 -0.01594905 0.99966221 0.05589103] [ 0. 0. 0. 1. ]] SLAMing on 125.674860624 meters Centerline goodness [0,1] 0.6374368714119221 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99714773 -0.07231471 -0.02160977 0.42541466] [ 0.07263407 0.99725503 0.01437728 -0.00350053] [ 0.02051077 -0.01590588 0.9996631 0.0557641 ] [ 0. 0. 0. 1. ]] SLAMing on 125.70486062399999 meters Centerline goodness [0,1] 0.6330083265024375 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99715054 -0.07224817 -0.02170252 0.42564518] [ 0.07256768 0.99726078 0.01431356 -0.0031887 ] [ 0.02060894 -0.01584767 0.999662 0.05576369] [ 0. 0. 0. 1. ]] SLAMing on 125.73486062399999 meters Centerline goodness [0,1] 0.6401600346020762 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99717275 -0.07194639 -0.02168452 0.42576615] [ 0.07226337 0.99728441 0.01420588 -0.00208185] [ 0.02060357 -0.01573272 0.99966393 0.05569518] [ 0. 0. 0. 1. ]] SLAMing on 125.764860624 meters Centerline goodness [0,1] 0.6344585973486733 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 0.99717651 -0.07189002 -0.02169885 0.42601288] [ 0.07220344 0.99729134 0.01402305 -0.0011962 ] [ 0.02063196 -0.01555019 0.9996662 0.05548196] [ 0. 0. 0. 1. ]] SLAMing on 125.794860624 meters Centerline goodness [0,1] 0.6296368268774021 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:0.06 [[ 9.97180762e-01 -7.18139730e-02 -2.17550040e-02 4.26211074e-01] [ 7.21236983e-02 9.97300186e-01 1.38026103e-02 -2.36775038e-04] [ 2.07050492e-02 -1.53327488e-02 9.99668049e-01 5.55111850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824860624 meters Centerline goodness [0,1] 0.6322827331446718 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 9.97179534e-01 -7.18308785e-02 -2.17555028e-02 4.26133311e-01] [ 7.21350411e-02 9.97303051e-01 1.35336977e-02 8.35202241e-04] [ 2.07246919e-02 -1.50648604e-02 9.99671715e-01 5.56574405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854860624 meters Centerline goodness [0,1] 0.6309202135708264 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 0.9971878 -0.07170495 -0.02179184 0.4263317 ] [ 0.07200223 0.99731742 0.01317701 0.00265689] [ 0.02078852 -0.01470901 0.99967569 0.05554002] [ 0. 0. 0. 1. ]] SLAMing on 125.884860624 meters Centerline goodness [0,1] 0.6463549456981206 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 0.99719261 -0.07162541 -0.02183347 0.42662452] [ 0.07192016 0.99732532 0.01302658 0.00356468] [ 0.02084204 -0.01456028 0.99967675 0.05532027] [ 0. 0. 0. 1. ]] SLAMing on 125.914860624 meters Centerline goodness [0,1] 0.6518201935175945 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.06 [[ 0.99719066 -0.07165225 -0.02183447 0.42676576] [ 0.07194154 0.99732717 0.0127641 0.00483123] [ 0.02086153 -0.01429905 0.99968012 0.0551558 ] [ 0. 0. 0. 1. ]] SLAMing on 125.944860624 meters Centerline goodness [0,1] 0.6473230755875778 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99717996 -0.07182525 -0.02175471 0.42662665] [ 0.07210177 0.99732261 0.01220424 0.00692532] [ 0.0208199 -0.01373838 0.99968885 0.05511577] [ 0. 0. 0. 1. ]] SLAMing on 125.974860624 meters Centerline goodness [0,1] 0.6409115572436246 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.06 [[ 0.99717186 -0.07196122 -0.0216763 0.42652287] [ 0.07223147 0.99731628 0.01195251 0.00782776] [ 0.02075801 -0.01348441 0.99969359 0.05504683] [ 0. 0. 0. 1. ]] SLAMing on 126.004860624 meters Centerline goodness [0,1] 0.6413493871352641 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99715209 -0.07228993 -0.02149144 0.42629697] [ 0.07254901 0.99729821 0.01152909 0.00882885] [ 0.02059994 -0.01305544 0.99970255 0.05488192] [ 0. 0. 0. 1. ]] SLAMing on 126.034860624 meters Centerline goodness [0,1] 0.6412965499249983 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.9971224 -0.0727563 -0.02129426 0.42595178] [ 0.07300115 0.99727169 0.01095528 0.01003605] [ 0.0204391 -0.01247826 0.99971323 0.05480978] [ 0. 0. 0. 1. ]] SLAMing on 126.064860624 meters Centerline goodness [0,1] 0.6428105711553508 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.9971055 -0.07301003 -0.02121683 0.42611493] [ 0.07324872 0.99725632 0.01069886 0.010347 ] [ 0.02037749 -0.012222 0.99971765 0.05443372] [ 0. 0. 0. 1. ]] SLAMing on 126.09486062399999 meters Centerline goodness [0,1] 0.6406528061113763 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99709202 -0.07319765 -0.02120404 0.42647725] [ 0.07343286 0.99724453 0.01053378 0.01061062] [ 0.02037456 -0.01206022 0.99971967 0.05398752] [ 0. 0. 0. 1. ]] SLAMing on 126.124860624 meters Centerline goodness [0,1] 0.645242650895808 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99707164 -0.07350158 -0.02111075 0.42632927] [ 0.07372852 0.99722639 0.01017968 0.01154081] [ 0.02030397 -0.01170634 0.99972532 0.05388729] [ 0. 0. 0. 1. ]] SLAMing on 126.154860624 meters Centerline goodness [0,1] 0.6404061090655571 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.05 [[ 0.99704965 -0.07381656 -0.02105005 0.42631743] [ 0.07402933 0.99721069 0.00951347 0.01395729] [ 0.02028908 -0.01104372 0.99973316 0.05375216] [ 0. 0. 0. 1. ]] SLAMing on 126.184860624 meters Centerline goodness [0,1] 0.6413735928091456 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99704018 -0.07397078 -0.02095738 0.42625157] [ 0.07417508 0.99720332 0.00914355 0.01524397] [ 0.02022241 -0.010671 0.99973856 0.05362706] [ 0. 0. 0. 1. ]] SLAMing on 126.214860624 meters Centerline goodness [0,1] 0.6398356930606537 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99703202 -0.07409882 -0.02089305 0.42636512] [ 0.07429677 0.9971968 0.00886226 0.01629139] [ 0.0201778 -0.01038825 0.99974244 0.05334392] [ 0. 0. 0. 1. ]] SLAMing on 126.244860624 meters Centerline goodness [0,1] 0.6383982183017096 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99703916 -0.07399895 -0.02090619 0.42694895] [ 0.07418828 0.99720863 0.00842945 0.01856515] [ 0.02022406 -0.00995549 0.99974591 0.05274053] [ 0. 0. 0. 1. ]] SLAMing on 126.274860624 meters Centerline goodness [0,1] 0.6385407781641624 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99703734 -0.07399955 -0.02099092 0.42730191] [ 0.07418222 0.99721213 0.00806015 0.02030654] [ 0.02033595 -0.00959343 0.99974718 0.05253874] [ 0. 0. 0. 1. ]] SLAMing on 126.304860624 meters Centerline goodness [0,1] 0.6363357373024398 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.05 [[ 0.99706219 -0.07365475 -0.02102301 0.427483 ] [ 0.0738261 0.99724298 0.00749296 0.02410066] [ 0.02041316 -0.00902299 0.99975091 0.05257185] [ 0. 0. 0. 1. ]] SLAMing on 126.334860624 meters Centerline goodness [0,1] 0.6322304056282291 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99726018 -0.07095017 -0.02093355 0.42557816] [ 0.07116622 0.9974167 0.00976179 0.02693637] [ 0.02018687 -0.0112248 0.99973321 0.05388208] [ 0. 0. 0. 1. ]] SLAMing on 126.364860624 meters Centerline goodness [0,1] 0.6423998415946142 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99726258 -0.07090782 -0.02096265 0.42569574] [ 0.07111347 0.9974255 0.00923248 0.02916941] [ 0.02025403 -0.01069793 0.99973763 0.05391697] [ 0. 0. 0. 1. ]] SLAMing on 126.394860624 meters Centerline goodness [0,1] 0.638798933756306 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99727144 -0.07074717 -0.02108353 0.42603956] [ 0.07094659 0.99744073 0.00886453 0.03113734] [ 0.02040243 -0.01033615 0.99973842 0.05389534] [ 0. 0. 0. 1. ]] SLAMing on 126.424860624 meters Centerline goodness [0,1] 0.6405495402121419 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99727568 -0.07064804 -0.02121492 0.42642417] [ 0.07083875 0.99745261 0.00837567 0.0332241 ] [ 0.02056915 -0.00985569 0.99973985 0.05390061] [ 0. 0. 0. 1. ]] SLAMing on 126.45486062399999 meters Centerline goodness [0,1] 0.6368636112644948 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99728484 -0.07048403 -0.0213296 0.42692189] [ 0.07066857 0.99746757 0.0080247 0.03499819] [ 0.02070997 -0.00951024 0.99974029 0.05367965] [ 0. 0. 0. 1. ]] SLAMing on 126.48486062399999 meters Centerline goodness [0,1] 0.6408612609426121 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99729412 -0.07030375 -0.02149003 0.42761484] [ 0.07048382 0.9974829 0.00773898 0.03686645] [ 0.02089186 -0.00923274 0.99973911 0.05326664] [ 0. 0. 0. 1. ]] SLAMing on 126.514860624 meters Centerline goodness [0,1] 0.6361583421891605 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99731067 -0.07005719 -0.02152704 0.42818536] [ 0.07022587 0.99750526 0.00718155 0.04050245] [ 0.02097021 -0.008674 0.99974247 0.05276184] [ 0. 0. 0. 1. ]] SLAMing on 126.544860624 meters Centerline goodness [0,1] 0.6430046406288163 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99730963 -0.07006178 -0.02156014 0.42848138] [ 0.07022628 0.99750675 0.00696864 0.04171994] [ 0.02101815 -0.00846398 0.99974327 0.05248312] [ 0. 0. 0. 1. ]] SLAMing on 126.574860624 meters Centerline goodness [0,1] 0.6418893363294547 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99728826 -0.07037548 -0.02152724 0.42834722] [ 0.07053109 0.99748804 0.00655605 0.04276702] [ 0.02101178 -0.00805661 0.99974677 0.05254088] [ 0. 0. 0. 1. ]] SLAMing on 126.604860624 meters Centerline goodness [0,1] 0.6431961323516366 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99727573 -0.07054923 -0.02153911 0.42866873] [ 0.07070055 0.9974774 0.00634546 0.04327422] [ 0.02103711 -0.007851 0.99974787 0.0522074 ] [ 0. 0. 0. 1. ]] SLAMing on 126.634860624 meters Centerline goodness [0,1] 0.642860324247283 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99725996 -0.07082804 -0.02135337 0.42843753] [ 0.07097394 0.99745919 0.00615274 0.04354255] [ 0.02086333 -0.00765142 0.99975306 0.05199521] [ 0. 0. 0. 1. ]] SLAMing on 126.664860624 meters Centerline goodness [0,1] 0.6440598586052321 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99723615 -0.07120831 -0.02120015 0.42807593] [ 0.07134834 0.99743387 0.00592285 0.04356291] [ 0.02072399 -0.00741908 0.99975771 0.05201395] [ 0. 0. 0. 1. ]] SLAMing on 126.694860624 meters Centerline goodness [0,1] 0.6414291127109011 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99717373 -0.07215223 -0.02094309 0.42728988] [ 0.0722807 0.99736948 0.00544246 0.04362877] [ 0.02049531 -0.00694086 0.99976586 0.05215158] [ 0. 0. 0. 1. ]] SLAMing on 126.724860624 meters Centerline goodness [0,1] 0.6367567085673531 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99714269 -0.07263372 -0.0207559 0.42680268] [ 0.07275474 0.99733664 0.00513508 0.04375875] [ 0.02032764 -0.0066305 0.99977139 0.05222842] [ 0. 0. 0. 1. ]] SLAMing on 126.754860624 meters Centerline goodness [0,1] 0.6393237878585128 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99711977 -0.07299498 -0.02058869 0.42655097] [ 0.07311214 0.99731121 0.00499577 0.04366328] [ 0.02016866 -0.00648667 0.99977555 0.05207827] [ 0. 0. 0. 1. ]] SLAMing on 126.784860624 meters Centerline goodness [0,1] 0.6377176187719845 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99705521 -0.07396009 -0.02026848 0.4257212 ] [ 0.07406448 0.99724354 0.00444764 0.04356543] [ 0.01988367 -0.00593571 0.99978468 0.05216192] [ 0. 0. 0. 1. ]] SLAMing on 126.814860624 meters Centerline goodness [0,1] 0.6377176187719845 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99705521 -0.07396009 -0.02026848 0.4257212 ] [ 0.07406448 0.99724354 0.00444764 0.04356543] [ 0.01988367 -0.00593571 0.99978468 0.05216192] [ 0. 0. 0. 1. ]] SLAMing on 126.84486062399999 meters Centerline goodness [0,1] 0.629843363561418 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99703835 -0.07422273 -0.02013731 0.42558287] [ 0.0743255 0.99722431 0.00440313 0.04307141] [ 0.0197546 -0.0058868 0.99978753 0.05196242] [ 0. 0. 0. 1. ]] SLAMing on 126.874860624 meters Centerline goodness [0,1] 0.6226217528850866 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99702015 -0.07449029 -0.02005026 0.42547335] [ 0.07459028 0.99720506 0.00428534 0.04297045] [ 0.01967501 -0.00576812 0.99978979 0.0518385 ] [ 0. 0. 0. 1. ]] SLAMing on 126.904860624 meters Centerline goodness [0,1] 0.6305552464671191 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99700978 -0.0746381 -0.0200164 0.42554376] [ 0.07473573 0.99719464 0.00417331 0.04313077] [ 0.01964876 -0.00565677 0.99979094 0.051684 ] [ 0. 0. 0. 1. ]] SLAMing on 126.934860624 meters Centerline goodness [0,1] 0.6353308782501953 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99700808 -0.07464954 -0.02005811 0.42548894] [ 0.07474173 0.99719535 0.00388552 0.04472788] [ 0.0197118 -0.00537307 0.99979127 0.05187153] [ 0. 0. 0. 1. ]] SLAMing on 126.964860624 meters Centerline goodness [0,1] 0.638183888033215 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9970087 -0.07466567 -0.01996731 0.42522976] [ 0.07475356 0.99719521 0.0036906 0.0456649 ] [ 0.01963575 -0.00517218 0.99979382 0.05200477] [ 0. 0. 0. 1. ]] SLAMing on 126.994860624 meters Centerline goodness [0,1] 0.6397988826815643 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.05 [[ 0.99699116 -0.07491665 -0.01990268 0.42460672] [ 0.07499827 0.99717792 0.00338564 0.04616369] [ 0.01959287 -0.00486812 0.99979619 0.05266616] [ 0. 0. 0. 1. ]] SLAMing on 127.024860624 meters Centerline goodness [0,1] 0.6367520411587071 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.05 [[ 0.99698358 -0.07500713 -0.01994162 0.42450946] [ 0.07508449 0.99717217 0.00315843 0.04715987] [ 0.01964832 -0.00464621 0.99979616 0.0528769 ] [ 0. 0. 0. 1. ]] SLAMing on 127.054860624 meters Centerline goodness [0,1] 0.6367193614024104 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.05 [[ 0.99698411 -0.07501023 -0.01990363 0.42473282] [ 0.07508712 0.99717202 0.00314312 0.04735105] [ 0.01961157 -0.00462815 0.99979696 0.05253422] [ 0. 0. 0. 1. ]] SLAMing on 127.084860624 meters Centerline goodness [0,1] 0.6277801372465744 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99698669 -0.07499583 -0.01982829 0.42505509] [ 0.07507541 0.9971724 0.00329897 0.04701866] [ 0.01952481 -0.00477765 0.99979796 0.05193022] [ 0. 0. 0. 1. ]] SLAMing on 127.114860624 meters Centerline goodness [0,1] 0.6370089285714285 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99698808 -0.07496848 -0.0198618 0.42545808] [ 0.07505068 0.99717384 0.003425 0.04682556] [ 0.0195489 -0.00490532 0.99979687 0.05148463] [ 0. 0. 0. 1. ]] SLAMing on 127.144860624 meters Centerline goodness [0,1] 0.6363044892648015 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.05 [[ 0.99696167 -0.07534588 -0.01975901 0.42493621] [ 0.07542071 0.99714708 0.00306888 0.04751957] [ 0.01947141 -0.00454979 0.99980006 0.05185407] [ 0. 0. 0. 1. ]] SLAMing on 127.174860624 meters Centerline goodness [0,1] 0.6320725086373222 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696848 -0.07523358 -0.01984352 0.42524776] [ 0.07531023 0.9971552 0.0031434 0.04771971] [ 0.01955058 -0.00462829 0.99979816 0.05172155] [ 0. 0. 0. 1. ]] SLAMing on 127.20486062399999 meters Centerline goodness [0,1] 0.6426393435271961 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696546 -0.07528699 -0.01979224 0.42507292] [ 0.0753625 0.9971514 0.00309638 0.04770046] [ 0.01950274 -0.00457858 0.99979932 0.05184848] [ 0. 0. 0. 1. ]] SLAMing on 127.23486062399999 meters Centerline goodness [0,1] 0.6264241499955145 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696124 -0.07532941 -0.0198434 0.42510484] [ 0.07540443 0.99714834 0.00305898 0.04746039] [ 0.01955638 -0.00454597 0.99979842 0.05200205] [ 0. 0. 0. 1. ]] SLAMing on 127.264860624 meters Centerline goodness [0,1] 0.6418298310856221 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99696207 -0.07531668 -0.01984996 0.42500048] [ 0.07539616 0.99714825 0.00328563 0.04618258] [ 0.01954589 -0.00477226 0.99979757 0.05222032] [ 0. 0. 0. 1. ]] SLAMing on 127.294860624 meters Centerline goodness [0,1] 0.6418044169690453 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99695662 -0.07538327 -0.01987085 0.42507741] [ 0.07546465 0.99714276 0.00337702 0.04562881] [ 0.01955951 -0.00486629 0.99979685 0.0522062 ] [ 0. 0. 0. 1. ]] SLAMing on 127.324860624 meters Centerline goodness [0,1] 0.6399266252069259 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.99694611 -0.07554335 -0.01979053 0.42483515] [ 0.07562546 0.99713039 0.00343271 0.04488456] [ 0.01947442 -0.00491889 0.99979826 0.05228825] [ 0. 0. 0. 1. ]] SLAMing on 127.354860624 meters Centerline goodness [0,1] 0.6387053421435771 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.9969365 -0.07570263 -0.01966528 0.42452568] [ 0.07578829 0.99711726 0.00364671 0.04364774] [ 0.01933252 -0.00512593 0.99979997 0.05232837] [ 0. 0. 0. 1. ]] SLAMing on 127.384860624 meters Centerline goodness [0,1] 0.6349496797804208 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.99693329 -0.07576007 -0.01960666 0.42456793] [ 0.07585212 0.99711108 0.00399338 0.04204621] [ 0.01924747 -0.00546834 0.9997998 0.05213824] [ 0. 0. 0. 1. ]] SLAMing on 127.414860624 meters Centerline goodness [0,1] 0.6318102717415555 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.99687165 -0.07663875 -0.01932403 0.42356358] [ 0.07672849 0.99704422 0.00394525 0.03928605] [ 0.01896455 -0.00541561 0.99980549 0.05260291] [ 0. 0. 0. 1. ]] SLAMing on 127.444860624 meters Centerline goodness [0,1] 0.6355044358254202 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.99685476 -0.07691501 -0.01909618 0.42320237] [ 0.07700863 0.99702151 0.00421557 0.03742904] [ 0.01871506 -0.00567289 0.99980876 0.05245193] [ 0. 0. 0. 1. ]] SLAMing on 127.474860624 meters Centerline goodness [0,1] 0.6358521615370931 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:0.05 [[ 0.99683306 -0.07721278 -0.01902733 0.4229925 ] [ 0.07730958 0.99699741 0.00440456 0.03553642] [ 0.01863011 -0.0058616 0.99980926 0.05254611] [ 0. 0. 0. 1. ]] SLAMing on 127.504860624 meters Centerline goodness [0,1] 0.6279121317580298 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99677868 -0.07794467 -0.01889162 0.42244169] [ 0.07804257 0.99693987 0.0045008 0.03297603] [ 0.018483 -0.00596065 0.99981141 0.05272204] [ 0. 0. 0. 1. ]] SLAMing on 127.534860624 meters Centerline goodness [0,1] 0.6327855054487463 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99677327 -0.07802788 -0.01883361 0.42234004] [ 0.07812936 0.99693209 0.00471257 0.0320761 ] [ 0.01840812 -0.00616882 0.99981153 0.05264344] [ 0. 0. 0. 1. ]] SLAMing on 127.564860624 meters Centerline goodness [0,1] 0.63114663360418 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.9967795 -0.07795607 -0.01880081 0.42229947] [ 0.07806009 0.99693679 0.00486313 0.0312898 ] [ 0.01836411 -0.00631506 0.99981142 0.05270324] [ 0. 0. 0. 1. ]] SLAMing on 127.59486062399999 meters Centerline goodness [0,1] 0.6280679255295627 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99678445 -0.07788616 -0.01882828 0.42240666] [ 0.07799362 0.99694112 0.00504064 0.03065196] [ 0.01837809 -0.00649292 0.99981003 0.05268221] [ 0. 0. 0. 1. ]] SLAMing on 127.624860624 meters Centerline goodness [0,1] 0.6275709709488567 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99679812 -0.0776842 -0.01893878 0.42282159] [ 0.07779511 0.99695586 0.00519024 0.03052546] [ 0.01847793 -0.00664697 0.99980717 0.05251063] [ 0. 0. 0. 1. ]] SLAMing on 127.654860624 meters Centerline goodness [0,1] 0.6350769502528208 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99685742 -0.07688199 -0.01909023 0.42366437] [ 0.07700315 0.99701459 0.00569375 0.03036349] [ 0.01859549 -0.00714587 0.99980155 0.05200242] [ 0. 0. 0. 1. ]] SLAMing on 127.684860624 meters Centerline goodness [0,1] 0.6414560876479943 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:0.05 [[ 0.99688719 -0.07642638 -0.01936354 0.42439793] [ 0.07655229 0.99704843 0.0058458 0.03048955] [ 0.01885961 -0.00730993 0.99979542 0.05192135] [ 0. 0. 0. 1. ]] SLAMing on 127.714860624 meters Centerline goodness [0,1] 0.6378187437907054 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99692298 -0.07591987 -0.01951271 0.42503579] [ 0.07604923 0.99708616 0.00597449 0.03104336] [ 0.01900228 -0.00744003 0.99979176 0.05169148] [ 0. 0. 0. 1. ]] SLAMing on 127.744860624 meters Centerline goodness [0,1] 0.6382593328915396 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99696305 -0.07534054 -0.01971 0.42571736] [ 0.07547205 0.99712978 0.00601422 0.03215513] [ 0.01920031 -0.00748351 0.99978765 0.05155518] [ 0. 0. 0. 1. ]] SLAMing on 127.774860624 meters Centerline goodness [0,1] 0.6399487440072466 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99725155 -0.0713852 -0.0198368 0.42535073] [ 0.07158545 0.99738852 0.00957458 0.03279262] [ 0.01910151 -0.01096829 0.99975739 0.05168346] [ 0. 0. 0. 1. ]] SLAMing on 127.804860624 meters Centerline goodness [0,1] 0.6302684534076335 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.05 [[ 0.99729842 -0.07066092 -0.02007206 0.42619155] [ 0.07086523 0.99743916 0.00965593 0.033858 ] [ 0.01933836 -0.01105226 0.99975191 0.05152044] [ 0. 0. 0. 1. ]] SLAMing on 127.834860624 meters Centerline goodness [0,1] 0.6365686491266858 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.9973362 -0.07006175 -0.02029422 0.42693151] [ 0.07026686 0.99748227 0.00957581 0.03530159] [ 0.01957222 -0.01097632 0.99974819 0.051411 ] [ 0. 0. 0. 1. ]] SLAMing on 127.864860624 meters Centerline goodness [0,1] 0.6486438535406178 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.9976066 -0.0660476 -0.02046444 0.42663612] [ 0.06632135 0.99771363 0.01299956 0.0373927 ] [ 0.01955906 -0.01432568 0.99970607 0.05150085] [ 0. 0. 0. 1. ]] SLAMing on 127.894860624 meters Centerline goodness [0,1] 0.6515715742341623 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99763303 -0.06562757 -0.02052684 0.4268816 ] [ 0.06589603 0.99774584 0.0126869 0.03925313] [ 0.01964796 -0.01400951 0.9997088 0.05166033] [ 0. 0. 0. 1. ]] SLAMing on 127.924860624 meters Centerline goodness [0,1] 0.6553505698700608 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99765909 -0.06516489 -0.02073355 0.42770381] [ 0.06543377 0.9977778 0.01256506 0.04074136] [ 0.01986868 -0.01389232 0.99970608 0.05136642] [ 0. 0. 0. 1. ]] SLAMing on 127.95486062399999 meters Centerline goodness [0,1] 0.6528857688719065 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99767793 -0.06484557 -0.02082791 0.42816365] [ 0.06511214 0.99780108 0.01238594 0.04213469] [ 0.01997894 -0.01371333 0.99970635 0.05118247] [ 0. 0. 0. 1. ]] SLAMing on 127.98486062399999 meters Centerline goodness [0,1] 0.6537359194827701 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99768798 -0.06463622 -0.0209965 0.4287968 ] [ 0.06490064 0.99781758 0.01216512 0.04327534] [ 0.02016437 -0.01349968 0.99970554 0.05097752] [ 0. 0. 0. 1. ]] SLAMing on 128.014860624 meters Centerline goodness [0,1] 0.6515148142376956 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:0.05 [[ 0.99769199 -0.06454673 -0.02108133 0.42930442] [ 0.06480796 0.99782618 0.01195184 0.04475824] [ 0.02026405 -0.0132905 0.99970632 0.05061704] [ 0. 0. 0. 1. ]] SLAMing on 128.044860624 meters Centerline goodness [0,1] 0.6538974906567006 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99767132 -0.06485293 -0.02111962 0.42941524] [ 0.06510921 0.99780977 0.01168128 0.04520452] [ 0.0203158 -0.01302916 0.99970871 0.05052681] [ 0. 0. 0. 1. ]] SLAMing on 128.074860624 meters Centerline goodness [0,1] 0.6472197508896798 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99761879 -0.06574848 -0.02083012 0.4288401 ] [ 0.06599056 0.99775789 0.01115499 0.04586615] [ 0.02005 -0.01250302 0.9997208 0.05031382] [ 0. 0. 0. 1. ]] SLAMing on 128.104860624 meters Centerline goodness [0,1] 0.6426122194513716 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99757808 -0.06639352 -0.02073324 0.42842672] [ 0.06662696 0.99771974 0.01077838 0.04589722] [ 0.01997035 -0.01213367 0.99972694 0.05048046] [ 0. 0. 0. 1. ]] SLAMing on 128.134860624 meters Centerline goodness [0,1] 0.6402343924067555 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99753763 -0.06707311 -0.02049102 0.42782996] [ 0.06729684 0.99767848 0.01043034 0.04565904] [ 0.01974386 -0.01178364 0.99973563 0.05051175] [ 0. 0. 0. 1. ]] SLAMing on 128.164860624 meters Centerline goodness [0,1] 0.6361771852776601 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99749261 -0.06778313 -0.02034534 0.42742635] [ 0.0679975 0.99763502 0.0100355 0.0454211 ] [ 0.01961699 -0.01139377 0.99974264 0.0505081 ] [ 0. 0. 0. 1. ]] SLAMing on 128.194860624 meters Centerline goodness [0,1] 0.6289523043944265 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99745094 -0.06844897 -0.02015854 0.42698398] [ 0.06865369 0.99759394 0.00964413 0.04528985] [ 0.01944991 -0.0110035 0.99975028 0.05047978] [ 0. 0. 0. 1. ]] SLAMing on 128.224860624 meters Centerline goodness [0,1] 0.6180337015958041 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99737953 -0.06954421 -0.01994185 0.42640361] [ 0.06972907 0.99752778 0.00872845 0.04656795] [ 0.01928554 -0.0100961 0.99976304 0.05053866] [ 0. 0. 0. 1. ]] SLAMing on 128.254860624 meters Centerline goodness [0,1] 0.6112255868123992 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99735274 -0.06994041 -0.01989579 0.42608885] [ 0.07011499 0.99750508 0.0082158 0.04790772] [ 0.01927153 -0.00958905 0.9997683 0.05082604] [ 0. 0. 0. 1. ]] SLAMing on 128.284860624 meters Centerline goodness [0,1] 0.6424424469301293 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99732915 -0.07027642 -0.01989473 0.4258152 ] [ 0.07043911 0.99748715 0.00759757 0.04962808] [ 0.01931081 -0.00897865 0.99977321 0.05123973] [ 0. 0. 0. 1. ]] SLAMing on 128.314860624 meters Centerline goodness [0,1] 0.6419207111749652 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99731277 -0.07051178 -0.01988274 0.4256344 ] [ 0.07066476 0.99747486 0.00709841 0.05115277] [ 0.01933201 -0.00848435 0.99977712 0.05152037] [ 0. 0. 0. 1. ]] SLAMing on 128.344860624 meters Centerline goodness [0,1] 0.6060135135135135 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9973083 -0.07060379 -0.01978024 0.42534408] [ 0.07074452 0.99747325 0.00650668 0.0533892 ] [ 0.01927086 -0.00788851 0.99978318 0.05173397] [ 0. 0. 0. 1. ]] SLAMing on 128.374860624 meters Centerline goodness [0,1] 0.601938246562993 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99730475 -0.07064366 -0.0198169 0.42539572] [ 0.07077991 0.99747232 0.00625969 0.05423202] [ 0.0193246 -0.00764546 0.99978403 0.05182972] [ 0. 0. 0. 1. ]] SLAMing on 128.404860624 meters Centerline goodness [0,1] 0.600832070906912 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99730077 -0.07068184 -0.01988109 0.42556267] [ 0.07081176 0.9974722 0.00590786 0.05550208] [ 0.01941326 -0.00729973 0.9997849 0.05187944] [ 0. 0. 0. 1. ]] SLAMing on 128.434860624 meters Centerline goodness [0,1] 0.5994072666395186 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99729575 -0.07071071 -0.02002977 0.42573075] [ 0.07083403 0.99747287 0.00551449 0.05700126] [ 0.01958922 -0.00691836 0.99978418 0.05214175] [ 0. 0. 0. 1. ]] SLAMing on 128.464860624 meters Centerline goodness [0,1] 0.6462807663462193 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99731774 -0.07039512 -0.0200461 0.42593844] [ 0.07051099 0.9974978 0.00513272 0.05961412] [ 0.01963462 -0.00653242 0.99978588 0.05215125] [ 0. 0. 0. 1. ]] SLAMing on 128.494860624 meters Centerline goodness [0,1] 0.6343116147308782 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99732226 -0.07035316 -0.01996859 0.42587673] [ 0.07046642 0.99750149 0.00502522 0.06037382] [ 0.01956516 -0.00641888 0.99978798 0.05209528] [ 0. 0. 0. 1. ]] SLAMing on 128.52486062399998 meters Centerline goodness [0,1] 0.6353176588294147 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99729249 -0.07083169 -0.01976245 0.42526307] [ 0.07093623 0.99747007 0.00463897 0.06082586] [ 0.01938386 -0.00602828 0.99979394 0.05224336] [ 0. 0. 0. 1. ]] SLAMing on 128.55486062399999 meters Centerline goodness [0,1] 0.6360094773773182 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99729366 -0.07081188 -0.01977472 0.42563721] [ 0.07091878 0.99747075 0.00475669 0.06065487] [ 0.01938788 -0.00614622 0.99979315 0.05176614] [ 0. 0. 0. 1. ]] SLAMing on 128.584860624 meters Centerline goodness [0,1] 0.6338525299448923 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99729783 -0.07075405 -0.01977147 0.42598534] [ 0.07086384 0.99747392 0.00490803 0.06052448] [ 0.01937426 -0.00629585 0.99979248 0.05127955] [ 0. 0. 0. 1. ]] SLAMing on 128.614860624 meters Centerline goodness [0,1] 0.6290329930732774 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99729758 -0.07075421 -0.01978342 0.42622928] [ 0.07086428 0.99747384 0.00491814 0.06080786] [ 0.01938546 -0.00630678 0.99979219 0.05097232] [ 0. 0. 0. 1. ]] SLAMing on 128.644860624 meters Centerline goodness [0,1] 0.619053049308945 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.9972937 -0.07079653 -0.0198273 0.42637789] [ 0.07090599 0.9974711 0.0048721 0.06119744] [ 0.01943223 -0.00626479 0.99979155 0.0508758 ] [ 0. 0. 0. 1. ]] SLAMing on 128.674860624 meters Centerline goodness [0,1] 0.6229939188880252 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99727536 -0.07105864 -0.01981248 0.42598908] [ 0.07116248 0.9974542 0.00458565 0.06199574] [ 0.01943619 -0.00598306 0.9997932 0.05129035] [ 0. 0. 0. 1. ]] SLAMing on 128.704860624 meters Centerline goodness [0,1] 0.6229939188880252 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99727536 -0.07105864 -0.01981248 0.42598908] [ 0.07116248 0.9974542 0.00458565 0.06199574] [ 0.01943619 -0.00598306 0.9997932 0.05129035] [ 0. 0. 0. 1. ]] SLAMing on 128.734860624 meters Centerline goodness [0,1] 0.6441437322849044 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.9972791 -0.07100025 -0.01983321 0.42621517] [ 0.07110516 0.99745806 0.00463446 0.0620887 ] [ 0.01945375 -0.00603209 0.99979256 0.05106029] [ 0. 0. 0. 1. ]] SLAMing on 128.764860624 meters Centerline goodness [0,1] 0.6450092654023014 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99728063 -0.07096501 -0.01988266 0.42660482] [ 0.07107158 0.99746012 0.00470461 0.06226884] [ 0.01949829 -0.00610491 0.99979125 0.05065911] [ 0. 0. 0. 1. ]] SLAMing on 128.794860624 meters Centerline goodness [0,1] 0.6280959663980643 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99725902 -0.07128303 -0.01982876 0.42637628] [ 0.07138479 0.99743883 0.00447149 0.06250797] [ 0.01945923 -0.0058747 0.99979339 0.05074959] [ 0. 0. 0. 1. ]] SLAMing on 128.824860624 meters Centerline goodness [0,1] 0.6317616959064327 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99726164 -0.07128691 -0.01968226 0.42640684] [ 0.07138883 0.9974383 0.00452377 0.06269374] [ 0.01930935 -0.00591648 0.99979605 0.05035632] [ 0. 0. 0. 1. ]] SLAMing on 128.854860624 meters Centerline goodness [0,1] 0.6242396524125314 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99725143 -0.07142748 -0.01968993 0.42639736] [ 0.07152464 0.99742967 0.00427449 0.06352879] [ 0.019334 -0.00567106 0.999797 0.05039688] [ 0. 0. 0. 1. ]] SLAMing on 128.884860624 meters Centerline goodness [0,1] 0.6417965169569202 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99724462 -0.07153198 -0.01965548 0.42626284] [ 0.07162178 0.99742423 0.00390219 0.06516102] [ 0.01932572 -0.0052992 0.9997992 0.05050511] [ 0. 0. 0. 1. ]] SLAMing on 128.914860624 meters Centerline goodness [0,1] 0.6391485656676748 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99723499 -0.07167655 -0.01961744 0.4260261 ] [ 0.07176409 0.99741442 0.00379452 0.06552078] [ 0.01929473 -0.00519185 0.99980036 0.05066171] [ 0. 0. 0. 1. ]] SLAMing on 128.944860624 meters Centerline goodness [0,1] 0.6392637473606904 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99721947 -0.07191638 -0.01952832 0.42549555] [ 0.0719987 0.99739843 0.00354449 0.06597687] [ 0.01922261 -0.00494065 0.99980302 0.05107022] [ 0. 0. 0. 1. ]] SLAMing on 128.974860624 meters Centerline goodness [0,1] 0.6398704222763405 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99721297 -0.07201314 -0.01950389 0.42533516] [ 0.07209269 0.99739212 0.00340571 0.06639833] [ 0.01920777 -0.0048023 0.99980398 0.05120037] [ 0. 0. 0. 1. ]] SLAMing on 129.004860624 meters Centerline goodness [0,1] 0.6348372594444571 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99721952 -0.07193281 -0.01946546 0.42523166] [ 0.07201015 0.99739844 0.00330092 0.06701144] [ 0.01917737 -0.00469346 0.99980508 0.05133084] [ 0. 0. 0. 1. ]] SLAMing on 129.034860624 meters Centerline goodness [0,1] 0.6440058815420668 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99722904 -0.07179963 -0.01946914 0.42537267] [ 0.07187759 0.99740789 0.00333394 0.06729246] [ 0.0191793 -0.00472409 0.9998049 0.05120733] [ 0. 0. 0. 1. ]] SLAMing on 129.064860624 meters Centerline goodness [0,1] 0.6361675767448263 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99723474 -0.0716735 -0.01964129 0.42581163] [ 0.07175149 0.9974171 0.00329431 0.0678072 ] [ 0.01935445 -0.0046945 0.99980166 0.05113299] [ 0. 0. 0. 1. ]] SLAMing on 129.094860624 meters Centerline goodness [0,1] 0.6464175884701886 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99725943 -0.07128092 -0.01981546 0.42628856] [ 0.07136014 0.99744509 0.00331931 0.06879399] [ 0.01952823 -0.00472425 0.99979814 0.0511216 ] [ 0. 0. 0. 1. ]] SLAMing on 129.124860624 meters Centerline goodness [0,1] 0.634927206237494 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99726659 -0.07113357 -0.01998428 0.42664468] [ 0.07121366 0.99745555 0.00332371 0.06910498] [ 0.019697 -0.00473777 0.99979477 0.05118618] [ 0. 0. 0. 1. ]] SLAMing on 129.154860624 meters Centerline goodness [0,1] 0.638409257898604 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99727547 -0.07098978 -0.02005188 0.42689485] [ 0.07107263 0.99746518 0.00344876 0.06897433] [ 0.01975623 -0.00486451 0.99979299 0.05109926] [ 0. 0. 0. 1. ]] SLAMing on 129.184860624 meters Centerline goodness [0,1] 0.645928510755527 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99729446 -0.07066918 -0.02023945 0.42747967] [ 0.07075712 0.99748685 0.00366192 0.068882 ] [ 0.0199298 -0.00508409 0.99978846 0.05092615] [ 0. 0. 0. 1. ]] SLAMing on 129.214860624 meters Centerline goodness [0,1] 0.6485005502567864 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99733389 -0.07005097 -0.02044455 0.4281868 ] [ 0.07014681 0.99752863 0.00400806 0.06875217] [ 0.02011326 -0.00543149 0.99978295 0.0507445 ] [ 0. 0. 0. 1. ]] SLAMing on 129.244860624 meters Centerline goodness [0,1] 0.6483650225039037 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99734401 -0.06989221 -0.02049397 0.42815176] [ 0.06999068 0.99753911 0.00412663 0.06859632] [ 0.02015512 -0.00555005 0.99978146 0.05096136] [ 0. 0. 0. 1. ]] SLAMing on 129.27486062399998 meters Centerline goodness [0,1] 0.6464318389752973 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99735504 -0.06968821 -0.02065134 0.42854856] [ 0.06978955 0.99755278 0.00422683 0.06853387] [ 0.02030625 -0.0056569 0.9997778 0.05098226] [ 0. 0. 0. 1. ]] SLAMing on 129.30486062399999 meters Centerline goodness [0,1] 0.6469606565621928 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99737774 -0.0693448 -0.02071071 0.42866698] [ 0.06945242 0.99757502 0.00452217 0.06801642] [ 0.0203469 -0.00594872 0.99977528 0.0510609 ] [ 0. 0. 0. 1. ]] SLAMing on 129.334860624 meters Centerline goodness [0,1] 0.6411740483162518 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99738529 -0.06922598 -0.02074462 0.42883285] [ 0.0693369 0.99758234 0.00467538 0.0675729 ] [ 0.02037081 -0.00610152 0.99977388 0.05096304] [ 0. 0. 0. 1. ]] SLAMing on 129.364860624 meters Centerline goodness [0,1] 0.6440542332578824 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99739042 -0.06913217 -0.02081106 0.42918123] [ 0.06924493 0.9975884 0.00474647 0.06718186] [ 0.02043274 -0.00617514 0.99977216 0.05080051] [ 0. 0. 0. 1. ]] SLAMing on 129.394860624 meters Centerline goodness [0,1] 0.6455832001826067 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99739985 -0.06899389 -0.02081783 0.42954923] [ 0.06911162 0.99759646 0.00498858 0.06663083] [ 0.02042361 -0.00641436 0.99977084 0.05037047] [ 0. 0. 0. 1. ]] SLAMing on 129.424860624 meters Centerline goodness [0,1] 0.6402987802092375 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99741441 -0.06875546 -0.02090866 0.43005322] [ 0.0688814 0.99761044 0.00536308 0.06583811] [ 0.02048996 -0.00678943 0.99976701 0.04998356] [ 0. 0. 0. 1. ]] SLAMing on 129.454860624 meters Centerline goodness [0,1] 0.6403456767603064 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.05 [[ 0.99742494 -0.0685801 -0.02098228 0.43036407] [ 0.06871177 0.99762073 0.005619 0.06520053] [ 0.02054701 -0.00704626 0.99976406 0.04983318] [ 0. 0. 0. 1. ]] SLAMing on 129.484860624 meters Centerline goodness [0,1] 0.6405719107016623 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99742024 -0.0686703 -0.02091039 0.43019066] [ 0.0688031 0.99761399 0.00569787 0.06467367] [ 0.02046922 -0.00712187 0.99976512 0.04985212] [ 0. 0. 0. 1. ]] SLAMing on 129.514860624 meters Centerline goodness [0,1] 0.6405638036251025 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99739441 -0.06905599 -0.02087244 0.42944021] [ 0.06918624 0.99758814 0.0055831 0.06365074] [ 0.02043655 -0.00701263 0.99976656 0.05069234] [ 0. 0. 0. 1. ]] SLAMing on 129.544860624 meters Centerline goodness [0,1] 0.6470133120946637 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99739465 -0.06909365 -0.02073614 0.42924995] [ 0.06922563 0.99758466 0.00571495 0.06296925] [ 0.02029119 -0.00713553 0.99976865 0.05060305] [ 0. 0. 0. 1. ]] SLAMing on 129.574860624 meters Centerline goodness [0,1] 0.6498808578236696 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99738171 -0.06927928 -0.02073876 0.42919524] [ 0.06941318 0.99757109 0.00580696 0.06185034] [ 0.02028609 -0.0072313 0.99976806 0.05069738] [ 0. 0. 0. 1. ]] SLAMing on 129.604860624 meters Centerline goodness [0,1] 0.651039302895525 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99738501 -0.06922536 -0.02076045 0.42934482] [ 0.06936281 0.99757361 0.00597463 0.06136578] [ 0.02029648 -0.00739901 0.99976663 0.05056611] [ 0. 0. 0. 1. ]] SLAMing on 129.634860624 meters Centerline goodness [0,1] 0.6477520435967302 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737997 -0.06927698 -0.02083011 0.42937483] [ 0.06941569 0.99756971 0.00601063 0.06093664] [ 0.02036309 -0.00744081 0.99976496 0.05071178] [ 0. 0. 0. 1. ]] SLAMing on 129.664860624 meters Centerline goodness [0,1] 0.6376314534263066 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737801 -0.0693042 -0.02083328 0.42940282] [ 0.06944389 0.99756747 0.00605753 0.06048607] [ 0.02036279 -0.00748839 0.99976461 0.05074279] [ 0. 0. 0. 1. ]] SLAMing on 129.694860624 meters Centerline goodness [0,1] 0.648862221215895 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737126 -0.0694407 -0.02070164 0.42887081] [ 0.06958258 0.99755685 0.00621303 0.05895687] [ 0.02021963 -0.00763717 0.99976639 0.05114238] [ 0. 0. 0. 1. ]] SLAMing on 129.724860624 meters Centerline goodness [0,1] 0.6490691670063867 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737359 -0.06937434 -0.02081156 0.42900689] [ 0.06952014 0.99756024 0.00636501 0.0583023 ] [ 0.02031921 -0.00779512 0.99976315 0.05127367] [ 0. 0. 0. 1. ]] SLAMing on 129.754860624 meters Centerline goodness [0,1] 0.6410957048010478 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737726 -0.06936076 -0.02068078 0.42867026] [ 0.06951195 0.99755873 0.00668282 0.05664414] [ 0.02016677 -0.00810286 0.99976379 0.05137859] [ 0. 0. 0. 1. ]] SLAMing on 129.784860624 meters Centerline goodness [0,1] 0.644626610215296 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99737964 -0.06934303 -0.02062493 0.42859093] [ 0.06949771 0.99755839 0.00687884 0.05550746] [ 0.02009757 -0.0082942 0.99976362 0.05145975] [ 0. 0. 0. 1. ]] SLAMing on 129.814860624 meters Centerline goodness [0,1] 0.6487380957741405 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99737166 -0.06947948 -0.02055163 0.42811914] [ 0.06963411 0.9975487 0.0069058 0.0548175 ] [ 0.02002144 -0.00831875 0.99976494 0.05186157] [ 0. 0. 0. 1. ]] SLAMing on 129.844860624 meters Centerline goodness [0,1] 0.6469636719013278 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99737202 -0.06949952 -0.02046641 0.42790147] [ 0.06965823 0.99754532 0.00714599 0.05385868] [ 0.01991952 -0.00855286 0.999765 0.05190349] [ 0. 0. 0. 1. ]] SLAMing on 129.874860624 meters Centerline goodness [0,1] 0.6498023892930926 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9973646 -0.06959884 -0.02049044 0.42774338] [ 0.0697601 0.99753736 0.00726231 0.05281713] [ 0.01993453 -0.00867258 0.99976367 0.05220225] [ 0. 0. 0. 1. ]] SLAMing on 129.904860624 meters Centerline goodness [0,1] 0.6416608748290473 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99733201 -0.07013579 -0.02024435 0.4267858 ] [ 0.07029888 0.99749809 0.00745907 0.05029272] [ 0.01967055 -0.00886233 0.99976724 0.05267343] [ 0. 0. 0. 1. ]] SLAMing on 129.934860624 meters Centerline goodness [0,1] 0.6420840787119857 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99732666 -0.07023511 -0.02016364 0.42669103] [ 0.07039974 0.99749011 0.00757342 0.04955258] [ 0.01958111 -0.00897269 0.99976801 0.05256559] [ 0. 0. 0. 1. ]] SLAMing on 129.964860624 meters Centerline goodness [0,1] 0.644595866768279 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9973281 -0.07022806 -0.02011647 0.42669808] [ 0.07039707 0.9974884 0.00781942 0.04868154] [ 0.0195168 -0.00921467 0.99976707 0.05241446] [ 0. 0. 0. 1. ]] SLAMing on 129.994860624 meters Centerline goodness [0,1] 0.645496019321943 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99731261 -0.0704614 -0.02006878 0.42653864] [ 0.07063197 0.997471 0.00791999 0.04735716] [ 0.01945998 -0.0093162 0.99976723 0.05251062] [ 0. 0. 0. 1. ]] SLAMing on 130.02486062399998 meters Centerline goodness [0,1] 0.6412043241311534 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99731236 -0.07046894 -0.02005435 0.4264835 ] [ 0.07063982 0.99747026 0.00794332 0.04691663] [ 0.01944386 -0.0093386 0.99976734 0.05265964] [ 0. 0. 0. 1. ]] SLAMing on 130.05486062399999 meters Centerline goodness [0,1] 0.6401100129690085 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99732016 -0.07031563 -0.02020445 0.42680691] [ 0.07048787 0.99748102 0.00794209 0.04713649] [ 0.0195951 -0.00934498 0.99976432 0.05270497] [ 0. 0. 0. 1. ]] SLAMing on 130.084860624 meters Centerline goodness [0,1] 0.6403606909514007 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99736266 -0.06965683 -0.02038775 0.42759745] [ 0.06983259 0.99752633 0.00803896 0.04828678] [ 0.01977735 -0.00944148 0.99975983 0.05244454] [ 0. 0. 0. 1. ]] SLAMing on 130.114860624 meters Centerline goodness [0,1] 0.6499787200680958 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99738487 -0.06926996 -0.02061767 0.42835678] [ 0.06944892 0.99755267 0.00809374 0.04915305] [ 0.02000656 -0.00950445 0.99975467 0.05219838] [ 0. 0. 0. 1. ]] SLAMing on 130.144860624 meters Centerline goodness [0,1] 0.6531909654601213 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.9974028 -0.06895795 -0.02079535 0.42897942] [ 0.06913607 0.9975754 0.00797079 0.05034354] [ 0.02019528 -0.0093878 0.99975198 0.0520252 ] [ 0. 0. 0. 1. ]] SLAMing on 130.174860624 meters Centerline goodness [0,1] 0.6534107467103051 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99742885 -0.06852104 -0.02098958 0.42972189] [ 0.06870042 0.99760568 0.00794697 0.05159198] [ 0.02039479 -0.00936853 0.99974811 0.05170423] [ 0. 0. 0. 1. ]] SLAMing on 130.204860624 meters Centerline goodness [0,1] 0.6545234031084359 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99744913 -0.06816755 -0.02117596 0.43021648] [ 0.06834471 0.99763161 0.00775737 0.05290666] [ 0.02059701 -0.00918485 0.99974567 0.05179816] [ 0. 0. 0. 1. ]] SLAMing on 130.234860624 meters Centerline goodness [0,1] 0.6607440061175835 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99767614 -0.06473164 -0.02126334 0.42901956] [ 0.06497342 0.99782764 0.01088347 0.05382826] [ 0.02051264 -0.01223973 0.99971467 0.05289234] [ 0. 0. 0. 1. ]] SLAMing on 130.264860624 meters Centerline goodness [0,1] 0.6624088826702172 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99769589 -0.06435032 -0.02149304 0.42954883] [ 0.06459034 0.99785486 0.01066578 0.05538391] [ 0.02076059 -0.01202944 0.9997121 0.05306294] [ 0. 0. 0. 1. ]] SLAMing on 130.294860624 meters Centerline goodness [0,1] 0.6584925258546719 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99771014 -0.06407195 -0.02166247 0.42991754] [ 0.06431072 0.99787457 0.01051095 0.05651935] [ 0.02094297 -0.01188001 0.99971009 0.05318861] [ 0. 0. 0. 1. ]] SLAMing on 130.324860624 meters Centerline goodness [0,1] 0.6562062581839527 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99772866 -0.06375154 -0.02175451 0.43008547] [ 0.0639877 0.99789715 0.01033726 0.05786238] [ 0.02104975 -0.0117058 0.9997099 0.05342107] [ 0. 0. 0. 1. ]] SLAMing on 130.354860624 meters Centerline goodness [0,1] 0.65823214164575 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99773506 -0.06366256 -0.02172166 0.43013104] [ 0.06389817 0.99790296 0.01033005 0.05804769] [ 0.02101847 -0.01169463 0.99971069 0.05335122] [ 0. 0. 0. 1. ]] SLAMing on 130.384860624 meters Centerline goodness [0,1] 0.6577717575347104 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99773641 -0.06367043 -0.02163619 0.43017711] [ 0.06390564 0.99790218 0.01035885 0.05793088] [ 0.02093125 -0.01171807 0.99971224 0.05310646] [ 0. 0. 0. 1. ]] SLAMing on 130.414860624 meters Centerline goodness [0,1] 0.6696390274736438 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99773487 -0.06369306 -0.02164071 0.43020874] [ 0.06392788 0.99790098 0.01033728 0.05771534] [ 0.02093687 -0.01169731 0.99971237 0.05315142] [ 0. 0. 0. 1. ]] SLAMing on 130.444860624 meters Centerline goodness [0,1] 0.6660643295988435 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99772384 -0.06389005 -0.02156835 0.4299416 ] [ 0.06412121 0.99788998 0.01020104 0.05775897] [ 0.0208711 -0.01156081 0.99971533 0.05333111] [ 0. 0. 0. 1. ]] SLAMing on 130.474860624 meters Centerline goodness [0,1] 0.6655596222493335 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99771731 -0.06399015 -0.02157405 0.42990651] [ 0.06422115 0.99788367 0.0101896 0.05753788] [ 0.02087636 -0.01155185 0.99971533 0.05341361] [ 0. 0. 0. 1. ]] SLAMing on 130.504860624 meters Centerline goodness [0,1] 0.665279536819251 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99770032 -0.06427134 -0.02152339 0.42962264] [ 0.06450029 0.9978664 0.01011704 0.05726768] [ 0.02082724 -0.01148204 0.99971715 0.05358098] [ 0. 0. 0. 1. ]] SLAMing on 130.534860624 meters Centerline goodness [0,1] 0.6635655413796997 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99763116 -0.06544852 -0.02117912 0.42803145] [ 0.06566371 0.99779535 0.00962931 0.05616437] [ 0.02050221 -0.0109972 0.99972932 0.05446999] [ 0. 0. 0. 1. ]] SLAMing on 130.564860624 meters Centerline goodness [0,1] 0.6703777156765528 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.05 [[ 0.99759493 -0.06605245 -0.02101024 0.42747594] [ 0.06626179 0.99775773 0.00942817 0.05536642] [ 0.02034037 -0.01079767 0.9997348 0.05464771] [ 0. 0. 0. 1. ]] SLAMing on 130.594860624 meters Centerline goodness [0,1] 0.6574882925072045 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99756541 -0.06653798 -0.02087947 0.42698784] [ 0.06674468 0.99772615 0.00936345 0.05438447] [ 0.02020896 -0.01073425 0.99973815 0.05483172] [ 0. 0. 0. 1. ]] SLAMing on 130.624860624 meters Centerline goodness [0,1] 0.6574882925072045 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99756541 -0.06653798 -0.02087947 0.42698784] [ 0.06674468 0.99772615 0.00936345 0.05438447] [ 0.02020896 -0.01073425 0.99973815 0.05483172] [ 0. 0. 0. 1. ]] SLAMing on 130.654860624 meters Centerline goodness [0,1] 0.668963808751661 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.05 [[ 0.99752989 -0.06712413 -0.02069955 0.42646618] [ 0.06732485 0.99768909 0.00915691 0.05380864] [ 0.02003707 -0.01052788 0.99974381 0.05491013] [ 0. 0. 0. 1. ]] SLAMing on 130.684860624 meters Centerline goodness [0,1] 0.6532466656170577 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.06 [[ 0.9975002 -0.06760583 -0.02056196 0.42606736] [ 0.06780072 0.99765889 0.00893281 0.05349177] [ 0.01990992 -0.0103046 0.99974867 0.05500738] [ 0. 0. 0. 1. ]] SLAMing on 130.714860624 meters Centerline goodness [0,1] 0.6636973050794079 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.06 [[ 0.99747337 -0.06805395 -0.02038493 0.42561587] [ 0.06824314 0.9976305 0.00873258 0.05333478] [ 0.01974234 -0.01010164 0.99975407 0.05509172] [ 0. 0. 0. 1. ]] SLAMing on 130.744860624 meters Centerline goodness [0,1] 0.6624938082586571 Centerline is valid? [False, False] Translation: X:0.43, Y:0.05, Z:0.06 [[ 0.9974392 -0.06858431 -0.02027879 0.42511506] [ 0.06876602 0.99759743 0.00840213 0.05360799] [ 0.01965381 -0.00977511 0.99975906 0.05534658] [ 0. 0. 0. 1. ]] SLAMing on 130.77486062399998 meters Centerline goodness [0,1] 0.6594471808020151 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.9974252 -0.06881534 -0.02018446 0.42497171] [ 0.06899069 0.99758423 0.00812277 0.05423743] [ 0.01957673 -0.0094944 0.99976328 0.05531087] [ 0. 0. 0. 1. ]] SLAMing on 130.80486062399999 meters Centerline goodness [0,1] 0.656064738633546 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99741197 -0.06899769 -0.02021583 0.42480389] [ 0.06916806 0.99757412 0.00785225 0.05483307] [ 0.019625 -0.00923022 0.9997648 0.05561282] [ 0. 0. 0. 1. ]] SLAMing on 130.834860624 meters Centerline goodness [0,1] 0.650386300998509 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99739967 -0.06920566 -0.02011138 0.42422798] [ 0.06936193 0.99756573 0.0071788 0.05672718] [ 0.01956561 -0.00855509 0.99977197 0.0562181 ] [ 0. 0. 0. 1. ]] SLAMing on 130.864860624 meters Centerline goodness [0,1] 0.6602375897737025 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99739796 -0.06921738 -0.02015624 0.42411736] [ 0.06936654 0.99756809 0.0067968 0.0579759 ] [ 0.01963676 -0.00817728 0.99977374 0.05662923] [ 0. 0. 0. 1. ]] SLAMing on 130.894860624 meters Centerline goodness [0,1] 0.6450245881206518 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99741068 -0.06900079 -0.02026884 0.42445131] [ 0.06914696 0.99758465 0.00660032 0.05923637] [ 0.01976446 -0.00798476 0.99977278 0.0566381 ] [ 0. 0. 0. 1. ]] SLAMing on 130.924860624 meters Centerline goodness [0,1] 0.648488010707561 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99742506 -0.06875554 -0.02039436 0.42486597] [ 0.06889908 0.99760298 0.00642025 0.06065753] [ 0.01990404 -0.00780887 0.9997714 0.0565541 ] [ 0. 0. 0. 1. ]] SLAMing on 130.954860624 meters Centerline goodness [0,1] 0.6501067647994185 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99748217 -0.06788694 -0.02051069 0.42551967] [ 0.06802901 0.99766339 0.00630927 0.06266475] [ 0.02003445 -0.00768871 0.99976973 0.05647379] [ 0. 0. 0. 1. ]] SLAMing on 130.984860624 meters Centerline goodness [0,1] 0.6633505950758608 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99748281 -0.06790489 -0.02041973 0.42519334] [ 0.06804376 0.99766317 0.00618383 0.06304272] [ 0.0199521 -0.0075577 0.99977237 0.05670773] [ 0. 0. 0. 1. ]] SLAMing on 131.014860624 meters Centerline goodness [0,1] 0.6692190241790297 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99747882 -0.06795373 -0.02045218 0.42511319] [ 0.06809034 0.99766077 0.00605813 0.06341025] [ 0.01999267 -0.00743545 0.99977248 0.05692881] [ 0. 0. 0. 1. ]] SLAMing on 131.044860624 meters Centerline goodness [0,1] 0.6715476407360175 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99748942 -0.067772 -0.02053823 0.42560488] [ 0.06791116 0.99767239 0.00615508 0.06366555] [ 0.02007328 -0.0075344 0.99977012 0.05656321] [ 0. 0. 0. 1. ]] SLAMing on 131.074860624 meters Centerline goodness [0,1] 0.6672966572547591 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99748641 -0.06778645 -0.02063634 0.42581992] [ 0.06792662 0.99767125 0.00616847 0.06341432] [ 0.02017014 -0.00755472 0.99976802 0.05660664] [ 0. 0. 0. 1. ]] SLAMing on 131.104860624 meters Centerline goodness [0,1] 0.6707871296127976 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99747817 -0.06793919 -0.0205321 0.42566619] [ 0.06807774 0.99766122 0.00612493 0.06336784] [ 0.02006796 -0.00750726 0.99977043 0.05652885] [ 0. 0. 0. 1. ]] SLAMing on 131.134860624 meters Centerline goodness [0,1] 0.6678161441081718 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:0.06 [[ 0.99746916 -0.06806895 -0.02053988 0.42551187] [ 0.06820665 0.9976527 0.00607875 0.06318504] [ 0.0200779 -0.00746432 0.99977055 0.05676212] [ 0. 0. 0. 1. ]] SLAMing on 131.164860624 meters Centerline goodness [0,1] 0.6658568152403442 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99742159 -0.06882451 -0.02033144 0.42432705] [ 0.06895604 0.99760261 0.00583969 0.06216984] [ 0.01988078 -0.00722661 0.99977624 0.05757336] [ 0. 0. 0. 1. ]] SLAMing on 131.194860624 meters Centerline goodness [0,1] 0.6618014255232215 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99740883 -0.06902042 -0.02029282 0.42420723] [ 0.06915354 0.99758839 0.00593231 0.06124268] [ 0.01983443 -0.00732026 0.99977648 0.05754959] [ 0. 0. 0. 1. ]] SLAMing on 131.224860624 meters Centerline goodness [0,1] 0.6533402875413852 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99738787 -0.06935253 -0.02019053 0.42394971] [ 0.06948462 0.99756548 0.00591533 0.06018263] [ 0.01973114 -0.00730281 0.99977865 0.05758919] [ 0. 0. 0. 1. ]] SLAMing on 131.254860624 meters Centerline goodness [0,1] 0.6460730138599511 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99736728 -0.0696886 -0.02005021 0.42348829] [ 0.06981816 0.99754267 0.00583524 0.05945968] [ 0.01959429 -0.00721974 0.99978195 0.05780305] [ 0. 0. 0. 1. ]] SLAMing on 131.284860624 meters Centerline goodness [0,1] 0.6509446785374473 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99733125 -0.07022677 -0.0199643 0.42288208] [ 0.07035132 0.99750653 0.00560527 0.05931614] [ 0.01952088 -0.00699482 0.99978498 0.05824425] [ 0. 0. 0. 1. ]] SLAMing on 131.314860624 meters Centerline goodness [0,1] 0.6521217064274225 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99732928 -0.07025942 -0.01994813 0.42296097] [ 0.07038374 0.99750427 0.0055994 0.05946472] [ 0.01950493 -0.00698847 0.99978534 0.05808907] [ 0. 0. 0. 1. ]] SLAMing on 131.344860624 meters Centerline goodness [0,1] 0.642899260670386 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.9973168 -0.07042865 -0.0199751 0.42283882] [ 0.07054907 0.99749376 0.00538844 0.05982946] [ 0.01954554 -0.0067832 0.99978596 0.05830441] [ 0. 0. 0. 1. ]] SLAMing on 131.374860624 meters Centerline goodness [0,1] 0.638385764219892 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99730361 -0.07060792 -0.02000056 0.42256706] [ 0.07072442 0.99748245 0.00517776 0.05986432] [ 0.01958462 -0.00657833 0.99978656 0.0587724 ] [ 0. 0. 0. 1. ]] SLAMing on 131.404860624 meters Centerline goodness [0,1] 0.6537929156549955 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99727907 -0.07099372 -0.01985808 0.42185522] [ 0.07110427 0.99745677 0.00491676 0.05986751] [ 0.01945851 -0.00631537 0.99979072 0.05926132] [ 0. 0. 0. 1. ]] SLAMing on 131.434860624 meters Centerline goodness [0,1] 0.6583529838563396 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99725328 -0.07140368 -0.01968284 0.42125908] [ 0.0715072 0.99742945 0.00460571 0.0600514 ] [ 0.01930338 -0.00600053 0.99979567 0.05956943] [ 0. 0. 0. 1. ]] SLAMing on 131.464860624 meters Centerline goodness [0,1] 0.6421959928134453 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99724431 -0.07151517 -0.01973258 0.42121696] [ 0.07161609 0.99742232 0.00445499 0.06038319] [ 0.01936312 -0.00585588 0.99979537 0.05975347] [ 0. 0. 0. 1. ]] SLAMing on 131.494860624 meters Centerline goodness [0,1] 0.6423337732671915 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99723997 -0.07159031 -0.01967914 0.42111376] [ 0.07168826 0.99741774 0.00431731 0.06080803] [ 0.01931925 -0.00571616 0.99979703 0.05976781] [ 0. 0. 0. 1. ]] SLAMing on 131.52486062399998 meters Centerline goodness [0,1] 0.6463039365412231 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99723714 -0.07163437 -0.01966218 0.42093848] [ 0.07172634 0.99741628 0.00401227 0.0618226 ] [ 0.01932396 -0.00541148 0.99979863 0.06003993] [ 0. 0. 0. 1. ]] SLAMing on 131.55486062399999 meters Centerline goodness [0,1] 0.6472959125583513 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99724164 -0.071563 -0.01969365 0.42112184] [ 0.07165346 0.99742186 0.0039258 0.06237248] [ 0.01936194 -0.00532609 0.99979835 0.05995846] [ 0. 0. 0. 1. ]] SLAMing on 131.584860624 meters Centerline goodness [0,1] 0.6347639778451439 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99724707 -0.07144266 -0.01985507 0.42152678] [ 0.07153313 0.99743066 0.00388357 0.06273291] [ 0.0195266 -0.00529317 0.99979533 0.05988968] [ 0. 0. 0. 1. ]] SLAMing on 131.614860624 meters Centerline goodness [0,1] 0.6464436579518209 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.9972553 -0.07130641 -0.01993122 0.42178303] [ 0.07139683 0.99744052 0.00386143 0.06291148] [ 0.01960487 -0.00527385 0.9997939 0.05986162] [ 0. 0. 0. 1. ]] SLAMing on 131.644860624 meters Centerline goodness [0,1] 0.6356249429380079 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99725945 -0.07127691 -0.01982901 0.4213898 ] [ 0.07136765 0.99744243 0.00390574 0.06254351] [ 0.0194999 -0.00531018 0.99979576 0.06014931] [ 0. 0. 0. 1. ]] SLAMing on 131.674860624 meters Centerline goodness [0,1] 0.6395279832009495 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99725497 -0.07135838 -0.01976133 0.42118919] [ 0.07144987 0.99743632 0.00396199 0.06219522] [ 0.01942794 -0.00536306 0.99979688 0.06022688] [ 0. 0. 0. 1. ]] SLAMing on 131.704860624 meters Centerline goodness [0,1] 0.634133611691023 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99725715 -0.07134364 -0.01970444 0.4213036 ] [ 0.07143988 0.99743597 0.00422338 0.06127003] [ 0.01935261 -0.00561947 0.99979693 0.05994078] [ 0. 0. 0. 1. ]] SLAMing on 131.734860624 meters Centerline goodness [0,1] 0.6401344018888915 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99723828 -0.07166138 -0.0195055 0.42071447] [ 0.07176097 0.99741191 0.00445374 0.05917235] [ 0.01913585 -0.00584118 0.99979983 0.06012987] [ 0. 0. 0. 1. ]] SLAMing on 131.764860624 meters Centerline goodness [0,1] 0.6231508623628059 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99723066 -0.07178867 -0.01942696 0.420544 ] [ 0.07189083 0.99740185 0.00461145 0.05813966] [ 0.01904543 -0.00599529 0.99980064 0.06009377] [ 0. 0. 0. 1. ]] SLAMing on 131.794860624 meters Centerline goodness [0,1] 0.651305057096248 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99722586 -0.07187416 -0.01935704 0.42040011] [ 0.07197917 0.99739467 0.00478295 0.05702458] [ 0.01896284 -0.00616299 0.99980119 0.06012835] [ 0. 0. 0. 1. ]] SLAMing on 131.824860624 meters Centerline goodness [0,1] 0.6178056738874287 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:0.06 [[ 0.99722424 -0.07190044 -0.01934293 0.42048895] [ 0.07200975 0.99739132 0.00501452 0.05601808] [ 0.01893193 -0.00639348 0.99980033 0.05995591] [ 0. 0. 0. 1. ]] SLAMing on 131.854860624 meters Centerline goodness [0,1] 0.6119950209347064 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99722819 -0.07186466 -0.01927209 0.42029507] [ 0.07197957 0.99739184 0.00533564 0.05474191] [ 0.01883838 -0.00670804 0.99980004 0.06003898] [ 0. 0. 0. 1. ]] SLAMing on 131.884860624 meters Centerline goodness [0,1] 0.6110257915895028 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99723952 -0.07167356 -0.01939716 0.42068981] [ 0.07179501 0.99740347 0.00563791 0.05397023] [ 0.01894271 -0.00701497 0.99979596 0.05990449] [ 0. 0. 0. 1. ]] SLAMing on 131.914860624 meters Centerline goodness [0,1] 0.6032132863976893 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99724053 -0.07165093 -0.01942878 0.42090917] [ 0.07177487 0.99740424 0.00575781 0.05337928] [ 0.01896579 -0.00713642 0.99979466 0.05972934] [ 0. 0. 0. 1. ]] SLAMing on 131.944860624 meters Centerline goodness [0,1] 0.5731228705740286 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:0.06 [[ 9.97024585e-01 -7.46591098e-02 -1.91831979e-02 4.76225381e-01] [ 7.46660882e-02 9.97208529e-01 -3.53198146e-04 5.39891808e-02] [ 1.91560180e-02 -1.08018711e-03 9.99815923e-01 6.13349906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974860624 meters Centerline goodness [0,1] 0.6546045210485945 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99737711 -0.07025933 -0.01739311 0.40976848] [ 0.07020762 0.99752602 -0.00356658 0.05452362] [ 0.01760066 0.0023361 0.99984237 0.05955115] [ 0. 0. 0. 1. ]] SLAMing on 132.004860624 meters Centerline goodness [0,1] 0.6008708600306831 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99739652 -0.06993535 -0.01758488 0.41023049] [ 0.06988725 0.99754932 -0.00333575 0.05429435] [ 0.01777508 0.00209811 0.99983981 0.05951042] [ 0. 0. 0. 1. ]] SLAMing on 132.034860624 meters Centerline goodness [0,1] 0.6006307016555918 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99741971 -0.06957506 -0.01769832 0.41067714] [ 0.06953063 0.99757496 -0.00311412 0.05421564] [ 0.01787207 0.00187551 0.99983852 0.05935544] [ 0. 0. 0. 1. ]] SLAMing on 132.064860624 meters Centerline goodness [0,1] 0.652761840476994 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99744858 -0.06909417 -0.01795353 0.41142359] [ 0.06905483 0.99760893 -0.00280281 0.05412561] [ 0.01810426 0.00155588 0.99983489 0.05916964] [ 0. 0. 0. 1. ]] SLAMing on 132.094860624 meters Centerline goodness [0,1] 0.6478292232090528 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.9976941 -0.06544604 -0.01798023 0.41060896] [ 0.06547462 0.99785373 0.00100439 0.05336709] [ 0.01787591 -0.00217933 0.99983784 0.05944783] [ 0. 0. 0. 1. ]] SLAMing on 132.124860624 meters Centerline goodness [0,1] 0.6470336694274397 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99772428 -0.06493922 -0.01814255 0.4112222 ] [ 0.06497035 0.99788655 0.00113108 0.05390045] [ 0.01803076 -0.00230724 0.99983477 0.0592829 ] [ 0. 0. 0. 1. ]] SLAMing on 132.154860624 meters Centerline goodness [0,1] 0.6492724196277495 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99775393 -0.06442444 -0.01834627 0.41192232] [ 0.06445943 0.99791945 0.00132146 0.05413414] [ 0.01822296 -0.00250108 0.99983082 0.05911079] [ 0. 0. 0. 1. ]] SLAMing on 132.184860624 meters Centerline goodness [0,1] 0.6523652613523517 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99799328 -0.06059738 -0.01836791 0.41122382] [ 0.06070203 0.99814242 0.00519397 0.05267456] [ 0.01801904 -0.00629852 0.9998178 0.05944418] [ 0. 0. 0. 1. ]] SLAMing on 132.214860624 meters Centerline goodness [0,1] 0.6527276825969341 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99801819 -0.06014366 -0.01850494 0.41180112] [ 0.06025312 0.99816844 0.00541518 0.0526739 ] [ 0.01814536 -0.00651943 0.9998141 0.05923848] [ 0. 0. 0. 1. ]] SLAMing on 132.244860624 meters Centerline goodness [0,1] 0.6534176588417997 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.9980351 -0.05979966 -0.01870657 0.41238932] [ 0.05991205 0.99818848 0.00550587 0.052867 ] [ 0.01834343 -0.0066158 0.99980986 0.05914057] [ 0. 0. 0. 1. ]] SLAMing on 132.27486062399998 meters Centerline goodness [0,1] 0.6846556312299852 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99809029 -0.05881002 -0.01889858 0.41322761] [ 0.05893346 0.99824363 0.00604224 0.05280357] [ 0.01851004 -0.00714446 0.99980315 0.0588783 ] [ 0. 0. 0. 1. ]] SLAMing on 132.30486062399999 meters Centerline goodness [0,1] 0.6739968005767975 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99810667 -0.0585028 -0.01898701 0.41353333] [ 0.05863081 0.99826013 0.0062565 0.05258666] [ 0.01858795 -0.00735787 0.99980015 0.05881188] [ 0. 0. 0. 1. ]] SLAMing on 132.334860624 meters Centerline goodness [0,1] 0.6782579338284942 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99811714 -0.05831681 -0.01900846 0.41355447] [ 0.05844569 0.99827074 0.00629587 0.05257596] [ 0.01860843 -0.00739498 0.9997995 0.05894764] [ 0. 0. 0. 1. ]] SLAMing on 132.364860624 meters Centerline goodness [0,1] 0.6712800432082096 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99813543 -0.05797213 -0.01910199 0.41398048] [ 0.05810702 0.99828865 0.00658358 0.05223255] [ 0.01868764 -0.00768126 0.99979586 0.05872494] [ 0. 0. 0. 1. ]] SLAMing on 132.394860624 meters Centerline goodness [0,1] 0.6707653645073709 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99816634 -0.05740302 -0.01920539 0.41468065] [ 0.05754943 0.99831699 0.00715918 0.05118163] [ 0.0187621 -0.00825131 0.99978993 0.05818054] [ 0. 0. 0. 1. ]] SLAMing on 132.424860624 meters Centerline goodness [0,1] 0.6762153756000812 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.998174 -0.05722072 -0.01935109 0.41517269] [ 0.05737064 0.99832639 0.00728247 0.05104939] [ 0.01890199 -0.00837936 0.99978623 0.05796312] [ 0. 0. 0. 1. ]] SLAMing on 132.454860624 meters Centerline goodness [0,1] 0.6741550293462861 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99817508 -0.05720439 -0.01934322 0.41524355] [ 0.05735495 0.99832701 0.00732008 0.05111513] [ 0.01889212 -0.00841616 0.99978611 0.0578272 ] [ 0. 0. 0. 1. ]] SLAMing on 132.484860624 meters Centerline goodness [0,1] 0.6756507872335646 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99817337 -0.05722397 -0.01937394 0.4153723 ] [ 0.05737631 0.9983252 0.00739993 0.05087688] [ 0.01891804 -0.00849802 0.99978492 0.05773286] [ 0. 0. 0. 1. ]] SLAMing on 132.514860624 meters Centerline goodness [0,1] 0.6756507872335646 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99817337 -0.05722397 -0.01937394 0.4153723 ] [ 0.05737631 0.9983252 0.00739993 0.05087688] [ 0.01891804 -0.00849802 0.99978492 0.05773286] [ 0. 0. 0. 1. ]] SLAMing on 132.544860624 meters Centerline goodness [0,1] 0.6765597288013829 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99817056 -0.05731522 -0.01924847 0.41540628] [ 0.0574698 0.9983185 0.00757538 0.05019417] [ 0.01878191 -0.00866773 0.99978603 0.05727539] [ 0. 0. 0. 1. ]] SLAMing on 132.574860624 meters Centerline goodness [0,1] 0.6718097291470152 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99815937 -0.05750325 -0.01926778 0.4155235 ] [ 0.05765632 0.99830843 0.00748488 0.05001407] [ 0.01880478 -0.00858201 0.99978634 0.05719102] [ 0. 0. 0. 1. ]] SLAMing on 132.604860624 meters Centerline goodness [0,1] 0.6803348595026484 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:0.06 [[ 0.99815215 -0.05763065 -0.01926112 0.41553027] [ 0.05778304 0.99830136 0.00745078 0.04979395] [ 0.01879901 -0.00854998 0.99978672 0.05714184] [ 0. 0. 0. 1. ]] SLAMing on 132.634860624 meters Centerline goodness [0,1] 0.6775785860126995 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99812065 -0.05824393 -0.01904784 0.41471729] [ 0.05838576 0.99826972 0.00697595 0.05038851] [ 0.01860857 -0.00807496 0.99979424 0.05754296] [ 0. 0. 0. 1. ]] SLAMing on 132.664860624 meters Centerline goodness [0,1] 0.6682229355121097 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.9981004 -0.05862044 -0.01895353 0.41424397] [ 0.05875563 0.99825021 0.00665584 0.05077284] [ 0.0185302 -0.00775682 0.99979821 0.05785951] [ 0. 0. 0. 1. ]] SLAMing on 132.694860624 meters Centerline goodness [0,1] 0.6722828772970302 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99808282 -0.05897138 -0.01878999 0.41374047] [ 0.05909992 0.99823181 0.00636058 0.05122702] [ 0.01838167 -0.00745888 0.99980322 0.05805998] [ 0. 0. 0. 1. ]] SLAMing on 132.724860624 meters Centerline goodness [0,1] 0.6748716331861995 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99806438 -0.05930863 -0.01870794 0.41343393] [ 0.05943237 0.99821352 0.00612902 0.05149488] [ 0.01831102 -0.00722902 0.99980621 0.05818304] [ 0. 0. 0. 1. ]] SLAMing on 132.754860624 meters Centerline goodness [0,1] 0.6718380581387494 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99804188 -0.05972642 -0.01857855 0.4132696 ] [ 0.05984352 0.99819085 0.00581177 0.05174738] [ 0.01819783 -0.00691219 0.99981051 0.05797747] [ 0. 0. 0. 1. ]] SLAMing on 132.784860624 meters Centerline goodness [0,1] 0.6693724773952062 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99803052 -0.05993854 -0.01850562 0.41323399] [ 0.06005134 0.99817958 0.00560069 0.05212274] [ 0.01813623 -0.00670094 0.99981307 0.05778214] [ 0. 0. 0. 1. ]] SLAMing on 132.814860624 meters Centerline goodness [0,1] 0.6727449385394071 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99801609 -0.06022472 -0.01835419 0.41271876] [ 0.06032934 0.99816498 0.00520026 0.05348802] [ 0.01800732 -0.00629724 0.99981802 0.05799926] [ 0. 0. 0. 1. ]] SLAMing on 132.844860624 meters Centerline goodness [0,1] 0.6597418450618261 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99800757 -0.06034404 -0.01842508 0.41279842] [ 0.06044436 0.99815936 0.00493633 0.05430419] [ 0.01809329 -0.00604018 0.99981806 0.05810066] [ 0. 0. 0. 1. ]] SLAMing on 132.874860624 meters Centerline goodness [0,1] 0.6668702497285559 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.06 [[ 0.99801019 -0.06029697 -0.01843733 0.41294597] [ 0.06039587 0.9981627 0.0048546 0.05484675] [ 0.01811073 -0.00595848 0.99981823 0.05796772] [ 0. 0. 0. 1. ]] SLAMing on 132.904860624 meters Centerline goodness [0,1] 0.6656750056344376 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99801295 -0.06023777 -0.01848119 0.41319864] [ 0.06033644 0.99816642 0.00482859 0.05519455] [ 0.01815643 -0.00593409 0.99981755 0.05781481] [ 0. 0. 0. 1. ]] SLAMing on 132.934860624 meters Centerline goodness [0,1] 0.655803743182384 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800929 -0.06028088 -0.01853855 0.41313859] [ 0.06037555 0.99816518 0.00459002 0.05604682] [ 0.01822785 -0.00570015 0.99981761 0.05807237] [ 0. 0. 0. 1. ]] SLAMing on 132.964860624 meters Centerline goodness [0,1] 0.6667270504053259 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800285 -0.06038199 -0.01855621 0.41305694] [ 0.06047483 0.99815965 0.00448309 0.05621678] [ 0.01825136 -0.00559632 0.99981777 0.0582199 ] [ 0. 0. 0. 1. ]] SLAMing on 132.994860624 meters Centerline goodness [0,1] 0.6744697244379986 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800499 -0.06035426 -0.01853111 0.413185 ] [ 0.0604482 0.99816096 0.00455114 0.05619182] [ 0.01822235 -0.00566224 0.99981793 0.05797567] [ 0. 0. 0. 1. ]] SLAMing on 133.02486062399998 meters Centerline goodness [0,1] 0.6687358405074761 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99799295 -0.06060204 -0.01837031 0.41296659] [ 0.06069442 0.99814619 0.00451299 0.05634292] [ 0.01806276 -0.0056189 0.99982107 0.0577345 ] [ 0. 0. 0. 1. ]] SLAMing on 133.05486062399999 meters Centerline goodness [0,1] 0.6703008369147252 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99799745 -0.06050687 -0.0184392 0.41344573] [ 0.06060118 0.99815146 0.00459913 0.05633809] [ 0.01812683 -0.00570736 0.99981941 0.05735556] [ 0. 0. 0. 1. ]] SLAMing on 133.084860624 meters Centerline goodness [0,1] 0.6661075727011039 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800192 -0.06042484 -0.0184663 0.41380069] [ 0.06052117 0.99815584 0.00470224 0.0562297 ] [ 0.01814812 -0.00581045 0.99981843 0.05699343] [ 0. 0. 0. 1. ]] SLAMing on 133.114860624 meters Centerline goodness [0,1] 0.6636785512167516 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800252 -0.06042507 -0.0184334 0.41400735] [ 0.06052239 0.99815545 0.00476751 0.05614806] [ 0.01811132 -0.00587362 0.99981872 0.05663806] [ 0. 0. 0. 1. ]] SLAMing on 133.144860624 meters Centerline goodness [0,1] 0.6716570726490865 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99799752 -0.06051225 -0.01841768 0.41383366] [ 0.0606032 0.99815215 0.00441995 0.05743259] [ 0.01811618 -0.00552727 0.99982061 0.05687082] [ 0. 0. 0. 1. ]] SLAMing on 133.174860624 meters Centerline goodness [0,1] 0.6687843172845669 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99799939 -0.06049328 -0.0183787 0.41385915] [ 0.0605816 0.99815404 0.00428653 0.05829011] [ 0.01808546 -0.00539137 0.99982191 0.05677578] [ 0. 0. 0. 1. ]] SLAMing on 133.204860624 meters Centerline goodness [0,1] 0.668241171795163 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99800549 -0.06036737 -0.01846158 0.41420671] [ 0.06045385 0.99816232 0.00416174 0.05931257] [ 0.01817642 -0.00526951 0.99982091 0.0565984 ] [ 0. 0. 0. 1. ]] SLAMing on 133.234860624 meters Centerline goodness [0,1] 0.6639361048535737 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99801196 -0.06025103 -0.01849142 0.41436502] [ 0.06033402 0.99817038 0.00396305 0.06062097] [ 0.01821881 -0.00507083 0.99982116 0.05652275] [ 0. 0. 0. 1. ]] SLAMing on 133.264860624 meters Centerline goodness [0,1] 0.673707260327091 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99820485 -0.05698679 -0.0184276 0.41348796] [ 0.05712696 0.99834117 0.00717106 0.06167944] [ 0.01798838 -0.0082109 0.99980448 0.05669372] [ 0. 0. 0. 1. ]] SLAMing on 133.294860624 meters Centerline goodness [0,1] 0.6795059469350412 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.99821136 -0.05679353 -0.01867003 0.41412065] [ 0.05693175 0.99835383 0.00695677 0.0629085 ] [ 0.01824419 -0.00800724 0.9998015 0.05661221] [ 0. 0. 0. 1. ]] SLAMing on 133.324860624 meters Centerline goodness [0,1] 0.672663438812272 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:0.06 [[ 0.9982178 -0.05665459 -0.0187477 0.41435497] [ 0.05678784 0.9983641 0.00665258 0.06434149] [ 0.01834013 -0.00770537 0.99980211 0.05666754] [ 0. 0. 0. 1. ]] SLAMing on 133.354860624 meters Centerline goodness [0,1] 0.6799954038837183 Centerline is valid? [False, False] Translation: X:0.41, Y:0.07, Z:0.06 [[ 0.99822473 -0.05649199 -0.01886915 0.41472563] [ 0.05662089 0.99837544 0.00636819 0.0657809 ] [ 0.01847874 -0.00742527 0.99980168 0.05667639] [ 0. 0. 0. 1. ]] SLAMing on 133.384860624 meters Centerline goodness [0,1] 0.6792809839167455 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99824888 -0.05600175 -0.01905214 0.41539738] [ 0.05612757 0.99840476 0.00613449 0.06808473] [ 0.0186782 -0.00719309 0.99979967 0.05653309] [ 0. 0. 0. 1. ]] SLAMing on 133.414860624 meters Centerline goodness [0,1] 0.6789155793259256 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825369 -0.05593045 -0.01900918 0.41561211] [ 0.05605409 0.9984095 0.00603444 0.06888286] [ 0.01864143 -0.00708944 0.9998011 0.05625078] [ 0. 0. 0. 1. ]] SLAMing on 133.444860624 meters Centerline goodness [0,1] 0.6836404784998383 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99826264 -0.05571944 -0.01915869 0.41605564] [ 0.05583851 0.99842333 0.00573706 0.07034493] [ 0.01880882 -0.00679689 0.9998 0.05629867] [ 0. 0. 0. 1. ]] SLAMing on 133.474860624 meters Centerline goodness [0,1] 0.6768554913294798 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99826341 -0.0557233 -0.01910703 0.41595063] [ 0.05584039 0.99842372 0.00565006 0.07064753] [ 0.01876207 -0.00670719 0.99980148 0.05631384] [ 0. 0. 0. 1. ]] SLAMing on 133.504860624 meters Centerline goodness [0,1] 0.6884520998286798 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825703 -0.05587378 -0.01900068 0.41569943] [ 0.05598766 0.99841623 0.00551449 0.07073731] [ 0.01866247 -0.00656868 0.99980426 0.05638206] [ 0. 0. 0. 1. ]] SLAMing on 133.534860624 meters Centerline goodness [0,1] 0.6843067805634651 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99826144 -0.0557789 -0.0190474 0.41604083] [ 0.05589573 0.99842059 0.00565666 0.07042803] [ 0.01870179 -0.0067115 0.99980258 0.05610496] [ 0. 0. 0. 1. ]] SLAMing on 133.564860624 meters Centerline goodness [0,1] 0.6879660938440872 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825919 -0.05584146 -0.01898208 0.41580603] [ 0.05595772 0.99841716 0.00564948 0.07014217] [ 0.01863656 -0.00670184 0.99980386 0.05626801] [ 0. 0. 0. 1. ]] SLAMing on 133.594860624 meters Centerline goodness [0,1] 0.6813049514113836 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825305 -0.05598965 -0.01886822 0.41560678] [ 0.05610635 0.99840845 0.00571293 0.06996495] [ 0.01851832 -0.00676157 0.99980566 0.05614378] [ 0. 0. 0. 1. ]] SLAMing on 133.624860624 meters Centerline goodness [0,1] 0.680260785129699 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825322 -0.05601101 -0.01879576 0.41561936] [ 0.05612955 0.99840642 0.00583957 0.06963776] [ 0.01843873 -0.00688437 0.99980629 0.05594458] [ 0. 0. 0. 1. ]] SLAMing on 133.654860624 meters Centerline goodness [0,1] 0.677293880669584 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825335 -0.05598995 -0.0188513 0.41572695] [ 0.05611067 0.9984069 0.00593673 0.06918853] [ 0.01848887 -0.00698412 0.99980467 0.05596132] [ 0. 0. 0. 1. ]] SLAMing on 133.684860624 meters Centerline goodness [0,1] 0.6776760384712964 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99824661 -0.05614963 -0.01873292 0.41559556] [ 0.0562696 0.99839794 0.00593949 0.06892171] [ 0.01836941 -0.00698317 0.99980688 0.05580213] [ 0. 0. 0. 1. ]] SLAMing on 133.714860624 meters Centerline goodness [0,1] 0.6727436364895114 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99823775 -0.05634732 -0.01861085 0.41518066] [ 0.05646561 0.99838716 0.00589227 0.06864701] [ 0.01824882 -0.00693276 0.99980944 0.05596491] [ 0. 0. 0. 1. ]] SLAMing on 133.744860624 meters Centerline goodness [0,1] 0.672462025755439 Centerline is valid? [False, False] Translation: X:0.41, Y:0.07, Z:0.06 [[ 0.99822838 -0.05652922 -0.01856179 0.41491054] [ 0.05664543 0.99837754 0.00579547 0.06867609] [ 0.01820406 -0.00683665 0.99981092 0.05616901] [ 0. 0. 0. 1. ]] SLAMing on 133.77486062399998 meters Centerline goodness [0,1] 0.6766856402424916 Centerline is valid? [False, False] Translation: X:0.41, Y:0.07, Z:0.06 [[ 0.99822457 -0.0565895 -0.01858324 0.41492434] [ 0.05670483 0.99837449 0.00573853 0.06896467] [ 0.0182283 -0.0067821 0.99981085 0.05618693] [ 0. 0. 0. 1. ]] SLAMing on 133.80486062399999 meters Centerline goodness [0,1] 0.6839005842529908 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99822281 -0.05659386 -0.0186641 0.41505846] [ 0.05670632 0.99837547 0.0055518 0.06967998] [ 0.01831959 -0.00660031 0.9998104 0.05631881] [ 0. 0. 0. 1. ]] SLAMing on 133.834860624 meters Centerline goodness [0,1] 0.6788492349130424 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99824825 -0.05611795 -0.01874028 0.41543788] [ 0.05622733 0.9984036 0.00536126 0.07152877] [ 0.0184095 -0.00640559 0.99981001 0.05631827] [ 0. 0. 0. 1. ]] SLAMing on 133.864860624 meters Centerline goodness [0,1] 0.6836537790900425 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99825645 -0.05592843 -0.01886986 0.41582359] [ 0.0560328 0.99841617 0.00504798 0.07309551] [ 0.01855764 -0.00609651 0.9998092 0.05635268] [ 0. 0. 0. 1. ]] SLAMing on 133.894860624 meters Centerline goodness [0,1] 0.6821065842378042 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99826809 -0.0556646 -0.01903361 0.41642288] [ 0.05576341 0.99843295 0.00469979 0.07487761] [ 0.01874217 -0.00575303 0.9998078 0.05626901] [ 0. 0. 0. 1. ]] SLAMing on 133.924860624 meters Centerline goodness [0,1] 0.6852820452679723 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99846887 -0.0519702 -0.01894779 0.4155668 ] [ 0.05212933 0.99860827 0.00800336 0.07672735] [ 0.01850549 -0.00897884 0.99978844 0.05650514] [ 0. 0. 0. 1. ]] SLAMing on 133.954860624 meters Centerline goodness [0,1] 0.6871092377941693 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99849566 -0.05134739 -0.01923168 0.41654315] [ 0.05150696 0.99864143 0.00789537 0.07832888] [ 0.01880014 -0.00887406 0.99978388 0.05634878] [ 0. 0. 0. 1. ]] SLAMing on 133.984860624 meters Centerline goodness [0,1] 0.6913032245942836 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99851427 -0.05093791 -0.01935402 0.41701728] [ 0.05109441 0.9986643 0.00767936 0.07993711] [ 0.018937 -0.00865684 0.9997832 0.05636867] [ 0. 0. 0. 1. ]] SLAMing on 134.014860624 meters Centerline goodness [0,1] 0.7023379809847359 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99869468 -0.04729719 -0.01928477 0.4162456 ] [ 0.04751734 0.99880849 0.01112186 0.08086018] [ 0.01873576 -0.01202371 0.99975217 0.05657622] [ 0. 0. 0. 1. ]] SLAMing on 134.044860624 meters Centerline goodness [0,1] 0.703270752154918 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99870565 -0.04705814 -0.01930194 0.41650874] [ 0.04727402 0.99882265 0.0108846 0.08232489] [ 0.01876701 -0.01178299 0.99975445 0.05650892] [ 0. 0. 0. 1. ]] SLAMing on 134.074860624 meters Centerline goodness [0,1] 0.6989353917333523 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.998714 -0.0468227 -0.01944184 0.41691438] [ 0.04703567 0.99883649 0.01064517 0.08379447] [ 0.01892079 -0.01154594 0.99975432 0.05655542] [ 0. 0. 0. 1. ]] SLAMing on 134.104860624 meters Centerline goodness [0,1] 0.7012345679012346 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99872225 -0.04658134 -0.01959692 0.41744684] [ 0.04678972 0.99885152 0.01031275 0.08546351] [ 0.01909403 -0.01121651 0.99975477 0.05657359] [ 0. 0. 0. 1. ]] SLAMing on 134.134860624 meters Centerline goodness [0,1] 0.7343351830241254 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99875967 -0.04569127 -0.01978477 0.41855752] [ 0.04590075 0.99889325 0.01026635 0.08782678] [ 0.01929379 -0.01116175 0.99975155 0.05614025] [ 0. 0. 0. 1. ]] SLAMing on 134.164860624 meters Centerline goodness [0,1] 0.7091497821480441 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99876918 -0.04543839 -0.01988656 0.4192064 ] [ 0.04564818 0.99890524 0.01022558 0.08860398] [ 0.01940015 -0.01112077 0.99974995 0.05574146] [ 0. 0. 0. 1. ]] SLAMing on 134.194860624 meters Centerline goodness [0,1] 0.7290296444571538 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99878012 -0.04515924 -0.01997281 0.4198726 ] [ 0.04536839 0.9989188 0.01014581 0.08967727] [ 0.01949304 -0.01103957 0.99974904 0.05529113] [ 0. 0. 0. 1. ]] SLAMing on 134.224860624 meters Centerline goodness [0,1] 0.7268346216242008 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99878856 -0.04490847 -0.02011562 0.42048209] [ 0.04511625 0.99893172 0.0099971 0.09087469] [ 0.01964517 -0.01089253 0.99974768 0.05506359] [ 0. 0. 0. 1. ]] SLAMing on 134.254860624 meters Centerline goodness [0,1] 0.7367171196238815 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99893991 -0.04142517 -0.02007492 0.41975655] [ 0.04170112 0.99903854 0.01352794 0.0912028 ] [ 0.01949522 -0.01435075 0.99970695 0.05520318] [ 0. 0. 0. 1. ]] SLAMing on 134.284860624 meters Centerline goodness [0,1] 0.7383683185457692 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99894172 -0.04128999 -0.0202627 0.42006948] [ 0.04155969 0.99905047 0.01307448 0.09288619] [ 0.01970361 -0.01390276 0.9997092 0.05559541] [ 0. 0. 0. 1. ]] SLAMing on 134.314860624 meters Centerline goodness [0,1] 0.7406835668974168 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.998946 -0.04111594 -0.0204053 0.42030808] [ 0.04138066 0.99906242 0.01272507 0.09428287] [ 0.01986296 -0.01355604 0.99971081 0.05591544] [ 0. 0. 0. 1. ]] SLAMing on 134.344860624 meters Centerline goodness [0,1] 0.7415385359249589 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99896736 -0.04059701 -0.02039827 0.42036861] [ 0.04085374 0.99908905 0.01233084 0.09619782] [ 0.01987909 -0.01315146 0.99971589 0.05643078] [ 0. 0. 0. 1. ]] SLAMing on 134.374860624 meters Centerline goodness [0,1] 0.737774987322209 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99896928 -0.04048214 -0.02053219 0.42060842] [ 0.04073634 0.99909645 0.01211714 0.0969908 ] [ 0.02002311 -0.01294106 0.99971576 0.05664339] [ 0. 0. 0. 1. ]] SLAMing on 134.404860624 meters Centerline goodness [0,1] 0.7448312593812036 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99897169 -0.0404039 -0.02056929 0.42075641] [ 0.04065469 0.9991021 0.01192408 0.09780785] [ 0.02006904 -0.01274806 0.99971732 0.05670292] [ 0. 0. 0. 1. ]] SLAMing on 134.434860624 meters Centerline goodness [0,1] 0.7448312593812036 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99897169 -0.0404039 -0.02056929 0.42075641] [ 0.04065469 0.9991021 0.01192408 0.09780785] [ 0.02006904 -0.01274806 0.99971732 0.05670292] [ 0. 0. 0. 1. ]] SLAMing on 134.464860624 meters Centerline goodness [0,1] 0.7414052636690298 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99898095 -0.04014496 -0.02062619 0.42092598] [ 0.04039094 0.99911603 0.01165056 0.09949322] [ 0.02014024 -0.01247179 0.99971937 0.05690738] [ 0. 0. 0. 1. ]] SLAMing on 134.494860624 meters Centerline goodness [0,1] 0.7422070203527158 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.9989811 -0.04005874 -0.02078609 0.42134433] [ 0.04030222 0.99912216 0.01143013 0.1004451 ] [ 0.02030996 -0.01225621 0.99971861 0.05695571] [ 0. 0. 0. 1. ]] SLAMing on 134.52486062399998 meters Centerline goodness [0,1] 0.7365667283169474 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99898451 -0.03990079 -0.02092554 0.42171714] [ 0.04014325 0.99913007 0.01129718 0.10118323] [ 0.02045657 -0.01212572 0.99971721 0.05699137] [ 0. 0. 0. 1. ]] SLAMing on 134.55486062399999 meters Centerline goodness [0,1] 0.7758793478526558 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99900003 -0.03943016 -0.02107603 0.42233119] [ 0.03967032 0.99915116 0.01110087 0.10252279] [ 0.02062043 -0.01192586 0.99971625 0.05699912] [ 0. 0. 0. 1. ]] SLAMing on 134.584860624 meters Centerline goodness [0,1] 0.7704096597575283 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99900556 -0.03925718 -0.02113695 0.42271589] [ 0.03949566 0.99915935 0.01098539 0.10330044] [ 0.02068793 -0.01180928 0.99971624 0.05684546] [ 0. 0. 0. 1. ]] SLAMing on 134.614860624 meters Centerline goodness [0,1] 0.7549182734657923 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 0.99901096 -0.03901966 -0.02132075 0.42337705] [ 0.0392569 0.99917052 0.01082413 0.10421087] [ 0.02088071 -0.01165041 0.99971409 0.05670428] [ 0. 0. 0. 1. ]] SLAMing on 134.644860624 meters Centerline goodness [0,1] 0.7737000809001986 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.06 [[ 0.99904039 -0.03819036 -0.02144289 0.42440245] [ 0.03843026 0.99920195 0.01088953 0.10552323] [ 0.0210099 -0.01170314 0.99971077 0.05625497] [ 0. 0. 0. 1. ]] SLAMing on 134.674860624 meters Centerline goodness [0,1] 0.7840389437970202 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99904949 -0.03784676 -0.02162736 0.42509742] [ 0.03808771 0.99921561 0.01083975 0.10631121] [ 0.02120014 -0.01165319 0.99970734 0.05611024] [ 0. 0. 0. 1. ]] SLAMing on 134.704860624 meters Centerline goodness [0,1] 0.7839440848571358 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99905537 -0.03757158 -0.0218344 0.42565213] [ 0.03781234 0.99922735 0.01072063 0.10697658] [ 0.02141474 -0.01153611 0.99970412 0.05622041] [ 0. 0. 0. 1. ]] SLAMing on 134.734860624 meters Centerline goodness [0,1] 0.7844290742609594 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99906768 -0.03717434 -0.0219509 0.42624416] [ 0.03741811 0.99924132 0.01080112 0.10728812] [ 0.02153272 -0.01161241 0.9997007 0.05601124] [ 0. 0. 0. 1. ]] SLAMing on 134.764860624 meters Centerline goodness [0,1] 0.7874091413083651 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99909762 -0.03624075 -0.02214862 0.42713598] [ 0.03649061 0.99927364 0.01098281 0.10791526] [ 0.0217345 -0.01178111 0.99969436 0.05605654] [ 0. 0. 0. 1. ]] SLAMing on 134.794860624 meters Centerline goodness [0,1] 0.7898516745230633 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99910547 -0.0359841 -0.02221276 0.42732584] [ 0.03623255 0.9992841 0.01088553 0.10866459] [ 0.02180515 -0.01168062 0.999694 0.05618416] [ 0. 0. 0. 1. ]] SLAMing on 134.824860624 meters Centerline goodness [0,1] 0.7827891122857285 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99911357 -0.03568707 -0.0223272 0.42757568] [ 0.03593514 0.99929566 0.01080979 0.10938603] [ 0.0219257 -0.01160254 0.99969227 0.05640878] [ 0. 0. 0. 1. ]] SLAMing on 134.854860624 meters Centerline goodness [0,1] 0.794920384908818 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99913904 -0.03483862 -0.02252682 0.42848643] [ 0.03509071 0.99932476 0.01089365 0.10986688] [ 0.02213209 -0.01167476 0.99968689 0.05645918] [ 0. 0. 0. 1. ]] SLAMing on 134.884860624 meters Centerline goodness [0,1] 0.7927145289864015 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99915164 -0.03441159 -0.02262395 0.42919534] [ 0.03466915 0.99933729 0.01109211 0.1098016 ] [ 0.02222726 -0.01186705 0.99968251 0.05606375] [ 0. 0. 0. 1. ]] SLAMing on 134.914860624 meters Centerline goodness [0,1] 0.7950819672131147 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99915863 -0.03406493 -0.02283886 0.43003895] [ 0.03432685 0.99934817 0.01117569 0.1096889 ] [ 0.02244328 -0.01195027 0.99967669 0.05581705] [ 0. 0. 0. 1. ]] SLAMing on 134.944860624 meters Centerline goodness [0,1] 0.7920594186448207 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99916958 -0.03368697 -0.02292046 0.43077135] [ 0.03395638 0.99935752 0.01146798 0.1094059 ] [ 0.02251942 -0.01223676 0.99967151 0.0552437 ] [ 0. 0. 0. 1. ]] SLAMing on 134.974860624 meters Centerline goodness [0,1] 0.793531477177192 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.9991845 -0.03310713 -0.02311374 0.43152881] [ 0.03338581 0.99937315 0.01177673 0.10908515] [ 0.02270936 -0.0125388 0.99966348 0.05505647] [ 0. 0. 0. 1. ]] SLAMing on 135.004860624 meters Centerline goodness [0,1] 0.7936152407206852 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99918332 -0.03295159 -0.02338541 0.43234186] [ 0.03323244 0.99937888 0.01172429 0.10897613] [ 0.02298455 -0.01249187 0.99965777 0.05499382] [ 0. 0. 0. 1. ]] SLAMing on 135.034860624 meters Centerline goodness [0,1] 0.7953774280796656 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99918744 -0.0327784 -0.02345275 0.43277228] [ 0.0330624 0.99938333 0.01182568 0.10875186] [ 0.02305066 -0.01259148 0.999655 0.05475464] [ 0. 0. 0. 1. ]] SLAMing on 135.064860624 meters Centerline goodness [0,1] 0.7949264705882353 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.9991925 -0.03255828 -0.02354387 0.4331023 ] [ 0.0328476 0.99938823 0.01200802 0.10790091] [ 0.02313851 -0.01277168 0.99965069 0.05481903] [ 0. 0. 0. 1. ]] SLAMing on 135.094860624 meters Centerline goodness [0,1] 0.791627815674535 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99919275 -0.03251215 -0.02359699 0.43327315] [ 0.03280425 0.99938856 0.01209925 0.10710047] [ 0.02318919 -0.01286357 0.99964833 0.05486132] [ 0. 0. 0. 1. ]] SLAMing on 135.124860624 meters Centerline goodness [0,1] 0.7945007235890015 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99919001 -0.03262304 -0.02355965 0.43302253] [ 0.03291449 0.99938504 0.01209033 0.10613014] [ 0.02315074 -0.01285599 0.99964932 0.05518028] [ 0. 0. 0. 1. ]] SLAMing on 135.154860624 meters Centerline goodness [0,1] 0.7928587161351901 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.06 [[ 0.99918789 -0.03278014 -0.02343125 0.43267632] [ 0.03306805 0.99938097 0.01200719 0.10528284] [ 0.02302315 -0.01277227 0.99965334 0.0554049 ] [ 0. 0. 0. 1. ]] SLAMing on 135.184860624 meters Centerline goodness [0,1] 0.7961456730416941 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.99918306 -0.03290391 -0.02346359 0.43224511] [ 0.03319431 0.99937572 0.01209619 0.10352792] [ 0.02305093 -0.01286517 0.99965151 0.05607504] [ 0. 0. 0. 1. ]] SLAMing on 135.214860624 meters Centerline goodness [0,1] 0.793846982231142 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.99918039 -0.03305402 -0.02336635 0.43188577] [ 0.03334375 0.99937045 0.01212032 0.10279392] [ 0.02295101 -0.01288951 0.9996535 0.05627545] [ 0. 0. 0. 1. ]] SLAMing on 135.244860624 meters Centerline goodness [0,1] 0.7965552523874488 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.99917686 -0.03317205 -0.02334996 0.43176032] [ 0.0334625 0.999366 0.01215996 0.10184336] [ 0.02293179 -0.0129313 0.9996534 0.05639959] [ 0. 0. 0. 1. ]] SLAMing on 135.27486062399998 meters Centerline goodness [0,1] 0.790957705396208 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.99917427 -0.03323947 -0.02336486 0.43180276] [ 0.0335345 0.99936125 0.01235051 0.10045386] [ 0.02293941 -0.01312384 0.99965071 0.05637634] [ 0. 0. 0. 1. ]] SLAMing on 135.30486062399999 meters Centerline goodness [0,1] 0.7938738300717151 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.9991712 -0.03329693 -0.02341421 0.4319433 ] [ 0.03360044 0.99935476 0.01269115 0.09851161] [ 0.02297652 -0.01346736 0.99964529 0.0562747 ] [ 0. 0. 0. 1. ]] SLAMing on 135.334860624 meters Centerline goodness [0,1] 0.78934636412018 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.99904673 -0.03669688 -0.02364244 0.43285925] [ 0.03692513 0.99927484 0.00929106 0.09716846] [ 0.02328434 -0.0101552 0.9996773 0.0564339 ] [ 0. 0. 0. 1. ]] SLAMing on 135.364860624 meters Centerline goodness [0,1] 0.788349701985956 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:0.06 [[ 0.9990341 -0.03705627 -0.02361566 0.43222615] [ 0.03728862 0.99925962 0.00947514 0.0950697 ] [ 0.02324706 -0.01034659 0.99967621 0.05701992] [ 0. 0. 0. 1. ]] SLAMing on 135.394860624 meters Centerline goodness [0,1] 0.788628618057889 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.06 [[ 0.99901705 -0.03753757 -0.02357693 0.43155935] [ 0.03777173 0.9992406 0.00956628 0.09322832] [ 0.02319993 -0.01044741 0.99967626 0.0575669 ] [ 0. 0. 0. 1. ]] SLAMing on 135.424860624 meters Centerline goodness [0,1] 0.7902553538063527 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.06 [[ 0.99900313 -0.03797718 -0.02346238 0.43088406] [ 0.03821379 0.99922232 0.00971952 0.09116681] [ 0.02307501 -0.01060642 0.99967747 0.05795586] [ 0. 0. 0. 1. ]] SLAMing on 135.454860624 meters Centerline goodness [0,1] 0.7862163959342643 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.06 [[ 0.99886138 -0.04148327 -0.02356028 0.43123344] [ 0.04164691 0.99911126 0.00649788 0.08896381] [ 0.02326979 -0.00747169 0.9997013 0.05842633] [ 0. 0. 0. 1. ]] SLAMing on 135.484860624 meters Centerline goodness [0,1] 0.7839721254355401 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.06 [[ 0.99885107 -0.04177021 -0.02349006 0.43086978] [ 0.04193912 0.99909741 0.00674423 0.0870482 ] [ 0.02318715 -0.00772163 0.99970132 0.05859442] [ 0. 0. 0. 1. ]] SLAMing on 135.514860624 meters Centerline goodness [0,1] 0.7847668051359517 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:0.06 [[ 0.99884156 -0.04199997 -0.02348484 0.43081578] [ 0.04217707 0.99908494 0.00709706 0.08512262] [ 0.02316528 -0.00807936 0.999699 0.05844821] [ 0. 0. 0. 1. ]] SLAMing on 135.544860624 meters Centerline goodness [0,1] 0.7837273175426653 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.06 [[ 0.99877942 -0.04359516 -0.02321926 0.43055343] [ 0.04374386 0.99902515 0.00593482 0.08241702] [ 0.0229379 -0.00694327 0.99971278 0.05839251] [ 0. 0. 0. 1. ]] SLAMing on 135.574860624 meters Centerline goodness [0,1] 0.7832663175612493 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.06 [[ 0.99877079 -0.04381681 -0.02317331 0.43045696] [ 0.04397034 0.99901386 0.00615759 0.0809999 ] [ 0.02288066 -0.00716896 0.9997125 0.05826774] [ 0. 0. 0. 1. ]] SLAMing on 135.604860624 meters Centerline goodness [0,1] 0.7736714638349401 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.06 [[ 0.99871517 -0.04511224 -0.02308456 0.42968322] [ 0.0452549 0.99895924 0.0056946 0.07840579] [ 0.02280363 -0.00673197 0.9997173 0.05870565] [ 0. 0. 0. 1. ]] SLAMing on 135.634860624 meters Centerline goodness [0,1] 0.7712919104671682 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.06 [[ 0.99869391 -0.04562666 -0.02299318 0.4292901 ] [ 0.04577029 0.99893539 0.00575889 0.07691351] [ 0.02270594 -0.00680377 0.99971903 0.05875769] [ 0. 0. 0. 1. ]] SLAMing on 135.664860624 meters Centerline goodness [0,1] 0.7567436265210753 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:0.06 [[ 0.99861043 -0.04751632 -0.02279071 0.42776011] [ 0.04763732 0.99885319 0.00479583 0.07500668] [ 0.02253669 -0.00587485 0.99972876 0.05980711] [ 0. 0. 0. 1. ]] SLAMing on 135.694860624 meters Centerline goodness [0,1] 0.7498668519161746 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.99858786 -0.04806012 -0.02263851 0.42730254] [ 0.0481806 0.99882708 0.00480633 0.07399523] [ 0.02238096 -0.00589028 0.99973216 0.05975396] [ 0. 0. 0. 1. ]] SLAMing on 135.724860624 meters Centerline goodness [0,1] 0.7430587584171202 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.99856901 -0.04849966 -0.02253236 0.42712372] [ 0.04862417 0.99880457 0.00501121 0.07267375] [ 0.02226238 -0.00609966 0.99973355 0.05942548] [ 0. 0. 0. 1. ]] SLAMing on 135.754860624 meters Centerline goodness [0,1] 0.7390023249925186 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.99853808 -0.04924047 -0.02229515 0.42626681] [ 0.04935996 0.99876932 0.00484087 0.07162249] [ 0.02202934 -0.00593428 0.99973971 0.05969245] [ 0. 0. 0. 1. ]] SLAMing on 135.784860624 meters Centerline goodness [0,1] 0.7351326518892844 Centerline is valid? [False, False] Translation: X:0.43, Y:0.07, Z:0.06 [[ 0.99850843 -0.04991878 -0.02211407 0.42561622] [ 0.05003732 0.99873562 0.00483948 0.07029467] [ 0.02184453 -0.00593879 0.99974374 0.05977619] [ 0. 0. 0. 1. ]] SLAMing on 135.814860624 meters Centerline goodness [0,1] 0.7238344707152868 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99847719 -0.05061724 -0.02193615 0.42483838] [ 0.05073204 0.9987012 0.00470862 0.0693376 ] [ 0.02166932 -0.00581431 0.99974829 0.06006144] [ 0. 0. 0. 1. ]] SLAMing on 135.844860624 meters Centerline goodness [0,1] 0.7169638355410919 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.9984516 -0.05118653 -0.0217795 0.42455592] [ 0.05130249 0.99867163 0.00479882 0.06822261] [ 0.02150494 -0.00590873 0.99975128 0.05971673] [ 0. 0. 0. 1. ]] SLAMing on 135.874860624 meters Centerline goodness [0,1] 0.7324998282613175 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99838406 -0.05263152 -0.02142866 0.42305323] [ 0.05273593 0.99859908 0.00433667 0.06709964] [ 0.02117039 -0.00545972 0.99976097 0.06018109] [ 0. 0. 0. 1. ]] SLAMing on 135.904860624 meters Centerline goodness [0,1] 0.713663656781409 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99836628 -0.05302397 -0.02128913 0.4225554 ] [ 0.05312681 0.99857854 0.00429378 0.0665585 ] [ 0.02103119 -0.00541779 0.99976414 0.060309 ] [ 0. 0. 0. 1. ]] SLAMing on 135.934860624 meters Centerline goodness [0,1] 0.7240408387510302 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99834401 -0.05350249 -0.02113593 0.4220147 ] [ 0.05360181 0.99855372 0.00416059 0.06639727] [ 0.02088276 -0.00528662 0.99976795 0.06036838] [ 0. 0. 0. 1. ]] SLAMing on 135.964860624 meters Centerline goodness [0,1] 0.6982038668344583 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99831255 -0.05416048 -0.02094495 0.42127738] [ 0.05425247 0.99851983 0.00384866 0.06640487] [ 0.02070551 -0.00497848 0.99977322 0.06063014] [ 0. 0. 0. 1. ]] SLAMing on 135.994860624 meters Centerline goodness [0,1] 0.6955893815047454 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99830175 -0.05439834 -0.02084323 0.42104975] [ 0.05448715 0.99850756 0.00371628 0.06674118] [ 0.02060997 -0.00484565 0.99977585 0.06056553] [ 0. 0. 0. 1. ]] SLAMing on 136.02486062399998 meters Centerline goodness [0,1] 0.7117544182621502 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99829372 -0.05458091 -0.02075028 0.42110606] [ 0.05466312 0.99849901 0.00341518 0.06810929] [ 0.02053273 -0.00454362 0.99977886 0.06020834] [ 0. 0. 0. 1. ]] SLAMing on 136.05486062399999 meters Centerline goodness [0,1] 0.7010967236532879 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99829305 -0.05458303 -0.02077673 0.4213198 ] [ 0.05466117 0.9984998 0.0032113 0.06920819] [ 0.02057027 -0.0043415 0.99977898 0.06002681] [ 0. 0. 0. 1. ]] SLAMing on 136.084860624 meters Centerline goodness [0,1] 0.7081245815344124 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99828733 -0.05467252 -0.02081649 0.42150955] [ 0.0547455 0.99849598 0.00295177 0.07066159] [ 0.0206238 -0.00408633 0.99977896 0.05986361] [ 0. 0. 0. 1. ]] SLAMing on 136.114860624 meters Centerline goodness [0,1] 0.7114988067931698 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99829734 -0.05445939 -0.02089494 0.42229575] [ 0.05452866 0.99850839 0.00275913 0.07294078] [ 0.02071352 -0.00389381 0.99977787 0.0591154 ] [ 0. 0. 0. 1. ]] SLAMing on 136.144860624 meters Centerline goodness [0,1] 0.7064882043192837 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:0.06 [[ 0.99828815 -0.05463303 -0.0208807 0.42230708] [ 0.0546956 0.9985001 0.00243681 0.07424093] [ 0.02071625 -0.00357472 0.999779 0.05903307] [ 0. 0. 0. 1. ]] SLAMing on 136.174860624 meters Centerline goodness [0,1] 0.6931402900304928 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99828508 -0.054692 -0.02087287 0.42242882] [ 0.05475087 0.99849749 0.00225912 0.07526893] [ 0.02071796 -0.00339805 0.99977959 0.05883014] [ 0. 0. 0. 1. ]] SLAMing on 136.204860624 meters Centerline goodness [0,1] 0.6876908374705731 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99827604 -0.05483712 -0.02092472 0.42265333] [ 0.05488896 0.99849064 0.00191093 0.07665108] [ 0.02078835 -0.00305618 0.99977923 0.05867685] [ 0. 0. 0. 1. ]] SLAMing on 136.234860624 meters Centerline goodness [0,1] 0.7022413954796962 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 0.99826152 -0.05511771 -0.02087993 0.42275038] [ 0.05515702 0.99847683 0.00131106 0.07957256] [ 0.02077587 -0.00246045 0.99978113 0.058365 ] [ 0. 0. 0. 1. ]] SLAMing on 136.264860624 meters Centerline goodness [0,1] 0.6871470256024097 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 9.98246839e-01 -5.54141951e-02 -2.07970144e-02 4.22330300e-01] [ 5.54453795e-02 9.98461293e-01 9.25419558e-04 8.10213405e-02] [ 2.07137325e-02 -2.07689550e-03 9.99783290e-01 5.85998522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294860624 meters Centerline goodness [0,1] 0.6910674661253009 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 9.98232962e-01 -5.56626452e-02 -2.07996040e-02 4.22410839e-01] [ 5.56837905e-02 9.98448358e-01 4.38392691e-04 8.29056016e-02] [ 2.07429283e-02 -1.59581882e-03 9.99783569e-01 5.84912109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324860624 meters Centerline goodness [0,1] 0.6910674661253009 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:0.06 [[ 9.98232962e-01 -5.56626452e-02 -2.07996040e-02 4.22410839e-01] [ 5.56837905e-02 9.98448358e-01 4.38392691e-04 8.29056016e-02] [ 2.07429283e-02 -1.59581882e-03 9.99783569e-01 5.84912109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354860624 meters Centerline goodness [0,1] 0.6917801718001044 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 9.98215795e-01 -5.59746688e-02 -2.07861156e-02 4.23178716e-01] [ 5.59885698e-02 9.98431406e-01 8.69549699e-05 8.51480537e-02] [ 2.07486433e-02 -1.25058471e-03 9.99783942e-01 5.72437427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384860624 meters Centerline goodness [0,1] 0.6865813406786503 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 9.98203720e-01 -5.62179779e-02 -2.07092127e-02 4.23271603e-01] [ 5.62263020e-02 9.98418034e-01 -1.80555647e-04 8.62292801e-02] [ 2.06866019e-02 -9.84171130e-04 9.99785525e-01 5.68348994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414860624 meters Centerline goodness [0,1] 0.6874539184207397 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 9.98192311e-01 -5.64312120e-02 -2.06791599e-02 4.23342534e-01] [ 5.64338371e-02 9.98406237e-01 -4.57063670e-04 8.72298968e-02] [ 2.06719949e-02 -7.10766899e-04 9.99786059e-01 5.66241154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444860624 meters Centerline goodness [0,1] 0.6846374045801527 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 9.98174095e-01 -5.67764444e-02 -2.06133943e-02 4.22984867e-01] [ 5.67682199e-02 9.98386899e-01 -9.84398646e-04 8.88911285e-02] [ 2.06360334e-02 -1.87584472e-04 9.99787037e-01 5.68534922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474860624 meters Centerline goodness [0,1] 0.6888526711885531 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99831442 -0.05434448 -0.02037166 0.42121975] [ 0.05439616 0.99851745 0.00199057 0.09052155] [ 0.02023328 -0.00309536 0.99979049 0.05711784] [ 0. 0. 0. 1. ]] SLAMing on 136.504860624 meters Centerline goodness [0,1] 0.6843507693784958 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99831078 -0.05436979 -0.02048181 0.42158536] [ 0.05441597 0.9985169 0.00170387 0.09221907] [ 0.0203588 -0.00281553 0.99978877 0.05699876] [ 0. 0. 0. 1. ]] SLAMing on 136.534860624 meters Centerline goodness [0,1] 0.6831630813604135 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.998304 -0.05446299 -0.02056468 0.4217485 ] [ 0.0545002 0.99851297 0.00125298 0.09403166] [ 0.02046586 -0.00237164 0.99978774 0.0570968 ] [ 0. 0. 0. 1. ]] SLAMing on 136.564860624 meters Centerline goodness [0,1] 0.6806059726053918 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 9.98311488e-01 -5.42986928e-02 -2.06355297e-02 4.22427725e-01] [ 5.43265771e-02 9.98522906e-01 7.92685670e-04 9.73136282e-02] [ 2.05620073e-02 -1.91240490e-03 9.99786751e-01 5.65377371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594860624 meters Centerline goodness [0,1] 0.6819173697992436 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 9.98311985e-01 -5.42774316e-02 -2.06673726e-02 4.22738716e-01] [ 5.42995062e-02 9.98524564e-01 5.08003654e-04 9.90248094e-02] [ 2.06093061e-02 -1.62937426e-03 9.99786278e-01 5.62773218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624860624 meters Centerline goodness [0,1] 0.6831042452256417 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 9.98309541e-01 -5.42798961e-02 -2.07786585e-02 4.23126661e-01] [ 5.42922295e-02 9.98525089e-01 2.94819815e-05 1.01178395e-01] [ 2.07464116e-02 -1.15755184e-03 9.99784100e-01 5.62335978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654860624 meters Centerline goodness [0,1] 0.6860570227944589 Centerline is valid? [False, False] Translation: X:0.42, Y:0.10, Z:0.06 [[ 9.98311961e-01 -5.42033105e-02 -2.08621554e-02 4.23492241e-01] [ 5.42068412e-02 9.98529650e-01 -3.96637123e-04 1.03606338e-01] [ 2.08529798e-02 -7.34903962e-04 9.99782283e-01 5.61176226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684860624 meters Centerline goodness [0,1] 0.6881736305920567 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.06 [[ 0.9984779 -0.05118069 -0.02055305 0.42229766] [ 0.05124535 0.99868263 0.00263109 0.10633833] [ 0.02039132 -0.00368034 0.9997853 0.05584199] [ 0. 0. 0. 1. ]] SLAMing on 136.714860624 meters Centerline goodness [0,1] 0.687911224590003 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.06 [[ 0.99848851 -0.05083846 -0.02088403 0.42373278] [ 0.05090102 0.99870064 0.00247486 0.1082526 ] [ 0.02073107 -0.00353414 0.99977884 0.05508963] [ 0. 0. 0. 1. ]] SLAMing on 136.744860624 meters Centerline goodness [0,1] 0.6893868274124215 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:0.05 [[ 0.99849337 -0.05067591 -0.02104599 0.42455921] [ 0.05073211 0.99870999 0.00214473 0.11017021] [ 0.02091015 -0.00320921 0.99977621 0.05467861] [ 0. 0. 0. 1. ]] SLAMing on 136.77486062399998 meters Centerline goodness [0,1] 0.6818586698337292 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:0.05 [[ 0.99849388 -0.05064729 -0.02109081 0.42516975] [ 0.05069593 0.99871255 0.00177758 0.11224878] [ 0.02097363 -0.00284412 0.99977598 0.05414642] [ 0. 0. 0. 1. ]] SLAMing on 136.80486062399999 meters Centerline goodness [0,1] 0.691953737097376 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.05 [[ 0.9984912 -0.05072581 -0.02102895 0.4256071 ] [ 0.050762 0.99871007 0.00119023 0.11619522] [ 0.02094145 -0.00225591 0.99977816 0.05342537] [ 0. 0. 0. 1. ]] SLAMing on 136.834860624 meters Centerline goodness [0,1] 0.6936518635013356 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.05 [[ 9.98473723e-01 -5.10963894e-02 -2.09614683e-02 4.25302973e-01] [ 5.11195855e-02 9.98692375e-01 5.71922480e-04 1.18296000e-01] [ 2.09048354e-02 -1.64259114e-03 9.99780121e-01 5.36271345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864860624 meters Centerline goodness [0,1] 0.6986911584373983 Centerline is valid? [False, False] Translation: X:0.43, Y:0.12, Z:0.05 [[ 9.98460807e-01 -5.13675583e-02 -2.09138710e-02 4.25134863e-01] [ 5.13835813e-02 9.98678965e-01 2.29136479e-04 1.19927341e-01] [ 2.08744729e-02 -1.30341339e-03 9.99781255e-01 5.35993801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894860624 meters Centerline goodness [0,1] 0.6888777303540046 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:0.05 [[ 9.98416710e-01 -5.24340998e-02 -2.03651404e-02 4.23713160e-01] [ 5.24297985e-02 9.98624334e-01 -7.45443894e-04 1.22780741e-01] [ 2.03762115e-02 -3.23476570e-04 9.99792331e-01 5.36469626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924860624 meters Centerline goodness [0,1] 0.6853426587501258 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:0.05 [[ 9.98392186e-01 -5.29679545e-02 -2.01850980e-02 4.23210139e-01] [ 5.29552792e-02 9.98596208e-01 -1.16232221e-03 1.23731231e-01] [ 2.02183281e-02 9.15459093e-05 9.99795585e-01 5.36149495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954860624 meters Centerline goodness [0,1] 0.6846244691810941 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:0.05 [[ 9.98374697e-01 -5.33194781e-02 -2.01245657e-02 4.23232114e-01] [ 5.33037092e-02 9.98577475e-01 -1.31954705e-03 1.24525300e-01] [ 2.01662956e-02 2.44688386e-04 9.99796610e-01 5.31662798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984860624 meters Centerline goodness [0,1] 0.682625677208013 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.05 [[ 9.98348499e-01 -5.39042855e-02 -1.98646161e-02 4.22588413e-01] [ 5.38809113e-02 9.98545904e-01 -1.71040390e-03 1.25778336e-01] [ 1.99279292e-02 6.37255542e-04 9.99801216e-01 5.30238563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014860624 meters Centerline goodness [0,1] 0.6780439776829669 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.05 [[ 0.99830662 -0.05478211 -0.01956574 0.42199493] [ 0.05474632 0.99849751 -0.00236031 0.12845194] [ 0.01966565 0.00128516 0.99980579 0.05252892] [ 0. 0. 0. 1. ]] SLAMing on 137.044860624 meters Centerline goodness [0,1] 0.6755198057368341 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.05 [[ 0.99829848 -0.05494243 -0.01953136 0.42223166] [ 0.05490394 0.99848851 -0.00250232 0.12980886] [ 0.01963933 0.00142571 0.99980611 0.05199839] [ 0. 0. 0. 1. ]] SLAMing on 137.074860624 meters Centerline goodness [0,1] 0.6795148316374433 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.05 [[ 0.99828634 -0.05518658 -0.01946343 0.42230719] [ 0.05514179 0.99847452 -0.00283079 0.13138083] [ 0.01958996 0.00175269 0.99980656 0.05167748] [ 0. 0. 0. 1. ]] SLAMing on 137.104860624 meters Centerline goodness [0,1] 0.6779098841659438 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:0.05 [[ 0.99827284 -0.05546405 -0.01936693 0.42225689] [ 0.05541192 0.99845839 -0.00321811 0.13291213] [ 0.01951556 0.00213939 0.99980726 0.05143567] [ 0. 0. 0. 1. ]] SLAMing on 137.134860624 meters Centerline goodness [0,1] 0.6774152369281046 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 0.99826359 -0.05564255 -0.01933149 0.42280054] [ 0.05558221 0.99844746 -0.0036452 0.13570907] [ 0.01950431 0.00256438 0.99980648 0.0505565 ] [ 0. 0. 0. 1. ]] SLAMing on 137.164860624 meters Centerline goodness [0,1] 0.673896362985319 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 0.99825546 -0.05579694 -0.0193064 0.42293288] [ 0.05573088 0.99843804 -0.00394326 0.13724028] [ 0.01949627 0.00286042 0.99980584 0.05033715] [ 0. 0. 0. 1. ]] SLAMing on 137.194860624 meters Centerline goodness [0,1] 0.6779951412862806 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 0.99825205 -0.05579651 -0.01948299 0.42354458] [ 0.05572474 0.9984373 -0.00420821 0.13887204] [ 0.01968735 0.00311517 0.99980133 0.05007627] [ 0. 0. 0. 1. ]] SLAMing on 137.224860624 meters Centerline goodness [0,1] 0.6831116133340183 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 9.98391132e-01 -5.34509549e-02 -1.89246810e-02 4.21446236e-01] [ 5.34396544e-02 9.98570472e-01 -1.10269939e-03 1.40147803e-01] [ 1.89565680e-02 8.95968838e-05 9.99820304e-01 4.97494938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254860624 meters Centerline goodness [0,1] 0.6815717112533086 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 9.98388261e-01 -5.34836313e-02 -1.89837395e-02 4.21675258e-01] [ 5.34662112e-02 9.98568643e-01 -1.42435333e-03 1.41527179e-01] [ 1.90327466e-02 4.07069014e-04 9.99818778e-01 4.97460889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284860624 meters Centerline goodness [0,1] 0.6837830891801593 Centerline is valid? [False, False] Translation: X:0.42, Y:0.14, Z:0.05 [[ 9.98388632e-01 -5.34700657e-02 -1.90023989e-02 4.21703591e-01] [ 5.34471231e-02 9.98569211e-01 -1.71353072e-03 1.43174528e-01] [ 1.90668330e-02 6.95146044e-04 9.99817970e-01 4.98370079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314860624 meters Centerline goodness [0,1] 0.6838104563374475 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 0.99838233 -0.05357167 -0.01904715 0.42180327] [ 0.05354031 0.99856337 -0.002153 0.14500625] [ 0.01913513 0.00112973 0.99981627 0.04993805] [ 0. 0. 0. 1. ]] SLAMing on 137.344860624 meters Centerline goodness [0,1] 0.6838020334773498 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 0.99854463 -0.05058542 -0.01870122 0.4200666 ] [ 0.05061671 0.99871743 0.00120356 0.14645012] [ 0.01861635 -0.00214841 0.99982439 0.05002056] [ 0. 0. 0. 1. ]] SLAMing on 137.374860624 meters Centerline goodness [0,1] 0.6829280923897563 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 9.98540427e-01 -5.06534744e-02 -1.87414161e-02 4.20095137e-01] [ 5.06760215e-02 9.98714878e-01 7.29803792e-04 1.48288005e-01] [ 1.86803640e-02 -1.67847900e-03 9.99824098e-01 5.02430950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404860624 meters Centerline goodness [0,1] 0.6851016386641775 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 9.98539512e-01 -5.07382702e-02 -1.85599245e-02 4.19893390e-01] [ 5.07512577e-02 9.98711298e-01 2.29115743e-04 1.50677291e-01] [ 1.85243814e-02 -1.17072063e-03 9.99827724e-01 5.01445707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434860624 meters Centerline goodness [0,1] 0.6805671175858481 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 9.98539931e-01 -5.07343749e-02 -1.85480433e-02 4.20106130e-01] [ 5.07448582e-02 9.98711645e-01 9.46799883e-05 1.51564853e-01] [ 1.85193433e-02 -1.03575957e-03 9.99827966e-01 4.98765785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464860624 meters Centerline goodness [0,1] 0.6822483361064892 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 9.98541324e-01 -5.07059666e-02 -1.85507405e-02 4.20441857e-01] [ 5.07153736e-02 9.98713147e-01 3.66998865e-05 1.52367740e-01] [ 1.85250075e-02 -9.77454087e-04 9.99827920e-01 4.94662419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494860624 meters Centerline goodness [0,1] 0.6824507453351403 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:0.05 [[ 9.98539867e-01 -5.07148061e-02 -1.86048896e-02 4.20884609e-01] [ 5.07206114e-02 9.98712869e-01 -1.60004417e-04 1.53476192e-01] [ 1.85890572e-02 -7.83880586e-04 9.99826901e-01 4.91184547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52486062399998 meters Centerline goodness [0,1] 0.6241634115393228 Centerline is valid? [False, False] Translation: X:0.46, Y:0.16, Z:0.05 [[ 0.99847592 -0.05111217 -0.02081769 0.45985928] [ 0.05093782 0.99866287 -0.00882153 0.157224 ] [ 0.02124074 0.00774768 0.99974437 0.0531536 ] [ 0. 0. 0. 1. ]] SLAMing on 137.55486062399999 meters Centerline goodness [0,1] 0.6821039997912699 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99867085 -0.04802743 -0.01870539 0.3866959 ] [ 0.04783739 0.99880018 -0.01047794 0.15918129] [ 0.01918617 0.00956919 0.99977013 0.04949881] [ 0. 0. 0. 1. ]] SLAMing on 137.584860624 meters Centerline goodness [0,1] 0.6740671007557334 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99881428 -0.0451124 -0.01830062 0.38544794] [ 0.04500163 0.99896628 -0.00642004 0.15769261] [ 0.01857133 0.00558887 0.99981192 0.04848677] [ 0. 0. 0. 1. ]] SLAMing on 137.614860624 meters Centerline goodness [0,1] 0.6864816800481209 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99882359 -0.04482509 -0.01849742 0.38623553] [ 0.04471471 0.99897969 -0.00633874 0.15830623] [ 0.01876269 0.00550417 0.99980881 0.04813591] [ 0. 0. 0. 1. ]] SLAMing on 137.644860624 meters Centerline goodness [0,1] 0.6881237264224881 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99883838 -0.0444634 -0.01857161 0.38679447] [ 0.04435262 0.99899585 -0.00633508 0.15951174] [ 0.01883464 0.00550402 0.99980746 0.04786471] [ 0. 0. 0. 1. ]] SLAMing on 137.674860624 meters Centerline goodness [0,1] 0.687508182127615 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:0.05 [[ 0.99895153 -0.04196876 -0.0182884 0.38489705] [ 0.04192234 0.99911662 -0.00291448 0.1585599 ] [ 0.01839456 0.00214473 0.99982851 0.04805689] [ 0. 0. 0. 1. ]] SLAMing on 137.704860624 meters Centerline goodness [0,1] 0.6901851754708073 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99895841 -0.04180939 -0.01827771 0.38501572] [ 0.04176222 0.99912321 -0.00295501 0.15921843] [ 0.01838523 0.00218861 0.99982858 0.04803455] [ 0. 0. 0. 1. ]] SLAMing on 137.734860624 meters Centerline goodness [0,1] 0.6879246569951992 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99897698 -0.04129255 -0.01843694 0.38558689] [ 0.04124403 0.99914459 -0.00300444 0.16028334] [ 0.01854523 0.00224095 0.99982551 0.04816761] [ 0. 0. 0. 1. ]] SLAMing on 137.764860624 meters Centerline goodness [0,1] 0.6909563573341736 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99898479 -0.04104297 -0.01857044 0.38608822] [ 0.04099493 0.99915497 -0.00296055 0.1605071 ] [ 0.01867626 0.00219625 0.99982317 0.04807777] [ 0. 0. 0. 1. ]] SLAMing on 137.794860624 meters Centerline goodness [0,1] 0.6852882495012076 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99900624 -0.04044377 -0.01873054 0.38692752] [ 0.04039934 0.99917984 -0.00274426 0.16071018] [ 0.01882617 0.00198483 0.9998208 0.0477865 ] [ 0. 0. 0. 1. ]] SLAMing on 137.824860624 meters Centerline goodness [0,1] 0.7001077048362099 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99901652 -0.04008795 -0.01894589 0.38768557] [ 0.04004553 0.99919444 -0.00261325 0.1609161 ] [ 0.01903539 0.00185198 0.9998171 0.04763063] [ 0. 0. 0. 1. ]] SLAMing on 137.854860624 meters Centerline goodness [0,1] 0.6980066706935946 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99902353 -0.03984836 -0.01908131 0.38814745] [ 0.03980686 0.99920414 -0.00254977 0.16109692] [ 0.01916773 0.00178771 0.99981468 0.04758351] [ 0. 0. 0. 1. ]] SLAMing on 137.884860624 meters Centerline goodness [0,1] 0.6903985697760017 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99904984 -0.03904903 -0.01935447 0.38953111] [ 0.03901611 0.99923643 -0.00207549 0.16119853] [ 0.01942074 0.00131838 0.99981053 0.04692158] [ 0. 0. 0. 1. ]] SLAMing on 137.914860624 meters Centerline goodness [0,1] 0.6986236604328641 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 0.99906127 -0.03866524 -0.01953418 0.39040785] [ 0.03863775 0.99925169 -0.00178265 0.16080547] [ 0.01958849 0.00102622 0.9998076 0.04646828] [ 0. 0. 0. 1. ]] SLAMing on 137.944860624 meters Centerline goodness [0,1] 0.6976157303961515 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 9.99075215e-01 -3.82610068e-02 -1.96166026e-02 3.91148596e-01] [ 3.82413978e-02 9.99267586e-01 -1.37390035e-03 1.60245431e-01] [ 1.96548019e-02 6.22463482e-04 9.99806632e-01 4.58616620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974860624 meters Centerline goodness [0,1] 0.6973079448456994 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 9.99077449e-01 -3.81928981e-02 -1.96355358e-02 3.91295080e-01] [ 3.81760508e-02 9.99270269e-01 -1.23225930e-03 1.60016279e-01] [ 1.96682707e-02 4.81515263e-04 9.99806445e-01 4.56915618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004860624 meters Centerline goodness [0,1] 0.6960392919052372 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 9.99083107e-01 -3.79942880e-02 -1.97327197e-02 3.91669487e-01] [ 3.79816515e-02 9.99277921e-01 -1.01490504e-03 1.59829420e-01] [ 1.97570317e-02 2.64493196e-04 9.99804776e-01 4.54746672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034860624 meters Centerline goodness [0,1] 0.6970285594288115 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.05 [[ 9.99084959e-01 -3.78984879e-02 -1.98229576e-02 3.91963473e-01] [ 3.78881913e-02 9.99281584e-01 -8.94869784e-04 1.59742978e-01] [ 1.98426306e-02 1.42994934e-04 9.99803105e-01 4.53509932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064860624 meters Centerline goodness [0,1] 0.6911980696600923 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99088961e-01 -3.77991831e-02 -1.98108542e-02 3.92236516e-01] [ 3.77937518e-02 9.99285350e-01 -6.48623095e-04 1.59530178e-01] [ 1.98212138e-02 -1.00694333e-04 9.99803535e-01 4.48912566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094860624 meters Centerline goodness [0,1] 0.6931485355648536 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99092977e-01 -3.76147069e-02 -1.99588932e-02 3.92938335e-01] [ 3.76151584e-02 9.99292237e-01 -3.52927570e-04 1.59204619e-01] [ 1.99580423e-02 -3.98149471e-04 9.99800739e-01 4.43566727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124860624 meters Centerline goodness [0,1] 0.6909477218477035 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99091461e-01 -3.77775846e-02 -1.97257894e-02 3.92521111e-01] [ 3.77766056e-02 9.99286120e-01 -4.22386295e-04 1.59590516e-01] [ 1.97276643e-02 -3.23170825e-04 9.99805338e-01 4.41524692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154860624 meters Centerline goodness [0,1] 0.694630607900339 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99089312e-01 -3.78389335e-02 -1.97170335e-02 3.92490629e-01] [ 3.78358807e-02 9.99283827e-01 -5.27984675e-04 1.59947657e-01] [ 1.97228911e-02 -2.18507481e-04 9.99805461e-01 4.41832596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184860624 meters Centerline goodness [0,1] 0.6886929050941162 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99085435e-01 -3.79019055e-02 -1.97924096e-02 3.92508873e-01] [ 3.78963155e-02 9.99281460e-01 -6.57555757e-04 1.60421830e-01] [ 1.98031106e-02 -9.31050214e-05 9.99803895e-01 4.43574028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214860624 meters Centerline goodness [0,1] 0.6920632419371783 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99083246e-01 -3.79329279e-02 -1.98434254e-02 3.92537759e-01] [ 3.79241032e-02 9.99280285e-01 -8.20971889e-04 1.61617699e-01] [ 1.98602857e-02 6.76751460e-05 9.99802763e-01 4.44401386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244860624 meters Centerline goodness [0,1] 0.6920632419371783 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99083246e-01 -3.79329279e-02 -1.98434254e-02 3.92537759e-01] [ 3.79241032e-02 9.99280285e-01 -8.20971889e-04 1.61617699e-01] [ 1.98602857e-02 6.76751460e-05 9.99802763e-01 4.44401386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27486062399998 meters Centerline goodness [0,1] 0.6904096588812147 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99084928e-01 -3.78550076e-02 -1.99073893e-02 3.92784030e-01] [ 3.78445791e-02 9.99283232e-01 -9.00451660e-04 1.62155057e-01] [ 1.99272069e-02 1.46240911e-04 9.99801423e-01 4.44216351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30486062399999 meters Centerline goodness [0,1] 0.6960099158733088 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99087569e-01 -3.77492758e-02 -1.99755115e-02 3.93351916e-01] [ 3.77405937e-02 9.99287240e-01 -8.11575621e-04 1.62737879e-01] [ 1.99919101e-02 5.69474516e-05 9.99800140e-01 4.38490084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334860624 meters Centerline goodness [0,1] 0.6989017371561328 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99100059e-01 -3.73167755e-02 -2.01626078e-02 3.94450726e-01] [ 3.73099879e-02 9.99303486e-01 -7.12840308e-04 1.63742853e-01] [ 2.01751651e-02 -4.00678592e-05 9.99796460e-01 4.31865923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364860624 meters Centerline goodness [0,1] 0.6901601709897881 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.99103196e-01 -3.71686815e-02 -2.02803626e-02 3.95047050e-01] [ 3.71635043e-02 9.99308998e-01 -6.32236618e-04 1.64303295e-01] [ 2.02898482e-02 -1.22019716e-04 9.99794132e-01 4.27511500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394860624 meters Centerline goodness [0,1] 0.6937063307219987 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.99102622e-01 -3.71920222e-02 -2.02658612e-02 3.95084140e-01] [ 3.71851469e-02 9.99308137e-01 -7.16113010e-04 1.64835532e-01] [ 2.02784737e-02 -3.81186410e-05 9.99794370e-01 4.27082227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424860624 meters Centerline goodness [0,1] 0.698397987554614 Centerline is valid? [False, False] Translation: X:0.39, Y:0.17, Z:0.04 [[ 9.99101480e-01 -3.72381625e-02 -2.02373943e-02 3.94993282e-01] [ 3.72318960e-02 9.99306417e-01 -6.86466679e-04 1.65154532e-01] [ 2.02489207e-02 -6.76266858e-05 9.99794967e-01 4.26292466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454860624 meters Centerline goodness [0,1] 0.6887534772817592 Centerline is valid? [False, False] Translation: X:0.39, Y:0.17, Z:0.04 [[ 9.99094736e-01 -3.75296811e-02 -2.00307498e-02 3.94741118e-01] [ 3.75242511e-02 9.99295508e-01 -6.47004952e-04 1.65665593e-01] [ 2.00409202e-02 -1.05219644e-04 9.99799155e-01 4.20754838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484860624 meters Centerline goodness [0,1] 0.6963666675487576 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:0.04 [[ 9.99093071e-01 -3.75589757e-02 -2.00588963e-02 3.95140548e-01] [ 3.75575651e-02 9.99294366e-01 -4.47170294e-04 1.65544900e-01] [ 2.00615373e-02 -3.06598561e-04 9.99798700e-01 4.14905228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514860624 meters Centerline goodness [0,1] 0.687364238410596 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.99092421e-01 -3.76266216e-02 -1.99642612e-02 3.95418631e-01] [ 3.76315392e-02 9.99291674e-01 -1.29434018e-04 1.64961699e-01] [ 1.99549902e-02 -6.21969332e-04 9.99800686e-01 4.06092115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544860624 meters Centerline goodness [0,1] 0.6836850885787675 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.99086754e-01 -3.77852172e-02 -1.99483243e-02 3.95744384e-01] [ 3.77949007e-02 9.99285512e-01 1.08508678e-04 1.64623275e-01] [ 1.99299715e-02 -8.62354519e-04 9.99801006e-01 3.98216164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574860624 meters Centerline goodness [0,1] 0.6765452334373183 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99063460e-01 -3.85911766e-02 -1.95684679e-02 3.94925274e-01] [ 3.86007963e-02 9.99254705e-01 1.13970592e-04 1.64331079e-01] [ 1.95494854e-02 -8.69222298e-04 9.99808513e-01 3.91007534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604860624 meters Centerline goodness [0,1] 0.685258121646269 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.99063902e-01 -3.86199824e-02 -1.94889041e-02 3.95098539e-01] [ 3.86362200e-02 9.99253238e-01 4.57193474e-04 1.63722118e-01] [ 1.94566938e-02 -1.20974308e-03 9.99809969e-01 3.84687578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634860624 meters Centerline goodness [0,1] 0.6830978462189765 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99055147e-01 -3.89331445e-02 -1.93138383e-02 3.94669197e-01] [ 3.89517436e-02 9.99240920e-01 5.87600772e-04 1.63290824e-01] [ 1.92763004e-02 -1.33935325e-03 9.99813298e-01 3.82268399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664860624 meters Centerline goodness [0,1] 0.6825010579771478 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99046517e-01 -3.92009965e-02 -1.92181836e-02 3.94412410e-01] [ 3.92197418e-02 9.99230430e-01 5.99317692e-04 1.63205065e-01] [ 1.91799000e-02 -1.35247845e-03 9.99815134e-01 3.80819189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694860624 meters Centerline goodness [0,1] 0.667801800374858 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99019011e-01 -4.00123159e-02 -1.89744602e-02 3.93191903e-01] [ 4.00284019e-02 9.99198432e-01 4.68585538e-04 1.63021775e-01] [ 1.89405017e-02 -1.22764318e-03 9.99819859e-01 3.83467183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724860624 meters Centerline goodness [0,1] 0.6713931790627801 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.99006351e-01 -4.03741064e-02 -1.88744011e-02 3.92755482e-01] [ 4.03881347e-02 9.99184001e-01 3.62492543e-04 1.63145142e-01] [ 1.88443643e-02 -1.12443421e-03 9.99821797e-01 3.84106742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754860624 meters Centerline goodness [0,1] 0.6713514371923138 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98997300e-01 -4.06581937e-02 -1.87431703e-02 3.92292936e-01] [ 4.06704330e-02 9.99172579e-01 2.72121447e-04 1.63107419e-01] [ 1.87165978e-02 -1.03414144e-03 9.99824294e-01 3.84582741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784860624 meters Centerline goodness [0,1] 0.6684993788163147 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98991765e-01 -4.08400617e-02 -1.86424927e-02 3.92189924e-01] [ 4.08535222e-02 9.99165088e-01 3.41606340e-04 1.63052819e-01] [ 1.86129766e-02 -1.10287341e-03 9.99826155e-01 3.81036410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814860624 meters Centerline goodness [0,1] 0.6737890232951245 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98983599e-01 -4.10487757e-02 -1.86216995e-02 3.92077219e-01] [ 4.10610910e-02 9.99156599e-01 2.79315548e-04 1.63133880e-01] [ 1.85945284e-02 -1.04365895e-03 9.99826562e-01 3.80911022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844860624 meters Centerline goodness [0,1] 0.6727551478945838 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98972550e-01 -4.13732611e-02 -1.84958846e-02 3.91345495e-01] [ 4.13806228e-02 9.99143455e-01 1.53132468e-05 1.63584199e-01] [ 1.84794085e-02 -7.80668740e-04 9.99828936e-01 3.85491159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874860624 meters Centerline goodness [0,1] 0.666587320479251 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98964679e-01 -4.16090072e-02 -1.83918859e-02 3.90875387e-01] [ 4.16155754e-02 9.99133696e-01 -2.56205236e-05 1.63812379e-01] [ 1.83770190e-02 -7.39794916e-04 9.99830855e-01 3.86541223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904860624 meters Centerline goodness [0,1] 0.6770403302635757 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98964665e-01 -4.16473041e-02 -1.83057474e-02 3.90764628e-01] [ 4.16552241e-02 9.99132043e-01 5.13991317e-05 1.63703690e-01] [ 1.82877182e-02 -8.13875928e-04 9.99832434e-01 3.85060074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934860624 meters Centerline goodness [0,1] 0.6691715397031196 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98963248e-01 -4.17080989e-02 -1.82445655e-02 3.90581972e-01] [ 4.17162428e-02 9.99129496e-01 6.58546798e-05 1.63706375e-01] [ 1.82259369e-02 -8.26881130e-04 9.99833552e-01 3.85210919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964860624 meters Centerline goodness [0,1] 0.6698038176033934 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98957932e-01 -4.18252232e-02 -1.82674534e-02 3.90477418e-01] [ 4.18324406e-02 9.99124640e-01 1.29933745e-05 1.63841130e-01] [ 1.82509194e-02 -7.77151995e-04 9.99833136e-01 3.86616800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99486062399998 meters Centerline goodness [0,1] 0.6676279931207831 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98958528e-01 -4.17742324e-02 -1.83513905e-02 3.90787010e-01] [ 4.17869374e-02 9.99126497e-01 3.09240680e-04 1.63275718e-01] [ 1.83224422e-02 -1.07576702e-03 9.99831551e-01 3.83495808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02486062399998 meters Centerline goodness [0,1] 0.6652386619066508 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98957649e-01 -4.18532294e-02 -1.82187433e-02 3.90561383e-01] [ 4.18714742e-02 9.99122812e-01 6.20959706e-04 1.62335822e-01] [ 1.81767729e-02 -1.38315809e-03 9.99833832e-01 3.80796735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05486062399999 meters Centerline goodness [0,1] 0.6684532924961715 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 0.99895726 -0.04193272 -0.01805665 0.39043452] [ 0.04195856 0.9991188 0.00105441 0.16086876] [ 0.01799652 -0.00181094 0.99983641 0.03756446] [ 0. 0. 0. 1. ]] SLAMing on 139.084860624 meters Centerline goodness [0,1] 0.6579792555151898 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 0.99895549 -0.04192889 -0.01816296 0.39114277] [ 0.04196866 0.99911728 0.00181351 0.1580788 ] [ 0.01807089 -0.00257389 0.9998334 0.03657038] [ 0. 0. 0. 1. ]] SLAMing on 139.114860624 meters Centerline goodness [0,1] 0.6605555263296333 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 0.99895679 -0.04185113 -0.01827034 0.39171972] [ 0.0418982 0.99911946 0.00220074 0.15696396] [ 0.01816215 -0.00296394 0.99983066 0.03597336] [ 0. 0. 0. 1. ]] SLAMing on 139.144860624 meters Centerline goodness [0,1] 0.6585692877987224 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 0.99895406 -0.0419474 -0.01819919 0.39158265] [ 0.04199872 0.99911467 0.00244655 0.15613767] [ 0.01808045 -0.00320833 0.99983139 0.03576675] [ 0. 0. 0. 1. ]] SLAMing on 139.174860624 meters Centerline goodness [0,1] 0.651612733629505 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 0.99895071 -0.04206351 -0.01811483 0.39116855] [ 0.04211658 0.99910943 0.00255809 0.15540517] [ 0.0179911 -0.00331834 0.99983264 0.03596261] [ 0. 0. 0. 1. ]] SLAMing on 139.204860624 meters Centerline goodness [0,1] 0.6597254963591597 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99894914 -0.04208715 -0.01814607 0.39093829] [ 0.04214656 0.99910722 0.00290348 0.15340323] [ 0.01800767 -0.00366522 0.99983113 0.03627216] [ 0. 0. 0. 1. ]] SLAMing on 139.234860624 meters Centerline goodness [0,1] 0.6489654629848163 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.998946 -0.04214089 -0.01819429 0.39070689] [ 0.04220069 0.9991049 0.00291527 0.15267142] [ 0.01805515 -0.00368001 0.99983022 0.03674423] [ 0. 0. 0. 1. ]] SLAMing on 139.264860624 meters Centerline goodness [0,1] 0.663323557138368 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99894499 -0.04220354 -0.01810417 0.3900748 ] [ 0.04226703 0.99910142 0.00313815 0.1510794 ] [ 0.01795546 -0.00390005 0.99983118 0.03720011] [ 0. 0. 0. 1. ]] SLAMing on 139.294860624 meters Centerline goodness [0,1] 0.6615058712765123 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99895074 -0.04205245 -0.01813841 0.3902171 ] [ 0.0421209 0.99910671 0.00340831 0.14999346] [ 0.01797887 -0.00416874 0.99982968 0.03723029] [ 0. 0. 0. 1. ]] SLAMing on 139.324860624 meters Centerline goodness [0,1] 0.6594058888133466 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99895058 -0.042074 -0.01809749 0.38990401] [ 0.0421446 0.99910526 0.00353748 0.14928886] [ 0.01793246 -0.00429648 0.99982997 0.03746605] [ 0. 0. 0. 1. ]] SLAMing on 139.354860624 meters Centerline goodness [0,1] 0.6607566552812035 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99895917 -0.04184861 -0.01814578 0.39030661] [ 0.04192559 0.99911319 0.00388282 0.1481346 ] [ 0.0179672 -0.00463955 0.99982781 0.03717768] [ 0. 0. 0. 1. ]] SLAMing on 139.384860624 meters Centerline goodness [0,1] 0.6516877253976079 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.04 [[ 0.99896522 -0.04166699 -0.01823065 0.39061347] [ 0.04175205 0.99911871 0.00431014 0.14651425] [ 0.01803499 -0.00506684 0.99982452 0.03704889] [ 0. 0. 0. 1. ]] SLAMing on 139.414860624 meters Centerline goodness [0,1] 0.6516912088196476 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.04 [[ 0.9989594 -0.041855 -0.01811856 0.39008557] [ 0.04195069 0.9991075 0.00493413 0.14302838] [ 0.01789587 -0.00568908 0.99982367 0.03709349] [ 0. 0. 0. 1. ]] SLAMing on 139.444860624 meters Centerline goodness [0,1] 0.659605324493707 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.04 [[ 0.99895755 -0.04190736 -0.0180995 0.38997785] [ 0.04201071 0.99910274 0.00536779 0.14112818] [ 0.01785831 -0.00612257 0.99982178 0.03697618] [ 0. 0. 0. 1. ]] SLAMing on 139.474860624 meters Centerline goodness [0,1] 0.6624961224278771 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.04 [[ 0.99893565 -0.04238826 -0.01818822 0.38967575] [ 0.04250417 0.99907806 0.00603451 0.13697225] [ 0.01791566 -0.00680116 0.99981637 0.03700076] [ 0. 0. 0. 1. ]] SLAMing on 139.504860624 meters Centerline goodness [0,1] 0.6463417776976007 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.04 [[ 0.99893221 -0.04252813 -0.01805009 0.3894696 ] [ 0.04265048 0.99906925 0.00644828 0.13484591] [ 0.01775906 -0.00721124 0.99981629 0.03673605] [ 0. 0. 0. 1. ]] SLAMing on 139.534860624 meters Centerline goodness [0,1] 0.6455207555910132 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.04 [[ 0.9989299 -0.0425794 -0.01805693 0.38944415] [ 0.0427101 0.99906357 0.00691532 0.13261088] [ 0.01774557 -0.00767914 0.99981305 0.0366225 ] [ 0. 0. 0. 1. ]] SLAMing on 139.564860624 meters Centerline goodness [0,1] 0.6593925701522425 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.04 [[ 0.99892412 -0.04272218 -0.01803935 0.38940109] [ 0.04286414 0.99905233 0.00755693 0.12834617] [ 0.0176994 -0.00832204 0.99980872 0.03649877] [ 0. 0. 0. 1. ]] SLAMing on 139.594860624 meters Centerline goodness [0,1] 0.6540882112157184 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.04 [[ 0.99892988 -0.04255492 -0.01811557 0.38981802] [ 0.04270694 0.9990549 0.00808865 0.12612028] [ 0.01775424 -0.00885365 0.99980318 0.03616644] [ 0. 0. 0. 1. ]] SLAMing on 139.624860624 meters Centerline goodness [0,1] 0.6489671002295333 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:0.04 [[ 0.99893776 -0.04229712 -0.01828407 0.39042855] [ 0.04246062 0.99906071 0.00864868 0.12383329] [ 0.01790108 -0.00941584 0.99979543 0.03592151] [ 0. 0. 0. 1. ]] SLAMing on 139.654860624 meters Centerline goodness [0,1] 0.631317379004511 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:0.04 [[ 0.9989399 -0.04225827 -0.01825664 0.39007203] [ 0.04243207 0.99905663 0.00923941 0.12037337] [ 0.01784897 -0.01000429 0.99979064 0.03620828] [ 0. 0. 0. 1. ]] SLAMing on 139.684860624 meters Centerline goodness [0,1] 0.626290032203261 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:0.04 [[ 0.99894295 -0.04215222 -0.01833522 0.39015703] [ 0.04233218 0.99905804 0.00954013 0.11862467] [ 0.01791581 -0.01030621 0.99978638 0.03642177] [ 0. 0. 0. 1. ]] SLAMing on 139.714860624 meters Centerline goodness [0,1] 0.6209759060538571 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:0.04 [[ 0.99894501 -0.04205874 -0.01843707 0.39009454] [ 0.04224437 0.99905927 0.00979696 0.11696417] [ 0.01800767 -0.01056549 0.99978202 0.03685386] [ 0. 0. 0. 1. ]] SLAMing on 139.74486062399998 meters Centerline goodness [0,1] 0.6199909383809907 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.9989506 -0.04188847 -0.01852168 0.3896123 ] [ 0.04208453 0.9990607 0.010325 0.11375325] [ 0.01807178 -0.01109364 0.99977515 0.03777187] [ 0. 0. 0. 1. ]] SLAMing on 139.77486062399998 meters Centerline goodness [0,1] 0.6584372485921158 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99895714 -0.04169714 -0.01860065 0.38961989] [ 0.04189988 0.99906509 0.01064632 0.11198456] [ 0.01813934 -0.01141459 0.99977031 0.03811831] [ 0. 0. 0. 1. ]] SLAMing on 139.80486062399999 meters Centerline goodness [0,1] 0.6584372485921158 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99895714 -0.04169714 -0.01860065 0.38961989] [ 0.04189988 0.99906509 0.01064632 0.11198456] [ 0.01813934 -0.01141459 0.99977031 0.03811831] [ 0. 0. 0. 1. ]] SLAMing on 139.834860624 meters Centerline goodness [0,1] 0.653193675295061 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99897601 -0.04116694 -0.01876728 0.38990005] [ 0.04138638 0.99907751 0.01145843 0.10884177] [ 0.01827826 -0.01222341 0.99975822 0.03838434] [ 0. 0. 0. 1. ]] SLAMing on 139.864860624 meters Centerline goodness [0,1] 0.6587543771885943 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99898506 -0.04087053 -0.01893275 0.39029644] [ 0.04109753 0.99908593 0.01175994 0.10762518] [ 0.01843481 -0.0125261 0.9997516 0.03848969] [ 0. 0. 0. 1. ]] SLAMing on 139.894860624 meters Centerline goodness [0,1] 0.6520537714712472 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99899979 -0.04042028 -0.01912147 0.39117947] [ 0.0406585 0.99909815 0.01223792 0.1062405 ] [ 0.01860956 -0.01300313 0.99974227 0.03809614] [ 0. 0. 0. 1. ]] SLAMing on 139.924860624 meters Centerline goodness [0,1] 0.6526998162038646 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 0.99903367 -0.03939689 -0.0194835 0.39260951] [ 0.03966041 0.99912431 0.01332905 0.10311801] [ 0.01894132 -0.01408889 0.99972133 0.03760565] [ 0. 0. 0. 1. ]] SLAMing on 139.954860624 meters Centerline goodness [0,1] 0.6581361900510836 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 0.99904721 -0.03892254 -0.01974109 0.39353552] [ 0.03919836 0.99913639 0.01378259 0.10196334] [ 0.01918759 -0.01454328 0.99971012 0.03732541] [ 0. 0. 0. 1. ]] SLAMing on 139.984860624 meters Centerline goodness [0,1] 0.6592968556573409 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 0.99906506 -0.03831844 -0.02001743 0.39454963] [ 0.03860658 0.99915342 0.01421152 0.10101225] [ 0.01945592 -0.01497104 0.99969862 0.03708584] [ 0. 0. 0. 1. ]] SLAMing on 140.014860624 meters Centerline goodness [0,1] 0.6584647374805059 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99908142 -0.03775209 -0.02027551 0.39541576] [ 0.03805341 0.99916777 0.01468679 0.0999931 ] [ 0.01970418 -0.01544485 0.99968655 0.03688833] [ 0. 0. 0. 1. ]] SLAMing on 140.044860624 meters Centerline goodness [0,1] 0.6650747150488663 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99911471 -0.03664751 -0.02065813 0.39680767] [ 0.03697075 0.99919632 0.01548829 0.0980745 ] [ 0.02007392 -0.01623833 0.99966662 0.03666746] [ 0. 0. 0. 1. ]] SLAMing on 140.074860624 meters Centerline goodness [0,1] 0.6635746272329117 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99912644 -0.03614822 -0.02096832 0.39748465] [ 0.03648104 0.9992108 0.01571316 0.09750769] [ 0.02038377 -0.01646438 0.99965665 0.03692445] [ 0. 0. 0. 1. ]] SLAMing on 140.104860624 meters Centerline goodness [0,1] 0.6727451946771809 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99913683 -0.03567226 -0.02128569 0.39816895] [ 0.03601459 0.99922441 0.01592236 0.09703769] [ 0.02070119 -0.01667521 0.99964664 0.03719877] [ 0. 0. 0. 1. ]] SLAMing on 140.134860624 meters Centerline goodness [0,1] 0.6727451946771809 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99913683 -0.03567226 -0.02128569 0.39816895] [ 0.03601459 0.99922441 0.01592236 0.09703769] [ 0.02070119 -0.01667521 0.99964664 0.03719877] [ 0. 0. 0. 1. ]] SLAMing on 140.164860624 meters Centerline goodness [0,1] 0.6724859647394859 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99915002 -0.03516159 -0.02151523 0.39897236] [ 0.03551309 0.99923823 0.01617933 0.09653329] [ 0.02092995 -0.01692965 0.9996376 0.03711456] [ 0. 0. 0. 1. ]] SLAMing on 140.194860624 meters Centerline goodness [0,1] 0.6689172600049104 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99916394 -0.03455744 -0.02184491 0.39958489] [ 0.03492505 0.99925078 0.01667667 0.09467116] [ 0.02125224 -0.01742566 0.99962227 0.03755876] [ 0. 0. 0. 1. ]] SLAMing on 140.224860624 meters Centerline goodness [0,1] 0.6676487919858574 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99916548 -0.03445425 -0.02193728 0.39951943] [ 0.03482551 0.99925265 0.0167727 0.09377581] [ 0.021343 -0.01752268 0.99961864 0.03806269] [ 0. 0. 0. 1. ]] SLAMing on 140.254860624 meters Centerline goodness [0,1] 0.670502399373225 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99916461 -0.03438054 -0.02209221 0.3997601 ] [ 0.03475739 0.99925277 0.01690644 0.09255375] [ 0.02149445 -0.01766018 0.99961298 0.03834093] [ 0. 0. 0. 1. ]] SLAMing on 140.284860624 meters Centerline goodness [0,1] 0.6685442574981713 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99916141 -0.03440425 -0.02219944 0.39966318] [ 0.03479394 0.99924279 0.0174134 0.08912116] [ 0.02158354 -0.01817121 0.9996019 0.03874289] [ 0. 0. 0. 1. ]] SLAMing on 140.314860624 meters Centerline goodness [0,1] 0.6680695779102299 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99915331 -0.03464866 -0.02218404 0.39935772] [ 0.03504057 0.99923216 0.01752824 0.08741084] [ 0.02155968 -0.01829074 0.99960023 0.03906826] [ 0. 0. 0. 1. ]] SLAMing on 140.344860624 meters Centerline goodness [0,1] 0.6593158112280872 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99914331 -0.0349545 -0.0221547 0.39888465] [ 0.03534813 0.99921951 0.01763206 0.08563823] [ 0.02152109 -0.01840008 0.99959906 0.03948921] [ 0. 0. 0. 1. ]] SLAMing on 140.374860624 meters Centerline goodness [0,1] 0.6593515606097267 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.99899207 -0.03902776 -0.02217385 0.39848976] [ 0.03934372 0.99912771 0.0139961 0.08318516] [ 0.02160828 -0.0148544 0.99965616 0.04062313] [ 0. 0. 0. 1. ]] SLAMing on 140.404860624 meters Centerline goodness [0,1] 0.6573445102856867 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.99884224 -0.04250363 -0.02253023 0.39971192] [ 0.04274567 0.99903215 0.010372 0.08241592] [ 0.02206757 -0.01132307 0.99969236 0.04084784] [ 0. 0. 0. 1. ]] SLAMing on 140.434860624 meters Centerline goodness [0,1] 0.6511032403197243 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.99868998 -0.04578644 -0.0228455 0.40123497] [ 0.04595606 0.99891925 0.0069553 0.08148211] [ 0.02250235 -0.00799607 0.99971481 0.04065061] [ 0. 0. 0. 1. ]] SLAMing on 140.464860624 meters Centerline goodness [0,1] 0.6429200276013038 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.99850894 -0.04953828 -0.02293147 0.40202245] [ 0.04964086 0.99875942 0.00392549 0.07787218] [ 0.02270856 -0.00505798 0.99972933 0.04043785] [ 0. 0. 0. 1. ]] SLAMing on 140.49486062399998 meters Centerline goodness [0,1] 0.6372753568210916 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.99848738 -0.05002304 -0.02281777 0.40140172] [ 0.05012969 0.99873419 0.00412597 0.07542154] [ 0.02258249 -0.00526357 0.99973113 0.04074269] [ 0. 0. 0. 1. ]] SLAMing on 140.52486062399998 meters Centerline goodness [0,1] 0.6334332302900159 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.04 [[ 0.99838459 -0.0520678 -0.02274114 0.39993213] [ 0.05214581 0.99863541 0.00285047 0.07214877] [ 0.02256169 -0.00403172 0.99973732 0.0423095 ] [ 0. 0. 0. 1. ]] SLAMing on 140.55486062399999 meters Centerline goodness [0,1] 0.6412831306883657 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.04 [[ 0.99837245 -0.05235212 -0.02262071 0.39939789] [ 0.05243458 0.99861965 0.00306721 0.07037245] [ 0.02242891 -0.00424833 0.99973941 0.04254639] [ 0. 0. 0. 1. ]] SLAMing on 140.584860624 meters Centerline goodness [0,1] 0.6388947479434719 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.04 [[ 0.99836085 -0.05257079 -0.02262576 0.39912206] [ 0.05265898 0.99860704 0.0033193 0.06849184] [ 0.02241975 -0.00450531 0.99973849 0.04278473] [ 0. 0. 0. 1. ]] SLAMing on 140.614860624 meters Centerline goodness [0,1] 0.6334148898986368 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.04 [[ 0.99835138 -0.05280302 -0.02250232 0.39850481] [ 0.05289786 0.99859329 0.00364042 0.0655982 ] [ 0.02227844 -0.00482474 0.99974016 0.04320238] [ 0. 0. 0. 1. ]] SLAMing on 140.644860624 meters Centerline goodness [0,1] 0.6423905943827564 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.99835208 -0.05275621 -0.02258105 0.3984614 ] [ 0.05285625 0.99859468 0.00385647 0.06437503] [ 0.02234586 -0.00504367 0.99973758 0.0434719 ] [ 0. 0. 0. 1. ]] SLAMing on 140.674860624 meters Centerline goodness [0,1] 0.6312502901713171 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.9983497 -0.05282635 -0.02252234 0.39814152] [ 0.05292951 0.99859021 0.00400866 0.06306253] [ 0.02227882 -0.00519414 0.9997383 0.04376896] [ 0. 0. 0. 1. ]] SLAMing on 140.704860624 meters Centerline goodness [0,1] 0.6260558804418453 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.99834997 -0.05279354 -0.02258708 0.39811163] [ 0.05290337 0.99859041 0.00429233 0.06169662] [ 0.02232864 -0.00548018 0.99973566 0.04394347] [ 0. 0. 0. 1. ]] SLAMing on 140.734860624 meters Centerline goodness [0,1] 0.623590432306018 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.99835507 -0.05273072 -0.02250844 0.39806674] [ 0.05284823 0.99859169 0.00465757 0.06038159] [ 0.02223114 -0.00583944 0.9997358 0.04377659] [ 0. 0. 0. 1. ]] SLAMing on 140.764860624 meters Centerline goodness [0,1] 0.6182321717055158 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.9983644 -0.05253182 -0.02255935 0.3980152 ] [ 0.05266208 0.99859875 0.00521914 0.05815213] [ 0.02225357 -0.00639863 0.99973188 0.04397608] [ 0. 0. 0. 1. ]] SLAMing on 140.794860624 meters Centerline goodness [0,1] 0.6352703106675559 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.99837185 -0.0524024 -0.02253067 0.39807173] [ 0.05253893 0.99860367 0.00551067 0.05690343] [ 0.02221043 -0.00668543 0.99973096 0.04390768] [ 0. 0. 0. 1. ]] SLAMing on 140.824860624 meters Centerline goodness [0,1] 0.6337821745900889 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.04 [[ 0.99838479 -0.05211911 -0.02261449 0.39851126] [ 0.05226612 0.99861542 0.00595854 0.05537405] [ 0.02227263 -0.00713089 0.9997265 0.04361997] [ 0. 0. 0. 1. ]] SLAMing on 140.854860624 meters Centerline goodness [0,1] 0.637850948447475 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99839383 -0.05196435 -0.02257139 0.39826037] [ 0.05212016 0.9986205 0.00637022 0.05339216] [ 0.02220922 -0.00753641 0.99972494 0.04389705] [ 0. 0. 0. 1. ]] SLAMing on 140.884860624 meters Centerline goodness [0,1] 0.6354135767256133 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99840374 -0.05177178 -0.02257534 0.3981972 ] [ 0.0519339 0.99862835 0.00665488 0.05257577] [ 0.02219984 -0.00781668 0.99972299 0.04404203] [ 0. 0. 0. 1. ]] SLAMing on 140.914860624 meters Centerline goodness [0,1] 0.6254955570745044 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99841364 -0.05153617 -0.02267647 0.39840879] [ 0.05170407 0.99863874 0.00688082 0.05196736] [ 0.02229099 -0.00804237 0.99971918 0.04411467] [ 0. 0. 0. 1. ]] SLAMing on 140.944860624 meters Centerline goodness [0,1] 0.634440881490073 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99842518 -0.0513062 -0.02269013 0.39850132] [ 0.05147976 0.99864857 0.00713207 0.05125892] [ 0.02229354 -0.00828892 0.99971711 0.04412505] [ 0. 0. 0. 1. ]] SLAMing on 140.974860624 meters Centerline goodness [0,1] 0.6290168628698696 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99844447 -0.05087949 -0.02280172 0.39890407] [ 0.05106662 0.99866556 0.00770088 0.04964972] [ 0.02237948 -0.00885331 0.99971035 0.04399694] [ 0. 0. 0. 1. ]] SLAMing on 141.004860624 meters Centerline goodness [0,1] 0.6482968204290833 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99845159 -0.05071595 -0.02285442 0.39915851] [ 0.05090889 0.99867174 0.00794039 0.04860556] [ 0.02242136 -0.00909159 0.99970727 0.04391737] [ 0. 0. 0. 1. ]] SLAMing on 141.034860624 meters Centerline goodness [0,1] 0.6299087843190512 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99848034 -0.05009289 -0.02297221 0.39965743] [ 0.05030181 0.99869697 0.00860792 0.04702131] [ 0.02251108 -0.00975038 0.99969905 0.04372517] [ 0. 0. 0. 1. ]] SLAMing on 141.064860624 meters Centerline goodness [0,1] 0.6299087843190512 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99848034 -0.05009289 -0.02297221 0.39965743] [ 0.05030181 0.99869697 0.00860792 0.04702131] [ 0.02251108 -0.00975038 0.99969905 0.04372517] [ 0. 0. 0. 1. ]] SLAMing on 141.094860624 meters Centerline goodness [0,1] 0.6644826028016267 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99851419 -0.04931182 -0.02318958 0.4006252 ] [ 0.04953568 0.99873017 0.00917996 0.04639325] [ 0.02270745 -0.01031503 0.99968894 0.04331175] [ 0. 0. 0. 1. ]] SLAMing on 141.124860624 meters Centerline goodness [0,1] 0.6491307292842627 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99851876 -0.04916091 -0.02331281 0.40100868] [ 0.04938738 0.99873696 0.00924011 0.04642372] [ 0.02282912 -0.01037778 0.99968552 0.04324974] [ 0. 0. 0. 1. ]] SLAMing on 141.154860624 meters Centerline goodness [0,1] 0.6633374759914135 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99855143 -0.04842501 -0.02345342 0.40180843] [ 0.04866164 0.99876894 0.00962562 0.04647608] [ 0.02295843 -0.01075296 0.99967859 0.04286145] [ 0. 0. 0. 1. ]] SLAMing on 141.184860624 meters Centerline goodness [0,1] 0.6314267642540887 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99855687 -0.04835361 -0.02336908 0.40163011] [ 0.0485904 0.99877195 0.00967282 0.04619389] [ 0.02287267 -0.01079438 0.99968011 0.04295181] [ 0. 0. 0. 1. ]] SLAMing on 141.214860624 meters Centerline goodness [0,1] 0.6219669096900887 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.04 [[ 0.99854984 -0.04856537 -0.02322963 0.40110181] [ 0.04879905 0.99876248 0.00960042 0.04575361] [ 0.02273463 -0.01072008 0.99968406 0.04324823] [ 0. 0. 0. 1. ]] SLAMing on 141.24486062399998 meters Centerline goodness [0,1] 0.6535136233323551 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.04 [[ 0.99853488 -0.04891891 -0.02313088 0.40036677] [ 0.04914975 0.99874606 0.00951858 0.04480615] [ 0.02263623 -0.01064151 0.99968713 0.04390193] [ 0. 0. 0. 1. ]] SLAMing on 141.27486062399998 meters Centerline goodness [0,1] 0.6673873873873875 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.04 [[ 0.99850913 -0.04951519 -0.02297317 0.39954981] [ 0.04974363 0.99871702 0.00948072 0.0428291 ] [ 0.02247425 -0.01060936 0.99969113 0.04442807] [ 0. 0. 0. 1. ]] SLAMing on 141.30486062399999 meters Centerline goodness [0,1] 0.6499269088046778 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.04 [[ 0.99850384 -0.04960931 -0.0230001 0.39950516] [ 0.04983967 0.99871155 0.0095524 0.04189454] [ 0.02249658 -0.01068442 0.99968983 0.04456659] [ 0. 0. 0. 1. ]] SLAMing on 141.334860624 meters Centerline goodness [0,1] 0.6627185687957927 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.04 [[ 0.99849394 -0.0498763 -0.02285165 0.39907975] [ 0.05010479 0.99869843 0.00953749 0.04107419] [ 0.02234621 -0.0106681 0.99969337 0.04470984] [ 0. 0. 0. 1. ]] SLAMing on 141.364860624 meters Centerline goodness [0,1] 0.6600987432675045 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.04 [[ 0.99848406 -0.05007983 -0.02283826 0.39880211] [ 0.05030956 0.99868756 0.00959758 0.0401147 ] [ 0.02232764 -0.01073202 0.9996931 0.04499478] [ 0. 0. 0. 1. ]] SLAMing on 141.394860624 meters Centerline goodness [0,1] 0.6627291881472184 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99847341 -0.05035156 -0.02270625 0.39850143] [ 0.05057887 0.99867441 0.00955004 0.03935026] [ 0.02219529 -0.01068392 0.99969657 0.04507638] [ 0. 0. 0. 1. ]] SLAMing on 141.424860624 meters Centerline goodness [0,1] 0.6603858131875517 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99846391 -0.0505812 -0.02261353 0.39803021] [ 0.05080736 0.9986629 0.00954062 0.03841253] [ 0.02210071 -0.0106749 0.99969876 0.04542225] [ 0. 0. 0. 1. ]] SLAMing on 141.454860624 meters Centerline goodness [0,1] 0.659070518571685 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99846523 -0.05052827 -0.0226735 0.39794242] [ 0.05075525 0.99866547 0.00954936 0.03802473] [ 0.02216073 -0.0106855 0.99969732 0.04581379] [ 0. 0. 0. 1. ]] SLAMing on 141.484860624 meters Centerline goodness [0,1] 0.6492308381289326 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99846356 -0.05054086 -0.02271883 0.39794653] [ 0.05076646 0.9986657 0.00946541 0.03786585] [ 0.02221012 -0.01060422 0.99969708 0.04605279] [ 0. 0. 0. 1. ]] SLAMing on 141.514860624 meters Centerline goodness [0,1] 0.6640320630513636 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99846598 -0.05050322 -0.02269608 0.39780812] [ 0.05072886 0.99866749 0.00947814 0.03759471] [ 0.02218716 -0.01061495 0.99969748 0.0462435 ] [ 0. 0. 0. 1. ]] SLAMing on 141.544860624 meters Centerline goodness [0,1] 0.6518691065469124 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99847119 -0.05043779 -0.02261228 0.39728903] [ 0.05065964 0.99867223 0.00934735 0.03775079] [ 0.0221108 -0.01047859 0.99970061 0.0468528 ] [ 0. 0. 0. 1. ]] SLAMing on 141.574860624 meters Centerline goodness [0,1] 0.6528659572565501 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.9984754 -0.05031739 -0.02269449 0.39729808] [ 0.0505376 0.99867945 0.00923596 0.0381243 ] [ 0.0221998 -0.0103688 0.99969978 0.0472269 ] [ 0. 0. 0. 1. ]] SLAMing on 141.604860624 meters Centerline goodness [0,1] 0.6677780264041173 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99847307 -0.05039747 -0.02261899 0.39683719] [ 0.05061304 0.99867724 0.00906077 0.03834918] [ 0.02213243 -0.01019175 0.9997031 0.04767646] [ 0. 0. 0. 1. ]] SLAMing on 141.634860624 meters Centerline goodness [0,1] 0.6677109673954393 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99847349 -0.05039642 -0.02260279 0.39635675] [ 0.05061403 0.99867628 0.00916064 0.0375694 ] [ 0.02211121 -0.01029068 0.99970255 0.04832906] [ 0. 0. 0. 1. ]] SLAMing on 141.664860624 meters Centerline goodness [0,1] 0.6647756460366738 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.9984813 -0.05020054 -0.02269361 0.39681192] [ 0.05042321 0.99868419 0.00934834 0.03704451] [ 0.02219446 -0.01047843 0.99969876 0.04811402] [ 0. 0. 0. 1. ]] SLAMing on 141.694860624 meters Centerline goodness [0,1] 0.6615776650200058 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99848646 -0.05004662 -0.02280647 0.39716918] [ 0.05027401 0.9986902 0.00950834 0.0366944 ] [ 0.02230074 -0.01064053 0.99969468 0.04799993] [ 0. 0. 0. 1. ]] SLAMing on 141.724860624 meters Centerline goodness [0,1] 0.6664660111921165 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99849755 -0.04983522 -0.02278347 0.39747864] [ 0.0500693 0.99869745 0.0098217 0.03570613] [ 0.02226433 -0.01094769 0.99969218 0.04761983] [ 0. 0. 0. 1. ]] SLAMing on 141.754860624 meters Centerline goodness [0,1] 0.6522582371037495 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99850233 -0.04975941 -0.02273997 0.39706429] [ 0.04999511 0.99870023 0.00991655 0.03509815] [ 0.02221697 -0.01103859 0.99969223 0.04814181] [ 0. 0. 0. 1. ]] SLAMing on 141.784860624 meters Centerline goodness [0,1] 0.6534951024042743 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99850339 -0.04975851 -0.02269522 0.39687256] [ 0.0499951 0.99869961 0.00997882 0.03459223] [ 0.02216918 -0.01109853 0.99969263 0.04832215] [ 0. 0. 0. 1. ]] SLAMing on 141.814860624 meters Centerline goodness [0,1] 0.6816087604887712 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99850866 -0.049636 -0.02273144 0.39676054] [ 0.04988156 0.99870135 0.01036577 0.03286347] [ 0.02218741 -0.01148419 0.99968787 0.04855948] [ 0. 0. 0. 1. ]] SLAMing on 141.844860624 meters Centerline goodness [0,1] 0.6816087604887712 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99850866 -0.049636 -0.02273144 0.39676054] [ 0.04988156 0.99870135 0.01036577 0.03286347] [ 0.02218741 -0.01148419 0.99968787 0.04855948] [ 0. 0. 0. 1. ]] SLAMing on 141.874860624 meters Centerline goodness [0,1] 0.6712210077312717 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99851109 -0.04958745 -0.02273058 0.39671642] [ 0.04983594 0.99870223 0.0104989 0.03218616] [ 0.02218046 -0.01161606 0.9996865 0.04868326] [ 0. 0. 0. 1. ]] SLAMing on 141.904860624 meters Centerline goodness [0,1] 0.6833892729333837 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99851554 -0.04949986 -0.02272607 0.39682704] [ 0.0497535 0.99870385 0.01073376 0.03143699] [ 0.0221653 -0.01184853 0.99968411 0.04852613] [ 0. 0. 0. 1. ]] SLAMing on 141.934860624 meters Centerline goodness [0,1] 0.6735024884464984 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99851581 -0.04949023 -0.02273533 0.39702333] [ 0.04974496 0.9987038 0.01077801 0.0310753 ] [ 0.02217246 -0.01189298 0.99968342 0.04835339] [ 0. 0. 0. 1. ]] SLAMing on 141.964860624 meters Centerline goodness [0,1] 0.6832922687620697 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99851797 -0.04946041 -0.02270553 0.39720954] [ 0.04971824 0.99870342 0.01093482 0.03030721] [ 0.02213525 -0.0120475 0.99968239 0.04809026] [ 0. 0. 0. 1. ]] SLAMing on 141.99486062399998 meters Centerline goodness [0,1] 0.6794741042923023 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99852696 -0.04925095 -0.02276502 0.39762307] [ 0.04951779 0.9987092 0.01131014 0.02900032] [ 0.0221786 -0.01242075 0.99967686 0.04781813] [ 0. 0. 0. 1. ]] SLAMing on 142.02486062399998 meters Centerline goodness [0,1] 0.6794741042923023 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99852696 -0.04925095 -0.02276502 0.39762307] [ 0.04951779 0.9987092 0.01131014 0.02900032] [ 0.0221786 -0.01242075 0.99967686 0.04781813] [ 0. 0. 0. 1. ]] SLAMing on 142.05486062399999 meters Centerline goodness [0,1] 0.6746489773355445 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.9985228 -0.04935465 -0.022723 0.39750866] [ 0.04961952 0.9987049 0.01124379 0.02857708] [ 0.02213863 -0.01235468 0.99967857 0.04794381] [ 0. 0. 0. 1. ]] SLAMing on 142.084860624 meters Centerline goodness [0,1] 0.664917656914835 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99851548 -0.04951239 -0.02270139 0.39730985] [ 0.04977655 0.99869733 0.01122238 0.02784055] [ 0.02211617 -0.01233571 0.9996793 0.04817295] [ 0. 0. 0. 1. ]] SLAMing on 142.114860624 meters Centerline goodness [0,1] 0.6722975213920888 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99850401 -0.0498072 -0.02256088 0.39650456] [ 0.05007078 0.99868205 0.01127283 0.02638432] [ 0.02196968 -0.01238561 0.99968191 0.04878791] [ 0. 0. 0. 1. ]] SLAMing on 142.144860624 meters Centerline goodness [0,1] 0.6689723756906077 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:0.05 [[ 0.99849612 -0.04997822 -0.02253155 0.39624313] [ 0.05024185 0.99867327 0.01129004 0.02566444] [ 0.0219374 -0.01240509 0.99968238 0.04901987] [ 0. 0. 0. 1. ]] SLAMing on 142.174860624 meters Centerline goodness [0,1] 0.6649610727597539 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.05 [[ 0.99848648 -0.05023228 -0.02239362 0.39598546] [ 0.05049352 0.99866095 0.01125677 0.02497521] [ 0.02179818 -0.01237047 0.99968586 0.04899914] [ 0. 0. 0. 1. ]] SLAMing on 142.204860624 meters Centerline goodness [0,1] 0.6576031781063782 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.05 [[ 0.99847366 -0.05058451 -0.02217121 0.39552797] [ 0.05084506 0.99864206 0.01134975 0.02385584] [ 0.02156698 -0.01245973 0.99968976 0.04889358] [ 0. 0. 0. 1. ]] SLAMing on 142.234860624 meters Centerline goodness [0,1] 0.6560167807463015 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.05 [[ 0.99846697 -0.0506971 -0.02221517 0.39559228] [ 0.05095908 0.9986358 0.01138952 0.0232646 ] [ 0.02160745 -0.01250413 0.99968833 0.04892329] [ 0. 0. 0. 1. ]] SLAMing on 142.264860624 meters Centerline goodness [0,1] 0.6485473702773001 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.05 [[ 0.99846098 -0.05086036 -0.02211101 0.39537827] [ 0.0511244 0.99862556 0.01154496 0.02215467] [ 0.02149343 -0.01265761 0.99968886 0.04892717] [ 0. 0. 0. 1. ]] SLAMing on 142.294860624 meters Centerline goodness [0,1] 0.6500452508663885 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.05 [[ 0.99845682 -0.05093074 -0.02213676 0.3952892 ] [ 0.05119548 0.99862173 0.01156105 0.02183744] [ 0.02151744 -0.01267651 0.9996881 0.04910531] [ 0. 0. 0. 1. ]] SLAMing on 142.324860624 meters Centerline goodness [0,1] 0.6404071112286036 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99844773 -0.05113555 -0.02207453 0.39489135] [ 0.05139672 0.9986129 0.01143006 0.02162043] [ 0.02145943 -0.01254687 0.99969099 0.04950799] [ 0. 0. 0. 1. ]] SLAMing on 142.354860624 meters Centerline goodness [0,1] 0.6404071112286036 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99844773 -0.05113555 -0.02207453 0.39489135] [ 0.05139672 0.9986129 0.01143006 0.02162043] [ 0.02145943 -0.01254687 0.99969099 0.04950799] [ 0. 0. 0. 1. ]] SLAMing on 142.384860624 meters Centerline goodness [0,1] 0.6772132375622439 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99845066 -0.05110718 -0.02200765 0.39460744] [ 0.05136376 0.99861659 0.01125523 0.02189195] [ 0.02140198 -0.01236819 0.99969444 0.04984051] [ 0. 0. 0. 1. ]] SLAMing on 142.414860624 meters Centerline goodness [0,1] 0.6357265635329896 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99844372 -0.0512474 -0.02199657 0.39432979] [ 0.05150017 0.99861149 0.01108263 0.0219895 ] [ 0.02139807 -0.01219821 0.99969662 0.05019074] [ 0. 0. 0. 1. ]] SLAMing on 142.444860624 meters Centerline goodness [0,1] 0.6305639941883503 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99842672 -0.05160999 -0.02191994 0.39366054] [ 0.05185703 0.99859552 0.01085482 0.02180059] [ 0.02132893 -0.01197445 0.9997008 0.05082021] [ 0. 0. 0. 1. ]] SLAMing on 142.474860624 meters Centerline goodness [0,1] 0.6289324791405235 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99841328 -0.05190213 -0.02184262 0.39334677] [ 0.05214487 0.99858228 0.01069351 0.02160731] [ 0.02125663 -0.01181553 0.99970423 0.05100682] [ 0. 0. 0. 1. ]] SLAMing on 142.504860624 meters Centerline goodness [0,1] 0.6211713895377022 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99841931 -0.05178505 -0.02184467 0.39389024] [ 0.05203537 0.9985841 0.01105036 0.02075491] [ 0.0212415 -0.01216959 0.99970031 0.05028531] [ 0. 0. 0. 1. ]] SLAMing on 142.534860624 meters Centerline goodness [0,1] 0.6149014941160915 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99841866 -0.05180572 -0.02182546 0.39418513] [ 0.05205841 0.99858154 0.01117297 0.0202126 ] [ 0.02121568 -0.0122915 0.99969936 0.04990437] [ 0. 0. 0. 1. ]] SLAMing on 142.564860624 meters Centerline goodness [0,1] 0.6682213177868221 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99841383 -0.05192561 -0.02176126 0.39409579] [ 0.05217746 0.99857536 0.01116981 0.01992774] [ 0.02115026 -0.01228754 0.9997008 0.04988258] [ 0. 0. 0. 1. ]] SLAMing on 142.594860624 meters Centerline goodness [0,1] 0.664787491741907 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99840311 -0.05213561 -0.02175088 0.39392371] [ 0.05238491 0.99856579 0.0110536 0.01989066] [ 0.02114339 -0.01217536 0.99970231 0.05005926] [ 0. 0. 0. 1. ]] SLAMing on 142.624860624 meters Centerline goodness [0,1] 0.6705556044730122 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99838004 -0.05263976 -0.02159516 0.3931629 ] [ 0.05288258 0.998542 0.01083127 0.01924491] [ 0.02099352 -0.01195573 0.99970812 0.05058499] [ 0. 0. 0. 1. ]] SLAMing on 142.654860624 meters Centerline goodness [0,1] 0.6666960139105936 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99836857 -0.05288385 -0.02152878 0.39288801] [ 0.05312473 0.99852976 0.01077458 0.01861847] [ 0.02092733 -0.01190071 0.99971017 0.05074202] [ 0. 0. 0. 1. ]] SLAMing on 142.684860624 meters Centerline goodness [0,1] 0.6622726074347483 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99836254 -0.05300426 -0.02151259 0.39279934] [ 0.05324418 0.9985238 0.01073694 0.01811038] [ 0.02091173 -0.01186478 0.99971092 0.05088356] [ 0. 0. 0. 1. ]] SLAMing on 142.714860624 meters Centerline goodness [0,1] 0.6764757670467051 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99835815 -0.05315381 -0.02134669 0.3927001 ] [ 0.05339116 0.99851627 0.01070686 0.01769647] [ 0.02074591 -0.01182901 0.9997148 0.05058265] [ 0. 0. 0. 1. ]] SLAMing on 142.74486062399998 meters Centerline goodness [0,1] 0.6671356032796254 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834964 -0.05330767 -0.02136078 0.39283541] [ 0.05354284 0.99850937 0.0105926 0.01779813] [ 0.02076428 -0.01171883 0.99971572 0.05044019] [ 0. 0. 0. 1. ]] SLAMing on 142.77486062399998 meters Centerline goodness [0,1] 0.6658966913058781 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834488 -0.05339474 -0.02136606 0.3929142 ] [ 0.05363115 0.99850403 0.01064892 0.01732836] [ 0.0207655 -0.01177718 0.99971501 0.05034897] [ 0. 0. 0. 1. ]] SLAMing on 142.80486062399999 meters Centerline goodness [0,1] 0.6668205804749341 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99833487 -0.05359389 -0.02133485 0.39275567] [ 0.05382923 0.99849375 0.01061337 0.0170858 ] [ 0.02073391 -0.01174414 0.99971605 0.05044057] [ 0. 0. 0. 1. ]] SLAMing on 142.834860624 meters Centerline goodness [0,1] 0.6640760499681662 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99832692 -0.05379418 -0.02120264 0.39225908] [ 0.05402603 0.99848413 0.01051795 0.01689806] [ 0.02060469 -0.01164585 0.99971987 0.05074334] [ 0. 0. 0. 1. ]] SLAMing on 142.864860624 meters Centerline goodness [0,1] 0.6634321968782244 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99832268 -0.05387749 -0.02119053 0.39219944] [ 0.05410798 0.99848032 0.01045809 0.01682314] [ 0.02059487 -0.01158713 0.99972076 0.05082726] [ 0. 0. 0. 1. ]] SLAMing on 142.894860624 meters Centerline goodness [0,1] 0.6548164127850664 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99829249 -0.05451326 -0.02098608 0.39112046] [ 0.05473732 0.99844813 0.01025434 0.01593314] [ 0.02039452 -0.01138555 0.99972718 0.05155137] [ 0. 0. 0. 1. ]] SLAMing on 142.924860624 meters Centerline goodness [0,1] 0.6507363462258129 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99827182 -0.05497694 -0.02075852 0.39019969] [ 0.05519401 0.99842524 0.01003262 0.0155215 ] [ 0.02017426 -0.01116102 0.99973418 0.05210724] [ 0. 0. 0. 1. ]] SLAMing on 142.954860624 meters Centerline goodness [0,1] 0.6529407893293553 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99826246 -0.05514478 -0.02076347 0.39009751] [ 0.05536253 0.99841561 0.01006249 0.01479642] [ 0.02017568 -0.01119452 0.99973378 0.05227079] [ 0. 0. 0. 1. ]] SLAMing on 142.984860624 meters Centerline goodness [0,1] 0.6506238467621475 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99824878 -0.05542559 -0.0206733 0.38962845] [ 0.05564076 0.99840095 0.00998191 0.01421197] [ 0.02008698 -0.01111471 0.99973645 0.05261318] [ 0. 0. 0. 1. ]] SLAMing on 143.014860624 meters Centerline goodness [0,1] 0.6353176258755846 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99820563 -0.05627126 -0.02047121 0.38869042] [ 0.05647848 0.9983568 0.00968896 0.01278531] [ 0.01989237 -0.01082775 0.99974349 0.05315029] [ 0. 0. 0. 1. ]] SLAMing on 143.044860624 meters Centerline goodness [0,1] 0.6501608984041505 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.9981968 -0.05647077 -0.02035214 0.38864376] [ 0.05667729 0.99834526 0.00971719 0.01224207] [ 0.01976973 -0.01085317 0.99974565 0.05286878] [ 0. 0. 0. 1. ]] SLAMing on 143.074860624 meters Centerline goodness [0,1] 0.6551339041320866 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99818643 -0.05666442 -0.0203222 0.3883587 ] [ 0.05686955 0.99833487 0.00966164 0.0119425 ] [ 0.01974089 -0.01079983 0.9997468 0.0531569 ] [ 0. 0. 0. 1. ]] SLAMing on 143.104860624 meters Centerline goodness [0,1] 0.6536215081049155 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99817649 -0.05683117 -0.02034468 0.38841618] [ 0.05703225 0.99832767 0.00944335 0.01223965] [ 0.01977398 -0.01058644 0.99974843 0.05321102] [ 0. 0. 0. 1. ]] SLAMing on 143.134860624 meters Centerline goodness [0,1] 0.6489543601210048 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99818338 -0.05668677 -0.02040932 0.38859723] [ 0.05688708 0.99833664 0.00937102 0.01275035] [ 0.01984416 -0.01051503 0.99974779 0.05322162] [ 0. 0. 0. 1. ]] SLAMing on 143.164860624 meters Centerline goodness [0,1] 0.6497612058011655 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99818787 -0.05660556 -0.02041542 0.38867559] [ 0.05680469 0.99834191 0.00930872 0.01303592] [ 0.01985464 -0.01045154 0.99974825 0.05326554] [ 0. 0. 0. 1. ]] SLAMing on 143.194860624 meters Centerline goodness [0,1] 0.6535546892110912 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99820073 -0.05636679 -0.02044717 0.38900243] [ 0.05656744 0.99835481 0.00937048 0.01335957] [ 0.01988534 -0.01051026 0.99974702 0.05302282] [ 0. 0. 0. 1. ]] SLAMing on 143.224860624 meters Centerline goodness [0,1] 0.6469852553975777 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:0.05 [[ 0.99822557 -0.05592876 -0.02043752 0.38913569] [ 0.05612776 0.99838032 0.0092959 0.01453586] [ 0.01988451 -0.01042651 0.99974792 0.05307249] [ 0. 0. 0. 1. ]] SLAMing on 143.254860624 meters Centerline goodness [0,1] 0.6486783414998571 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99822945 -0.05586256 -0.0204291 0.3891808 ] [ 0.05605903 0.99838531 0.00917391 0.01536878] [ 0.01988364 -0.01030291 0.99974921 0.05304671] [ 0. 0. 0. 1. ]] SLAMing on 143.284860624 meters Centerline goodness [0,1] 0.6518869372628994 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99824321 -0.0555963 -0.02048277 0.38960135] [ 0.05579324 0.99840021 0.00917208 0.01605439] [ 0.01994007 -0.01029877 0.99974813 0.05278109] [ 0. 0. 0. 1. ]] SLAMing on 143.314860624 meters Centerline goodness [0,1] 0.6514150218455661 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99825812 -0.05527752 -0.02061836 0.39014246] [ 0.05547541 0.99841811 0.00915211 0.01686559] [ 0.02007984 -0.01027998 0.99974553 0.05258934] [ 0. 0. 0. 1. ]] SLAMing on 143.344860624 meters Centerline goodness [0,1] 0.6490972819257985 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99828572 -0.05476406 -0.02065256 0.39072882] [ 0.05496295 0.99844611 0.00918864 0.01815993] [ 0.02011726 -0.01030801 0.99974449 0.05211414] [ 0. 0. 0. 1. ]] SLAMing on 143.374860624 meters Centerline goodness [0,1] 0.6400924194080757 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99828995 -0.0546837 -0.0206606 0.39096309] [ 0.05488337 0.99845017 0.00922387 0.01838514] [ 0.02012418 -0.01034202 0.999744 0.05186942] [ 0. 0. 0. 1. ]] SLAMing on 143.404860624 meters Centerline goodness [0,1] 0.6443573598696667 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99829318 -0.05461173 -0.02069517 0.39113317] [ 0.0548108 0.99845459 0.00917675 0.01870253] [ 0.02016203 -0.0102954 0.99974372 0.05180041] [ 0. 0. 0. 1. ]] SLAMing on 143.434860624 meters Centerline goodness [0,1] 0.6443152540133448 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.9982954 -0.05453862 -0.02078048 0.39128574] [ 0.05473699 0.99845934 0.00909952 0.01904038] [ 0.02025219 -0.01022147 0.99974265 0.05187319] [ 0. 0. 0. 1. ]] SLAMing on 143.464860624 meters Centerline goodness [0,1] 0.6447803287357334 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99831312 -0.0542045 -0.02080347 0.39151851] [ 0.05440347 0.99847739 0.00911988 0.0197692 ] [ 0.02027746 -0.01023628 0.99974199 0.05177585] [ 0. 0. 0. 1. ]] SLAMing on 143.49486062399998 meters Centerline goodness [0,1] 0.6443436323195842 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99831635 -0.05414601 -0.02080099 0.39156605] [ 0.05434353 0.99848129 0.00904991 0.02020428] [ 0.02027938 -0.01016508 0.99974268 0.05177088] [ 0. 0. 0. 1. ]] SLAMing on 143.52486062399998 meters Centerline goodness [0,1] 0.6376572534529779 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99832165 -0.05402969 -0.02084896 0.39178659] [ 0.05422675 0.99848805 0.00900438 0.02069459] [ 0.02033093 -0.01011984 0.99974209 0.05170227] [ 0. 0. 0. 1. ]] SLAMing on 143.55486062399999 meters Centerline goodness [0,1] 0.6469627405968568 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99833754 -0.05372771 -0.0208685 0.3921288 ] [ 0.05392356 0.99850506 0.00893796 0.02182617] [ 0.02035709 -0.0100484 0.99974228 0.05144922] [ 0. 0. 0. 1. ]] SLAMing on 143.584860624 meters Centerline goodness [0,1] 0.6428602928206033 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99833895 -0.05368965 -0.02089868 0.39239179] [ 0.05388566 0.99850717 0.00893157 0.02205452] [ 0.02038795 -0.01004287 0.9997417 0.05122583] [ 0. 0. 0. 1. ]] SLAMing on 143.614860624 meters Centerline goodness [0,1] 0.6453385715546923 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834009 -0.05364753 -0.02095274 0.39257769] [ 0.05384475 0.99850908 0.00896422 0.02204471] [ 0.0204406 -0.01007753 0.99974028 0.05116076] [ 0. 0. 0. 1. ]] SLAMing on 143.644860624 meters Centerline goodness [0,1] 0.638543868921776 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834519 -0.0535511 -0.0209563 0.39297854] [ 0.05374703 0.99851492 0.00890026 0.02272256] [ 0.02044855 -0.01001187 0.99974078 0.05066251] [ 0. 0. 0. 1. ]] SLAMing on 143.674860624 meters Centerline goodness [0,1] 0.657303122653593 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834489 -0.05351337 -0.02106653 0.39323323] [ 0.05370758 0.99851826 0.00876301 0.02354739] [ 0.02056638 -0.00987994 0.99973967 0.05064058] [ 0. 0. 0. 1. ]] SLAMing on 143.704860624 meters Centerline goodness [0,1] 0.6382156888712311 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834286 -0.05349411 -0.02121104 0.39369151] [ 0.05368791 0.99852008 0.00867467 0.02399629] [ 0.0207156 -0.00979907 0.99973739 0.05050425] [ 0. 0. 0. 1. ]] SLAMing on 143.734860624 meters Centerline goodness [0,1] 0.6591616449241773 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:0.05 [[ 0.99834115 -0.05348524 -0.02131389 0.39415304] [ 0.05367743 0.99852173 0.00854918 0.02452731] [ 0.02082513 -0.00967907 0.99973628 0.0502597 ] [ 0. 0. 0. 1. ]] SLAMing on 143.764860624 meters Centerline goodness [0,1] 0.6563017967247895 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99834987 -0.05337222 -0.02118845 0.39421051] [ 0.05355604 0.99853114 0.0082049 0.02622561] [ 0.02071941 -0.00932613 0.99974183 0.05002235] [ 0. 0. 0. 1. ]] SLAMing on 143.794860624 meters Centerline goodness [0,1] 0.654165651374521 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99833874 -0.05358511 -0.02117517 0.39398106] [ 0.05376182 0.99852281 0.00786548 0.0271754 ] [ 0.02072242 -0.00899083 0.99974484 0.05026001] [ 0. 0. 0. 1. ]] SLAMing on 143.824860624 meters Centerline goodness [0,1] 0.662240645504522 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99832923 -0.05377034 -0.02115421 0.3938381 ] [ 0.05394168 0.99851506 0.007614 0.02767488] [ 0.02071339 -0.00874237 0.99974723 0.0503902 ] [ 0. 0. 0. 1. ]] SLAMing on 143.854860624 meters Centerline goodness [0,1] 0.6523230847555173 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99832745 -0.05378926 -0.02119003 0.39399846] [ 0.05395592 0.99851609 0.00737337 0.02845728] [ 0.02076198 -0.00850437 0.99974828 0.05037902] [ 0. 0. 0. 1. ]] SLAMing on 143.884860624 meters Centerline goodness [0,1] 0.6629430148281136 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99832939 -0.0538125 -0.02103932 0.39366041] [ 0.05396573 0.99851974 0.00678403 0.03067554] [ 0.02064311 -0.0079081 0.99975563 0.05057785] [ 0. 0. 0. 1. ]] SLAMing on 143.914860624 meters Centerline goodness [0,1] 0.6588460085760626 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99833004 -0.05378264 -0.02108476 0.39380951] [ 0.05392898 0.99852405 0.00643401 0.03228295] [ 0.0207076 -0.00756035 0.99975699 0.05061175] [ 0. 0. 0. 1. ]] SLAMing on 143.944860624 meters Centerline goodness [0,1] 0.6588460085760626 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99833004 -0.05378264 -0.02108476 0.39380951] [ 0.05392898 0.99852405 0.00643401 0.03228295] [ 0.0207076 -0.00756035 0.99975699 0.05061175] [ 0. 0. 0. 1. ]] SLAMing on 143.974860624 meters Centerline goodness [0,1] 0.6557595696438892 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:0.05 [[ 0.99833351 -0.05370331 -0.02112254 0.39408414] [ 0.0538433 0.99853067 0.00611529 0.0338653 ] [ 0.02076309 -0.00724241 0.99975819 0.05050503] [ 0. 0. 0. 1. ]] SLAMing on 144.004860624 meters Centerline goodness [0,1] 0.6589117863761191 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:0.05 [[ 0.99850365 -0.05043491 -0.02113731 0.39341195] [ 0.05064088 0.99867339 0.00932499 0.03502557] [ 0.02063896 -0.01038145 0.99973309 0.05061251] [ 0. 0. 0. 1. ]] SLAMing on 144.034860624 meters Centerline goodness [0,1] 0.6518730187078627 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:0.05 [[ 0.99851979 -0.05008253 -0.02121255 0.39380231] [ 0.05028277 0.99869435 0.00901368 0.03680306] [ 0.02073342 -0.01006696 0.99973436 0.05060176] [ 0. 0. 0. 1. ]] SLAMing on 144.064860624 meters Centerline goodness [0,1] 0.6629351841486623 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:0.05 [[ 0.99854244 -0.04955533 -0.02138383 0.39464689] [ 0.04975409 0.99872216 0.00886481 0.03846909] [ 0.0209172 -0.00991582 0.99973204 0.05027657] [ 0. 0. 0. 1. ]] SLAMing on 144.094860624 meters Centerline goodness [0,1] 0.6736624497224906 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:0.05 [[ 0.99873039 -0.04551027 -0.0215969 0.39491976] [ 0.04578133 0.99887666 0.0122265 0.04063062] [ 0.02101621 -0.01319971 0.999692 0.050031 ] [ 0. 0. 0. 1. ]] SLAMing on 144.124860624 meters Centerline goodness [0,1] 0.6795493311787413 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:0.05 [[ 0.99876706 -0.04465511 -0.02168609 0.3957526 ] [ 0.04492441 0.99891718 0.01209371 0.04302567] [ 0.02112256 -0.01305304 0.99969168 0.04971106] [ 0. 0. 0. 1. ]] SLAMing on 144.154860624 meters Centerline goodness [0,1] 0.6986588526991998 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.05 [[ 0.99881026 -0.04358465 -0.02187345 0.39690694] [ 0.04385653 0.99896447 0.01210738 0.04577012] [ 0.0213231 -0.01305227 0.99968743 0.04925507] [ 0. 0. 0. 1. ]] SLAMing on 144.184860624 meters Centerline goodness [0,1] 0.6652260487849029 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.05 [[ 0.99885099 -0.04251512 -0.02211718 0.39801983] [ 0.04279032 0.99901053 0.01212193 0.04851682] [ 0.02157993 -0.0130544 0.99968189 0.04897017] [ 0. 0. 0. 1. ]] SLAMing on 144.214860624 meters Centerline goodness [0,1] 0.7080270374837843 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.05 [[ 0.99902668 -0.03809871 -0.02223019 0.39839546] [ 0.03844413 0.99914325 0.01532338 0.05220486] [ 0.02162735 -0.01616309 0.99963544 0.04872141] [ 0. 0. 0. 1. ]] SLAMing on 144.24486062399998 meters Centerline goodness [0,1] 0.7205714285714286 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:0.05 [[ 0.99904791 -0.0373724 -0.02250713 0.39967339] [ 0.03771585 0.99917542 0.01503341 0.05490986] [ 0.02192674 -0.01586797 0.99963365 0.04827899] [ 0. 0. 0. 1. ]] SLAMing on 144.27486062399998 meters Centerline goodness [0,1] 0.7056221493891958 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.05 [[ 0.99906444 -0.0368599 -0.02261819 0.40056629] [ 0.03719687 0.99920038 0.01466254 0.0576316 ] [ 0.02205964 -0.01549015 0.99963665 0.04780369] [ 0. 0. 0. 1. ]] SLAMing on 144.30486062399999 meters Centerline goodness [0,1] 0.7401199268399972 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.05 [[ 0.9991847 -0.03344011 -0.02262058 0.40015054] [ 0.03383904 0.99927426 0.01748902 0.06064458] [ 0.02201933 -0.01824022 0.99959114 0.04789852] [ 0. 0. 0. 1. ]] SLAMing on 144.334860624 meters Centerline goodness [0,1] 0.7239853595255745 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.05 [[ 0.9991822 -0.03344794 -0.02271915 0.40051586] [ 0.03383513 0.99928492 0.01687718 0.06278365] [ 0.0221384 -0.01763208 0.99959942 0.04792573] [ 0. 0. 0. 1. ]] SLAMing on 144.364860624 meters Centerline goodness [0,1] 0.7374002227584926 Centerline is valid? [False, False] Translation: X:0.40, Y:0.06, Z:0.05 [[ 0.99917601 -0.03359474 -0.02277504 0.40071433] [ 0.03396885 0.99929089 0.01624324 0.0649705 ] [ 0.02221321 -0.01700349 0.99960865 0.04793442] [ 0. 0. 0. 1. ]] SLAMing on 144.394860624 meters Centerline goodness [0,1] 0.7354021385402139 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99917075 -0.03373509 -0.02279826 0.40085239] [ 0.03409837 0.99929456 0.01573773 0.06672585] [ 0.02225126 -0.01650206 0.99961621 0.04792293] [ 0. 0. 0. 1. ]] SLAMing on 144.424860624 meters Centerline goodness [0,1] 0.7068610474095568 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.9991561 -0.03423576 -0.02269365 0.40047407] [ 0.03457691 0.99929223 0.01481457 0.06966472] [ 0.0221704 -0.01558674 0.9996327 0.04814696] [ 0. 0. 0. 1. ]] SLAMing on 144.454860624 meters Centerline goodness [0,1] 0.7253910274421653 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99914636 -0.03452505 -0.02268414 0.40051947] [ 0.03485554 0.99928949 0.0143389 0.0709584 ] [ 0.02217297 -0.01511733 0.99963985 0.04810431] [ 0. 0. 0. 1. ]] SLAMing on 144.484860624 meters Centerline goodness [0,1] 0.7235741802123461 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99913626 -0.03485829 -0.02261928 0.40044717] [ 0.03517981 0.99928328 0.01397541 0.07196026] [ 0.02211591 -0.01475908 0.99964647 0.04797707] [ 0. 0. 0. 1. ]] SLAMing on 144.514860624 meters Centerline goodness [0,1] 0.7041606819091573 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99911448 -0.03552418 -0.02254539 0.40027569] [ 0.03583323 0.9992672 0.01345487 0.07290136] [ 0.0220509 -0.01425083 0.99965528 0.04780055] [ 0. 0. 0. 1. ]] SLAMing on 144.544860624 meters Centerline goodness [0,1] 0.6940565194902901 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99909674 -0.03605985 -0.02248104 0.39996283] [ 0.03635915 0.99925358 0.01304995 0.07323451] [ 0.02199368 -0.01385556 0.99966209 0.04793844] [ 0. 0. 0. 1. ]] SLAMing on 144.574860624 meters Centerline goodness [0,1] 0.6864808740590415 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99908033 -0.03654034 -0.02243424 0.3997639 ] [ 0.03683225 0.99924026 0.01273948 0.07353627] [ 0.02195169 -0.01355406 0.99966715 0.04792782] [ 0. 0. 0. 1. ]] SLAMing on 144.604860624 meters Centerline goodness [0,1] 0.685025817555938 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99906421 -0.03698949 -0.02241596 0.39962789] [ 0.03727529 0.99922724 0.01246891 0.07378575] [ 0.02193742 -0.0132928 0.99967097 0.04793243] [ 0. 0. 0. 1. ]] SLAMing on 144.634860624 meters Centerline goodness [0,1] 0.6752467765550465 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99902119 -0.03825645 -0.0222058 0.39868986] [ 0.03852413 0.99918853 0.01175444 0.0742279 ] [ 0.02173809 -0.01259839 0.99968432 0.04806666] [ 0. 0. 0. 1. ]] SLAMing on 144.664860624 meters Centerline goodness [0,1] 0.6720665912092059 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99900059 -0.0387443 -0.02228667 0.39877283] [ 0.03900715 0.99917296 0.0114824 0.07419665] [ 0.02182336 -0.01234026 0.99968568 0.04802821] [ 0. 0. 0. 1. ]] SLAMing on 144.694860624 meters Centerline goodness [0,1] 0.6688765158306988 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99898392 -0.03920764 -0.02222347 0.39855745] [ 0.03946297 0.9991586 0.0111696 0.07422484] [ 0.02176684 -0.01203526 0.99969063 0.04805377] [ 0. 0. 0. 1. ]] SLAMing on 144.724860624 meters Centerline goodness [0,1] 0.6646030245746692 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99896753 -0.03964679 -0.02218135 0.3982754 ] [ 0.03989582 0.9991444 0.01089918 0.07417619] [ 0.02173026 -0.01177287 0.99969455 0.04818894] [ 0. 0. 0. 1. ]] SLAMing on 144.754860624 meters Centerline goodness [0,1] 0.6609464378575143 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:0.05 [[ 0.99893467 -0.0405598 -0.02200964 0.3973458 ] [ 0.04079195 0.99911557 0.01020314 0.07475592] [ 0.02157634 -0.01109008 0.99970569 0.04873459] [ 0. 0. 0. 1. ]] SLAMing on 144.784860624 meters Centerline goodness [0,1] 0.6627934494509655 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99891884 -0.04094792 -0.02200944 0.39698327] [ 0.04117246 0.99910352 0.00984769 0.07526766] [ 0.02158646 -0.01074323 0.99970926 0.04913707] [ 0. 0. 0. 1. ]] SLAMing on 144.814860624 meters Centerline goodness [0,1] 0.6607901293154586 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99888526 -0.04185987 -0.02181715 0.39576053] [ 0.04206631 0.99907347 0.00909046 0.07632468] [ 0.02141641 -0.00999809 0.99972065 0.04998518] [ 0. 0. 0. 1. ]] SLAMing on 144.844860624 meters Centerline goodness [0,1] 0.6589005670359913 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99887357 -0.04220865 -0.02168 0.39535599] [ 0.04240915 0.99906093 0.0088727 0.07635962] [ 0.02128514 -0.00978214 0.99972559 0.05012613] [ 0. 0. 0. 1. ]] SLAMing on 144.874860624 meters Centerline goodness [0,1] 0.6579153698115897 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99886111 -0.04253414 -0.02161782 0.39517197] [ 0.04273057 0.99904869 0.00870745 0.07621242] [ 0.02122689 -0.00962127 0.99972839 0.05012833] [ 0. 0. 0. 1. ]] SLAMing on 144.904860624 meters Centerline goodness [0,1] 0.6660886090984677 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99884475 -0.04296826 -0.02151519 0.39472449] [ 0.04315925 0.99903211 0.00849266 0.07600911] [ 0.02112945 -0.00941143 0.99973245 0.05029089] [ 0. 0. 0. 1. ]] SLAMing on 144.934860624 meters Centerline goodness [0,1] 0.6645383337289342 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99882596 -0.04343548 -0.02144913 0.39419327] [ 0.04361785 0.99901538 0.00810846 0.07604529] [ 0.02107582 -0.00903451 0.99973706 0.05076317] [ 0. 0. 0. 1. ]] SLAMing on 144.964860624 meters Centerline goodness [0,1] 0.664288423248317 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99880217 -0.04404874 -0.02130568 0.3933478 ] [ 0.04421957 0.99899282 0.00761461 0.07658847] [ 0.02094881 -0.00854762 0.99974401 0.05136312] [ 0. 0. 0. 1. ]] SLAMing on 144.99486062399998 meters Centerline goodness [0,1] 0.6616669426766661 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.9987952 -0.04419484 -0.02133012 0.39352603] [ 0.04436377 0.9989872 0.00751217 0.07680824] [ 0.02097652 -0.00844941 0.99974426 0.05121489] [ 0. 0. 0. 1. ]] SLAMing on 145.02486062399998 meters Centerline goodness [0,1] 0.6655086258179654 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99878926 -0.04427863 -0.02143381 0.39368572] [ 0.04444706 0.99898399 0.00744637 0.07697293] [ 0.02108231 -0.00839002 0.99974254 0.05126193] [ 0. 0. 0. 1. ]] SLAMing on 145.05486062399999 meters Centerline goodness [0,1] 0.6642886019357447 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99879128 -0.04415559 -0.02159314 0.39465476] [ 0.04433 0.99898753 0.00766585 0.07673107] [ 0.02123278 -0.00861381 0.99973745 0.05045245] [ 0. 0. 0. 1. ]] SLAMing on 145.084860624 meters Centerline goodness [0,1] 0.6691249940524338 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99878981 -0.04414908 -0.02167421 0.39502509] [ 0.04432383 0.99898793 0.00764922 0.07695355] [ 0.02131457 -0.00860064 0.99973582 0.05020045] [ 0. 0. 0. 1. ]] SLAMing on 145.114860624 meters Centerline goodness [0,1] 0.6329622758194187 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99878538 -0.044212 -0.02175002 0.39542384] [ 0.04438635 0.99898553 0.00759979 0.07731209] [ 0.02139195 -0.00855596 0.99973455 0.04987398] [ 0. 0. 0. 1. ]] SLAMing on 145.144860624 meters Centerline goodness [0,1] 0.6676820561637316 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99878766 -0.04412283 -0.02182611 0.39592522] [ 0.04429818 0.99898932 0.00761647 0.07753485] [ 0.02146799 -0.0085741 0.99973277 0.04956509] [ 0. 0. 0. 1. ]] SLAMing on 145.174860624 meters Centerline goodness [0,1] 0.6680141606467971 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.9987777 -0.04436562 -0.02178978 0.39539988] [ 0.04453287 0.9989816 0.00725109 0.07847025] [ 0.02144589 -0.00821259 0.99973628 0.05014827] [ 0. 0. 0. 1. ]] SLAMing on 145.204860624 meters Centerline goodness [0,1] 0.6651784648442163 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99876963 -0.04455016 -0.02178325 0.39523397] [ 0.0447138 0.99897473 0.00708323 0.07869734] [ 0.02144536 -0.00804852 0.99973762 0.0503685 ] [ 0. 0. 0. 1. ]] SLAMing on 145.234860624 meters Centerline goodness [0,1] 0.6666108306013544 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99875148 -0.04504899 -0.02158844 0.39437247] [ 0.04520153 0.99895589 0.00663035 0.07963258] [ 0.02126721 -0.0075979 0.99974496 0.05090837] [ 0. 0. 0. 1. ]] SLAMing on 145.264860624 meters Centerline goodness [0,1] 0.6697801408248312 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99874424 -0.04523373 -0.02153725 0.39422969] [ 0.04538377 0.99894829 0.00652948 0.0798259 ] [ 0.02121925 -0.00749873 0.99974672 0.05092256] [ 0. 0. 0. 1. ]] SLAMing on 145.294860624 meters Centerline goodness [0,1] 0.6650913975915176 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99873861 -0.04533997 -0.02157493 0.39438294] [ 0.04548878 0.99894398 0.00645733 0.08007741] [ 0.02125937 -0.00743061 0.99974638 0.05079424] [ 0. 0. 0. 1. ]] SLAMing on 145.324860624 meters Centerline goodness [0,1] 0.6646392567227797 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99873501 -0.04538643 -0.02164387 0.39477005] [ 0.04553532 0.99894199 0.00643641 0.08029618] [ 0.02132885 -0.00741382 0.99974503 0.05052866] [ 0. 0. 0. 1. ]] SLAMing on 145.354860624 meters Centerline goodness [0,1] 0.6704245622451428 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99873277 -0.04541856 -0.02167951 0.39509692] [ 0.04556754 0.99894058 0.00642799 0.08061052] [ 0.02136459 -0.00740773 0.99974431 0.05021443] [ 0. 0. 0. 1. ]] SLAMing on 145.384860624 meters Centerline goodness [0,1] 0.6699124831698404 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99872513 -0.04556053 -0.0217336 0.39528376] [ 0.04570253 0.99893658 0.00608207 0.08209274] [ 0.02143338 -0.00706759 0.9997453 0.05013176] [ 0. 0. 0. 1. ]] SLAMing on 145.414860624 meters Centerline goodness [0,1] 0.6695413374445943 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99872257 -0.04554804 -0.02187706 0.39566955] [ 0.04568718 0.99893835 0.00590306 0.08287817] [ 0.02158496 -0.00689502 0.99974324 0.05012892] [ 0. 0. 0. 1. ]] SLAMing on 145.444860624 meters Centerline goodness [0,1] 0.6691256237795618 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99872143 -0.04553563 -0.02195468 0.39604413] [ 0.04567261 0.99893975 0.00577862 0.08355204] [ 0.02166827 -0.00677396 0.99974227 0.04993509] [ 0. 0. 0. 1. ]] SLAMing on 145.474860624 meters Centerline goodness [0,1] 0.6714164751421314 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99872855 -0.04529581 -0.02212623 0.39687709] [ 0.04543023 0.99895176 0.00561062 0.08514901] [ 0.0218489 -0.00660869 0.99973944 0.04952134] [ 0. 0. 0. 1. ]] SLAMing on 145.504860624 meters Centerline goodness [0,1] 0.6618684114867321 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99873027 -0.04520456 -0.0222349 0.39723048] [ 0.04533588 0.998957 0.00543745 0.08630569] [ 0.02196591 -0.00643858 0.99973799 0.04947493] [ 0. 0. 0. 1. ]] SLAMing on 145.534860624 meters Centerline goodness [0,1] 0.6754130223517978 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99873052 -0.04515014 -0.02233428 0.39729105] [ 0.04527448 0.9989616 0.00509285 0.0876269 ] [ 0.02208114 -0.00609756 0.99973759 0.04985363] [ 0. 0. 0. 1. ]] SLAMing on 145.564860624 meters Centerline goodness [0,1] 0.6738707638449943 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99873269 -0.04501455 -0.02251005 0.39769979] [ 0.0451332 0.99896949 0.00479048 0.08895877] [ 0.02227121 -0.00580036 0.99973514 0.0500316 ] [ 0. 0. 0. 1. ]] SLAMing on 145.594860624 meters Centerline goodness [0,1] 0.6744940258473543 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99874672 -0.04461243 -0.02268751 0.39798444] [ 0.04472411 0.99898952 0.0044386 0.0911795 ] [ 0.02246657 -0.00544772 0.99973275 0.05056278] [ 0. 0. 0. 1. ]] SLAMing on 145.624860624 meters Centerline goodness [0,1] 0.6757125124735317 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99874722 -0.04452919 -0.02282857 0.39837469] [ 0.04463704 0.99899429 0.00423642 0.09206343] [ 0.02261697 -0.00525011 0.99973042 0.05067341] [ 0. 0. 0. 1. ]] SLAMing on 145.654860624 meters Centerline goodness [0,1] 0.6769895307123508 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99874886 -0.04444027 -0.02292992 0.39867373] [ 0.04454659 0.9989987 0.00414686 0.0926628 ] [ 0.02272267 -0.00516312 0.99972847 0.05066105] [ 0. 0. 0. 1. ]] SLAMing on 145.684860624 meters Centerline goodness [0,1] 0.6738191138777005 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99874478 -0.0445125 -0.02296761 0.39869036] [ 0.0446164 0.99899606 0.00403066 0.09298844] [ 0.02276514 -0.00505034 0.99972808 0.05077676] [ 0. 0. 0. 1. ]] SLAMing on 145.714860624 meters Centerline goodness [0,1] 0.67223957824856 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99872995 -0.04488476 -0.02288786 0.39847973] [ 0.04498396 0.99898034 0.0038374 0.0932172 ] [ 0.02269228 -0.00486211 0.99973067 0.05075012] [ 0. 0. 0. 1. ]] SLAMing on 145.74486062399998 meters Centerline goodness [0,1] 0.6731543133094315 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.9987278 -0.04495905 -0.02283557 0.3986957 ] [ 0.04506084 0.99897639 0.00396223 0.09295874] [ 0.02263405 -0.00498618 0.99973138 0.05029903] [ 0. 0. 0. 1. ]] SLAMing on 145.77486062399998 meters Centerline goodness [0,1] 0.672475315280086 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99871413 -0.04534267 -0.02267452 0.39820557] [ 0.04543983 0.9989599 0.00378768 0.09311521] [ 0.02247919 -0.00481313 0.99973572 0.05034509] [ 0. 0. 0. 1. ]] SLAMing on 145.80486062399999 meters Centerline goodness [0,1] 0.6679210243377969 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99868776 -0.04602862 -0.02245253 0.3975611 ] [ 0.0461209 0.99892934 0.00360932 0.09305177] [ 0.02226236 -0.00464011 0.99974139 0.05023619] [ 0. 0. 0. 1. ]] SLAMing on 145.834860624 meters Centerline goodness [0,1] 0.6679210243377969 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99868776 -0.04602862 -0.02245253 0.3975611 ] [ 0.0461209 0.99892934 0.00360932 0.09305177] [ 0.02226236 -0.00464011 0.99974139 0.05023619] [ 0. 0. 0. 1. ]] SLAMing on 145.864860624 meters Centerline goodness [0,1] 0.6613395144565084 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99867125 -0.04645985 -0.02229821 0.39703242] [ 0.04654977 0.99890973 0.00353065 0.09278305] [ 0.02210986 -0.00456393 0.99974513 0.05031826] [ 0. 0. 0. 1. ]] SLAMing on 145.894860624 meters Centerline goodness [0,1] 0.659209271620333 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99864705 -0.04704516 -0.02215465 0.39629971] [ 0.04712793 0.99888364 0.00322852 0.09247455] [ 0.02197803 -0.00426826 0.99974934 0.05073113] [ 0. 0. 0. 1. ]] SLAMing on 145.924860624 meters Centerline goodness [0,1] 0.6690751092342617 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99862981 -0.04754907 -0.02185359 0.39563059] [ 0.0476292 0.99886009 0.00316025 0.09208924] [ 0.02167841 -0.00419679 0.99975619 0.05053527] [ 0. 0. 0. 1. ]] SLAMing on 145.954860624 meters Centerline goodness [0,1] 0.6444471505114466 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99857706 -0.04876214 -0.02158978 0.39452604] [ 0.04883551 0.99880267 0.00288432 0.09126903] [ 0.02142329 -0.00393456 0.99976275 0.0506401 ] [ 0. 0. 0. 1. ]] SLAMing on 145.984860624 meters Centerline goodness [0,1] 0.6426761524217912 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99855762 -0.04922328 -0.02144178 0.39405858] [ 0.04929523 0.99878021 0.00283967 0.09095113] [ 0.02127585 -0.00389256 0.99976607 0.05062323] [ 0. 0. 0. 1. ]] SLAMing on 146.014860624 meters Centerline goodness [0,1] 0.6611866140581617 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99853177 -0.04981995 -0.02126688 0.39347303] [ 0.04988417 0.99875188 0.00249985 0.09106336] [ 0.02111579 -0.00355706 0.99977071 0.05078778] [ 0. 0. 0. 1. ]] SLAMing on 146.044860624 meters Centerline goodness [0,1] 0.6369839645172296 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99848169 -0.05102829 -0.02074694 0.39159515] [ 0.05107872 0.99869281 0.0019077 0.09144597] [ 0.02062247 -0.00296453 0.99978294 0.05133006] [ 0. 0. 0. 1. ]] SLAMing on 146.074860624 meters Centerline goodness [0,1] 0.6489229343026518 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99846238 -0.05143029 -0.02068336 0.3911851 ] [ 0.0514746 0.998673 0.00161529 0.09176471] [ 0.02057284 -0.00267748 0.99978477 0.05162921] [ 0. 0. 0. 1. ]] SLAMing on 146.104860624 meters Centerline goodness [0,1] 0.6452015566487994 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99844297 -0.05185841 -0.02055096 0.39053131] [ 0.0518943 0.99865184 0.00121628 0.09244905] [ 0.02046018 -0.00228087 0.99978807 0.05203956] [ 0. 0. 0. 1. ]] SLAMing on 146.134860624 meters Centerline goodness [0,1] 0.6254676153451184 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99843543 -0.05204277 -0.02045116 0.39030688] [ 0.05207641 0.99864248 0.00111532 0.09263484] [ 0.02036535 -0.00217859 0.99979023 0.0520496 ] [ 0. 0. 0. 1. ]] SLAMing on 146.164860624 meters Centerline goodness [0,1] 0.6408766639699934 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 9.98423141e-01 -5.23405754e-02 -2.02902800e-02 3.89558283e-01] [ 5.23617483e-02 9.98628051e-01 5.13267148e-04 9.41805035e-02] [ 2.02355781e-02 -1.57489233e-03 9.99793999e-01 5.27147313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194860624 meters Centerline goodness [0,1] 0.6374490247138014 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98420266e-01 -5.23846644e-02 -2.03179679e-02 3.89519305e-01] [ 5.24002063e-02 9.98626138e-01 2.32936268e-04 9.53657120e-02] [ 2.02778516e-02 -1.29723400e-03 9.99793542e-01 5.29323930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224860624 meters Centerline goodness [0,1] 0.6394134091912306 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98426751e-01 -5.21939151e-02 -2.04894707e-02 3.90129761e-01] [ 5.22090640e-02 9.98636156e-01 2.04759201e-04 9.60391478e-02] [ 2.04508391e-02 -1.27417315e-03 9.99790048e-01 5.27983810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254860624 meters Centerline goodness [0,1] 0.6391972882688151 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98421953e-01 -5.22811141e-02 -2.05009369e-02 3.89969854e-01] [ 5.22943676e-02 9.98631707e-01 1.10555739e-04 9.64171187e-02] [ 2.04671056e-02 -1.18246481e-03 9.99789828e-01 5.29833346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284860624 meters Centerline goodness [0,1] 0.6474798980192195 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98436419e-01 -5.20002682e-02 -2.05107092e-02 3.90416763e-01] [ 5.20183480e-02 9.98646068e-01 3.48586054e-04 9.65928870e-02] [ 2.04648126e-02 -1.41497422e-03 9.99789573e-01 5.25201675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314860624 meters Centerline goodness [0,1] 0.6318569287837472 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98433581e-01 -5.20578279e-02 -2.05028399e-02 3.90403544e-01] [ 5.20759584e-02 9.98643065e-01 3.51017626e-04 9.66733721e-02] [ 2.04567457e-02 -1.41817283e-03 9.99789733e-01 5.24686174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344860624 meters Centerline goodness [0,1] 0.629994110140375 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98444413e-01 -5.18429018e-02 -2.05199314e-02 3.90878357e-01] [ 5.18675601e-02 9.98653747e-01 6.70930383e-04 9.63381944e-02] [ 2.04575234e-02 -1.73420547e-03 9.99789219e-01 5.19175010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374860624 meters Centerline goodness [0,1] 0.6398233345601767 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98452073e-01 -5.16661560e-02 -2.05928655e-02 3.91350554e-01] [ 5.16966631e-02 9.98662380e-01 9.51498374e-04 9.57845144e-02] [ 2.05161598e-02 -2.01460796e-03 9.99787492e-01 5.15129824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404860624 meters Centerline goodness [0,1] 0.6449117481456095 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98449991e-01 -5.17171676e-02 -2.05657475e-02 3.91323472e-01] [ 5.17476683e-02 9.98659737e-01 9.53331140e-04 9.55977319e-02] [ 2.04888804e-02 -2.01608295e-03 9.99788048e-01 5.15320002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434860624 meters Centerline goodness [0,1] 0.6405775075987842 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99845765 -0.0515034 -0.02072967 0.39185883] [ 0.05153877 0.9986703 0.00117527 0.09531171] [ 0.02064158 -0.00224184 0.99978443 0.05134552] [ 0. 0. 0. 1. ]] SLAMing on 146.464860624 meters Centerline goodness [0,1] 0.6410105757931845 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99846668 -0.05129697 -0.02080636 0.39235991] [ 0.05133612 0.99868052 0.00135134 0.09534719] [ 0.02070958 -0.00241739 0.99978261 0.05099319] [ 0. 0. 0. 1. ]] SLAMing on 146.49486062399998 meters Centerline goodness [0,1] 0.6498455200823893 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99847961 -0.05095269 -0.02103056 0.39320968] [ 0.05099373 0.99869796 0.00141938 0.09596472] [ 0.02093086 -0.00248965 0.99977783 0.05066323] [ 0. 0. 0. 1. ]] SLAMing on 146.52486062399998 meters Centerline goodness [0,1] 0.6390918452410141 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99849217 -0.05063502 -0.02120097 0.3940227 ] [ 0.05068115 0.99871353 0.00164362 0.09635824] [ 0.02109047 -0.00271563 0.99977388 0.05011832] [ 0. 0. 0. 1. ]] SLAMing on 146.55486062399999 meters Centerline goodness [0,1] 0.6568844319913484 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99849877 -0.05044119 -0.02135145 0.39459916] [ 0.05048713 0.9987234 0.00161779 0.09714136] [ 0.02124259 -0.00269334 0.99977072 0.04990923] [ 0. 0. 0. 1. ]] SLAMing on 146.584860624 meters Centerline goodness [0,1] 0.6559287857177987 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.05 [[ 0.99850798 -0.05022945 -0.02142005 0.3950237 ] [ 0.05027569 0.99873405 0.00162547 0.09778821] [ 0.02131129 -0.00269996 0.99976924 0.04967368] [ 0. 0. 0. 1. ]] SLAMing on 146.614860624 meters Centerline goodness [0,1] 0.6613232867942183 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.05 [[ 0.99850808 -0.05017919 -0.02153306 0.39512427] [ 0.05021648 0.99873764 0.00119433 0.09951508] [ 0.02144595 -0.00227386 0.99976742 0.05008275] [ 0. 0. 0. 1. ]] SLAMing on 146.644860624 meters Centerline goodness [0,1] 0.655660493674944 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98497410e-01 -5.03677625e-02 -2.15872866e-02 3.94896418e-01] [ 5.03966694e-02 9.98728963e-01 7.96796181e-04 1.00470002e-01] [ 2.15197155e-02 -1.88352627e-03 9.99766650e-01 5.06192855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674860624 meters Centerline goodness [0,1] 0.6540034491254003 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98494438e-01 -5.04496981e-02 -2.15333500e-02 3.94895522e-01] [ 5.04757172e-02 9.98725066e-01 6.66166094e-04 1.01361418e-01] [ 2.14722885e-02 -1.75207443e-03 9.99767909e-01 5.04754461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704860624 meters Centerline goodness [0,1] 0.6556815380823269 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98477476e-01 -5.08368067e-02 -2.14090997e-02 3.94299397e-01] [ 5.08563708e-02 9.98705909e-01 3.70004006e-04 1.01808631e-01] [ 2.13625846e-02 -1.45822978e-03 9.99770730e-01 5.08075836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734860624 meters Centerline goodness [0,1] 0.6567094227923038 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98460056e-01 -5.12376115e-02 -2.12655763e-02 3.93748959e-01] [ 5.12506214e-02 9.98685821e-01 6.68790415e-05 1.02065390e-01] [ 2.12342028e-02 -1.15665005e-03 9.99773860e-01 5.10775195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764860624 meters Centerline goodness [0,1] 0.651045901396999 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98454936e-01 -5.13777996e-02 -2.11674702e-02 3.93815029e-01] [ 5.13937201e-02 9.98678448e-01 2.08446958e-04 1.01824930e-01] [ 2.11287867e-02 -1.29599993e-03 9.99775922e-01 5.06152009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794860624 meters Centerline goodness [0,1] 0.6489634748272458 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98431411e-01 -5.19342429e-02 -2.09177410e-02 3.93119206e-01] [ 5.19441883e-02 9.98649987e-01 -6.79698117e-05 1.01893280e-01] [ 2.08930317e-02 -1.01869188e-03 9.99781198e-01 5.06547407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824860624 meters Centerline goodness [0,1] 0.6500012350863325 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98432635e-01 -5.19406295e-02 -2.08433368e-02 3.93329492e-01] [ 5.19541078e-02 9.98649468e-01 1.05297313e-04 1.01670856e-01] [ 2.08097179e-02 -1.18802924e-03 9.99782749e-01 5.01561806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854860624 meters Centerline goodness [0,1] 0.6435755842619071 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98431675e-01 -5.19755123e-02 -2.08023114e-02 3.93547998e-01] [ 5.19898928e-02 9.98647600e-01 1.50712238e-04 1.01680850e-01] [ 2.07663450e-02 -1.23198581e-03 9.99783597e-01 4.97668080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884860624 meters Centerline goodness [0,1] 0.6471067242442936 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98436419e-01 -5.19261126e-02 -2.06977098e-02 3.93829213e-01] [ 5.19446795e-02 9.98649899e-01 3.60073623e-04 1.01731668e-01] [ 2.06510686e-02 -1.43464652e-03 9.99785715e-01 4.90773391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914860624 meters Centerline goodness [0,1] 0.6548893559154407 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98438192e-01 -5.18723803e-02 -2.07468776e-02 3.94044665e-01] [ 5.18889513e-02 9.98652827e-01 2.60836585e-04 1.02833272e-01] [ 2.07053977e-02 -1.33696293e-03 9.99784726e-01 4.89942094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944860624 meters Centerline goodness [0,1] 0.6380293863439931 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98441122e-01 -5.17820607e-02 -2.08313170e-02 3.94276262e-01] [ 5.17992396e-02 9.98657477e-01 2.85567034e-04 1.03123910e-01] [ 2.07885632e-02 -1.36416825e-03 9.99782964e-01 4.89769981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974860624 meters Centerline goodness [0,1] 0.6578888696212253 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98438886e-01 -5.18206786e-02 -2.08424565e-02 3.94261786e-01] [ 5.18378442e-02 9.98655475e-01 2.83796074e-04 1.03160845e-01] [ 2.07997268e-02 -1.36378105e-03 9.99782732e-01 4.89748917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004860624 meters Centerline goodness [0,1] 0.631420238271788 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98427304e-01 -5.21305204e-02 -2.06234580e-02 3.93576673e-01] [ 5.21458879e-02 9.98639456e-01 2.07711134e-04 1.02434058e-01] [ 2.05845708e-02 -1.28281300e-03 9.99787292e-01 4.91906800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034860624 meters Centerline goodness [0,1] 0.6532487096535204 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98418913e-01 -5.23588052e-02 -2.04506685e-02 3.93217163e-01] [ 5.23764284e-02 9.98627359e-01 3.26703768e-04 1.01960594e-01] [ 2.04054913e-02 -1.39732020e-03 9.99790810e-01 4.90312319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064860624 meters Centerline goodness [0,1] 0.6467099898692892 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98406263e-01 -5.26787487e-02 -2.02455613e-02 3.92607002e-01] [ 5.26942807e-02 9.98610664e-01 2.34107678e-04 1.01608762e-01] [ 2.02051009e-02 -1.30055986e-03 9.99795010e-01 4.92079128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094860624 meters Centerline goodness [0,1] 0.6486346353266506 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98408154e-01 -5.26532240e-02 -2.02187046e-02 3.92924845e-01] [ 5.26763035e-02 9.98611453e-01 6.10246409e-04 1.00569573e-01] [ 2.01584986e-02 -1.67432161e-03 9.99795395e-01 4.86546500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124860624 meters Centerline goodness [0,1] 0.6411521010061156 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98400469e-01 -5.28777211e-02 -2.00112614e-02 3.92698897e-01] [ 5.29029180e-02 9.98599392e-01 7.31490376e-04 9.96296601e-02] [ 1.99445539e-02 -1.78897446e-03 9.99799487e-01 4.83252635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154860624 meters Centerline goodness [0,1] 0.6365580297891167 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98387968e-01 -5.31699365e-02 -1.98600658e-02 3.92563021e-01] [ 5.31991218e-02 9.98583478e-01 9.43754966e-04 9.81693513e-02] [ 1.97817542e-02 -1.99877166e-03 9.99802324e-01 4.78966172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184860624 meters Centerline goodness [0,1] 0.6472991263688939 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 9.98384289e-01 -5.32601254e-02 -1.98033130e-02 3.92495888e-01] [ 5.32889039e-02 9.98578706e-01 9.27993077e-04 9.76963074e-02] [ 1.97257416e-02 -1.98179055e-03 9.99803464e-01 4.78842334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214860624 meters Centerline goodness [0,1] 0.6410401079357292 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99838379 -0.05326548 -0.01981416 0.39262583] [ 0.05329745 0.99857809 0.00108855 0.09721811] [ 0.01972801 -0.00214283 0.99980309 0.04774425] [ 0. 0. 0. 1. ]] SLAMing on 147.24486062399998 meters Centerline goodness [0,1] 0.6410401079357292 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99838379 -0.05326548 -0.01981416 0.39262583] [ 0.05329745 0.99857809 0.00108855 0.09721811] [ 0.01972801 -0.00214283 0.99980309 0.04774425] [ 0. 0. 0. 1. ]] SLAMing on 147.27486062399998 meters Centerline goodness [0,1] 0.6444983937811128 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99838749 -0.05316198 -0.0199053 0.39251604] [ 0.05319273 0.99858375 0.00101803 0.09768156] [ 0.01982299 -0.00207521 0.99980135 0.04822501] [ 0. 0. 0. 1. ]] SLAMing on 147.30486062399999 meters Centerline goodness [0,1] 0.6423127980726683 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99839168 -0.05304373 -0.02001063 0.3928076 ] [ 0.0530764 0.99858984 0.00110472 0.09755526] [ 0.01992381 -0.00216504 0.99979916 0.04819858] [ 0. 0. 0. 1. ]] SLAMing on 147.334860624 meters Centerline goodness [0,1] 0.6482191107835913 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99839394 -0.05299353 -0.02003084 0.39297116] [ 0.05302702 0.99859242 0.00114409 0.09717161] [ 0.01994202 -0.00220443 0.99979871 0.04813032] [ 0. 0. 0. 1. ]] SLAMing on 147.364860624 meters Centerline goodness [0,1] 0.6416836022624324 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99840759 -0.05274277 -0.02001191 0.39355091] [ 0.05278325 0.99860487 0.0014994 0.09602064] [ 0.01990491 -0.0025533 0.99979862 0.04740071] [ 0. 0. 0. 1. ]] SLAMing on 147.394860624 meters Centerline goodness [0,1] 0.6408904798097432 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99841311 -0.05260928 -0.02008783 0.39396941] [ 0.05265277 0.99861153 0.00164196 0.09570099] [ 0.01997356 -0.00269704 0.99979687 0.0471027 ] [ 0. 0. 0. 1. ]] SLAMing on 147.424860624 meters Centerline goodness [0,1] 0.6407570207570208 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99842092 -0.052407 -0.02022814 0.39456885] [ 0.05245515 0.99862155 0.00185695 0.09519321] [ 0.02010294 -0.00291509 0.99979367 0.04682085] [ 0. 0. 0. 1. ]] SLAMing on 147.454860624 meters Centerline goodness [0,1] 0.6459572593082177 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.05 [[ 0.99842436 -0.05229413 -0.02035002 0.39487898] [ 0.05234253 0.99862747 0.00185272 0.09518911] [ 0.0202252 -0.00291497 0.9997912 0.04690106] [ 0. 0. 0. 1. ]] SLAMing on 147.484860624 meters Centerline goodness [0,1] 0.6427959358550619 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.05 [[ 0.99844251 -0.05187116 -0.02054124 0.39536172] [ 0.05192381 0.99864897 0.00203774 0.09516896] [ 0.02040779 -0.00310114 0.99978693 0.04701676] [ 0. 0. 0. 1. ]] SLAMing on 147.514860624 meters Centerline goodness [0,1] 0.6423221890449851 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99845044 -0.05172365 -0.02052761 0.3954579 ] [ 0.05177942 0.99865614 0.00219424 0.09463016] [ 0.02038653 -0.00325375 0.99978688 0.04698532] [ 0. 0. 0. 1. ]] SLAMing on 147.544860624 meters Centerline goodness [0,1] 0.6401095542024307 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99846056 -0.05151472 -0.02056083 0.39566197] [ 0.05157472 0.99866626 0.00239836 0.09391713] [ 0.02040986 -0.00345509 0.99978573 0.04695029] [ 0. 0. 0. 1. ]] SLAMing on 147.574860624 meters Centerline goodness [0,1] 0.6534730875418407 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99846738 -0.05137643 -0.02057567 0.39534648] [ 0.05143854 0.99867303 0.00250041 0.09315287] [ 0.02041991 -0.00355496 0.99978517 0.0475167 ] [ 0. 0. 0. 1. ]] SLAMing on 147.604860624 meters Centerline goodness [0,1] 0.6548605509520666 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99847101 -0.05130114 -0.02058711 0.39530994] [ 0.05136543 0.99867653 0.00260573 0.09288771] [ 0.02042618 -0.00365921 0.99978467 0.04763207] [ 0. 0. 0. 1. ]] SLAMing on 147.634860624 meters Centerline goodness [0,1] 0.6556457708531441 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99847668 -0.05118217 -0.0206086 0.39548805] [ 0.05125044 0.99868191 0.00279808 0.09239586] [ 0.02043822 -0.00385002 0.9997837 0.04749325] [ 0. 0. 0. 1. ]] SLAMing on 147.664860624 meters Centerline goodness [0,1] 0.6511588233860551 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99847607 -0.05120841 -0.02057289 0.39502294] [ 0.05128052 0.9986798 0.00299272 0.09064597] [ 0.02039248 -0.00404315 0.99978388 0.04803596] [ 0. 0. 0. 1. ]] SLAMing on 147.694860624 meters Centerline goodness [0,1] 0.6531259143665269 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.9984776 -0.05121071 -0.02049266 0.3949794 ] [ 0.05128751 0.99867868 0.0032394 0.0894514 ] [ 0.02029969 -0.00428549 0.99978476 0.04789826] [ 0. 0. 0. 1. ]] SLAMing on 147.724860624 meters Centerline goodness [0,1] 0.6432394297669439 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99847851 -0.05122785 -0.02040519 0.39500199] [ 0.05131047 0.99867645 0.00354604 0.08805916] [ 0.02019653 -0.00458764 0.9997855 0.04760523] [ 0. 0. 0. 1. ]] SLAMing on 147.754860624 meters Centerline goodness [0,1] 0.6432394297669439 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.05 [[ 0.99847851 -0.05122785 -0.02040519 0.39500199] [ 0.05131047 0.99867645 0.00354604 0.08805916] [ 0.02019653 -0.00458764 0.9997855 0.04760523] [ 0. 0. 0. 1. ]] SLAMing on 147.784860624 meters Centerline goodness [0,1] 0.6431402105467896 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:0.05 [[ 0.99847518 -0.05133798 -0.02029085 0.39486649] [ 0.05142604 0.99866942 0.00384186 0.0865549 ] [ 0.02006662 -0.00487948 0.99978674 0.04738456] [ 0. 0. 0. 1. ]] SLAMing on 147.814860624 meters Centerline goodness [0,1] 0.6514052913645513 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99843907 -0.05210674 -0.02010759 0.39396 ] [ 0.05219482 0.99862938 0.00388068 0.08407476] [ 0.01987782 -0.00492414 0.99979029 0.04772638] [ 0. 0. 0. 1. ]] SLAMing on 147.844860624 meters Centerline goodness [0,1] 0.6479282771989339 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842929 -0.05230973 -0.02006576 0.3937453 ] [ 0.05240094 0.99861793 0.00404634 0.08283789] [ 0.01982636 -0.00509145 0.99979047 0.04780893] [ 0. 0. 0. 1. ]] SLAMing on 147.874860624 meters Centerline goodness [0,1] 0.6469422765602726 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842591 -0.05243674 -0.01990215 0.39360839] [ 0.05253032 0.99861046 0.00420858 0.08165798] [ 0.01965381 -0.00524742 0.99979307 0.04750448] [ 0. 0. 0. 1. ]] SLAMing on 147.904860624 meters Centerline goodness [0,1] 0.6423262548262548 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842111 -0.05248984 -0.02000245 0.39383992] [ 0.05258716 0.99860677 0.00437038 0.08052038] [ 0.01974518 -0.00541535 0.99979038 0.04745071] [ 0. 0. 0. 1. ]] SLAMing on 147.934860624 meters Centerline goodness [0,1] 0.6388955871714492 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99841603 -0.05265105 -0.01983156 0.39345473] [ 0.05275007 0.99859759 0.00450317 0.07915574] [ 0.01956665 -0.00554215 0.99979319 0.04747523] [ 0. 0. 0. 1. ]] SLAMing on 147.964860624 meters Centerline goodness [0,1] 0.6358373171259039 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842217 -0.05248444 -0.01996396 0.39399465] [ 0.0525865 0.99860568 0.0046216 0.07891464] [ 0.01969356 -0.00566414 0.99979002 0.04728748] [ 0. 0. 0. 1. ]] SLAMing on 147.99486062399998 meters Centerline goodness [0,1] 0.6365584149835095 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842318 -0.05249243 -0.01989202 0.39376554] [ 0.05259396 0.99860531 0.00461567 0.07891248] [ 0.01962199 -0.0056546 0.99979148 0.04741174] [ 0. 0. 0. 1. ]] SLAMing on 148.02486062399998 meters Centerline goodness [0,1] 0.6460969577640646 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99842828 -0.05238472 -0.01991987 0.39354106] [ 0.05248622 0.99861102 0.00460661 0.07848612] [ 0.01965089 -0.00564489 0.99979097 0.04797816] [ 0. 0. 0. 1. ]] SLAMing on 148.05486062399999 meters Centerline goodness [0,1] 0.6388928966479104 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99843274 -0.05228627 -0.01995519 0.39365559] [ 0.05238927 0.9986158 0.0046739 0.07834899] [ 0.01968319 -0.00571201 0.99978995 0.04796831] [ 0. 0. 0. 1. ]] SLAMing on 148.084860624 meters Centerline goodness [0,1] 0.5896881456921821 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99843998 -0.05211541 -0.02003961 0.39398793] [ 0.05222036 0.99862429 0.00474983 0.07827651] [ 0.0197645 -0.00578889 0.9997879 0.04787247] [ 0. 0. 0. 1. ]] SLAMing on 148.114860624 meters Centerline goodness [0,1] 0.6511527481227359 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99845184 -0.05186644 -0.02009452 0.39425838] [ 0.05197691 0.9986357 0.00501427 0.07771069] [ 0.01980703 -0.00605095 0.99978551 0.04773242] [ 0. 0. 0. 1. ]] SLAMing on 148.144860624 meters Centerline goodness [0,1] 0.6467909696592054 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99845028 -0.05186357 -0.02017937 0.39434291] [ 0.05197348 0.99863614 0.00496055 0.07747664] [ 0.01989458 -0.00600165 0.99978407 0.04796409] [ 0. 0. 0. 1. ]] SLAMing on 148.174860624 meters Centerline goodness [0,1] 0.6401022138370788 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99845142 -0.0518289 -0.02021211 0.39434324] [ 0.05194011 0.9986376 0.00501603 0.07711656] [ 0.0199246 -0.00605808 0.99978313 0.04811327] [ 0. 0. 0. 1. ]] SLAMing on 148.204860624 meters Centerline goodness [0,1] 0.6405977286312015 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99845451 -0.05180187 -0.02012871 0.39420216] [ 0.05191415 0.99863855 0.00509561 0.0767013 ] [ 0.01983735 -0.0061327 0.99978441 0.04813735] [ 0. 0. 0. 1. ]] SLAMing on 148.234860624 meters Centerline goodness [0,1] 0.6326141829785208 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99845478 -0.0517908 -0.02014377 0.39425495] [ 0.05190917 0.99863722 0.00539811 0.07514913] [ 0.01983674 -0.00643542 0.99978252 0.04809881] [ 0. 0. 0. 1. ]] SLAMing on 148.264860624 meters Centerline goodness [0,1] 0.6276610910473295 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99845344 -0.0518461 -0.02006783 0.39420129] [ 0.05196701 0.99863337 0.00555103 0.07439679] [ 0.0197526 -0.00658531 0.99978321 0.04793782] [ 0. 0. 0. 1. ]] SLAMing on 148.294860624 meters Centerline goodness [0,1] 0.6357807750759878 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99845835 -0.05174952 -0.02007254 0.39449893] [ 0.05187685 0.99863621 0.0058752 0.07331822] [ 0.01974112 -0.00690744 0.99978126 0.04757594] [ 0. 0. 0. 1. ]] SLAMing on 148.324860624 meters Centerline goodness [0,1] 0.6306406817480475 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99845971 -0.05171614 -0.0200909 0.39475428] [ 0.05184882 0.99863607 0.00614024 0.07254173] [ 0.01974595 -0.00717247 0.9997793 0.04723749] [ 0. 0. 0. 1. ]] SLAMing on 148.354860624 meters Centerline goodness [0,1] 0.6298108747044917 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99844431 -0.05205517 -0.01998045 0.3941196 ] [ 0.05218589 0.9986189 0.00607701 0.07166921] [ 0.01963651 -0.00711025 0.9997819 0.04773304] [ 0. 0. 0. 1. ]] SLAMing on 148.384860624 meters Centerline goodness [0,1] 0.6346872192538655 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99843058 -0.05236838 -0.01984751 0.39342756] [ 0.0524962 0.99860325 0.0059742 0.07105654] [ 0.01950693 -0.00700674 0.99978517 0.04821995] [ 0. 0. 0. 1. ]] SLAMing on 148.414860624 meters Centerline goodness [0,1] 0.6436153936683535 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99840357 -0.0529749 -0.01959536 0.39242174] [ 0.05309917 0.99857195 0.00587643 0.0696022 ] [ 0.01925607 -0.00690755 0.99979072 0.04871071] [ 0. 0. 0. 1. ]] SLAMing on 148.444860624 meters Centerline goodness [0,1] 0.6365922444183314 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99836825 -0.05374455 -0.01929683 0.39161978] [ 0.05386529 0.99853141 0.00579252 0.06813534] [ 0.01895718 -0.00682249 0.99979702 0.04867012] [ 0. 0. 0. 1. ]] SLAMing on 148.474860624 meters Centerline goodness [0,1] 0.619425335766765 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99832989 -0.05449502 -0.0191762 0.39103878] [ 0.05461314 0.99849138 0.00569009 0.06644511] [ 0.01883719 -0.00672786 0.99979993 0.04883284] [ 0. 0. 0. 1. ]] SLAMing on 148.504860624 meters Centerline goodness [0,1] 0.619425335766765 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99832989 -0.05449502 -0.0191762 0.39103878] [ 0.05461314 0.99849138 0.00569009 0.06644511] [ 0.01883719 -0.00672786 0.99979993 0.04883284] [ 0. 0. 0. 1. ]] SLAMing on 148.534860624 meters Centerline goodness [0,1] 0.619425335766765 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99832989 -0.05449502 -0.0191762 0.39103878] [ 0.05461314 0.99849138 0.00569009 0.06644511] [ 0.01883719 -0.00672786 0.99979993 0.04883284] [ 0. 0. 0. 1. ]] SLAMing on 148.564860624 meters Centerline goodness [0,1] 0.6154188010198115 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99831766 -0.05480904 -0.01891586 0.39057748] [ 0.05492567 0.99847416 0.00570206 0.06586281] [ 0.01857448 -0.00673144 0.99980482 0.04863881] [ 0. 0. 0. 1. ]] SLAMing on 148.594860624 meters Centerline goodness [0,1] 0.586285205909208 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99830488 -0.05509709 -0.01875295 0.39018588] [ 0.05521079 0.99845902 0.00560015 0.06548159] [ 0.0184155 -0.00662602 0.99980846 0.04872499] [ 0. 0. 0. 1. ]] SLAMing on 148.624860624 meters Centerline goodness [0,1] 0.5845686228664952 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99828988 -0.05539163 -0.018684 0.38987194] [ 0.05550233 0.99844363 0.00545889 0.06522094] [ 0.01835254 -0.00648656 0.99981054 0.0489089 ] [ 0. 0. 0. 1. ]] SLAMing on 148.654860624 meters Centerline goodness [0,1] 0.624055930974817 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99828609 -0.055472 -0.01864753 0.3898342 ] [ 0.05558207 0.99843932 0.00543721 0.06502344] [ 0.01831682 -0.00646436 0.99981134 0.04888985] [ 0. 0. 0. 1. ]] SLAMing on 148.684860624 meters Centerline goodness [0,1] 0.6346626125599345 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99828066 -0.05560686 -0.01853666 0.38953952] [ 0.05571205 0.9984333 0.00520701 0.0656029 ] [ 0.01821808 -0.00623078 0.99981462 0.0490445 ] [ 0. 0. 0. 1. ]] SLAMing on 148.714860624 meters Centerline goodness [0,1] 0.5766466084431853 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99828112 -0.05558982 -0.018563 0.38959965] [ 0.05569276 0.99843506 0.0050745 0.06620273] [ 0.01825186 -0.0060996 0.99981482 0.04911864] [ 0. 0. 0. 1. ]] SLAMing on 148.74486062399998 meters Centerline goodness [0,1] 0.5761075838155706 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.9982832 -0.05554054 -0.01859836 0.38966776] [ 0.05564115 0.99843863 0.00493589 0.06686769] [ 0.01829518 -0.00596225 0.99981485 0.04921182] [ 0. 0. 0. 1. ]] SLAMing on 148.77486062399998 meters Centerline goodness [0,1] 0.5741370814463711 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99829431 -0.05532056 -0.01865787 0.38997205] [ 0.05541828 0.99845187 0.00476131 0.06801266] [ 0.01836559 -0.00578718 0.99981459 0.04915721] [ 0. 0. 0. 1. ]] SLAMing on 148.80486062399999 meters Centerline goodness [0,1] 0.632054865302863 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99830033 -0.05519964 -0.01869381 0.39032795] [ 0.05529656 0.99845888 0.00470779 0.06875512] [ 0.01840513 -0.00573349 0.99981417 0.0488854 ] [ 0. 0. 0. 1. ]] SLAMing on 148.834860624 meters Centerline goodness [0,1] 0.5704036507339104 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99830448 -0.05509273 -0.01878696 0.39065231] [ 0.0551888 0.99846519 0.00463325 0.06941602] [ 0.01850287 -0.00566222 0.99981277 0.04877329] [ 0. 0. 0. 1. ]] SLAMing on 148.864860624 meters Centerline goodness [0,1] 0.6256938564305203 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99830942 -0.05498326 -0.01884542 0.39093495] [ 0.05507834 0.99847161 0.00456385 0.07012271] [ 0.01856569 -0.00559411 0.99981199 0.04864642] [ 0. 0. 0. 1. ]] SLAMing on 148.894860624 meters Centerline goodness [0,1] 0.6241383366662745 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99833791 -0.05442104 -0.01896775 0.39184303] [ 0.05451764 0.99850215 0.00461314 0.07152102] [ 0.01868829 -0.00563954 0.99980945 0.04812157] [ 0. 0. 0. 1. ]] SLAMing on 148.924860624 meters Centerline goodness [0,1] 0.6396592008685186 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99834061 -0.05434809 -0.01903436 0.39220258] [ 0.05444206 0.998507 0.00445322 0.07284385] [ 0.01876392 -0.0054821 0.99980891 0.04788503] [ 0. 0. 0. 1. ]] SLAMing on 148.954860624 meters Centerline goodness [0,1] 0.6390616501525291 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:0.05 [[ 0.99834648 -0.05421292 -0.01911172 0.39256669] [ 0.05430324 0.99851549 0.00423892 0.07433591] [ 0.01885354 -0.00526973 0.99980837 0.04776167] [ 0. 0. 0. 1. ]] SLAMing on 148.984860624 meters Centerline goodness [0,1] 0.635577355986825 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99834915 -0.05413102 -0.0192041 0.3929526 ] [ 0.0542177 0.99852104 0.0040216 0.0756893 ] [ 0.01895801 -0.00505617 0.9998075 0.04759465] [ 0. 0. 0. 1. ]] SLAMing on 149.014860624 meters Centerline goodness [0,1] 0.6353499011174915 Centerline is valid? [False, False] Translation: X:0.39, Y:0.08, Z:0.05 [[ 0.99837811 -0.05357361 -0.01926181 0.39403265] [ 0.05365567 0.99855239 0.00376836 0.07890103] [ 0.01903204 -0.00479575 0.99980737 0.04672163] [ 0. 0. 0. 1. ]] SLAMing on 149.044860624 meters Centerline goodness [0,1] 0.6386292091958409 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99839289 -0.05319707 -0.01953714 0.39539408] [ 0.05327842 0.99857296 0.00366707 0.08085249] [ 0.01931419 -0.00470209 0.99980241 0.04589056] [ 0. 0. 0. 1. ]] SLAMing on 149.074860624 meters Centerline goodness [0,1] 0.5724915067706589 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.05 [[ 0.99838964 -0.05324673 -0.0195682 0.395707 ] [ 0.05331775 0.99857271 0.0031256 0.08325153] [ 0.01937384 -0.0041639 0.99980364 0.04571043] [ 0. 0. 0. 1. ]] SLAMing on 149.104860624 meters Centerline goodness [0,1] 0.6357662125078234 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:0.04 [[ 0.9983264 -0.05641326 -0.01272581 0.40391128] [ 0.05655847 0.99833472 0.01135467 0.08475828] [ 0.01206407 -0.01205542 0.99985455 0.04188391] [ 0. 0. 0. 1. ]] SLAMing on 149.134860624 meters Centerline goodness [0,1] 0.6301691388196579 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99825216 -0.05784192 -0.01212179 0.40176736] [ 0.05796861 0.9982645 0.0103741 0.08632076] [ 0.01150069 -0.01105865 0.99987271 0.04262014] [ 0. 0. 0. 1. ]] SLAMing on 149.164860624 meters Centerline goodness [0,1] 0.6154013697635585 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99794285 -0.06301794 -0.01178129 0.40147914] [ 0.06308686 0.99799248 0.00557264 0.08926764] [ 0.01140646 -0.00630442 0.99991507 0.04227278] [ 0. 0. 0. 1. ]] SLAMing on 149.194860624 meters Centerline goodness [0,1] 0.604848074317786 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99785286 -0.06450874 -0.01132632 0.40017142] [ 0.0645674 0.99790136 0.00489198 0.0894769 ] [ 0.01098697 -0.00561279 0.99992389 0.04215348] [ 0. 0. 0. 1. ]] SLAMing on 149.224860624 meters Centerline goodness [0,1] 0.607708655332303 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99775942 -0.06600294 -0.01094318 0.39885959] [ 0.06605311 0.99780689 0.00428865 0.08947328] [ 0.01063612 -0.00500187 0.99993092 0.04217955] [ 0. 0. 0. 1. ]] SLAMing on 149.254860624 meters Centerline goodness [0,1] 0.559164453030669 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 9.97358714e-01 -7.19109454e-02 -1.02181866e-02 3.96969950e-01] [ 7.19032697e-02 9.97410984e-01 -1.11704951e-03 9.24253356e-02] [ 1.02720596e-02 3.79378039e-04 9.99947169e-01 4.28982425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284860624 meters Centerline goodness [0,1] 0.5974151467568547 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 9.97290503e-01 -7.28902748e-02 -9.93279304e-03 3.96082945e-01] [ 7.28773486e-02 9.97339533e-01 -1.65763573e-03 9.32712533e-02] [ 1.00271927e-02 9.29268752e-04 9.99949295e-01 4.29129759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314860624 meters Centerline goodness [0,1] 0.6062054242880015 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:0.04 [[ 0.99723547 -0.07368641 -0.00957741 0.39515223] [ 0.07366814 0.99728028 -0.00224668 0.09472311] [ 0.00971691 0.00153492 0.99995161 0.04289402] [ 0. 0. 0. 1. ]] SLAMing on 149.344860624 meters Centerline goodness [0,1] 0.5813480534572923 Centerline is valid? [False, False] Translation: X:0.40, Y:0.10, Z:0.04 [[ 0.99722368 -0.07383991 -0.0096234 0.39562064] [ 0.07382044 0.99726875 -0.00236338 0.09588281] [ 0.00977162 0.00164641 0.9999509 0.04230785] [ 0. 0. 0. 1. ]] SLAMing on 149.374860624 meters Centerline goodness [0,1] 0.6014076274901369 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 0.99716929 -0.07459783 -0.00941125 0.39464496] [ 0.07456741 0.99720968 -0.00354251 0.09946043] [ 0.00964925 0.00283071 0.99994944 0.0429442 ] [ 0. 0. 0. 1. ]] SLAMing on 149.404860624 meters Centerline goodness [0,1] 0.5872708082766747 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 9.97334855e-01 -7.24061613e-02 -8.97413764e-03 3.91456037e-01] [ 7.24006191e-02 9.97375187e-01 -9.41343099e-04 1.01723859e-01] [ 9.01874125e-03 2.89101162e-04 9.99959289e-01 4.44052350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434860624 meters Centerline goodness [0,1] 0.5845422526538755 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:0.04 [[ 9.97362200e-01 -7.19932083e-02 -9.25314795e-03 3.92125854e-01] [ 7.19831036e-02 9.97404839e-01 -1.42090695e-03 1.04782204e-01] [ 9.33143020e-03 7.51088575e-04 9.99956179e-01 4.47615794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464860624 meters Centerline goodness [0,1] 0.6048349144230054 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99763382 -0.06811283 -0.00934932 0.39195317] [ 0.06813547 0.99767382 0.00212464 0.10748241] [ 0.00918286 -0.00275664 0.99995404 0.04436395] [ 0. 0. 0. 1. ]] SLAMing on 149.49486062399998 meters Centerline goodness [0,1] 0.6061574571150341 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99789681 -0.06413441 -0.00942005 0.39209695] [ 0.06419291 0.99791921 0.00604402 0.10810514] [ 0.00901282 -0.00663601 0.99993736 0.04357661] [ 0. 0. 0. 1. ]] SLAMing on 149.52486062399998 meters Centerline goodness [0,1] 0.6078957262814889 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99793391 -0.06349817 -0.0097929 0.393517 ] [ 0.06355901 0.99795985 0.00603183 0.10949891] [ 0.00938991 -0.00664179 0.99993386 0.04314452] [ 0. 0. 0. 1. ]] SLAMing on 149.55486062399999 meters Centerline goodness [0,1] 0.6078957262814889 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99793391 -0.06349817 -0.0097929 0.393517 ] [ 0.06355901 0.99795985 0.00603183 0.10949891] [ 0.00938991 -0.00664179 0.99993386 0.04314452] [ 0. 0. 0. 1. ]] SLAMing on 149.584860624 meters Centerline goodness [0,1] 0.6078957262814889 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99793391 -0.06349817 -0.0097929 0.393517 ] [ 0.06355901 0.99795985 0.00603183 0.10949891] [ 0.00938991 -0.00664179 0.99993386 0.04314452] [ 0. 0. 0. 1. ]] SLAMing on 149.614860624 meters Centerline goodness [0,1] 0.6174658653725263 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99797113 -0.06286151 -0.01010194 0.39484505] [ 0.06292371 0.99800053 0.00596203 0.11133163] [ 0.00970696 -0.00658558 0.9999312 0.04270175] [ 0. 0. 0. 1. ]] SLAMing on 149.644860624 meters Centerline goodness [0,1] 0.6174658653725263 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99797113 -0.06286151 -0.01010194 0.39484505] [ 0.06292371 0.99800053 0.00596203 0.11133163] [ 0.00970696 -0.00658558 0.9999312 0.04270175] [ 0. 0. 0. 1. ]] SLAMing on 149.674860624 meters Centerline goodness [0,1] 0.6174658653725263 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:0.04 [[ 0.99797113 -0.06286151 -0.01010194 0.39484505] [ 0.06292371 0.99800053 0.00596203 0.11133163] [ 0.00970696 -0.00658558 0.9999312 0.04270175] [ 0. 0. 0. 1. ]] SLAMing on 149.704860624 meters Centerline goodness [0,1] 0.6203610071796946 Centerline is valid? [False, False] Translation: X:0.40, Y:0.11, Z:0.04 [[ 0.99822606 -0.05862385 -0.01039074 0.39547809] [ 0.05872524 0.99822671 0.00973609 0.11321574] [ 0.00980155 -0.01032902 0.99989862 0.04208388] [ 0. 0. 0. 1. ]] SLAMing on 149.734860624 meters Centerline goodness [0,1] 0.6214629207795495 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.04 [[ 0.99825927 -0.05798869 -0.01075802 0.39676817] [ 0.05809068 0.99826684 0.00942281 0.11549746] [ 0.01019296 -0.01003135 0.99989773 0.04196355] [ 0. 0. 0. 1. ]] SLAMing on 149.764860624 meters Centerline goodness [0,1] 0.6324425929689088 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.04 [[ 0.99830119 -0.05720441 -0.01106271 0.3981445 ] [ 0.05730865 0.99831275 0.00934695 0.1177618 ] [ 0.01050936 -0.00996506 0.99989512 0.04155121] [ 0. 0. 0. 1. ]] SLAMing on 149.794860624 meters Centerline goodness [0,1] 0.6206175044654249 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.04 [[ 0.99849264 -0.05379301 -0.01089788 0.39729286] [ 0.05393187 0.9984616 0.01287607 0.11845204] [ 0.01018847 -0.0134444 0.99985771 0.04132996] [ 0. 0. 0. 1. ]] SLAMing on 149.824860624 meters Centerline goodness [0,1] 0.6393985271099023 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.04 [[ 0.99870004 -0.04974435 -0.01112317 0.39815118] [ 0.04992035 0.99862266 0.01614776 0.12205518] [ 0.01030459 -0.01668205 0.99980774 0.04043823] [ 0. 0. 0. 1. ]] SLAMing on 149.854860624 meters Centerline goodness [0,1] 0.6462247156312728 Centerline is valid? [False, False] Translation: X:0.40, Y:0.12, Z:0.04 [[ 0.9987117 -0.04946687 -0.01131237 0.39896496] [ 0.04964017 0.99864549 0.01558953 0.12492973] [ 0.01052589 -0.01613099 0.99981448 0.04030548] [ 0. 0. 0. 1. ]] SLAMing on 149.884860624 meters Centerline goodness [0,1] 0.6441649665573432 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99871793 -0.04930479 -0.01146911 0.39941294] [ 0.04947282 0.99866492 0.01486009 0.12795955] [ 0.01072112 -0.01540845 0.9998238 0.04063212] [ 0. 0. 0. 1. ]] SLAMing on 149.914860624 meters Centerline goodness [0,1] 0.6319287587299114 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99888072 -0.04594473 -0.01124233 0.39853035] [ 0.04613864 0.99877923 0.0176431 0.13183817] [ 0.010418 -0.01814206 0.99978114 0.04060178] [ 0. 0. 0. 1. ]] SLAMing on 149.944860624 meters Centerline goodness [0,1] 0.6501327226357154 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99888498 -0.04580376 -0.01143687 0.39906184] [ 0.04599256 0.99880001 0.01682943 0.13487203] [ 0.0106523 -0.01733668 0.99979296 0.04099479] [ 0. 0. 0. 1. ]] SLAMing on 149.974860624 meters Centerline goodness [0,1] 0.6388171790659469 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.04 [[ 0.99888571 -0.04576034 -0.01154726 0.39943093] [ 0.04594184 0.99881638 0.01597474 0.13807785] [ 0.01080258 -0.01648744 0.99980572 0.04127209] [ 0. 0. 0. 1. ]] SLAMing on 150.004860624 meters Centerline goodness [0,1] 0.6592080814425165 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.04 [[ 0.99903984 -0.04231455 -0.01135244 0.39883073] [ 0.04252267 0.99891929 0.01876383 0.14212506] [ 0.01054619 -0.01922855 0.99975949 0.04106005] [ 0. 0. 0. 1. ]] SLAMing on 150.034860624 meters Centerline goodness [0,1] 0.6499238565352098 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.04 [[ 0.99905808 -0.04178558 -0.0117016 0.40030171] [ 0.04199556 0.99894993 0.01831432 0.14515097] [ 0.01092404 -0.01878849 0.9997638 0.04069611] [ 0. 0. 0. 1. ]] SLAMing on 150.064860624 meters Centerline goodness [0,1] 0.6597527870753499 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.04 [[ 0.99908125 -0.04113085 -0.01203753 0.40185694] [ 0.04134244 0.99898484 0.01789127 0.14818021] [ 0.01128943 -0.0183725 0.99976747 0.04030501] [ 0. 0. 0. 1. ]] SLAMing on 150.094860624 meters Centerline goodness [0,1] 0.6626614202339769 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.04 [[ 0.99909697 -0.04064165 -0.01238939 0.40327823] [ 0.04085271 0.99901562 0.01728706 0.15144354] [ 0.01167462 -0.01777759 0.9997738 0.04011686] [ 0. 0. 0. 1. ]] SLAMing on 150.124860624 meters Centerline goodness [0,1] 0.663320442866981 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.04 [[ 0.99910815 -0.0402549 -0.01274521 0.40447997] [ 0.04046318 0.99904432 0.01652822 0.15484697] [ 0.01206769 -0.01702919 0.99978217 0.04024927] [ 0. 0. 0. 1. ]] SLAMing on 150.154860624 meters Centerline goodness [0,1] 0.6584112273974062 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99924472 -0.03676798 -0.01257393 0.40363431] [ 0.03700529 0.99913075 0.01919277 0.15924129] [ 0.01185732 -0.01964358 0.99973673 0.0405677 ] [ 0. 0. 0. 1. ]] SLAMing on 150.184860624 meters Centerline goodness [0,1] 0.6618058702780518 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99923312 -0.03706 -0.01263805 0.40323141] [ 0.03728393 0.99914315 0.01796857 0.16228326] [ 0.01196131 -0.01842599 0.99975868 0.04186631] [ 0. 0. 0. 1. ]] SLAMing on 150.214860624 meters Centerline goodness [0,1] 0.6659747172322023 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99920453 -0.03787704 -0.01247556 0.4018618 ] [ 0.03808404 0.99913338 0.01679573 0.16445459] [ 0.01182858 -0.01725749 0.99978111 0.04323981] [ 0. 0. 0. 1. ]] SLAMing on 150.24486062399998 meters Centerline goodness [0,1] 0.6649311118231336 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:0.04 [[ 0.99916753 -0.03897519 -0.01204934 0.39987412] [ 0.03916685 0.99910294 0.01610206 0.16511272] [ 0.01141095 -0.01656059 0.99979775 0.04414121] [ 0. 0. 0. 1. ]] SLAMing on 150.27486062399998 meters Centerline goodness [0,1] 0.6521715960564882 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99894224 -0.04445343 -0.01175998 0.39914653] [ 0.0445952 0.99893209 0.01208054 0.16392723] [ 0.0112104 -0.0125922 0.99985787 0.04349721] [ 0. 0. 0. 1. ]] SLAMing on 150.30486062399999 meters Centerline goodness [0,1] 0.6533046435022846 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99875075 -0.04855303 -0.01181265 0.39998917] [ 0.04865288 0.99878111 0.00831792 0.16338931] [ 0.01139439 -0.00888225 0.99989563 0.04298755] [ 0. 0. 0. 1. ]] SLAMing on 150.334860624 meters Centerline goodness [0,1] 0.6270030144375693 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 0.99841158 -0.05522401 -0.01116401 0.39703045] [ 0.05526968 0.99846414 0.00382418 0.1607473 ] [ 0.01093568 -0.00443513 0.99993037 0.04359891] [ 0. 0. 0. 1. ]] SLAMing on 150.364860624 meters Centerline goodness [0,1] 0.5844795783926219 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.98166944e-01 -5.95044601e-02 -1.10440467e-02 3.96989780e-01] [ 5.95063455e-02 9.98227915e-01 -1.58097748e-04 1.60175119e-01] [ 1.10338833e-02 -4.99382915e-04 9.99939000e-01 4.38364914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394860624 meters Centerline goodness [0,1] 0.6067929286295937 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.04 [[ 9.98088357e-01 -6.08532236e-02 -1.07943327e-02 3.95458477e-01] [ 6.08551707e-02 9.98146596e-01 -1.48287229e-04 1.57871535e-01] [ 1.07833502e-02 -5.08887205e-04 9.99941728e-01 4.40204196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424860624 meters Centerline goodness [0,1] 0.6142954533536106 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.98029419e-01 -6.19067555e-02 -1.02388016e-02 3.93465185e-01] [ 6.19085794e-02 9.98081815e-01 -1.39014629e-04 1.56261303e-01] [ 1.02277676e-02 -4.95128975e-04 9.99947572e-01 4.42696567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454860624 meters Centerline goodness [0,1] 0.615503227661187 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:0.04 [[ 9.97978572e-01 -6.27895013e-02 -9.81067121e-03 3.91747199e-01] [ 6.27889262e-02 9.98026761e-01 -3.66925806e-04 1.55532352e-01] [ 9.81435150e-03 -2.49817419e-04 9.99951807e-01 4.48247900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484860624 meters Centerline goodness [0,1] 0.608466436997599 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97929874e-01 -6.36035408e-02 -9.51610427e-03 3.89951458e-01] [ 6.36012183e-02 9.97975243e-01 -5.46792984e-04 1.54464225e-01] [ 9.53161444e-03 -5.95747715e-05 9.99954571e-01 4.58208323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514860624 meters Centerline goodness [0,1] 0.570753732122351 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97923012e-01 -6.37306584e-02 -9.38427353e-03 3.89460873e-01] [ 6.37298980e-02 9.97967111e-01 -3.80345561e-04 1.53446518e-01] [ 9.38943602e-03 -2.18503207e-04 9.99955894e-01 4.59802096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544860624 meters Centerline goodness [0,1] 0.6110270721402118 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97906846e-01 -6.39999877e-02 -9.26975247e-03 3.88750797e-01] [ 6.39994735e-02 9.97949870e-01 -3.52402524e-04 1.52411417e-01] [ 9.27330203e-03 -2.41594386e-04 9.99956973e-01 4.64008615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574860624 meters Centerline goodness [0,1] 0.6105583914991145 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97894678e-01 -6.42101215e-02 -9.12534241e-03 3.88065145e-01] [ 6.42109648e-02 9.97936326e-01 -2.00831346e-04 1.50942806e-01] [ 9.11940608e-03 -3.85538509e-04 9.99958343e-01 4.67313010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604860624 meters Centerline goodness [0,1] 0.5906590555267255 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97855082e-01 -6.48589127e-02 -8.86324550e-03 3.86382822e-01] [ 6.48609623e-02 9.97894309e-01 -5.63086283e-05 1.48085569e-01] [ 8.84823436e-03 -5.18690781e-04 9.99960719e-01 4.77362713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634860624 meters Centerline goodness [0,1] 0.6110909468007881 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:0.05 [[ 9.97868614e-01 -6.46444243e-02 -8.90665303e-03 3.86672005e-01] [ 6.46512978e-02 9.97907798e-01 4.85680869e-04 1.46342266e-01] [ 8.85662195e-03 -1.06047237e-03 9.99960217e-01 4.74008061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664860624 meters Centerline goodness [0,1] 0.6122982201986755 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.05 [[ 0.99791099 -0.06396499 -0.00906276 0.38747808] [ 0.06398025 0.99795018 0.00140377 0.14323295] [ 0.00895439 -0.00198068 0.99995795 0.04697622] [ 0. 0. 0. 1. ]] SLAMing on 150.694860624 meters Centerline goodness [0,1] 0.6136545976862755 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.05 [[ 0.99794136 -0.06344907 -0.00934133 0.38831981] [ 0.06346899 0.99798209 0.00185169 0.14158202] [ 0.00920499 -0.00244076 0.99995465 0.04692465] [ 0. 0. 0. 1. ]] SLAMing on 150.724860624 meters Centerline goodness [0,1] 0.5995410951840776 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.05 [[ 0.99797021 -0.06296749 -0.00951596 0.38884862] [ 0.06299135 0.99801159 0.00222825 0.14030498] [ 0.00935673 -0.00282315 0.99995224 0.04698927] [ 0. 0. 0. 1. ]] SLAMing on 150.754860624 meters Centerline goodness [0,1] 0.6141827541827543 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.05 [[ 0.9980116 -0.06226539 -0.00979071 0.38976618] [ 0.06229547 0.99805383 0.00279773 0.1390841 ] [ 0.00959745 -0.00340209 0.99994816 0.04682469] [ 0. 0. 0. 1. ]] SLAMing on 150.784860624 meters Centerline goodness [0,1] 0.6147650661314394 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.05 [[ 0.99827599 -0.05784225 -0.00996576 0.38973855] [ 0.05791914 0.99829229 0.00760794 0.1351201 ] [ 0.00950868 -0.00817204 0.9999214 0.0467172 ] [ 0. 0. 0. 1. ]] SLAMing on 150.814860624 meters Centerline goodness [0,1] 0.6230315465503975 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.05 [[ 0.99832668 -0.05688053 -0.01041347 0.39120869] [ 0.05696723 0.99834215 0.00822772 0.13407151] [ 0.00992821 -0.00880718 0.99991193 0.04650235] [ 0. 0. 0. 1. ]] SLAMing on 150.844860624 meters Centerline goodness [0,1] 0.617386631180264 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.05 [[ 0.99837545 -0.05593338 -0.01085906 0.39272321] [ 0.05602913 0.99839103 0.00872306 0.13308693] [ 0.01035367 -0.00931732 0.99990299 0.0463771 ] [ 0. 0. 0. 1. ]] SLAMing on 150.874860624 meters Centerline goodness [0,1] 0.6177739210331539 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:0.05 [[ 0.99842543 -0.05494749 -0.01128883 0.39440413] [ 0.05505364 0.99843992 0.0093176 0.13209001] [ 0.01075924 -0.00992442 0.99989287 0.04593037] [ 0. 0. 0. 1. ]] SLAMing on 150.904860624 meters Centerline goodness [0,1] 0.6209893902594912 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99855223 -0.0524323 -0.01201253 0.39802662] [ 0.05256603 0.99855575 0.01110083 0.12938228] [ 0.01141314 -0.01171621 0.99986623 0.04431945] [ 0. 0. 0. 1. ]] SLAMing on 150.934860624 meters Centerline goodness [0,1] 0.6276443169594836 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99859404 -0.05153267 -0.01242301 0.39958896] [ 0.05167765 0.9985959 0.01164659 0.12855234] [ 0.01180539 -0.01227221 0.999855 0.04388389] [ 0. 0. 0. 1. ]] SLAMing on 150.964860624 meters Centerline goodness [0,1] 0.6287455821338934 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99862718 -0.0507869 -0.01282385 0.40094796] [ 0.05094147 0.9986292 0.01202852 0.12807522] [ 0.01219538 -0.01266527 0.99984542 0.04364487] [ 0. 0. 0. 1. ]] SLAMing on 150.99486062399998 meters Centerline goodness [0,1] 0.62857943544278 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99869479 -0.04931716 -0.01328639 0.40304383] [ 0.04948834 0.99869167 0.0128787 0.12669667] [ 0.01263386 -0.01351942 0.99982879 0.04310239] [ 0. 0. 0. 1. ]] SLAMing on 151.02486062399998 meters Centerline goodness [0,1] 0.6437635644069961 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.04 [[ 0.99872177 -0.04867773 -0.01361242 0.4041327 ] [ 0.04885833 0.99871763 0.01326489 0.12619075] [ 0.01294926 -0.01391301 0.99981936 0.04291629] [ 0. 0. 0. 1. ]] SLAMing on 151.05486062399999 meters Centerline goodness [0,1] 0.6510338129680272 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:0.04 [[ 0.9987413 -0.04819847 -0.0138823 0.40500751] [ 0.04838685 0.99873649 0.01356962 0.12555191] [ 0.01321072 -0.01422426 0.99981156 0.04278432] [ 0. 0. 0. 1. ]] SLAMing on 151.084860624 meters Centerline goodness [0,1] 0.6402069211559044 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:0.04 [[ 0.99875119 -0.04795271 -0.01402128 0.40547995] [ 0.048144 0.99874728 0.01363935 0.12501439] [ 0.01334968 -0.01429736 0.99980867 0.04284462] [ 0. 0. 0. 1. ]] SLAMing on 151.114860624 meters Centerline goodness [0,1] 0.6467564197185249 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:0.04 [[ 0.99877408 -0.0474413 -0.01413003 0.40610286] [ 0.04764103 0.99876428 0.01415071 0.12318609] [ 0.01344125 -0.01480653 0.99980003 0.04260769] [ 0. 0. 0. 1. ]] SLAMing on 151.144860624 meters Centerline goodness [0,1] 0.6465501894661885 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:0.04 [[ 0.99877783 -0.04737371 -0.01409185 0.40629295] [ 0.04757381 0.99876649 0.01422054 0.1223968 ] [ 0.01340079 -0.01487357 0.99979958 0.04243132] [ 0. 0. 0. 1. ]] SLAMing on 151.174860624 meters Centerline goodness [0,1] 0.5557826892090137 Centerline is valid? [False, False] Translation: X:0.45, Y:0.12, Z:0.05 [[ 0.99865774 -0.04965618 -0.01473041 0.44747358] [ 0.04968167 0.99876417 0.00136882 0.12414767] [ 0.01464423 -0.00209882 0.99989056 0.04738375] [ 0. 0. 0. 1. ]] SLAMing on 151.204860624 meters Centerline goodness [0,1] 0.6414309273119371 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99883187 -0.04682174 -0.01194232 0.36879931] [ 0.04685914 0.99889738 0.00287102 0.12508547] [ 0.01179472 -0.00342727 0.99992457 0.04323106] [ 0. 0. 0. 1. ]] SLAMing on 151.234860624 meters Centerline goodness [0,1] 0.6480279833721991 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99882265 -0.04704689 -0.01182844 0.36885308] [ 0.04708912 0.99888518 0.00331779 0.12313083] [ 0.01165916 -0.00387088 0.99992454 0.04252526] [ 0. 0. 0. 1. ]] SLAMing on 151.264860624 meters Centerline goodness [0,1] 0.6471629860109787 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.9988142 -0.04727111 -0.01164631 0.36860259] [ 0.04731391 0.99887419 0.00342758 0.12257175] [ 0.01147118 -0.00397455 0.9999263 0.04218419] [ 0. 0. 0. 1. ]] SLAMing on 151.294860624 meters Centerline goodness [0,1] 0.6142485673171594 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99880368 -0.0475229 -0.01152301 0.36815561] [ 0.04756467 0.99886245 0.00337853 0.12194877] [ 0.01134934 -0.00392258 0.9999279 0.04239556] [ 0. 0. 0. 1. ]] SLAMing on 151.324860624 meters Centerline goodness [0,1] 0.640471216049538 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99878141 -0.0480777 -0.01114549 0.36698064] [ 0.04811756 0.99883611 0.00333656 0.12080028] [ 0.01097211 -0.00386879 0.99993232 0.04265383] [ 0. 0. 0. 1. ]] SLAMing on 151.354860624 meters Centerline goodness [0,1] 0.6048055722589698 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99878112 -0.04809242 -0.01110796 0.36717569] [ 0.04813282 0.99883516 0.00339869 0.12049504] [ 0.01093157 -0.0039292 0.99993253 0.04236217] [ 0. 0. 0. 1. ]] SLAMing on 151.384860624 meters Centerline goodness [0,1] 0.6411926835379604 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99877273 -0.04828437 -0.01102969 0.36674993] [ 0.04832257 0.99882658 0.00322343 0.12058605] [ 0.01086111 -0.00375246 0.99993398 0.04269866] [ 0. 0. 0. 1. ]] SLAMing on 151.414860624 meters Centerline goodness [0,1] 0.6367789547668056 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99876223 -0.04854673 -0.01082736 0.36604725] [ 0.048581 0.99881496 0.00292495 0.12116514] [ 0.01067253 -0.00344733 0.9999371 0.04301134] [ 0. 0. 0. 1. ]] SLAMing on 151.444860624 meters Centerline goodness [0,1] 0.6386121263706004 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99876667 -0.04844393 -0.01087768 0.36640148] [ 0.04847928 0.99881965 0.00300948 0.12117821] [ 0.01071905 -0.00353312 0.99993631 0.04274231] [ 0. 0. 0. 1. ]] SLAMing on 151.474860624 meters Centerline goodness [0,1] 0.6387377858366072 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99876961 -0.04840134 -0.01079717 0.36656705] [ 0.04843647 0.99882171 0.0030163 0.12170197] [ 0.01063846 -0.00353556 0.99993716 0.0423308 ] [ 0. 0. 0. 1. ]] SLAMing on 151.504860624 meters Centerline goodness [0,1] 0.6310199367247527 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99877373 -0.04831933 -0.01078289 0.36697433] [ 0.04835455 0.99882564 0.00302976 0.12247413] [ 0.01062383 -0.00354745 0.99993727 0.04180897] [ 0. 0. 0. 1. ]] SLAMing on 151.534860624 meters Centerline goodness [0,1] 0.6360670662316972 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.04 [[ 0.99891245 -0.04545857 -0.01036527 0.36562292] [ 0.04552662 0.99894246 0.00642612 0.12351415] [ 0.01006218 -0.00689103 0.99992563 0.04124493] [ 0. 0. 0. 1. ]] SLAMing on 151.564860624 meters Centerline goodness [0,1] 0.6457295958344917 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99891543 -0.04537862 -0.01042849 0.36628331] [ 0.0454446 0.99894775 0.00617965 0.12546653] [ 0.0101371 -0.00664687 0.99992653 0.04071701] [ 0. 0. 0. 1. ]] SLAMing on 151.594860624 meters Centerline goodness [0,1] 0.6457295958344917 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99891543 -0.04537862 -0.01042849 0.36628331] [ 0.0454446 0.99894775 0.00617965 0.12546653] [ 0.0101371 -0.00664687 0.99992653 0.04071701] [ 0. 0. 0. 1. ]] SLAMing on 151.624860624 meters Centerline goodness [0,1] 0.6330907892401694 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99891108 -0.04547654 -0.01041783 0.36646118] [ 0.04553841 0.99894587 0.00578018 0.12754424] [ 0.01014399 -0.0062483 0.99992903 0.04053007] [ 0. 0. 0. 1. ]] SLAMing on 151.654860624 meters Centerline goodness [0,1] 0.6311163050657995 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99890849 -0.04554483 -0.01036825 0.36680734] [ 0.04560341 0.99894456 0.0054851 0.12959772] [ 0.01010749 -0.00595194 0.9999312 0.03996313] [ 0. 0. 0. 1. ]] SLAMing on 151.684860624 meters Centerline goodness [0,1] 0.6477060941050321 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:0.04 [[ 0.99891962 -0.04535702 -0.01011619 0.36745018] [ 0.045409 0.99895612 0.00496879 0.13479884] [ 0.00988026 -0.00542279 0.99993648 0.03866701] [ 0. 0. 0. 1. ]] SLAMing on 151.714860624 meters Centerline goodness [0,1] 0.6544348004724976 Centerline is valid? [False, False] Translation: X:0.37, Y:0.14, Z:0.04 [[ 0.99892417 -0.04523803 -0.01019961 0.36838171] [ 0.04528547 0.99896409 0.00446885 0.13797035] [ 0.00998688 -0.00492594 0.999938 0.03798376] [ 0. 0. 0. 1. ]] SLAMing on 151.74486062399998 meters Centerline goodness [0,1] 0.641847071527742 Centerline is valid? [False, False] Translation: X:0.37, Y:0.14, Z:0.04 [[ 0.99893494 -0.0449849 -0.01026416 0.36962174] [ 0.0450285 0.99897747 0.0040568 0.14167029] [ 0.01007117 -0.00451466 0.99993909 0.03690152] [ 0. 0. 0. 1. ]] SLAMing on 151.77486062399998 meters Centerline goodness [0,1] 0.6266074351180735 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:0.04 [[ 0.99905759 -0.04231658 -0.00965569 0.36901622] [ 0.04237637 0.99908325 0.00607428 0.14922923] [ 0.0093898 -0.00647773 0.99993493 0.03550986] [ 0. 0. 0. 1. ]] SLAMing on 151.80486062399999 meters Centerline goodness [0,1] 0.6519523286811981 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:0.03 [[ 0.99918322 -0.03934398 -0.00921696 0.36779281] [ 0.03942747 0.99918137 0.00905903 0.15252827] [ 0.008853 -0.00941503 0.99991649 0.03498562] [ 0. 0. 0. 1. ]] SLAMing on 151.834860624 meters Centerline goodness [0,1] 0.6419983198571879 Centerline is valid? [False, False] Translation: X:0.37, Y:0.16, Z:0.03 [[ 0.99929783 -0.0364376 -0.00872586 0.36660538] [ 0.03653972 0.99926201 0.01184386 0.15623121] [ 0.00828786 -0.01215438 0.99989179 0.03440568] [ 0. 0. 0. 1. ]] SLAMing on 151.864860624 meters Centerline goodness [0,1] 0.6562971192762479 Centerline is valid? [False, False] Translation: X:0.37, Y:0.16, Z:0.03 [[ 0.99940158 -0.03359875 -0.00822188 0.36528271] [ 0.03371679 0.99932382 0.01466592 0.15972856] [ 0.00772357 -0.01493436 0.99985865 0.03387991] [ 0. 0. 0. 1. ]] SLAMing on 151.894860624 meters Centerline goodness [0,1] 0.656304202801868 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.03 [[ 0.9994814 -0.03126943 -0.0076909 0.36441467] [ 0.03138453 0.99938981 0.0153303 0.17024106] [ 0.00720684 -0.01556372 0.99985291 0.03379866] [ 0. 0. 0. 1. ]] SLAMing on 151.924860624 meters Centerline goodness [0,1] 0.6569965412767783 Centerline is valid? [False, False] Translation: X:0.36, Y:0.18, Z:0.03 [[ 0.99948495 -0.03117729 -0.00760274 0.36497595] [ 0.0312825 0.99941062 0.01413547 0.17637499] [ 0.00715756 -0.01436603 0.99987119 0.03356059] [ 0. 0. 0. 1. ]] SLAMing on 151.954860624 meters Centerline goodness [0,1] 0.6434763936978286 Centerline is valid? [False, False] Translation: X:0.37, Y:0.18, Z:0.03 [[ 0.99947972 -0.03131765 -0.00771301 0.36585479] [ 0.03141427 0.99942522 0.01274222 0.18230411] [ 0.00730952 -0.01297789 0.99988907 0.03342388] [ 0. 0. 0. 1. ]] SLAMing on 151.984860624 meters Centerline goodness [0,1] 0.6541708244558915 Centerline is valid? [False, False] Translation: X:0.37, Y:0.19, Z:0.03 [[ 0.99947478 -0.0314733 -0.00771939 0.36637792] [ 0.03156033 0.99943655 0.01142507 0.18833124] [ 0.00735545 -0.01166269 0.99990493 0.03335101] [ 0. 0. 0. 1. ]] SLAMing on 152.014860624 meters Centerline goodness [0,1] 0.6478090255068673 Centerline is valid? [False, False] Translation: X:0.36, Y:0.20, Z:0.03 [[ 0.99953024 -0.02991277 -0.00667335 0.36470825] [ 0.02999197 0.99947688 0.01210129 0.1991948 ] [ 0.00630788 -0.01229575 0.99990451 0.03226714] [ 0. 0. 0. 1. ]] SLAMing on 152.044860624 meters Centerline goodness [0,1] 0.6551629540217272 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:0.03 [[ 0.99952442 -0.03009659 -0.00671806 0.3654761 ] [ 0.03016912 0.99948462 0.01096925 0.20528448] [ 0.00638446 -0.01116671 0.99991727 0.03179557] [ 0. 0. 0. 1. ]] SLAMing on 152.074860624 meters Centerline goodness [0,1] 0.6527439024390245 Centerline is valid? [False, False] Translation: X:0.36, Y:0.22, Z:0.03 [[ 0.99957899 -0.02840914 -0.00589546 0.36490339] [ 0.02847687 0.99952549 0.01174141 0.21601881] [ 0.0055591 -0.01190435 0.99991369 0.03009357] [ 0. 0. 0. 1. ]] SLAMing on 152.104860624 meters Centerline goodness [0,1] 0.6501208971401573 Centerline is valid? [False, False] Translation: X:0.37, Y:0.22, Z:0.03 [[ 0.99957272 -0.02857085 -0.00617151 0.36640373] [ 0.02863375 0.99953632 0.01035612 0.22234165] [ 0.00587276 -0.01052841 0.99992733 0.029676 ] [ 0. 0. 0. 1. ]] SLAMing on 152.134860624 meters Centerline goodness [0,1] 0.655176276217412 Centerline is valid? [False, False] Translation: X:0.36, Y:0.23, Z:0.03 [[ 0.99964579 -0.0260187 -0.00559694 0.364699 ] [ 0.02609027 0.99957348 0.01312044 0.22663733] [ 0.00525318 -0.01326182 0.99989826 0.02906057] [ 0. 0. 0. 1. ]] SLAMing on 152.164860624 meters Centerline goodness [0,1] 0.6448062759262918 Centerline is valid? [False, False] Translation: X:0.36, Y:0.23, Z:0.03 [[ 0.99968592 -0.02458529 -0.00486049 0.36442663] [ 0.0246502 0.99960117 0.01377932 0.23249664] [ 0.00451978 -0.01389481 0.99989325 0.02789546] [ 0. 0. 0. 1. ]] SLAMing on 152.194860624 meters Centerline goodness [0,1] 0.6571551230681167 Centerline is valid? [False, False] Translation: X:0.36, Y:0.25, Z:0.03 [[ 0.99973476 -0.02264122 -0.0042166 0.36392908] [ 0.02269776 0.99964595 0.01388446 0.24539825] [ 0.00390075 -0.01397649 0.99989472 0.02740499] [ 0. 0. 0. 1. ]] SLAMing on 152.224860624 meters Centerline goodness [0,1] 0.6581085753803596 Centerline is valid? [False, False] Translation: X:0.37, Y:0.25, Z:0.03 [[ 0.99974256 -0.02228373 -0.00427089 0.36510898] [ 0.02233652 0.99966936 0.01273757 0.25236895] [ 0.00398564 -0.01282969 0.99990975 0.0271722 ] [ 0. 0. 0. 1. ]] SLAMing on 152.254860624 meters Centerline goodness [0,1] 0.6644620427581005 Centerline is valid? [False, False] Translation: X:0.37, Y:0.26, Z:0.03 [[ 0.99976252 -0.02144116 -0.00389525 0.36573113] [ 0.02148593 0.99969903 0.01184064 0.25948349] [ 0.0036402 -0.01192152 0.99992231 0.02693459] [ 0. 0. 0. 1. ]] SLAMing on 152.284860624 meters Centerline goodness [0,1] 0.6669199298655757 Centerline is valid? [False, False] Translation: X:0.37, Y:0.26, Z:0.03 [[ 0.99983072 -0.01800639 -0.00378103 0.36531027] [ 0.01805983 0.99973014 0.01461135 0.26446728] [ 0.00351691 -0.01467716 0.9998861 0.02709474] [ 0. 0. 0. 1. ]] SLAMing on 152.314860624 meters Centerline goodness [0,1] 0.6783825539247728 Centerline is valid? [False, False] Translation: X:0.36, Y:0.27, Z:0.03 [[ 0.99992693 -0.01159175 -0.00343089 0.36191604] [ 0.01165804 0.99973247 0.01997715 0.27250269] [ 0.0031984 -0.02001569 0.99979455 0.03037559] [ 0. 0. 0. 1. ]] SLAMing on 152.344860624 meters Centerline goodness [0,1] 0.6790858231162957 Centerline is valid? [False, False] Translation: X:0.36, Y:0.28, Z:0.03 [[ 0.99992724 -0.01147835 -0.00371041 0.36278282] [ 0.01154742 0.99974968 0.01916337 0.27510803] [ 0.00348952 -0.01920482 0.99980948 0.03093548] [ 0. 0. 0. 1. ]] SLAMing on 152.374860624 meters Centerline goodness [0,1] 0.666408875933252 Centerline is valid? [False, False] Translation: X:0.36, Y:0.28, Z:0.03 [[ 0.99993138 -0.01102441 -0.00396102 0.36437931] [ 0.01109868 0.99975315 0.01924707 0.27507571] [ 0.00374786 -0.01928971 0.99980691 0.0301782 ] [ 0. 0. 0. 1. ]] SLAMing on 152.404860624 meters Centerline goodness [0,1] 0.6702640028540849 Centerline is valid? [False, False] Translation: X:0.37, Y:0.27, Z:0.03 [[ 0.99989928 -0.0134568 -0.00451055 0.36807772] [ 0.01352647 0.99978387 0.01578781 0.27421838] [ 0.00429712 -0.01584723 0.99986519 0.02877685] [ 0. 0. 0. 1. ]] SLAMing on 152.434860624 meters Centerline goodness [0,1] 0.6774596007604563 Centerline is valid? [False, False] Translation: X:0.37, Y:0.27, Z:0.03 [[ 0.99990135 -0.01330016 -0.00451687 0.36856795] [ 0.01337075 0.99978299 0.01597474 0.2725737 ] [ 0.00430342 -0.01603356 0.99986219 0.02836595] [ 0. 0. 0. 1. ]] SLAMing on 152.464860624 meters Centerline goodness [0,1] 0.6716590545109438 Centerline is valid? [False, False] Translation: X:0.37, Y:0.27, Z:0.03 [[ 0.99990504 -0.01296705 -0.00466596 0.3696469 ] [ 0.01304082 0.99978462 0.01614469 0.27163636] [ 0.00445561 -0.016204 0.99985878 0.0277491 ] [ 0. 0. 0. 1. ]] SLAMing on 152.49486062399998 meters Centerline goodness [0,1] 0.6765885393458694 Centerline is valid? [False, False] Translation: X:0.37, Y:0.27, Z:0.03 [[ 0.99991087 -0.01233755 -0.00510204 0.37147096] [ 0.01241689 0.99979772 0.01582226 0.2728116 ] [ 0.0049058 -0.0158842 0.9998618 0.02775554] [ 0. 0. 0. 1. ]] SLAMing on 152.52486062399998 meters Centerline goodness [0,1] 0.6771264402036381 Centerline is valid? [False, False] Translation: X:0.37, Y:0.27, Z:0.03 [[ 0.99991121 -0.01209992 -0.00558283 0.37256598] [ 0.01218261 0.99981292 0.01502346 0.27480929] [ 0.0054 -0.01509014 0.99987156 0.02878318] [ 0. 0. 0. 1. ]] SLAMing on 152.55486062399999 meters Centerline goodness [0,1] 0.6781660692951015 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.03 [[ 0.99991168 -0.01186075 -0.00599654 0.37346286] [ 0.01194586 0.9998255 0.01436173 0.27664952] [ 0.00582515 -0.0144321 0.99987888 0.02971666] [ 0. 0. 0. 1. ]] SLAMing on 152.584860624 meters Centerline goodness [0,1] 0.6701664379884269 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.03 [[ 0.99991302 -0.01150831 -0.00644293 0.3748128 ] [ 0.01159706 0.99983596 0.0139126 0.27799625] [ 0.00628177 -0.01398611 0.99988246 0.03016417] [ 0. 0. 0. 1. ]] SLAMing on 152.614860624 meters Centerline goodness [0,1] 0.680060015003751 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.03 [[ 0.99991234 -0.01143465 -0.00667527 0.37524672] [ 0.01152306 0.99984435 0.01335986 0.27960867] [ 0.00652147 -0.01343561 0.99988847 0.0308569 ] [ 0. 0. 0. 1. ]] SLAMing on 152.644860624 meters Centerline goodness [0,1] 0.6819342243580118 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.03 [[ 0.99991152 -0.01144902 -0.00677328 0.37550494] [ 0.01153607 0.99984953 0.01295519 0.28000641] [ 0.00662394 -0.01303219 0.99989314 0.03129294] [ 0. 0. 0. 1. ]] SLAMing on 152.674860624 meters Centerline goodness [0,1] 0.6794491842538541 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.03 [[ 0.99987138 -0.01427765 -0.00730538 0.37772908] [ 0.01433657 0.9998646 0.00807769 0.28264175] [ 0.00718906 -0.00818138 0.99994069 0.03284259] [ 0. 0. 0. 1. ]] SLAMing on 152.704860624 meters Centerline goodness [0,1] 0.6810261666465693 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.03 [[ 0.99987341 -0.01396905 -0.00761817 0.37859377] [ 0.01402813 0.99987151 0.00775753 0.28358571] [ 0.00750883 -0.00786342 0.99994089 0.03334846] [ 0. 0. 0. 1. ]] SLAMing on 152.734860624 meters Centerline goodness [0,1] 0.6788720538720538 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.03 [[ 0.99987514 -0.01357058 -0.00809624 0.37988435] [ 0.01362923 0.99988095 0.00723403 0.28460273] [ 0.00799711 -0.00734347 0.99994106 0.03421135] [ 0. 0. 0. 1. ]] SLAMing on 152.764860624 meters Centerline goodness [0,1] 0.6803249097472924 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.03 [[ 0.99987569 -0.01343723 -0.00824844 0.38033139] [ 0.01349364 0.99988569 0.00682159 0.28588852] [ 0.00815584 -0.00693204 0.99994271 0.03464681] [ 0. 0. 0. 1. ]] SLAMing on 152.794860624 meters Centerline goodness [0,1] 0.684242296200163 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988082 -0.01281223 -0.0086138 0.38160182] [ 0.01286865 0.99989589 0.00652715 0.28731593] [ 0.00852928 -0.00663722 0.9999416 0.03515182] [ 0. 0. 0. 1. ]] SLAMing on 152.824860624 meters Centerline goodness [0,1] 0.6932861977278221 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988048 -0.01279569 -0.00867776 0.3816235 ] [ 0.01284891 0.99989881 0.00610556 0.28797009] [ 0.00859876 -0.00621633 0.99994371 0.0358314 ] [ 0. 0. 0. 1. ]] SLAMing on 152.854860624 meters Centerline goodness [0,1] 0.6975758859667706 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988186 -0.01258106 -0.0088312 0.3821616 ] [ 0.01263466 0.99990194 0.00603985 0.28823325] [ 0.00875435 -0.00615071 0.99994276 0.03592163] [ 0. 0. 0. 1. ]] SLAMing on 152.884860624 meters Centerline goodness [0,1] 0.6901246867735411 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988477 -0.01218376 -0.00905578 0.38319829] [ 0.01223812 0.99990728 0.00597136 0.28809707] [ 0.00898218 -0.0060815 0.99994117 0.03595221] [ 0. 0. 0. 1. ]] SLAMing on 152.914860624 meters Centerline goodness [0,1] 0.696478766812755 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988656 -0.01202749 -0.00906718 0.38348862] [ 0.01208235 0.99990888 0.00602095 0.28785531] [ 0.00899394 -0.00612982 0.99994077 0.03581711] [ 0. 0. 0. 1. ]] SLAMing on 152.944860624 meters Centerline goodness [0,1] 0.6995044119424634 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988569 -0.01211874 -0.00904069 0.38314141] [ 0.01217109 0.99990935 0.00575826 0.28731985] [ 0.00897009 -0.00586763 0.99994255 0.03647453] [ 0. 0. 0. 1. ]] SLAMing on 152.974860624 meters Centerline goodness [0,1] 0.6968411552346571 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988598 -0.01204487 -0.00910767 0.38349924] [ 0.0120974 0.99991038 0.0057348 0.28710135] [ 0.00903777 -0.00584432 0.99994208 0.03644475] [ 0. 0. 0. 1. ]] SLAMing on 153.004860624 meters Centerline goodness [0,1] 0.6944027385742598 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988653 -0.01197876 -0.00913466 0.38375409] [ 0.01203099 0.99991147 0.00568445 0.28683017] [ 0.00906575 -0.0057937 0.99994212 0.03645767] [ 0. 0. 0. 1. ]] SLAMing on 153.034860624 meters Centerline goodness [0,1] 0.7017691659646167 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988519 -0.01202361 -0.0092214 0.38341408] [ 0.01207426 0.99991221 0.0054572 0.28677869] [ 0.00915498 -0.00556792 0.99994259 0.03739393] [ 0. 0. 0. 1. ]] SLAMing on 153.064860624 meters Centerline goodness [0,1] 0.704055194022656 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988393 -0.01212352 -0.00922765 0.38328265] [ 0.012174 0.99991113 0.00543357 0.2868349 ] [ 0.00916095 -0.00554528 0.99994266 0.03752925] [ 0. 0. 0. 1. ]] SLAMing on 153.094860624 meters Centerline goodness [0,1] 0.6979411233519957 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988397 -0.01205855 -0.00930796 0.38349393] [ 0.01211056 0.99991126 0.00555088 0.28646621] [ 0.0092402 -0.00566296 0.99994127 0.03751898] [ 0. 0. 0. 1. ]] SLAMing on 153.124860624 meters Centerline goodness [0,1] 0.6928864774123924 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988603 -0.01169004 -0.00955342 0.38446957] [ 0.01174513 0.9999146 0.00573113 0.28555749] [ 0.00948561 -0.00584269 0.99993794 0.03745054] [ 0. 0. 0. 1. ]] SLAMing on 153.154860624 meters Centerline goodness [0,1] 0.6899355032248388 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:0.04 [[ 0.99988629 -0.011516 -0.00973545 0.38496724] [ 0.01157152 0.99991699 0.00566629 0.28549991] [ 0.00966938 -0.0057783 0.99993656 0.03764592] [ 0. 0. 0. 1. ]] SLAMing on 153.184860624 meters Centerline goodness [0,1] 0.6998652896273013 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:0.04 [[ 0.99988902 -0.01106999 -0.00997008 0.38607215] [ 0.01112709 0.9999219 0.00568999 0.28512584] [ 0.00990631 -0.00580029 0.99993411 0.03757905] [ 0. 0. 0. 1. ]] SLAMing on 153.214860624 meters Centerline goodness [0,1] 0.7040325232415627 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989201 -0.01047449 -0.01030754 0.38755454] [ 0.01053464 0.99992769 0.00579898 0.28473454] [ 0.01024606 -0.00590694 0.99993006 0.03739708] [ 0. 0. 0. 1. ]] SLAMing on 153.24486062399998 meters Centerline goodness [0,1] 0.7047647498132935 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989659 -0.00949162 -0.01080336 0.38955525] [ 0.0095568 0.99993635 0.00599725 0.2837815 ] [ 0.01074575 -0.00609987 0.99992366 0.03742141] [ 0. 0. 0. 1. ]] SLAMing on 153.27486062399998 meters Centerline goodness [0,1] 0.703117091905088 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989764 -0.00900198 -0.01112048 0.3907875 ] [ 0.00906919 0.99994082 0.00600805 0.28308968] [ 0.01106574 -0.00610829 0.99992012 0.03755731] [ 0. 0. 0. 1. ]] SLAMing on 153.30486062399999 meters Centerline goodness [0,1] 0.7052754003518922 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.999898 -0.00893059 -0.01114592 0.3907424 ] [ 0.00899756 0.99994168 0.00597252 0.28250678] [ 0.01109194 -0.0060722 0.99992005 0.03792738] [ 0. 0. 0. 1. ]] SLAMing on 153.334860624 meters Centerline goodness [0,1] 0.7049282780786859 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989825 -0.00890706 -0.01114245 0.3901211 ] [ 0.00897678 0.99994034 0.00622304 0.27977229] [ 0.01108635 -0.00632243 0.99991856 0.0387472 ] [ 0. 0. 0. 1. ]] SLAMing on 153.364860624 meters Centerline goodness [0,1] 0.706762683736368 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989763 -0.00863872 -0.01140632 0.39066693] [ 0.00871059 0.99994243 0.00626651 0.27872336] [ 0.01135153 -0.00636522 0.99991531 0.03929024] [ 0. 0. 0. 1. ]] SLAMing on 153.394860624 meters Centerline goodness [0,1] 0.7077046215871698 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989732 -0.00824347 -0.01172128 0.39108718] [ 0.00831273 0.99994821 0.0058723 0.27915993] [ 0.01167226 -0.00596913 0.99991406 0.04073253] [ 0. 0. 0. 1. ]] SLAMing on 153.424860624 meters Centerline goodness [0,1] 0.7093677786336434 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989877 -0.00745127 -0.01212143 0.39177274] [ 0.007529 0.9999513 0.00637996 0.27675148] [ 0.0120733 -0.00647058 0.99990618 0.0416825 ] [ 0. 0. 0. 1. ]] SLAMing on 153.454860624 meters Centerline goodness [0,1] 0.7093677786336434 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:0.04 [[ 0.99989877 -0.00745127 -0.01212143 0.39177274] [ 0.007529 0.9999513 0.00637996 0.27675148] [ 0.0120733 -0.00647058 0.99990618 0.0416825 ] [ 0. 0. 0. 1. ]] SLAMing on 153.484860624 meters Centerline goodness [0,1] 0.7109682770060128 Centerline is valid? [False, False] Translation: X:0.39, Y:0.27, Z:0.04 [[ 0.99990121 -0.0069972 -0.01219027 0.39261119] [ 0.00708634 0.99994836 0.00728489 0.2737065 ] [ 0.01213867 -0.00737055 0.99989916 0.04065987] [ 0. 0. 0. 1. ]] SLAMing on 153.514860624 meters Centerline goodness [0,1] 0.708381137292972 Centerline is valid? [False, False] Translation: X:0.40, Y:0.27, Z:0.04 [[ 0.99987087 -0.00938299 -0.01304621 0.3962943 ] [ 0.00943634 0.99994734 0.00403344 0.27262847] [ 0.01300768 -0.00415603 0.99990676 0.0399837 ] [ 0. 0. 0. 1. ]] SLAMing on 153.544860624 meters Centerline goodness [0,1] 0.7071499677929378 Centerline is valid? [False, False] Translation: X:0.40, Y:0.27, Z:0.04 [[ 0.99987366 -0.00900537 -0.01309855 0.39719887] [ 0.00907274 0.99994587 0.00509312 0.26930827] [ 0.01305198 -0.00521131 0.99990124 0.03853626] [ 0. 0. 0. 1. ]] SLAMing on 153.574860624 meters Centerline goodness [0,1] 0.7032523888840185 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99987049 -0.00970826 -0.01283595 0.39809081] [ 0.00977041 0.99994081 0.00478797 0.26414738] [ 0.0127887 -0.00491276 0.99990615 0.03701534] [ 0. 0. 0. 1. ]] SLAMing on 153.604860624 meters Centerline goodness [0,1] 0.7032592549442227 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99987058 -0.00978079 -0.01277325 0.39778508] [ 0.00984561 0.99993892 0.00502151 0.26237143] [ 0.01272335 -0.00514663 0.99990581 0.03710417] [ 0. 0. 0. 1. ]] SLAMing on 153.634860624 meters Centerline goodness [0,1] 0.7035084161427703 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986801 -0.00991054 -0.01287439 0.39744751] [ 0.00997801 0.99993677 0.00518652 0.26007763] [ 0.01282217 -0.0053143 0.99990367 0.03785595] [ 0. 0. 0. 1. ]] SLAMing on 153.664860624 meters Centerline goodness [0,1] 0.702100535998841 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986692 -0.00982012 -0.01302737 0.39763162] [ 0.00988882 0.99993748 0.00521959 0.25947084] [ 0.0129753 -0.00534772 0.99990152 0.03823114] [ 0. 0. 0. 1. ]] SLAMing on 153.694860624 meters Centerline goodness [0,1] 0.7032540349453797 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986619 -0.0097763 -0.01311592 0.3977182 ] [ 0.0098456 0.99993786 0.00522931 0.25889293] [ 0.01306398 -0.00535774 0.99990031 0.03852858] [ 0. 0. 0. 1. ]] SLAMing on 153.724860624 meters Centerline goodness [0,1] 0.7016210886523795 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986657 -0.00964963 -0.01318055 0.39796101] [ 0.00972058 0.99993855 0.00532922 0.25815996] [ 0.01312831 -0.00545663 0.99989893 0.03858784] [ 0. 0. 0. 1. ]] SLAMing on 153.754860624 meters Centerline goodness [0,1] 0.6990546673990344 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986649 -0.00932134 -0.01342044 0.39871282] [ 0.00939584 0.99994074 0.00549898 0.25694397] [ 0.01336838 -0.00562434 0.99989482 0.03871864] [ 0. 0. 0. 1. ]] SLAMing on 153.784860624 meters Centerline goodness [0,1] 0.7082041324948561 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99986588 -0.00912257 -0.01360142 0.39923318] [ 0.0091969 0.99994306 0.00541269 0.25708365] [ 0.01355127 -0.00553706 0.99989285 0.03895564] [ 0. 0. 0. 1. ]] SLAMing on 153.814860624 meters Centerline goodness [0,1] 0.712441620978737 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.9998734 -0.00755282 -0.01400463 0.40145037] [ 0.00762967 0.99995609 0.00544188 0.25838356] [ 0.01396292 -0.00554804 0.99988712 0.03932062] [ 0. 0. 0. 1. ]] SLAMing on 153.844860624 meters Centerline goodness [0,1] 0.7179584011155008 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99987417 -0.00668806 -0.01438438 0.40283832] [ 0.00676193 0.99996417 0.00509278 0.26029561] [ 0.01434981 -0.00518941 0.99988357 0.04009062] [ 0. 0. 0. 1. ]] SLAMing on 153.874860624 meters Centerline goodness [0,1] 0.7179584011155008 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99987417 -0.00668806 -0.01438438 0.40283832] [ 0.00676193 0.99996417 0.00509278 0.26029561] [ 0.01434981 -0.00518941 0.99988357 0.04009062] [ 0. 0. 0. 1. ]] SLAMing on 153.904860624 meters Centerline goodness [0,1] 0.717728305845329 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99989424 -0.00244476 -0.01433667 0.40283705] [ 0.00258066 0.99995184 0.00946866 0.25884205] [ 0.01431283 -0.00950465 0.99985239 0.03983042] [ 0. 0. 0. 1. ]] SLAMing on 153.934860624 meters Centerline goodness [0,1] 0.7204835381977741 Centerline is valid? [False, False] Translation: X:0.40, Y:0.26, Z:0.04 [[ 0.99989031 -0.00208673 -0.01466308 0.40409507] [ 0.00222628 0.99995233 0.00950742 0.25845303] [ 0.01464255 -0.00953902 0.99984729 0.03960844] [ 0. 0. 0. 1. ]] SLAMing on 153.964860624 meters Centerline goodness [0,1] 0.724308444108322 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:0.04 [[ 0.99988629 -0.00109994 -0.01503978 0.40660472] [ 0.00124659 0.99995174 0.00974539 0.25834282] [ 0.01502833 -0.00976303 0.9998394 0.03856935] [ 0. 0. 0. 1. ]] SLAMing on 153.99486062399998 meters Centerline goodness [0,1] 0.7222545369939507 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:0.04 [[ 9.99882743e-01 -8.39332904e-04 -1.52903565e-02 4.07586472e-01] [ 9.81822385e-04 9.99956144e-01 9.31378973e-03 2.59218047e-01] [ 1.52818686e-02 -9.32771004e-03 9.99839716e-01 3.88333024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02486062399998 meters Centerline goodness [0,1] 0.7236455637304795 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:0.04 [[ 9.99879251e-01 -7.60050415e-04 -1.55211464e-02 4.08132885e-01] [ 8.95253103e-04 9.99961703e-01 8.70578059e-03 2.60252461e-01] [ 1.55139352e-02 -8.71862473e-03 9.99841639e-01 3.95636837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05486062399999 meters Centerline goodness [0,1] 0.722928361595067 Centerline is valid? [False, False] Translation: X:0.41, Y:0.26, Z:0.04 [[ 9.99876819e-01 -8.02164131e-04 -1.56749069e-02 4.08268613e-01] [ 9.29060011e-04 9.99966845e-01 8.08987477e-03 2.61187724e-01] [ 1.56678977e-02 -8.10344119e-03 9.99844414e-01 4.04860246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084860624 meters Centerline goodness [0,1] 0.6738931551662 Centerline is valid? [False, False] Translation: X:0.46, Y:0.27, Z:0.05 [[ 9.99847655e-01 -5.63752993e-03 -1.65192094e-02 4.61954750e-01] [ 5.65304677e-03 9.99983623e-01 8.92776219e-04 2.66491142e-01] [ 1.65139059e-02 -9.86024073e-04 9.99863150e-01 4.92197708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114860624 meters Centerline goodness [0,1] 0.7254313359757519 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.05 [[ 0.99985228 -0.0023782 -0.01702251 0.41120395] [ 0.00235064 0.99999589 -0.0016391 0.26830555] [ 0.01702634 0.00159884 0.99985376 0.04995871] [ 0. 0. 0. 1. ]] SLAMing on 154.144860624 meters Centerline goodness [0,1] 0.7245718280321566 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.05 [[ 0.99985008 -0.00226503 -0.01716623 0.41174879] [ 0.00223601 0.99999604 -0.00170947 0.26884374] [ 0.01717004 0.00167083 0.99985119 0.04991037] [ 0. 0. 0. 1. ]] SLAMing on 154.174860624 meters Centerline goodness [0,1] 0.7285947426706301 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.05 [[ 0.99984664 -0.00199071 -0.01739927 0.4127768 ] [ 0.00196046 0.99999654 -0.00175562 0.26954175] [ 0.01740271 0.00172124 0.99984708 0.0496569 ] [ 0. 0. 0. 1. ]] SLAMing on 154.204860624 meters Centerline goodness [0,1] 0.728359343035829 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.05 [[ 9.99842393e-01 -1.02143152e-03 -1.77241804e-02 4.14697499e-01] [ 9.91126499e-04 9.99998032e-01 -1.71851193e-03 2.71485287e-01] [ 1.77259009e-02 1.70067418e-03 9.99841438e-01 4.93058121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234860624 meters Centerline goodness [0,1] 0.730909942342026 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.05 [[ 9.99836732e-01 -5.26637552e-04 -1.80618728e-02 4.16086192e-01] [ 4.94176677e-04 9.99998255e-01 -1.80162044e-03 2.72991227e-01] [ 1.80627901e-02 1.79240053e-03 9.99835248e-01 4.91902143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264860624 meters Centerline goodness [0,1] 0.7309146323594057 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.05 [[ 9.99829813e-01 2.79998711e-04 -1.84463305e-02 4.18153146e-01] [-3.10732110e-04 9.99998569e-01 -1.66325314e-03 2.74629997e-01] [ 1.84458384e-02 1.66870195e-03 9.99828469e-01 4.85250895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294860624 meters Centerline goodness [0,1] 0.7388420494074641 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.05 [[ 0.99981945 0.00472844 -0.01840391 0.41917405] [-0.00469071 0.99998681 0.00209256 0.27668561] [ 0.01841357 -0.00200586 0.99982844 0.0478129 ] [ 0. 0. 0. 1. ]] SLAMing on 154.324860624 meters Centerline goodness [0,1] 0.7469387755102042 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.05 [[ 0.99981178 0.00552459 -0.01859786 0.4205357 ] [-0.00549992 0.99998393 0.00137746 0.27955949] [ 0.01860517 -0.00127492 0.9998261 0.04842372] [ 0. 0. 0. 1. ]] SLAMing on 154.354860624 meters Centerline goodness [0,1] 0.7682140841723841 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.05 [[ 9.99798648e-01 6.59154454e-03 -1.89529617e-02 4.22487517e-01] [-6.57589921e-03 9.99977985e-01 8.87686308e-04 2.82053055e-01] [ 1.89583956e-02 -7.62874805e-04 9.99819982e-01 4.88343182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384860624 meters Centerline goodness [0,1] 0.7936763609246831 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.05 [[ 9.99785213e-01 7.55167236e-03 -1.93002416e-02 4.24400307e-01] [-7.54678712e-03 9.99971469e-01 3.25940667e-04 2.84816182e-01] [ 1.93021523e-02 -1.80215845e-04 9.99813680e-01 4.92282580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414860624 meters Centerline goodness [0,1] 0.8156882773538424 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99974217 0.01218082 -0.01916308 0.4250842 ] [-0.0121051 0.99991848 0.00406249 0.28661936] [ 0.019211 -0.00382947 0.99980812 0.04898884] [ 0. 0. 0. 1. ]] SLAMing on 154.444860624 meters Centerline goodness [0,1] 0.8234177787149441 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99972789 0.01269293 -0.01957122 0.42643387] [-0.01262839 0.99991442 0.00341784 0.28838424] [ 0.01961292 -0.00316976 0.99980262 0.04980284] [ 0. 0. 0. 1. ]] SLAMing on 154.474860624 meters Centerline goodness [0,1] 0.8219479814133124 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99971326 0.01327231 -0.01993109 0.42794876] [-0.01321361 0.99990797 0.00307429 0.28969151] [ 0.01997006 -0.00281005 0.99979663 0.05005395] [ 0. 0. 0. 1. ]] SLAMing on 154.504860624 meters Centerline goodness [0,1] 0.828169014084507 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99968536 0.01467423 -0.02034318 0.43053713] [-0.01461416 0.99988841 0.00309855 0.2911152 ] [ 0.02038638 -0.00280027 0.99978825 0.0497441 ] [ 0. 0. 0. 1. ]] SLAMing on 154.534860624 meters Centerline goodness [0,1] 0.8215517763118078 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99967142 0.01512874 -0.02069248 0.43197568] [-0.01507104 0.9998821 0.00294151 0.2917349 ] [ 0.02073454 -0.00262868 0.99978156 0.04969106] [ 0. 0. 0. 1. ]] SLAMing on 154.564860624 meters Centerline goodness [0,1] 0.8269621365992663 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99966539 0.01524999 -0.02089391 0.43262086] [-0.01519791 0.999881 0.00264897 0.29223883] [ 0.02093182 -0.00233054 0.99977819 0.04993702] [ 0. 0. 0. 1. ]] SLAMing on 154.594860624 meters Centerline goodness [0,1] 0.8235543959711182 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99965543 0.01556021 -0.02113988 0.43360488] [-0.0155109 0.99987659 0.00249414 0.29229285] [ 0.02117608 -0.00216538 0.99977342 0.05008753] [ 0. 0. 0. 1. ]] SLAMing on 154.624860624 meters Centerline goodness [0,1] 0.8267391370357999 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99964209 0.01604881 -0.02140401 0.43461451] [-0.01599811 0.9998688 0.00253807 0.29172936] [ 0.02144193 -0.00219474 0.99976769 0.05022603] [ 0. 0. 0. 1. ]] SLAMing on 154.654860624 meters Centerline goodness [0,1] 0.827595611855264 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99966489 0.01378752 -0.0219094 0.43725444] [-0.01382393 0.9999033 -0.0015114 0.29352555] [ 0.02188644 0.00181377 0.99975882 0.05086808] [ 0. 0. 0. 1. ]] SLAMing on 154.684860624 meters Centerline goodness [0,1] 0.821267447845702 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99966597 0.01373267 -0.02189442 0.43721114] [-0.01376965 0.99990401 -0.00153925 0.29300688] [ 0.02187118 0.00184021 0.9997591 0.05092811] [ 0. 0. 0. 1. ]] SLAMing on 154.714860624 meters Centerline goodness [0,1] 0.8210175651120533 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99967851 0.01330014 -0.0215867 0.4361309 ] [-0.01332975 0.9999104 -0.00122845 0.29114673] [ 0.02156843 0.0015158 0.99976623 0.05067727] [ 0. 0. 0. 1. ]] SLAMing on 154.74486062399998 meters Centerline goodness [0,1] 0.8227736872405539 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.9996868 0.01292408 -0.02143059 0.4353726 ] [-0.01295238 0.99991542 -0.00118261 0.29023952] [ 0.02141349 0.00145982 0.99976964 0.05075172] [ 0. 0. 0. 1. ]] SLAMing on 154.77486062399998 meters Centerline goodness [0,1] 0.821075840405932 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99969025 0.01275842 -0.02136864 0.43529913] [-0.01278382 0.99991773 -0.0010526 0.28916986] [ 0.02135345 0.00132545 0.99977111 0.0504761 ] [ 0. 0. 0. 1. ]] SLAMing on 154.80486062399999 meters Centerline goodness [0,1] 0.823212447781074 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99971515 0.01135426 -0.02099302 0.43290314] [-0.0113793 0.99993468 -0.00107341 0.28766172] [ 0.02097946 0.00131199 0.99977905 0.05071245] [ 0. 0. 0. 1. ]] SLAMing on 154.834860624 meters Centerline goodness [0,1] 0.819660216226038 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 0.99973031 0.01060314 -0.02066105 0.43146815] [-0.01063139 0.99994269 -0.00125772 0.28706075] [ 0.02064653 0.00147704 0.99978575 0.05094495] [ 0. 0. 0. 1. ]] SLAMing on 154.864860624 meters Centerline goodness [0,1] 0.8175078673444687 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.05 [[ 9.99735468e-01 1.01847782e-02 -2.06219400e-02 4.31233898e-01] [-1.02071368e-02 9.99947426e-01 -9.79248457e-04 2.85798224e-01] [ 2.06108824e-02 1.18948038e-03 9.99786866e-01 5.03949426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894860624 meters Centerline goodness [0,1] 0.7861580217129072 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.05 [[ 0.9997533 0.00804965 -0.0207015 0.4293397 ] [-0.00807501 0.99996674 -0.00114168 0.28427088] [ 0.02069162 0.00130856 0.99978505 0.05027659] [ 0. 0. 0. 1. ]] SLAMing on 154.924860624 meters Centerline goodness [0,1] 0.7661568969143406 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99988005 0.00463887 -0.01477715 0.44033317] [-0.00452076 0.99995765 0.00801569 0.28133616] [ 0.0148137 -0.00794792 0.99985868 0.04383982] [ 0. 0. 0. 1. ]] SLAMing on 154.954860624 meters Centerline goodness [0,1] 0.7608080443159924 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99989033 0.0031933 -0.01446166 0.43811772] [-0.00308692 0.99996806 0.00737237 0.28113281] [ 0.01448474 -0.00732692 0.99986825 0.0446835 ] [ 0. 0. 0. 1. ]] SLAMing on 154.984860624 meters Centerline goodness [0,1] 0.7388578969467938 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.05 [[ 9.99888787e-01 -9.76560086e-04 -1.48815625e-02 4.38621364e-01] [ 1.01408667e-03 9.99996325e-01 2.51434543e-03 2.83191231e-01] [ 1.48790524e-02 -2.52915699e-03 9.99886102e-01 4.60430900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014860624 meters Centerline goodness [0,1] 0.7363414707564493 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.05 [[ 0.99989364 -0.00252414 -0.01436428 0.4360723 ] [ 0.00255535 0.99999441 0.00215502 0.28262522] [ 0.01435876 -0.0021915 0.99989451 0.04631936] [ 0. 0. 0. 1. ]] SLAMing on 155.044860624 meters Centerline goodness [0,1] 0.7197524930914334 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.05 [[ 0.99986771 -0.00800968 -0.01415669 0.4341083 ] [ 0.00797932 0.99996574 -0.00219995 0.28279286] [ 0.01417382 0.00208669 0.99989737 0.04685547] [ 0. 0. 0. 1. ]] SLAMing on 155.074860624 meters Centerline goodness [0,1] 0.7169050127954237 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.05 [[ 0.99986149 -0.00962446 -0.01357807 0.43146658] [ 0.00959478 0.99995144 -0.00224922 0.28180857] [ 0.01359905 0.00211863 0.99990528 0.04664166] [ 0. 0. 0. 1. ]] SLAMing on 155.104860624 meters Centerline goodness [0,1] 0.7085811638819978 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99987255 -0.01388103 -0.00788712 0.44248944] [ 0.0139316 0.99988251 0.00639411 0.27881425] [ 0.00779744 -0.00650318 0.99994845 0.03999956] [ 0. 0. 0. 1. ]] SLAMing on 155.134860624 meters Centerline goodness [0,1] 0.7031699424736337 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99982884 -0.01688429 -0.00756404 0.43910126] [ 0.0169258 0.99984185 0.00545816 0.27903825] [ 0.00747069 -0.00558525 0.9999565 0.04041369] [ 0. 0. 0. 1. ]] SLAMing on 155.164860624 meters Centerline goodness [0,1] 0.699184065274778 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99981553 -0.01778642 -0.00724903 0.43793452] [ 0.01782574 0.99982655 0.00539628 0.27888624] [ 0.00715179 -0.00552451 0.99995917 0.04000406] [ 0. 0. 0. 1. ]] SLAMing on 155.194860624 meters Centerline goodness [0,1] 0.7010377301901506 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99979575 -0.01900322 -0.00687961 0.43602199] [ 0.01903761 0.99980643 0.0049672 0.27916554] [ 0.00678389 -0.00509716 0.999964 0.04035125] [ 0. 0. 0. 1. ]] SLAMing on 155.224860624 meters Centerline goodness [0,1] 0.6940819149575991 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99974238 -0.02177576 -0.00640204 0.43197509] [ 0.02180076 0.99975487 0.00386265 0.28035609] [ 0.00631636 -0.00400123 0.99997205 0.04169926] [ 0. 0. 0. 1. ]] SLAMing on 155.254860624 meters Centerline goodness [0,1] 0.6922915416916617 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.9997228 -0.0227403 -0.00609891 0.430369 ] [ 0.02276147 0.99973506 0.00342458 0.28058314] [ 0.00601941 -0.00356245 0.99997554 0.04222659] [ 0. 0. 0. 1. ]] SLAMing on 155.284860624 meters Centerline goodness [0,1] 0.6868859846777828 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99970426 -0.02366564 -0.00559792 0.42862889] [ 0.02368436 0.99971404 0.00330063 0.28050458] [ 0.00551821 -0.00343224 0.99997888 0.04206652] [ 0. 0. 0. 1. ]] SLAMing on 155.314860624 meters Centerline goodness [0,1] 0.6776665765034713 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99965478 -0.02579259 -0.00500706 0.42531945] [ 0.02580611 0.99966344 0.00265442 0.28048123] [ 0.00493691 -0.00278272 0.99998394 0.04269264] [ 0. 0. 0. 1. ]] SLAMing on 155.344860624 meters Centerline goodness [0,1] 0.6740780748342186 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99963556 -0.02659294 -0.00464424 0.42397607] [ 0.02660502 0.99964275 0.00255948 0.28038429] [ 0.00457452 -0.0026821 0.99998594 0.04251052] [ 0. 0. 0. 1. ]] SLAMing on 155.374860624 meters Centerline goodness [0,1] 0.6730040310450635 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99961953 -0.02722007 -0.0044579 0.42290006] [ 0.02723065 0.99962646 0.00233106 0.28024689] [ 0.00439279 -0.00245156 0.99998735 0.0428842 ] [ 0. 0. 0. 1. ]] SLAMing on 155.404860624 meters Centerline goodness [0,1] 0.6730040310450635 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99961953 -0.02722007 -0.0044579 0.42290006] [ 0.02723065 0.99962646 0.00233106 0.28024689] [ 0.00439279 -0.00245156 0.99998735 0.0428842 ] [ 0. 0. 0. 1. ]] SLAMing on 155.434860624 meters Centerline goodness [0,1] 0.6741942292037266 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99961823 -0.02724485 -0.00459418 0.42302098] [ 0.02725423 0.99962655 0.00199151 0.28145017] [ 0.00453821 -0.00211596 0.99998746 0.04338651] [ 0. 0. 0. 1. ]] SLAMing on 155.464860624 meters Centerline goodness [0,1] 0.6803286115557703 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99963425 -0.02655958 -0.00509449 0.42470915] [ 0.02656879 0.99964546 0.00174888 0.28327698] [ 0.00504624 -0.00188359 0.99998549 0.04358418] [ 0. 0. 0. 1. ]] SLAMing on 155.49486062399998 meters Centerline goodness [0,1] 0.6818538884524745 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99964548 -0.0260759 -0.00538173 0.42602184] [ 0.02608646 0.99965788 0.00190219 0.28369914] [ 0.00533028 -0.0020419 0.99998371 0.04309715] [ 0. 0. 0. 1. ]] SLAMing on 155.52486062399998 meters Centerline goodness [0,1] 0.6802318560560319 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99965247 -0.02576805 -0.00556321 0.42695315] [ 0.02577785 0.99966626 0.00169729 0.2844585 ] [ 0.00551762 -0.00184011 0.99998308 0.04305195] [ 0. 0. 0. 1. ]] SLAMing on 155.55486062399999 meters Centerline goodness [0,1] 0.6803603276805417 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99967069 -0.02495219 -0.00599186 0.42892688] [ 0.02496396 0.99968655 0.00189747 0.28507641] [ 0.00594264 -0.00204643 0.99998025 0.04245324] [ 0. 0. 0. 1. ]] SLAMing on 155.584860624 meters Centerline goodness [0,1] 0.6766592050335773 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99967245 -0.02486054 -0.00607777 0.42928577] [ 0.02487211 0.99968896 0.00183538 0.28552483] [ 0.00603025 -0.00198595 0.99997985 0.04238744] [ 0. 0. 0. 1. ]] SLAMing on 155.614860624 meters Centerline goodness [0,1] 0.6844882486732373 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99967545 -0.02469718 -0.00624888 0.42964475] [ 0.02470866 0.99969313 0.00176726 0.28584464] [ 0.00620331 -0.00192109 0.99997891 0.04267529] [ 0. 0. 0. 1. ]] SLAMing on 155.644860624 meters Centerline goodness [0,1] 0.6826888107649411 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99967703 -0.0246345 -0.00624319 0.42968064] [ 0.02464601 0.99969467 0.00177319 0.28613413] [ 0.0061976 -0.00192649 0.99997894 0.04269971] [ 0. 0. 0. 1. ]] SLAMing on 155.674860624 meters Centerline goodness [0,1] 0.6832303779069768 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.9996773 -0.02462006 -0.0062568 0.4295351 ] [ 0.02463281 0.99969463 0.00196866 0.28572753] [ 0.00620642 -0.00212215 0.99997849 0.04275356] [ 0. 0. 0. 1. ]] SLAMing on 155.704860624 meters Centerline goodness [0,1] 0.696559862031406 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99967616 -0.02465079 -0.00631754 0.42944529] [ 0.02466412 0.99969371 0.00204166 0.28512537] [ 0.00626528 -0.00219682 0.99997796 0.04296417] [ 0. 0. 0. 1. ]] SLAMing on 155.734860624 meters Centerline goodness [0,1] 0.6957151478575739 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99967843 -0.02453293 -0.00641613 0.42947846] [ 0.02454749 0.99969624 0.0022004 0.28390649] [ 0.0063602 -0.00235719 0.999977 0.04327336] [ 0. 0. 0. 1. ]] SLAMing on 155.764860624 meters Centerline goodness [0,1] 0.6927911942497971 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99968232 -0.02436371 -0.00645484 0.42965419] [ 0.02437938 0.99969999 0.00235993 0.28327316] [ 0.00639541 -0.00251654 0.99997638 0.0432894 ] [ 0. 0. 0. 1. ]] SLAMing on 155.794860624 meters Centerline goodness [0,1] 0.6931465582165989 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99968464 -0.02425088 -0.00652006 0.4297856 ] [ 0.02426789 0.99970226 0.0025413 0.2824485 ] [ 0.00645649 -0.00269873 0.99997552 0.04331632] [ 0. 0. 0. 1. ]] SLAMing on 155.824860624 meters Centerline goodness [0,1] 0.6904339990989639 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99968937 -0.02405377 -0.00652567 0.43010576] [ 0.02407274 0.99970616 0.00284383 0.28131371] [ 0.00645535 -0.00300004 0.99997466 0.04298008] [ 0. 0. 0. 1. ]] SLAMing on 155.854860624 meters Centerline goodness [0,1] 0.6880091039770004 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99969453 -0.0238081 -0.00663478 0.43050645] [ 0.0238291 0.99971123 0.0031032 0.28033584] [ 0.00655898 -0.00326035 0.99997317 0.04288458] [ 0. 0. 0. 1. ]] SLAMing on 155.884860624 meters Centerline goodness [0,1] 0.6906117069079145 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99970132 -0.02348869 -0.00674909 0.43099924] [ 0.02351238 0.99971759 0.00345191 0.27947152] [ 0.0066661 -0.00360956 0.99997127 0.0426326 ] [ 0. 0. 0. 1. ]] SLAMing on 155.914860624 meters Centerline goodness [0,1] 0.6978121744307189 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99971088 -0.02305531 -0.00682683 0.43161094] [ 0.02308212 0.99972607 0.00387424 0.27753606] [ 0.00673564 -0.0040307 0.99996919 0.04243193] [ 0. 0. 0. 1. ]] SLAMing on 155.944860624 meters Centerline goodness [0,1] 0.6956935522246015 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99971449 -0.0228658 -0.00693522 0.43195736] [ 0.02289416 0.99972975 0.00403659 0.27652463] [ 0.00684104 -0.00419421 0.9999678 0.04247802] [ 0. 0. 0. 1. ]] SLAMing on 155.974860624 meters Centerline goodness [0,1] 0.6939563049156969 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99971929 -0.02263828 -0.00698902 0.43240542] [ 0.02266998 0.99973292 0.00449003 0.2750534 ] [ 0.00688551 -0.00464721 0.9999655 0.0420102 ] [ 0. 0. 0. 1. ]] SLAMing on 156.004860624 meters Centerline goodness [0,1] 0.6915633415204332 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99972132 -0.02256258 -0.00694288 0.43223594] [ 0.02259811 0.99973171 0.00508236 0.27220019] [ 0.00682634 -0.00523784 0.99996298 0.04184747] [ 0. 0. 0. 1. ]] SLAMing on 156.034860624 meters Centerline goodness [0,1] 0.6940064954236788 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99972298 -0.02249503 -0.00692303 0.4320721 ] [ 0.02253177 0.99973221 0.00527548 0.27089315] [ 0.00680251 -0.00543001 0.99996212 0.0420587 ] [ 0. 0. 0. 1. ]] SLAMing on 156.064860624 meters Centerline goodness [0,1] 0.6932377834793122 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.9997255 -0.02236862 -0.00696852 0.4321717 ] [ 0.02240713 0.99973381 0.00549813 0.26955382] [ 0.00684368 -0.00565276 0.9999606 0.0421504 ] [ 0. 0. 0. 1. ]] SLAMing on 156.094860624 meters Centerline goodness [0,1] 0.6917220295137868 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99972739 -0.02227642 -0.00699373 0.4323324 ] [ 0.02231614 0.99973497 0.00565419 0.26846375] [ 0.00686592 -0.00580872 0.99995956 0.04213766] [ 0. 0. 0. 1. ]] SLAMing on 156.124860624 meters Centerline goodness [0,1] 0.6955512458862247 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99974205 -0.02149911 -0.00732239 0.43339431] [ 0.02154453 0.99974878 0.00618141 0.26658682] [ 0.00718765 -0.00633757 0.99995409 0.04226303] [ 0. 0. 0. 1. ]] SLAMing on 156.154860624 meters Centerline goodness [0,1] 0.6988280905806679 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99974865 -0.02111902 -0.00752483 0.43401417] [ 0.02116634 0.99975634 0.00626474 0.26611789] [ 0.0073907 -0.00642244 0.99995206 0.04248934] [ 0. 0. 0. 1. ]] SLAMing on 156.184860624 meters Centerline goodness [0,1] 0.7000792509319322 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99975481 -0.02075346 -0.00772039 0.43478641] [ 0.02080273 0.99976339 0.0063571 0.26584803] [ 0.00758663 -0.00651615 0.99994999 0.04250353] [ 0. 0. 0. 1. ]] SLAMing on 156.214860624 meters Centerline goodness [0,1] 0.7039458255159474 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99976954 -0.01985988 -0.00815179 0.43641962] [ 0.01991322 0.99978048 0.00651526 0.26538478] [ 0.00802061 -0.00667609 0.99994555 0.04270093] [ 0. 0. 0. 1. ]] SLAMing on 156.24486062399998 meters Centerline goodness [0,1] 0.7031185884283956 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99977675 -0.01939021 -0.00839447 0.43747838] [ 0.01944581 0.99978917 0.0065929 0.26531863] [ 0.00826486 -0.00675466 0.99994303 0.04262225] [ 0. 0. 0. 1. ]] SLAMing on 156.27486062399998 meters Centerline goodness [0,1] 0.7036592154220256 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99979435 -0.01835007 -0.00863358 0.4390467 ] [ 0.01840738 0.99980875 0.00660581 0.26611106] [ 0.00851071 -0.00676338 0.99994091 0.04268048] [ 0. 0. 0. 1. ]] SLAMing on 156.30486062399999 meters Centerline goodness [0,1] 0.7040663754434313 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99980272 -0.01772888 -0.00895559 0.44045065] [ 0.01778851 0.99981984 0.00662291 0.26686318] [ 0.00883656 -0.00678091 0.99993797 0.04250227] [ 0. 0. 0. 1. ]] SLAMing on 156.334860624 meters Centerline goodness [0,1] 0.7075911851873589 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99980972 -0.01712347 -0.00934407 0.44190651] [ 0.01718481 0.99983104 0.00652437 0.26773511] [ 0.00923077 -0.0066837 0.99993506 0.04258335] [ 0. 0. 0. 1. ]] SLAMing on 156.364860624 meters Centerline goodness [0,1] 0.7081911262798635 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99981318 -0.01677939 -0.00959479 0.44281467] [ 0.01684132 0.99983763 0.00641036 0.26856674] [ 0.00948567 -0.00657075 0.99993342 0.04264693] [ 0. 0. 0. 1. ]] SLAMing on 156.394860624 meters Centerline goodness [0,1] 0.7119929453262787 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:0.04 [[ 0.99982016 -0.01619997 -0.00985974 0.44413114] [ 0.01626344 0.99984731 0.00639241 0.2692804 ] [ 0.00975468 -0.00655162 0.99993096 0.04248538] [ 0. 0. 0. 1. ]] SLAMing on 156.424860624 meters Centerline goodness [0,1] 0.7138608321799818 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:0.04 [[ 0.99982554 -0.01560272 -0.01026883 0.44574861] [ 0.01566985 0.99985616 0.00648951 0.27022068] [ 0.0101661 -0.00664929 0.99992622 0.04212031] [ 0. 0. 0. 1. ]] SLAMing on 156.454860624 meters Centerline goodness [0,1] 0.7186781439773599 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:0.04 [[ 0.99984122 -0.01435389 -0.01055898 0.44784234] [ 0.01442402 0.99987421 0.00659656 0.27202222] [ 0.01046296 -0.00674781 0.99992249 0.0416961 ] [ 0. 0. 0. 1. ]] SLAMing on 156.484860624 meters Centerline goodness [0,1] 0.7162513286878469 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:0.04 [[ 0.99984212 -0.01409508 -0.01081938 0.44884469] [ 0.01416481 0.99987922 0.0063954 0.27332386] [ 0.01072793 -0.00654765 0.99992102 0.04160682] [ 0. 0. 0. 1. ]] SLAMing on 156.514860624 meters Centerline goodness [0,1] 0.7175910877338141 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:0.04 [[ 0.99984153 -0.01400422 -0.01099093 0.44926848] [ 0.01407056 0.99988311 0.00598212 0.27457807] [ 0.01090587 -0.00613582 0.9999217 0.04206675] [ 0. 0. 0. 1. ]] SLAMing on 156.544860624 meters Centerline goodness [0,1] 0.7167253677449907 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99984289 -0.01382085 -0.01109902 0.44986422] [ 0.01388373 0.99988788 0.00560908 0.27641059] [ 0.01102026 -0.0057623 0.99992267 0.04224337] [ 0. 0. 0. 1. ]] SLAMing on 156.574860624 meters Centerline goodness [0,1] 0.717720207253886 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99984353 -0.01376464 -0.01111055 0.45013235] [ 0.01382726 0.99988883 0.00557971 0.27684593] [ 0.01103251 -0.00573246 0.99992271 0.0420618 ] [ 0. 0. 0. 1. ]] SLAMing on 156.604860624 meters Centerline goodness [0,1] 0.7217313963830418 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99984296 -0.01368042 -0.01126502 0.45058762] [ 0.01374064 0.99989162 0.00528519 0.27788555] [ 0.0111915 -0.00543915 0.99992258 0.04233194] [ 0. 0. 0. 1. ]] SLAMing on 156.634860624 meters Centerline goodness [0,1] 0.7225584430995609 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.9998458 -0.01319821 -0.011584 0.45166707] [ 0.01325439 0.9999007 0.00478657 0.27997178] [ 0.01151967 -0.00493937 0.99992145 0.04295497] [ 0. 0. 0. 1. ]] SLAMing on 156.664860624 meters Centerline goodness [0,1] 0.7217272104180945 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99988992 -0.01022074 -0.01075535 0.45228114] [ 0.01029596 0.99992276 0.00696127 0.28076533] [ 0.01068337 -0.00707124 0.99991793 0.04144478] [ 0. 0. 0. 1. ]] SLAMing on 156.694860624 meters Centerline goodness [0,1] 0.7295042897998094 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99989205 -0.00971007 -0.01102743 0.4537158 ] [ 0.00978591 0.99992869 0.00684406 0.28195229] [ 0.01096019 -0.00695123 0.99991577 0.04110102] [ 0. 0. 0. 1. ]] SLAMing on 156.724860624 meters Centerline goodness [0,1] 0.7327611895822159 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:0.04 [[ 0.99989304 -0.00915883 -0.0114027 0.45532418] [ 0.0092346 0.99993551 0.00661024 0.28350442] [ 0.01134142 -0.00671483 0.99991314 0.04099113] [ 0. 0. 0. 1. ]] SLAMing on 156.754860624 meters Centerline goodness [0,1] 0.7384329921589753 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99990406 -0.00770429 -0.01151168 0.45734443] [ 0.00778187 0.99994721 0.00670968 0.28551833] [ 0.01145938 -0.00679862 0.99991123 0.04056047] [ 0. 0. 0. 1. ]] SLAMing on 156.784860624 meters Centerline goodness [0,1] 0.7391825482440368 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99990265 -0.00754565 -0.01173663 0.45817243] [ 0.007621 0.99995055 0.00638867 0.28658623] [ 0.01168784 -0.00647749 0.99991071 0.04070538] [ 0. 0. 0. 1. ]] SLAMing on 156.814860624 meters Centerline goodness [0,1] 0.7358637411320981 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99990133 -0.00738436 -0.01194961 0.45883373] [ 0.00745712 0.99995385 0.00605639 0.28723011] [ 0.01190433 -0.0061449 0.99991026 0.04110474] [ 0. 0. 0. 1. ]] SLAMing on 156.844860624 meters Centerline goodness [0,1] 0.743256593719127 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989997 -0.00742717 -0.01203655 0.45888452] [ 0.00749514 0.99995617 0.00561161 0.28788294] [ 0.01199434 -0.00570127 0.99991181 0.04175463] [ 0. 0. 0. 1. ]] SLAMing on 156.874860624 meters Centerline goodness [0,1] 0.7436894365354707 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989926 -0.00754208 -0.01202409 0.45858522] [ 0.00760318 0.99995838 0.00504378 0.28842479] [ 0.01198555 -0.00513469 0.99991499 0.04279863] [ 0. 0. 0. 1. ]] SLAMing on 156.904860624 meters Centerline goodness [0,1] 0.7410650251016018 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989789 -0.00740848 -0.01222003 0.45927049] [ 0.00746888 0.99996008 0.00490477 0.28849357] [ 0.0121832 -0.00499553 0.9999133 0.04291852] [ 0. 0. 0. 1. ]] SLAMing on 156.934860624 meters Centerline goodness [0,1] 0.7459247273163131 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989787 -0.00718812 -0.01235204 0.45988621] [ 0.00724913 0.99996171 0.0049011 0.28838051] [ 0.01231633 -0.00499014 0.9999117 0.04292564] [ 0. 0. 0. 1. ]] SLAMing on 156.964860624 meters Centerline goodness [0,1] 0.746176637835573 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989806 -0.00703964 -0.01242264 0.46046926] [ 0.00710196 0.99996238 0.00497973 0.28814227] [ 0.01238711 -0.00506745 0.99991044 0.04261722] [ 0. 0. 0. 1. ]] SLAMing on 156.99486062399998 meters Centerline goodness [0,1] 0.7368877978685188 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989885 -0.00664926 -0.01257322 0.46161619] [ 0.00671543 0.99996379 0.00522729 0.28761783] [ 0.01253801 -0.00531119 0.99990729 0.04190905] [ 0. 0. 0. 1. ]] SLAMing on 157.02486062399998 meters Centerline goodness [0,1] 0.7450792987067292 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989763 -0.0065639 -0.01271433 0.46209473] [ 0.00662872 0.99996522 0.00506217 0.28773608] [ 0.01268066 -0.00514593 0.99990636 0.04206353] [ 0. 0. 0. 1. ]] SLAMing on 157.05486062399999 meters Centerline goodness [0,1] 0.7431384873245339 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989704 -0.00648855 -0.01279893 0.46241152] [ 0.00655222 0.99996634 0.00493881 0.28830542] [ 0.01276646 -0.00502216 0.99990589 0.04214432] [ 0. 0. 0. 1. ]] SLAMing on 157.084860624 meters Centerline goodness [0,1] 0.7481607751659789 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989914 -0.0060269 -0.01286037 0.46314948] [ 0.00608486 0.99997149 0.0044719 0.28985298] [ 0.01283305 -0.0045497 0.9999073 0.04259476] [ 0. 0. 0. 1. ]] SLAMing on 157.114860624 meters Centerline goodness [0,1] 0.7624130486927321 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989831 -0.00573567 -0.01305652 0.46396472] [ 0.00579131 0.99997429 0.00422743 0.29090635] [ 0.01303194 -0.00430261 0.99990582 0.04276822] [ 0. 0. 0. 1. ]] SLAMing on 157.144860624 meters Centerline goodness [0,1] 0.7648029275901373 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.9998962 -0.00517708 -0.01344556 0.46557268] [ 0.00523444 0.99997734 0.0042343 0.2916423 ] [ 0.01342334 -0.00430424 0.99990064 0.04253151] [ 0. 0. 0. 1. ]] SLAMing on 157.174860624 meters Centerline goodness [0,1] 0.7821979415049349 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989871 -0.00396727 -0.0136687 0.46762997] [ 0.00402836 0.99998201 0.00444438 0.29309659] [ 0.01365083 -0.004499 0.9998967 0.04189552] [ 0. 0. 0. 1. ]] SLAMing on 157.204860624 meters Centerline goodness [0,1] 0.7823713889391473 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989751 -0.00365288 -0.01384262 0.46856694] [ 0.00371322 0.9999837 0.00433616 0.29341801] [ 0.01382655 -0.00438711 0.99989478 0.04183935] [ 0. 0. 0. 1. ]] SLAMing on 157.234860624 meters Centerline goodness [0,1] 0.7808715610183312 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989754 -0.00356786 -0.01386292 0.46890551] [ 0.00362728 0.99998433 0.00426333 0.29380015] [ 0.01384749 -0.00431318 0.99989482 0.04175629] [ 0. 0. 0. 1. ]] SLAMing on 157.264860624 meters Centerline goodness [0,1] 0.7808715610183312 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989754 -0.00356786 -0.01386292 0.46890551] [ 0.00362728 0.99998433 0.00426333 0.29380015] [ 0.01384749 -0.00431318 0.99989482 0.04175629] [ 0. 0. 0. 1. ]] SLAMing on 157.294860624 meters Centerline goodness [0,1] 0.7831267009374054 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989763 -0.00341186 -0.01389582 0.46926247] [ 0.0034717 0.99998479 0.00428477 0.2939112 ] [ 0.01388099 -0.00433258 0.99989427 0.041648 ] [ 0. 0. 0. 1. ]] SLAMing on 157.324860624 meters Centerline goodness [0,1] 0.7802774427020507 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989624 -0.00303921 -0.01408092 0.47050927] [ 0.00310584 0.99998407 0.00471224 0.29307849] [ 0.01406637 -0.00475548 0.99988976 0.04073285] [ 0. 0. 0. 1. ]] SLAMing on 157.354860624 meters Centerline goodness [0,1] 0.7838856557006302 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.9998968 -0.00323885 -0.01399669 0.47025761] [ 0.0033036 0.99998394 0.00460593 0.29278442] [ 0.01398155 -0.00465169 0.99989143 0.04074412] [ 0. 0. 0. 1. ]] SLAMing on 157.384860624 meters Centerline goodness [0,1] 0.7880305269825948 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.9998975 -0.00339346 -0.01390929 0.47015945] [ 0.00345899 0.99998302 0.00468966 0.29211899] [ 0.01389314 -0.00473729 0.99989226 0.04044225] [ 0. 0. 0. 1. ]] SLAMing on 157.414860624 meters Centerline goodness [0,1] 0.7654313542200646 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989752 -0.00351747 -0.01387744 0.47012684] [ 0.00358533 0.99998172 0.00486796 0.29127907] [ 0.01386007 -0.00491722 0.99989185 0.04012698] [ 0. 0. 0. 1. ]] SLAMing on 157.444860624 meters Centerline goodness [0,1] 0.7598977135980747 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989768 -0.00383585 -0.01378077 0.46992242] [ 0.00390369 0.99998038 0.00489962 0.29047112] [ 0.01376171 -0.00495292 0.99989304 0.03979806] [ 0. 0. 0. 1. ]] SLAMing on 157.474860624 meters Centerline goodness [0,1] 0.7572436571085422 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989735 -0.00400216 -0.01375743 0.46981351] [ 0.00406669 0.99998085 0.00466552 0.29033565] [ 0.0137385 -0.00472099 0.99989448 0.04005228] [ 0. 0. 0. 1. ]] SLAMing on 157.504860624 meters Centerline goodness [0,1] 0.770520422598802 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 0.99989731 -0.0044135 -0.01363401 0.46901457] [ 0.00447365 0.99998038 0.00438456 0.29032027] [ 0.01361439 -0.00444511 0.99989744 0.04056384] [ 0. 0. 0. 1. ]] SLAMing on 157.534860624 meters Centerline goodness [0,1] 0.7410332346166502 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 9.99873952e-01 -7.22458802e-03 -1.41380995e-02 4.71253417e-01] [ 7.22629868e-03 9.99973888e-01 6.99145318e-05 2.92236929e-01] [ 1.41372252e-02 -1.72071849e-04 9.99900050e-01 4.13942001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564860624 meters Centerline goodness [0,1] 0.7531197504199664 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 9.99872514e-01 -7.74051435e-03 -1.39656776e-02 4.70150298e-01] [ 7.74000981e-03 9.99970042e-01 -9.01775239e-05 2.91886897e-01] [ 1.39659572e-02 -1.79284540e-05 9.99902471e-01 4.18868104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594860624 meters Centerline goodness [0,1] 0.7430140768976798 Centerline is valid? [False, False] Translation: X:0.47, Y:0.29, Z:0.04 [[ 9.99872704e-01 -8.25015657e-03 -1.36568977e-02 4.68992608e-01] [ 8.25111820e-03 9.99965959e-01 1.40692611e-05 2.91119041e-01] [ 1.36563167e-02 -1.26752147e-04 9.99906740e-01 4.18373348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624860624 meters Centerline goodness [0,1] 0.6885126217954118 Centerline is valid? [False, False] Translation: X:0.52, Y:0.29, Z:0.05 [[ 0.99978216 -0.0160214 -0.01337749 0.52137803] [ 0.01593111 0.99984977 -0.00682865 0.29350702] [ 0.01348489 0.00661404 0.9998872 0.04680282] [ 0. 0. 0. 1. ]] SLAMing on 157.654860624 meters Centerline goodness [0,1] 0.7259449147490163 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99983311 -0.01481819 -0.01068557 0.43669324] [ 0.01473862 0.99986335 -0.00748754 0.29295486] [ 0.01079506 0.0073288 0.99991487 0.04312264] [ 0. 0. 0. 1. ]] SLAMing on 157.684860624 meters Centerline goodness [0,1] 0.7201724394232198 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99982437 -0.01558204 -0.0104133 0.4356626 ] [ 0.01551043 0.99985574 -0.0069226 0.29124007] [ 0.01051967 0.00675987 0.99992182 0.04213431] [ 0. 0. 0. 1. ]] SLAMing on 157.714860624 meters Centerline goodness [0,1] 0.7182948174078139 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99981279 -0.016451 -0.0101858 0.43454513] [ 0.01638503 0.99984445 -0.00652683 0.2897911 ] [ 0.01029159 0.00635871 0.99992682 0.04145422] [ 0. 0. 0. 1. ]] SLAMing on 157.74486062399998 meters Centerline goodness [0,1] 0.7101621076964111 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99977068 -0.01893147 -0.01000954 0.43207019] [ 0.01887037 0.99980294 -0.00616409 0.2876118 ] [ 0.01012426 0.00597379 0.9999309 0.04024875] [ 0. 0. 0. 1. ]] SLAMing on 157.77486062399998 meters Centerline goodness [0,1] 0.7099706831709556 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99975829 -0.01967144 -0.00981772 0.43123904] [ 0.01961615 0.99979136 -0.00569624 0.28630338] [ 0.00992773 0.00550227 0.99993558 0.03934556] [ 0. 0. 0. 1. ]] SLAMing on 157.80486062399999 meters Centerline goodness [0,1] 0.7010955081198231 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.9997071 -0.02226639 -0.00948259 0.42794013] [ 0.02220804 0.99973405 -0.00621469 0.28599914] [ 0.00961845 0.00600228 0.99993573 0.03972506] [ 0. 0. 0. 1. ]] SLAMing on 157.834860624 meters Centerline goodness [0,1] 0.7029835238236604 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99969188 -0.02298995 -0.00936018 0.42709424] [ 0.02293378 0.99971859 -0.00606538 0.28570345] [ 0.00949699 0.00584885 0.9999378 0.03936408] [ 0. 0. 0. 1. ]] SLAMing on 157.864860624 meters Centerline goodness [0,1] 0.6953022924337807 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.999681 -0.02350275 -0.00924782 0.4265338 ] [ 0.0234491 0.99970781 -0.0058679 0.28534051] [ 0.00938303 0.00564917 0.99994002 0.038905 ] [ 0. 0. 0. 1. ]] SLAMing on 157.894860624 meters Centerline goodness [0,1] 0.7003179886475082 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:0.04 [[ 0.99966874 -0.02404519 -0.00917814 0.42595478] [ 0.02399218 0.99969507 -0.00584259 0.28533818] [ 0.00931583 0.00562045 0.99994081 0.03872508] [ 0. 0. 0. 1. ]] SLAMing on 157.924860624 meters Centerline goodness [0,1] 0.6885153396097532 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99962162 -0.02605911 -0.00880537 0.42327596] [ 0.0260069 0.9996438 -0.00599264 0.28494566] [ 0.0089584 0.00576137 0.99994328 0.03849306] [ 0. 0. 0. 1. ]] SLAMing on 157.954860624 meters Centerline goodness [0,1] 0.678155800973756 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99961526 -0.02630524 -0.00879611 0.42324689] [ 0.02625477 0.99963843 -0.00580447 0.28517298] [ 0.00894562 0.0055713 0.99994447 0.03794187] [ 0. 0. 0. 1. ]] SLAMing on 157.984860624 meters Centerline goodness [0,1] 0.6850327966607037 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99960992 -0.02651283 -0.00877903 0.42322646] [ 0.02646106 0.99963207 -0.00596214 0.28602602] [ 0.00893387 0.00572752 0.99994369 0.0378028 ] [ 0. 0. 0. 1. ]] SLAMing on 158.014860624 meters Centerline goodness [0,1] 0.6812242706282441 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99966863 -0.02424651 -0.00864523 0.42147763] [ 0.02423024 0.99970444 -0.00198236 0.28524535] [ 0.00869074 0.00177222 0.99996066 0.03691508] [ 0. 0. 0. 1. ]] SLAMing on 158.044860624 meters Centerline goodness [0,1] 0.6867037502242956 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99966434 -0.02439289 -0.00872922 0.4216234 ] [ 0.02437338 0.9997002 -0.00233514 0.28668138] [ 0.00878356 0.0021216 0.99995917 0.03713122] [ 0. 0. 0. 1. ]] SLAMing on 158.074860624 meters Centerline goodness [0,1] 0.6866702709196852 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99971326 -0.0224388 -0.00836059 0.41908554] [ 0.02244988 0.99974721 0.0012341 0.2876141 ] [ 0.00833079 -0.00142144 0.99996429 0.03653842] [ 0. 0. 0. 1. ]] SLAMing on 158.104860624 meters Centerline goodness [0,1] 0.6815556758707815 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 9.99704564e-01 -2.28765297e-02 -8.21274210e-03 4.18427657e-01] [ 2.28854825e-02 9.99737595e-01 9.97784969e-04 2.88661582e-01] [ 8.18776118e-03 -1.18544275e-03 9.99965777e-01 3.66009818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134860624 meters Centerline goodness [0,1] 0.6745704570757982 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99970102 -0.0230241 -0.00823172 0.41860345] [ 0.02303312 0.9997342 0.00100263 0.28936359] [ 0.00820645 -0.00119194 0.99996562 0.03618211] [ 0. 0. 0. 1. ]] SLAMing on 158.164860624 meters Centerline goodness [0,1] 0.6725896776146512 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 9.99693329e-01 -2.34095739e-02 -8.07712233e-03 4.17991267e-01] [ 2.34170656e-02 9.99725435e-01 8.34184654e-04 2.90046645e-01] [ 8.05537672e-03 -1.02307134e-03 9.99967032e-01 3.61498416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194860624 meters Centerline goodness [0,1] 0.6745962264150943 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 9.99679836e-01 -2.39887111e-02 -8.04775702e-03 4.17191965e-01] [ 2.39949675e-02 9.99711847e-01 6.81741642e-04 2.90224196e-01] [ 8.02908393e-03 -8.74629041e-04 9.99967384e-01 3.64722178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224860624 meters Centerline goodness [0,1] 0.6821611466319202 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 9.99678791e-01 -2.40242602e-02 -8.07157899e-03 4.17044915e-01] [ 2.40313379e-02 9.99710901e-01 7.81008107e-04 2.90086375e-01] [ 8.05048236e-03 -9.74728082e-04 9.99967119e-01 3.65543658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254860624 meters Centerline goodness [0,1] 0.6777619322147039 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968071 -0.02393065 -0.00811172 0.41722305] [ 0.02394009 0.99971282 0.00106928 0.28960815] [ 0.0080838 -0.00126313 0.99996653 0.03626022] [ 0. 0. 0. 1. ]] SLAMing on 158.284860624 meters Centerline goodness [0,1] 0.6803211634600819 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968211 -0.02389758 -0.00803633 0.41725546] [ 0.02390907 0.99971324 0.00133667 0.2893193 ] [ 0.00800208 -0.00152839 0.99996681 0.03577406] [ 0. 0. 0. 1. ]] SLAMing on 158.314860624 meters Centerline goodness [0,1] 0.6537890944321656 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968366 -0.02379622 -0.00814372 0.41732124] [ 0.02380822 0.99971559 0.00137981 0.28895488] [ 0.00810857 -0.00157326 0.99996589 0.03605957] [ 0. 0. 0. 1. ]] SLAMing on 158.344860624 meters Centerline goodness [0,1] 0.6838028382099307 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.9996871 -0.02362915 -0.00820769 0.41763103] [ 0.02364279 0.99971924 0.0015687 0.28878136] [ 0.00816832 -0.00176226 0.99996509 0.03587539] [ 0. 0. 0. 1. ]] SLAMing on 158.374860624 meters Centerline goodness [0,1] 0.675006799020941 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968851 -0.02358016 -0.00817709 0.41759155] [ 0.02359563 0.99971996 0.00180126 0.28834364] [ 0.00813233 -0.00199364 0.99996494 0.03567187] [ 0. 0. 0. 1. ]] SLAMing on 158.404860624 meters Centerline goodness [0,1] 0.6714993355080343 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968864 -0.02355343 -0.00823753 0.41753247] [ 0.02357021 0.99972029 0.00194519 0.28776166] [ 0.00818941 -0.00213874 0.99996418 0.03583374] [ 0. 0. 0. 1. ]] SLAMing on 158.434860624 meters Centerline goodness [0,1] 0.6721138162266659 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99968639 -0.02362199 -0.00831438 0.41723286] [ 0.02363957 0.9997185 0.0020223 0.28708901] [ 0.00826427 -0.00221822 0.99996339 0.03630876] [ 0. 0. 0. 1. ]] SLAMing on 158.464860624 meters Centerline goodness [0,1] 0.6797878112001929 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99969546 -0.0230753 -0.00874744 0.41831296] [ 0.02309392 0.99973123 0.00203364 0.28699096] [ 0.00869816 -0.00223504 0.99995967 0.03688925] [ 0. 0. 0. 1. ]] SLAMing on 158.49486062399998 meters Centerline goodness [0,1] 0.683578667953668 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.04 [[ 0.99977865 -0.01925727 -0.00847433 0.41738798] [ 0.01931258 0.9997924 0.00649457 0.28533564] [ 0.0083475 -0.0066568 0.999943 0.03635948] [ 0. 0. 0. 1. ]] SLAMing on 158.52486062399998 meters Centerline goodness [0,1] 0.69541656575442 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99986364 -0.0139791 -0.00879122 0.41885627] [ 0.01407581 0.99984001 0.01103727 0.28456377] [ 0.00863552 -0.0111595 0.99990044 0.03617877] [ 0. 0. 0. 1. ]] SLAMing on 158.55486062399999 meters Centerline goodness [0,1] 0.6986210031823004 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:0.04 [[ 0.99987871 -0.01217417 -0.0097133 0.42271008] [ 0.01228707 0.99985665 0.0116492 0.28427053] [ 0.00957009 -0.01176713 0.99988497 0.03550018] [ 0. 0. 0. 1. ]] SLAMing on 158.584860624 meters Centerline goodness [0,1] 0.6997728305315766 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.03 [[ 0.99988711 -0.0107843 -0.01046272 0.42604827] [ 0.01091008 0.999868 0.01203955 0.28373749] [ 0.0103315 -0.01215234 0.99987278 0.03478074] [ 0. 0. 0. 1. ]] SLAMing on 158.614860624 meters Centerline goodness [0,1] 0.7024968260685569 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.03 [[ 0.99989446 -0.00941124 -0.01106803 0.42928033] [ 0.00955194 0.99987337 0.01272839 0.28265463] [ 0.01094684 -0.01283277 0.99985773 0.03348557] [ 0. 0. 0. 1. ]] SLAMing on 158.644860624 meters Centerline goodness [0,1] 0.7078790807235829 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.03 [[ 0.99990135 -0.00759676 -0.01181412 0.43324649] [ 0.00775827 0.99987625 0.01368556 0.28067115] [ 0.01170869 -0.01377587 0.99983655 0.03195848] [ 0. 0. 0. 1. ]] SLAMing on 158.674860624 meters Centerline goodness [0,1] 0.7090133140985183 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.03 [[ 0.99989986 -0.00726455 -0.01214443 0.4342645 ] [ 0.00742927 0.99988027 0.01357394 0.28020386] [ 0.01204437 -0.0136628 0.99983412 0.03230327] [ 0. 0. 0. 1. ]] SLAMing on 158.704860624 meters Centerline goodness [0,1] 0.7076600209863588 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.03 [[ 0.99989766 -0.00731556 -0.01229471 0.43413859] [ 0.00747812 0.99988453 0.01322891 0.27967775] [ 0.01219651 -0.0133195 0.9998369 0.03339921] [ 0. 0. 0. 1. ]] SLAMing on 158.734860624 meters Centerline goodness [0,1] 0.7110944752208415 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99989432 -0.00776618 -0.01228946 0.43266523] [ 0.00792541 0.99988459 0.01296111 0.27804419] [ 0.01218738 -0.01305714 0.99984048 0.03527503] [ 0. 0. 0. 1. ]] SLAMing on 158.764860624 meters Centerline goodness [0,1] 0.7086555175927591 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99989173 -0.00809321 -0.01228916 0.43188867] [ 0.008251 0.99988346 0.0128445 0.27663231] [ 0.01218378 -0.0129445 0.99984199 0.0361752 ] [ 0. 0. 0. 1. ]] SLAMing on 158.794860624 meters Centerline goodness [0,1] 0.710211509203186 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99985068 -0.01138002 -0.01300408 0.43367461] [ 0.01148871 0.99989944 0.00831389 0.27746803] [ 0.01290816 -0.00846205 0.99988088 0.03779288] [ 0. 0. 0. 1. ]] SLAMing on 158.824860624 meters Centerline goodness [0,1] 0.7054686335866488 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99985047 -0.0115038 -0.01291136 0.43335397] [ 0.01161581 0.99989526 0.0086341 0.27541629] [ 0.01281068 -0.00878278 0.99987937 0.03763831] [ 0. 0. 0. 1. ]] SLAMing on 158.854860624 meters Centerline goodness [0,1] 0.7086724086724087 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99984628 -0.01244599 -0.01234935 0.43409511] [ 0.01253508 0.99989578 0.007163 0.27210626] [ 0.01225891 -0.0073167 0.99989809 0.03694677] [ 0. 0. 0. 1. ]] SLAMing on 158.884860624 meters Centerline goodness [0,1] 0.7082196655201044 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99984565 -0.01240178 -0.01244507 0.43435566] [ 0.01249487 0.99989433 0.00742983 0.27072019] [ 0.01235162 -0.00758418 0.99989495 0.03678062] [ 0. 0. 0. 1. ]] SLAMing on 158.914860624 meters Centerline goodness [0,1] 0.7067602380740872 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99984447 -0.01254543 -0.01239572 0.43405432] [ 0.01263747 0.99989294 0.00737534 0.26992946] [ 0.01230187 -0.00753084 0.99989597 0.03711484] [ 0. 0. 0. 1. ]] SLAMing on 158.944860624 meters Centerline goodness [0,1] 0.5849025663450764 Centerline is valid? [False, False] Translation: X:0.49, Y:0.28, Z:0.05 [[ 0.99971146 -0.01974199 -0.01368419 0.49369056] [ 0.01965529 0.99978606 -0.00644162 0.27614859] [ 0.01380843 0.00617079 0.99988562 0.04769167] [ 0. 0. 0. 1. ]] SLAMing on 158.974860624 meters Centerline goodness [0,1] 0.7061899837494461 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 9.99832821e-01 -1.42392291e-02 -1.14706229e-02 4.08778708e-01] [ 1.42318531e-02 9.99898460e-01 -7.24409145e-04 2.72141938e-01] [ 1.14797732e-02 5.61039818e-04 9.99933948e-01 4.20935559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004860624 meters Centerline goodness [0,1] 0.6999764178752506 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 9.99835128e-01 -1.40006668e-02 -1.15627881e-02 4.09266315e-01] [ 1.40005218e-02 9.99901984e-01 -9.34891812e-05 2.70788153e-01] [ 1.15629637e-02 -6.84112998e-05 9.99933144e-01 4.14969942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034860624 meters Centerline goodness [0,1] 0.6970454211377334 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 9.99837475e-01 -1.38459126e-02 -1.15462176e-02 4.09606150e-01] [ 1.38531178e-02 9.99903893e-01 5.44280776e-04 2.69425867e-01] [ 1.15375719e-02 -7.04143430e-04 9.99933192e-01 4.06680759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064860624 meters Centerline goodness [0,1] 0.6953311170603984 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 0.99983885 -0.01369145 -0.01161147 0.41010727] [ 0.01370502 0.99990549 0.00108993 0.26822627] [ 0.01159545 -0.00124889 0.99993199 0.03993312] [ 0. 0. 0. 1. ]] SLAMing on 159.094860624 meters Centerline goodness [0,1] 0.6967367615008542 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 0.99983979 -0.01351048 -0.01174158 0.4106655 ] [ 0.01352943 0.99990729 0.00153575 0.26707678] [ 0.01171974 -0.00169436 0.99992989 0.03944675] [ 0. 0. 0. 1. ]] SLAMing on 159.124860624 meters Centerline goodness [0,1] 0.6971507623476776 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 0.99984495 -0.01269637 -0.01220162 0.41241507] [ 0.01272188 0.99991704 0.00201544 0.26684466] [ 0.01217502 -0.00217035 0.99992353 0.03901982] [ 0. 0. 0. 1. ]] SLAMing on 159.154860624 meters Centerline goodness [0,1] 0.7087327100598697 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.04 [[ 0.99984633 -0.01217876 -0.01260946 0.41378074] [ 0.01220459 0.99992357 0.00197351 0.26740088] [ 0.01258446 -0.0021271 0.99991855 0.03914846] [ 0. 0. 0. 1. ]] SLAMing on 159.184860624 meters Centerline goodness [0,1] 0.7080139782104367 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99984565 -0.01162168 -0.01317637 0.41567126] [ 0.0116503 0.99992993 0.00209716 0.26785853] [ 0.01315108 -0.00225034 0.99991099 0.0389232 ] [ 0. 0. 0. 1. ]] SLAMing on 159.214860624 meters Centerline goodness [0,1] 0.7080139782104367 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99984565 -0.01162168 -0.01317637 0.41567126] [ 0.0116503 0.99992993 0.00209716 0.26785853] [ 0.01315108 -0.00225034 0.99991099 0.0389232 ] [ 0. 0. 0. 1. ]] SLAMing on 159.24486062399998 meters Centerline goodness [0,1] 0.7134831460674158 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99988564 -0.00765247 -0.01304418 0.41542021] [ 0.00773872 0.99994844 0.00657466 0.26600674] [ 0.0129932 -0.00667485 0.99989331 0.03822869] [ 0. 0. 0. 1. ]] SLAMing on 159.27486062399998 meters Centerline goodness [0,1] 0.7161699616406019 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99988539 -0.00718845 -0.01332441 0.41644032] [ 0.00727766 0.99995135 0.0066587 0.26615439] [ 0.0132759 -0.0067549 0.99988905 0.03826257] [ 0. 0. 0. 1. ]] SLAMing on 159.30486062399999 meters Centerline goodness [0,1] 0.7100356416978408 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99988278 -0.00675962 -0.01373771 0.41781561] [ 0.00684896 0.99995564 0.0064664 0.26605293] [ 0.01369339 -0.00655973 0.99988472 0.03862573] [ 0. 0. 0. 1. ]] SLAMing on 159.334860624 meters Centerline goodness [0,1] 0.7190633478825056 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99988221 -0.00655812 -0.01387631 0.41838982] [ 0.00664726 0.99995751 0.00638708 0.26603056] [ 0.01383384 -0.00647857 0.99988332 0.03872317] [ 0. 0. 0. 1. ]] SLAMing on 159.364860624 meters Centerline goodness [0,1] 0.7224953631465835 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99987946 -0.00601979 -0.01431162 0.41974152] [ 0.00611055 0.99996145 0.00630612 0.26538157] [ 0.01427311 -0.00639281 0.9998777 0.03923852] [ 0. 0. 0. 1. ]] SLAMing on 159.394860624 meters Centerline goodness [0,1] 0.7224926971762415 Centerline is valid? [False, False] Translation: X:0.42, Y:0.26, Z:0.04 [[ 0.99987827 -0.00579384 -0.01448696 0.42037429] [ 0.00588725 0.9999621 0.0064138 0.26494771] [ 0.01444925 -0.0064983 0.99987449 0.03919217] [ 0. 0. 0. 1. ]] SLAMing on 159.424860624 meters Centerline goodness [0,1] 0.7253297220913801 Centerline is valid? [False, False] Translation: X:0.42, Y:0.26, Z:0.04 [[ 0.99987411 -0.00554311 -0.0148674 0.42147256] [ 0.00563715 0.99996432 0.00629059 0.26467067] [ 0.014832 -0.0063736 0.99986969 0.03949642] [ 0. 0. 0. 1. ]] SLAMing on 159.454860624 meters Centerline goodness [0,1] 0.7245195279159431 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99987118 -0.0053188 -0.01514386 0.42214521] [ 0.00540919 0.99996777 0.00593357 0.26500867] [ 0.01511181 -0.00601472 0.99986772 0.04026043] [ 0. 0. 0. 1. ]] SLAMing on 159.484860624 meters Centerline goodness [0,1] 0.7288883657976815 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99986879 -0.00505292 -0.01539041 0.42287772] [ 0.0051418 0.9999703 0.00574092 0.26523467] [ 0.01536094 -0.0058193 0.99986508 0.04070901] [ 0. 0. 0. 1. ]] SLAMing on 159.514860624 meters Centerline goodness [0,1] 0.7307896287566293 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:0.04 [[ 0.99986971 -0.00423279 -0.01557689 0.4238128 ] [ 0.00432194 0.99997445 0.00569363 0.26574086] [ 0.01555239 -0.00576021 0.99986246 0.04129006] [ 0. 0. 0. 1. ]] SLAMing on 159.544860624 meters Centerline goodness [0,1] 0.735007793888415 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99986553 -0.00382337 -0.01594677 0.42502298] [ 0.00391013 0.99997771 0.0054127 0.26623958] [ 0.01592572 -0.00547433 0.99985819 0.0417229 ] [ 0. 0. 0. 1. ]] SLAMing on 159.574860624 meters Centerline goodness [0,1] 0.7310773399304942 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99986406 -0.00347091 -0.01611876 0.4258596 ] [ 0.00355757 0.99997936 0.00535084 0.26659334] [ 0.01609985 -0.00540746 0.99985577 0.04175204] [ 0. 0. 0. 1. ]] SLAMing on 159.604860624 meters Centerline goodness [0,1] 0.7403656490122766 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99986257 -0.00284252 -0.01633287 0.42723352] [ 0.00292794 0.99998215 0.00520821 0.26735765] [ 0.01631777 -0.00525532 0.99985305 0.04163873] [ 0. 0. 0. 1. ]] SLAMing on 159.634860624 meters Centerline goodness [0,1] 0.7321902068234046 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99985807 -0.00256526 -0.01665134 0.42827898] [ 0.00264697 0.99998455 0.0048872 0.26850707] [ 0.01663855 -0.00493058 0.99984941 0.04191396] [ 0. 0. 0. 1. ]] SLAMing on 159.664860624 meters Centerline goodness [0,1] 0.7410561173200876 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99985502 -0.00218825 -0.01688641 0.42922006] [ 0.00226397 0.99998746 0.00446612 0.2702746 ] [ 0.01687643 -0.0045037 0.99984744 0.04230576] [ 0. 0. 0. 1. ]] SLAMing on 159.694860624 meters Centerline goodness [0,1] 0.7513646612080218 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:0.04 [[ 0.99985686 0.00198044 -0.01680305 0.42972333] [-0.00184533 0.99996588 0.00805251 0.27222783] [ 0.01681842 -0.00802035 0.99982639 0.04194697] [ 0. 0. 0. 1. ]] SLAMing on 159.724860624 meters Centerline goodness [0,1] 0.7568932731162349 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99984729 0.0027822 -0.01725244 0.43168362] [-0.00265641 0.99996976 0.00730954 0.27511904] [ 0.01727225 -0.0072626 0.99982445 0.04253299] [ 0. 0. 0. 1. ]] SLAMing on 159.754860624 meters Centerline goodness [0,1] 0.766275092936803 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:0.04 [[ 0.99983945 0.00366339 -0.01753998 0.43338743] [-0.00355036 0.99997276 0.00647119 0.278524 ] [ 0.01756321 -0.00640788 0.99982522 0.04319795] [ 0. 0. 0. 1. ]] SLAMing on 159.784860624 meters Centerline goodness [0,1] 0.7874168431729364 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.9998306 0.00461287 -0.01781835 0.43531482] [-0.00451731 0.99997522 0.00539973 0.28221743] [ 0.01784282 -0.00531833 0.99982666 0.04405513] [ 0. 0. 0. 1. ]] SLAMing on 159.814860624 meters Centerline goodness [0,1] 0.8133041417988783 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99981914 0.00598558 -0.01805169 0.43751523] [-0.00589632 0.99997015 0.00499401 0.28515061] [ 0.01808105 -0.00488667 0.99982458 0.04421068] [ 0. 0. 0. 1. ]] SLAMing on 159.844860624 meters Centerline goodness [0,1] 0.8450896100750787 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99977066 0.01146618 -0.01808739 0.44020751] [-0.01130611 0.99989624 0.0089269 0.28822884] [ 0.01818787 -0.00872036 0.99979656 0.04279759] [ 0. 0. 0. 1. ]] SLAMing on 159.874860624 meters Centerline goodness [0,1] 0.8441755375610348 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99974282 0.01252245 -0.01890725 0.44309619] [-0.01236705 0.99988896 0.00831381 0.29044219] [ 0.01900926 -0.00807785 0.99978668 0.0434815 ] [ 0. 0. 0. 1. ]] SLAMing on 159.904860624 meters Centerline goodness [0,1] 0.8439839328099324 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99973696 0.01259225 -0.01916884 0.4436491 ] [-0.0124437 0.99989176 0.00784949 0.29142528] [ 0.01926561 -0.00760889 0.99978545 0.04418915] [ 0. 0. 0. 1. ]] SLAMing on 159.934860624 meters Centerline goodness [0,1] 0.8458164539611952 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.9997318 0.01259545 -0.01943391 0.44427996] [-0.01245146 0.99989426 0.00751246 0.2915565 ] [ 0.01952648 -0.00726847 0.99978292 0.04463529] [ 0. 0. 0. 1. ]] SLAMing on 159.964860624 meters Centerline goodness [0,1] 0.8390619785820466 Centerline is valid? [False, False] Translation: X:0.45, Y:0.29, Z:0.05 [[ 0.99975144 0.01017703 -0.0198363 0.44672396] [-0.01011353 0.99994342 0.00329869 0.29269678] [ 0.01986874 -0.00309725 0.9997978 0.04532313] [ 0. 0. 0. 1. ]] SLAMing on 159.99486062399998 meters Centerline goodness [0,1] 0.843015655874753 Centerline is valid? [False, False] Translation: X:0.45, Y:0.29, Z:0.05 [[ 0.99975219 0.01003212 -0.01987261 0.44653893] [-0.00997256 0.99994549 0.00309398 0.29228548] [ 0.01990257 -0.00289503 0.99979773 0.04581209] [ 0. 0. 0. 1. ]] SLAMing on 160.02486062399998 meters Centerline goodness [0,1] 0.8409201262442341 Centerline is valid? [False, False] Translation: X:0.45, Y:0.29, Z:0.05 [[ 0.99975135 0.00993607 -0.01996302 0.44669646] [-0.00987999 0.99994697 0.00290575 0.2918996 ] [ 0.01999083 -0.00270779 0.9997965 0.04603265] [ 0. 0. 0. 1. ]] SLAMing on 160.05486062399999 meters Centerline goodness [0,1] 0.8414359598418011 Centerline is valid? [False, False] Translation: X:0.45, Y:0.29, Z:0.05 [[ 0.99975904 0.00951013 -0.01978409 0.44568938] [-0.00945784 0.99995153 0.0027351 0.29097128] [ 0.01980914 -0.00254733 0.99980053 0.0465848 ] [ 0. 0. 0. 1. ]] SLAMing on 160.084860624 meters Centerline goodness [0,1] 0.8429131584546643 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99976468 0.00902215 -0.01972754 0.44498467] [-0.00897415 0.99995656 0.0025204 0.29030312] [ 0.01974942 -0.00234277 0.99980222 0.04709104] [ 0. 0. 0. 1. ]] SLAMing on 160.114860624 meters Centerline goodness [0,1] 0.8450418232513032 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.05 [[ 0.99976898 0.00852444 -0.01973105 0.44439827] [-0.00848227 0.99996156 0.00221983 0.28967423] [ 0.01974922 -0.00205196 0.99980286 0.04767429] [ 0. 0. 0. 1. ]] SLAMing on 160.144860624 meters Centerline goodness [0,1] 0.8419418061209106 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99988481 0.00619164 -0.0138578 0.45724888] [-0.00603468 0.9999175 0.01133919 0.28591931] [ 0.01392686 -0.01125426 0.99983968 0.04128873] [ 0. 0. 0. 1. ]] SLAMing on 160.174860624 meters Centerline goodness [0,1] 0.8399090909090909 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989863 0.00190409 -0.01411062 0.4569993 ] [-0.00180871 0.99997546 0.00676875 0.28654083] [ 0.01412316 -0.00674254 0.99987753 0.04270128] [ 0. 0. 0. 1. ]] SLAMing on 160.204860624 meters Centerline goodness [0,1] 0.8214543703346978 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99988939 -0.00154078 -0.01479335 0.45894792] [ 0.00157452 0.99999619 0.00226942 0.28745762] [ 0.01478979 -0.00229246 0.999888 0.04370707] [ 0. 0. 0. 1. ]] SLAMing on 160.234860624 meters Centerline goodness [0,1] 0.8109563490869709 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:0.04 [[ 0.99989179 -0.00255511 -0.01448706 0.45754849] [ 0.00259067 0.99999368 0.00243653 0.28592279] [ 0.01448074 -0.00247379 0.99989209 0.0432377 ] [ 0. 0. 0. 1. ]] SLAMing on 160.264860624 meters Centerline goodness [0,1] 0.7941784825684224 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:0.04 [[ 0.99988861 -0.0035555 -0.01449576 0.45684334] [ 0.0035943 0.99999003 0.00265154 0.28422022] [ 0.01448618 -0.00270334 0.99989142 0.04270576] [ 0. 0. 0. 1. ]] SLAMing on 160.294860624 meters Centerline goodness [0,1] 0.7531764776226494 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:0.04 [[ 0.9998599 -0.00843982 -0.01445503 0.4560734 ] [ 0.00842426 0.99996387 -0.00113755 0.28278001] [ 0.01446411 0.00101561 0.99989487 0.04247128] [ 0. 0. 0. 1. ]] SLAMing on 160.324860624 meters Centerline goodness [0,1] 0.7421623554654906 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 9.99853810e-01 -9.42332787e-03 -1.42674235e-02 4.54931483e-01] [ 9.41414719e-03 9.99955434e-01 -7.10497666e-04 2.81175750e-01] [ 1.42734829e-02 5.76078173e-04 9.99897963e-01 4.17465455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354860624 meters Centerline goodness [0,1] 0.7312228244684019 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 9.99845211e-01 -1.06315524e-02 -1.40187337e-02 4.53120396e-01] [ 1.06197722e-02 9.99943190e-01 -9.14492015e-04 2.80426893e-01] [ 1.40276598e-02 7.65474703e-04 9.99901315e-01 4.21335196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384860624 meters Centerline goodness [0,1] 0.7291666666666667 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99981407 -0.01367314 -0.01359643 0.44857157] [ 0.01364826 0.99990501 -0.00192113 0.28050781] [ 0.01362141 0.0017352 0.99990572 0.04373674] [ 0. 0. 0. 1. ]] SLAMing on 160.414860624 meters Centerline goodness [0,1] 0.7244395355085227 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99980127 -0.01493614 -0.01320338 0.44637413] [ 0.01490709 0.99988625 -0.00229543 0.28069437] [ 0.01323616 0.00209815 0.9999102 0.04423526] [ 0. 0. 0. 1. ]] SLAMing on 160.444860624 meters Centerline goodness [0,1] 0.7163908073350798 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99978433 -0.01604583 -0.01318403 0.44513442] [ 0.01601494 0.99986876 -0.00244463 0.28038893] [ 0.01322152 0.00223296 0.9999101 0.04444323] [ 0. 0. 0. 1. ]] SLAMing on 160.474860624 meters Centerline goodness [0,1] 0.7184201871617784 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99977243 -0.0169927 -0.01289725 0.44372529] [ 0.01696221 0.99985308 -0.0024699 0.28013394] [ 0.01293733 0.00225057 0.99991378 0.04421224] [ 0. 0. 0. 1. ]] SLAMing on 160.504860624 meters Centerline goodness [0,1] 0.7074464895976977 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99973658 -0.01933826 -0.01236124 0.44052427] [ 0.01930591 0.99980989 -0.00273167 0.27993765] [ 0.01241172 0.0024923 0.99991987 0.04392447] [ 0. 0. 0. 1. ]] SLAMing on 160.534860624 meters Centerline goodness [0,1] 0.7008230943576286 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99973613 -0.02196638 -0.00671865 0.45276586] [ 0.02201413 0.99973232 0.00711753 0.27695337] [ 0.0065605 -0.00726356 0.9999521 0.03687998] [ 0. 0. 0. 1. ]] SLAMing on 160.564860624 meters Centerline goodness [0,1] 0.7047032072762087 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99971035 -0.02319739 -0.00641125 0.45098906] [ 0.02324043 0.9997073 0.00672346 0.27713032] [ 0.0062534 -0.00687051 0.99995684 0.03722218] [ 0. 0. 0. 1. ]] SLAMing on 160.594860624 meters Centerline goodness [0,1] 0.6881701161783591 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99967473 -0.02470325 -0.00633983 0.44926753] [ 0.02474251 0.99967469 0.00619086 0.27731296] [ 0.00618483 -0.00634571 0.99996074 0.03800281] [ 0. 0. 0. 1. ]] SLAMing on 160.624860624 meters Centerline goodness [0,1] 0.6811902550118366 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99962652 -0.0267245 -0.00571115 0.44624038] [ 0.02675484 0.99962796 0.00530372 0.27969204] [ 0.00556728 -0.00545454 0.99996963 0.03847178] [ 0. 0. 0. 1. ]] SLAMing on 160.654860624 meters Centerline goodness [0,1] 0.6690395716806747 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 0.99960795 -0.02742689 -0.00563086 0.44570427] [ 0.02745546 0.99961022 0.0050596 0.28050068] [ 0.0054899 -0.00521221 0.99997135 0.03836911] [ 0. 0. 0. 1. ]] SLAMing on 160.684860624 meters Centerline goodness [0,1] 0.6712825585229146 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99958805 -0.02819501 -0.00536418 0.44462475] [ 0.02822059 0.99959041 0.00475547 0.28119823] [ 0.0052279 -0.0049049 0.99997431 0.03845003] [ 0. 0. 0. 1. ]] SLAMing on 160.714860624 meters Centerline goodness [0,1] 0.6693318103940605 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99957155 -0.02881104 -0.00516194 0.4441287 ] [ 0.02883558 0.99957291 0.0047441 0.28145104] [ 0.00502306 -0.00489091 0.99997542 0.03780528] [ 0. 0. 0. 1. ]] SLAMing on 160.74486062399998 meters Centerline goodness [0,1] 0.6513981198730615 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.9995118 -0.03082533 -0.00509429 0.44300889] [ 0.03084928 0.99951303 0.00469262 0.28124317] [ 0.00494715 -0.00484749 0.99997601 0.03666204] [ 0. 0. 0. 1. ]] SLAMing on 160.77486062399998 meters Centerline goodness [0,1] 0.6395592550452123 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99948769 -0.03165695 -0.00471118 0.4419415 ] [ 0.03167935 0.99948676 0.00475745 0.28081841] [ 0.00455815 -0.00490426 0.99997759 0.03598421] [ 0. 0. 0. 1. ]] SLAMing on 160.80486062399999 meters Centerline goodness [0,1] 0.635453616304936 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99948507 -0.03171983 -0.00484263 0.44226625] [ 0.03174043 0.99948716 0.00423769 0.28248776] [ 0.00470573 -0.00438921 0.9999793 0.03646348] [ 0. 0. 0. 1. ]] SLAMing on 160.834860624 meters Centerline goodness [0,1] 0.630406015037594 Centerline is valid? [False, False] Translation: X:0.44, Y:0.28, Z:0.04 [[ 0.99948716 -0.03165263 -0.00485143 0.44278603] [ 0.03167232 0.99949015 0.00403709 0.28352348] [ 0.00472118 -0.00418867 0.99998008 0.0362505 ] [ 0. 0. 0. 1. ]] SLAMing on 160.864860624 meters Centerline goodness [0,1] 0.6267652383826192 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99948377 -0.0317545 -0.00488419 0.44339874] [ 0.03177123 0.99948943 0.00338763 0.28597823] [ 0.00477413 -0.00354106 0.99998233 0.03623881] [ 0. 0. 0. 1. ]] SLAMing on 160.894860624 meters Centerline goodness [0,1] 0.6183461364663353 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99948605 -0.03166649 -0.00498738 0.44415303] [ 0.03168299 0.99949264 0.00326461 0.28668865] [ 0.00488147 -0.00342095 0.99998223 0.03592297] [ 0. 0. 0. 1. ]] SLAMing on 160.924860624 meters Centerline goodness [0,1] 0.6105914302957152 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:0.04 [[ 0.99948591 -0.03165691 -0.00507415 0.44474832] [ 0.03167238 0.99949381 0.00299858 0.28791007] [ 0.00497666 -0.00315775 0.99998263 0.03576916] [ 0. 0. 0. 1. ]] SLAMing on 160.954860624 meters Centerline goodness [0,1] 0.6025795928230533 Centerline is valid? [False, False] Translation: X:0.45, Y:0.29, Z:0.04 [[ 0.99948634 -0.03163813 -0.00510781 0.44515197] [ 0.03165242 0.99949518 0.00274147 0.2887963 ] [ 0.00501849 -0.00290174 0.9999832 0.03579545] [ 0. 0. 0. 1. ]] Total time of SLAM: 8256.46 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%| | 0/5366 [00:00