+ python -m lidar_slam --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa Lidar SLAM 0.0.13 ===================================================== The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa 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 0.02327356 Adjusted end_distance from 9.223372036854776e+18 to 85.24327356 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02327356 meters Centerline goodness [0,1] 0.48806493156428765 Centerline is valid? [0, False] SLAMing on 0.05327356 meters Centerline goodness [0,1] 0.4726084373143197 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99992514e-01 -3.78407153e-03 -8.08174787e-04 2.33819013e-03] [ 3.78063452e-03 9.99983979e-01 -4.21281691e-03 1.25515333e-03] [ 8.24103440e-04 4.20972996e-03 9.99990799e-01 8.05177650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08327356 meters Centerline goodness [0,1] 0.4693604097189138 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99992845e-01 -3.67596910e-03 -8.93373305e-04 3.13574337e-03] [ 3.67236292e-03 9.99985236e-01 -4.00525201e-03 6.65824589e-05] [ 9.08083298e-04 4.00194256e-03 9.99991580e-01 5.88647718e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11327356 meters Centerline goodness [0,1] 0.4624691578227652 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99993070e-01 -3.46698264e-03 -1.35640589e-03 5.82039974e-03] [ 3.46230566e-03 9.99988105e-01 -3.43535268e-03 -1.80686599e-03] [ 1.36830007e-03 3.43063258e-03 9.99993179e-01 -3.60968019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14327356 meters Centerline goodness [0,1] 0.4558121609202218 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999361 -0.0032274 -0.00153833 0.00767832] [ 0.00322278 0.99999031 -0.00299943 -0.00266135] [ 0.00154799 0.00299445 0.99999432 -0.00156466] [ 0. 0. 0. 1. ]] SLAMing on 0.17327356 meters Centerline goodness [0,1] 0.4533594259621657 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999417 -0.00293596 -0.00174635 0.00952078] [ 0.00293149 0.99999244 -0.00255635 -0.0035358 ] [ 0.00175384 0.00255121 0.99999521 -0.00265869] [ 0. 0. 0. 1. ]] SLAMing on 0.20327356 meters Centerline goodness [0,1] 0.45256444326335366 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999455 -0.00257302 -0.00206775 0.01185751] [ 0.00256897 0.99999478 -0.00195784 -0.00456058] [ 0.00207277 0.00195252 0.99999595 -0.00392725] [ 0. 0. 0. 1. ]] SLAMing on 0.23327356 meters Centerline goodness [0,1] 0.4488700064908243 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99999236 -0.00285421 -0.00266971 0.01484375] [ 0.00285006 0.99999473 -0.0015553 -0.00502371] [ 0.00267413 0.00154768 0.99999523 -0.00472507] [ 0. 0. 0. 1. ]] SLAMing on 0.26327356 meters Centerline goodness [0,1] 0.45115206010233966 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99999181 -0.00305439 -0.00265559 0.01568333] [ 0.00304988 0.9999939 -0.00170217 -0.00522277] [ 0.00266077 0.00169406 0.99999503 -0.00481768] [ 0. 0. 0. 1. ]] SLAMing on 0.29327356000000004 meters Centerline goodness [0,1] 0.4554993940468801 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99999053 -0.00331005 -0.00282447 0.01694599] [ 0.00330539 0.99999317 -0.00165139 -0.00541704] [ 0.00282991 0.00164204 0.99999465 -0.00507899] [ 0. 0. 0. 1. ]] SLAMing on 0.32327355999999996 meters Centerline goodness [0,1] 0.45317789749477466 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998299 -0.00456061 -0.00363479 0.0189204 ] [ 0.0045543 0.99998811 -0.00174201 -0.00607957] [ 0.00364269 0.00172543 0.99999188 -0.00415196] [ 0. 0. 0. 1. ]] SLAMing on 0.35327356 meters Centerline goodness [0,1] 0.4570296326965162 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998047 -0.00493295 -0.00383804 0.0198474 ] [ 0.00492671 0.99998653 -0.00163305 -0.00698866] [ 0.00384605 0.00161411 0.9999913 -0.00395322] [ 0. 0. 0. 1. ]] SLAMing on 0.38327356 meters Centerline goodness [0,1] 0.43971736045411547 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99997818 -0.00525308 -0.00400548 0.02091799] [ 0.00524779 0.99998535 -0.00133029 -0.00856776] [ 0.00401241 0.00130924 0.99999109 -0.00409112] [ 0. 0. 0. 1. ]] SLAMing on 0.41327356000000004 meters Centerline goodness [0,1] 0.4453099738381493 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 0.99993952 -0.00955531 -0.00544538 0.02573263] [ 0.0095278 0.99994183 -0.00505606 -0.00877208] [ 0.00549338 0.00500388 0.99997239 -0.00383806] [ 0. 0. 0. 1. ]] SLAMing on 0.44327355999999996 meters Centerline goodness [0,1] 0.44753640241211945 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99993751 -0.00961036 -0.00571032 0.02779601] [ 0.00958548 0.99994452 -0.00436799 -0.01093798] [ 0.00575198 0.00431298 0.99997416 -0.0050217 ] [ 0. 0. 0. 1. ]] SLAMing on 0.47327356 meters Centerline goodness [0,1] 0.4466945655672939 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99988223 -0.01343031 -0.00742671 0.03433847] [ 0.01337564 0.99988343 -0.00736335 -0.01146859] [ 0.00752473 0.00726314 0.99994531 -0.00621593] [ 0. 0. 0. 1. ]] SLAMing on 0.50327356 meters Centerline goodness [0,1] 0.4471049704349862 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99987619 -0.01372297 -0.00769968 0.03609361] [ 0.01367174 0.99988431 -0.00666721 -0.01312088] [ 0.00779029 0.00656111 0.99994813 -0.00729073] [ 0. 0. 0. 1. ]] SLAMing on 0.53327356 meters Centerline goodness [0,1] 0.44366692041927736 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99987047 -0.01388289 -0.00814255 0.03827747] [ 0.01383404 0.99988615 -0.00602616 -0.01452025] [ 0.00822529 0.00591274 0.99994869 -0.00806102] [ 0. 0. 0. 1. ]] SLAMing on 0.5632735600000001 meters Centerline goodness [0,1] 0.45228723869500564 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99978936 -0.01813144 -0.00961681 0.04288912] [ 0.01803977 0.9997918 -0.00953509 -0.01339184] [ 0.00978769 0.0093596 0.9999083 -0.00750631] [ 0. 0. 0. 1. ]] SLAMing on 0.59327356 meters Centerline goodness [0,1] 0.4487728185867761 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99978188 -0.01839097 -0.00989767 0.04454262] [ 0.01830131 0.99979134 -0.00907393 -0.01463113] [ 0.01006248 0.00889081 0.99990985 -0.00792111] [ 0. 0. 0. 1. ]] SLAMing on 0.62327356 meters Centerline goodness [0,1] 0.45051204384826193 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99977116 -0.0188384 -0.01013591 0.04610224] [ 0.01874974 0.99978573 -0.00877192 -0.01569763] [ 0.01029898 0.00857987 0.99991015 -0.00829836] [ 0. 0. 0. 1. ]] SLAMing on 0.65327356 meters Centerline goodness [0,1] 0.466077380089842 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99976276 -0.01913942 -0.0103974 0.04752412] [ 0.0190515 0.99978246 -0.00849009 -0.01667853] [ 0.01055763 0.00828999 0.9999099 -0.00843539] [ 0. 0. 0. 1. ]] SLAMing on 0.68327356 meters Centerline goodness [0,1] 0.4920465062471078 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99972579 -0.02040466 -0.01148854 0.05121888] [ 0.0203069 0.99975712 -0.00856294 -0.01819092] [ 0.01166047 0.0083273 0.99989734 -0.00834868] [ 0. 0. 0. 1. ]] SLAMing on 0.71327356 meters Centerline goodness [0,1] 0.5039262843730985 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99971926 -0.02052262 -0.01184183 0.05314765] [ 0.02042814 0.99975896 -0.00804476 -0.01950152] [ 0.01200408 0.0078006 0.99989752 -0.00894776] [ 0. 0. 0. 1. ]] SLAMing on 0.74327356 meters Centerline goodness [0,1] 0.514298106115368 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99971162 -0.02068306 -0.01220232 0.05508706] [ 0.02059099 0.99975892 -0.00762337 -0.02060915] [ 0.01235705 0.00736991 0.99989649 -0.00954346] [ 0. 0. 0. 1. ]] SLAMing on 0.77327356 meters Centerline goodness [0,1] 0.5347354451560786 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.9996131 -0.02425712 -0.01361028 0.06070747] [ 0.02411099 0.99965095 -0.01079988 -0.02043004] [ 0.0138675 0.01046754 0.99984905 -0.01003085] [ 0. 0. 0. 1. ]] SLAMing on 0.80327356 meters Centerline goodness [0,1] 0.5413025982984594 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99960618 -0.02429395 -0.0140457 0.06312177] [ 0.02415312 0.99965714 -0.0101104 -0.02220483] [ 0.0142865 0.00976718 0.99985024 -0.01106022] [ 0. 0. 0. 1. ]] SLAMing on 0.83327356 meters Centerline goodness [0,1] 0.5413025982984594 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99960618 -0.02429395 -0.0140457 0.06312177] [ 0.02415312 0.99965714 -0.0101104 -0.02220483] [ 0.0142865 0.00976718 0.99985024 -0.01106022] [ 0. 0. 0. 1. ]] SLAMing on 0.86327356 meters Centerline goodness [0,1] 0.5494401378122309 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 0.99959912 -0.02439531 -0.01436869 0.06516749] [ 0.02426007 0.99966042 -0.00951271 -0.02376589] [ 0.01459587 0.00916031 0.99985151 -0.01194956] [ 0. 0. 0. 1. ]] SLAMing on 0.89327356 meters Centerline goodness [0,1] 0.5588462971988876 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.01 [[ 0.99959169 -0.02455592 -0.01461019 0.06676348] [ 0.02442775 0.99966209 -0.0088872 -0.02523064] [ 0.01482349 0.00852668 0.99985377 -0.01267834] [ 0. 0. 0. 1. ]] SLAMing on 0.9232735599999999 meters Centerline goodness [0,1] 0.568499401129299 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.02 [[ 0.99963662 -0.0252302 -0.00949021 0.09508243] [ 0.02516518 0.99965943 -0.0069093 -0.03014089] [ 0.0096613 0.00666797 0.9999311 -0.01516726] [ 0. 0. 0. 1. ]] SLAMing on 0.95327356 meters Centerline goodness [0,1] 0.5710004281432852 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.02 [[ 0.99962875 -0.0254938 -0.00961378 0.09638079] [ 0.02543238 0.99965569 -0.00645776 -0.03116913] [ 0.0097751 0.00621086 0.99993293 -0.0156898 ] [ 0. 0. 0. 1. ]] SLAMing on 0.98327356 meters Centerline goodness [0,1] 0.5652372132782448 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.02 [[ 0.99962022 -0.02568062 -0.00999597 0.09831845] [ 0.02562183 0.99965391 -0.00596582 -0.03248269] [ 0.01014571 0.00570744 0.99993224 -0.01625373] [ 0. 0. 0. 1. ]] SLAMing on 1.01327356 meters Centerline goodness [0,1] 0.5754120216719145 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.02 [[ 0.99961402 -0.02580992 -0.0102795 0.10017686] [ 0.0257549 0.99965343 -0.00544947 -0.0339908 ] [ 0.01041659 0.00518262 0.99993232 -0.0170161 ] [ 0. 0. 0. 1. ]] SLAMing on 1.04327356 meters Centerline goodness [0,1] 0.5775414645154011 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99951048 -0.0290818 -0.01153479 0.1061678 ] [ 0.02898421 0.9995434 -0.00853911 -0.03416929] [ 0.01177786 0.00820061 0.99989701 -0.01782246] [ 0. 0. 0. 1. ]] SLAMing on 1.07327356 meters Centerline goodness [0,1] 0.5846119005831398 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.02 [[ 0.99950542 -0.02916665 -0.01175701 0.10788449] [ 0.02907339 0.99954505 -0.00802675 -0.03533608] [ 0.01198578 0.00768096 0.99989867 -0.01862423] [ 0. 0. 0. 1. ]] SLAMing on 1.10327356 meters Centerline goodness [0,1] 0.590599281653893 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.02 [[ 0.99950046 -0.02919628 -0.01210023 0.11000106] [ 0.02910677 0.9995481 -0.00750911 -0.03648776] [ 0.012314 0.00715316 0.99989859 -0.01957193] [ 0. 0. 0. 1. ]] SLAMing on 1.13327356 meters Centerline goodness [0,1] 0.5923634932238655 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.02 [[ 0.99939713 -0.03203376 -0.01338715 0.11637609] [ 0.03189349 0.99943545 -0.01056319 -0.03612909] [ 0.01371797 0.01012986 0.99985459 -0.02007684] [ 0. 0. 0. 1. ]] SLAMing on 1.16327356 meters Centerline goodness [0,1] 0.5969205698069737 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.02 [[ 0.99939039 -0.03209332 -0.01374323 0.11836285] [ 0.03195531 0.99943779 -0.01014713 -0.03710301] [ 0.01406115 0.00970178 0.99985407 -0.02072803] [ 0. 0. 0. 1. ]] SLAMing on 1.19327356 meters Centerline goodness [0,1] 0.5979308987658486 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.02 [[ 0.99938431 -0.03210805 -0.01414448 0.12042708] [ 0.03197186 0.99944119 -0.00975182 -0.03789666] [ 0.01444969 0.00929359 0.99985241 -0.02142777] [ 0. 0. 0. 1. ]] SLAMing on 1.22327356 meters Centerline goodness [0,1] 0.6021154495330258 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.02 [[ 0.99937715 -0.03219518 -0.01444955 0.12240377] [ 0.0320629 0.99944263 -0.00929489 -0.03876094] [ 0.01474074 0.0088258 0.9998524 -0.02227558] [ 0. 0. 0. 1. ]] SLAMing on 1.25327356 meters Centerline goodness [0,1] 0.6077963628199372 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.02 [[ 0.99927456 -0.03468476 -0.01572669 0.12925768] [ 0.03449699 0.99933206 -0.01205805 -0.03899295] [ 0.01613442 0.01150677 0.99980362 -0.02348018] [ 0. 0. 0. 1. ]] SLAMing on 1.28327356 meters Centerline goodness [0,1] 0.6139718215363972 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.02 [[ 0.99926735 -0.0346622 -0.01622643 0.1315787 ] [ 0.03447491 0.99933728 -0.0116829 -0.04009539] [ 0.01662063 0.01111493 0.99980009 -0.02424466] [ 0. 0. 0. 1. ]] SLAMing on 1.31327356 meters Centerline goodness [0,1] 0.607472712006717 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.03 [[ 0.99926288 -0.03465942 -0.01650515 0.13353259] [ 0.03447715 0.9993427 -0.01120279 -0.04094745] [ 0.01688258 0.01062548 0.99980102 -0.02527574] [ 0. 0. 0. 1. ]] SLAMing on 1.3432735599999999 meters Centerline goodness [0,1] 0.6041904655763284 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.03 [[ 0.99923684 -0.03723686 -0.0117967 0.1504286 ] [ 0.03718664 0.99929844 -0.0044482 -0.04472909] [ 0.01195406 0.00400612 0.99992052 -0.0294964 ] [ 0. 0. 0. 1. ]] SLAMing on 1.37327356 meters Centerline goodness [0,1] 0.6190648483161703 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.03 [[ 0.99922327 -0.03752089 -0.01204293 0.15183434] [ 0.0374709 0.99928825 -0.00435008 -0.04506724] [ 0.01219757 0.00389544 0.99991802 -0.0297054 ] [ 0. 0. 0. 1. ]] SLAMing on 1.40327356 meters Centerline goodness [0,1] 0.6275218140387928 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.03 [[ 0.99920952 -0.03779756 -0.0123158 0.15343267] [ 0.03774817 0.99927838 -0.00421878 -0.04540453] [ 0.01246637 0.00375055 0.99991526 -0.02997642] [ 0. 0. 0. 1. ]] SLAMing on 1.43327356 meters Centerline goodness [0,1] 0.6075507262445947 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.03 [[ 0.99907751 -0.04090394 -0.01307649 0.15843268] [ 0.04080627 0.99913778 -0.00765142 -0.04474334] [ 0.01337819 0.00711076 0.99988522 -0.03018693] [ 0. 0. 0. 1. ]] SLAMing on 1.46327356 meters Centerline goodness [0,1] 0.6000776010198992 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.03 [[ 0.99906443 -0.04109631 -0.01346689 0.16035423] [ 0.04100049 0.99913234 -0.0073159 -0.04552257] [ 0.01375586 0.00675691 0.99988255 -0.0311141 ] [ 0. 0. 0. 1. ]] SLAMing on 1.49327356 meters Centerline goodness [0,1] 0.5883818806069332 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.03 [[ 0.99905725 -0.04106 -0.0140955 0.1629471 ] [ 0.04096701 0.9991372 -0.00682377 -0.04656401] [ 0.01436353 0.00623989 0.99987737 -0.03227671] [ 0. 0. 0. 1. ]] SLAMing on 1.52327356 meters Centerline goodness [0,1] 0.6011704300778447 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.03 [[ 0.99904052 -0.04123209 -0.01476311 0.16552187] [ 0.04113617 0.9991308 -0.00674278 -0.04720274] [ 0.0150283 0.00612902 0.99986828 -0.03321931] [ 0. 0. 0. 1. ]] SLAMing on 1.55327356 meters Centerline goodness [0,1] 0.5788746407251824 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.03 [[ 0.99892587 -0.04377877 -0.01518337 0.17096575] [ 0.04363884 0.99900288 -0.0094283 -0.04741492] [ 0.01558099 0.00875558 0.99984027 -0.03498413] [ 0. 0. 0. 1. ]] SLAMing on 1.58327356 meters Centerline goodness [0,1] 0.5818877691502836 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.04 [[ 0.99881266 -0.04597513 -0.01611059 0.17532382] [ 0.04577636 0.99887355 -0.01249646 -0.04631262] [ 0.01666697 0.01174414 0.99979212 -0.03605751] [ 0. 0. 0. 1. ]] SLAMing on 1.6132735599999999 meters Centerline goodness [0,1] 0.5748845392566527 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.04 [[ 0.99877027 -0.0483569 -0.01093425 0.1873952 ] [ 0.04832336 0.99882626 -0.00331136 -0.04993324] [ 0.01108154 0.00277891 0.99993474 -0.04101101] [ 0. 0. 0. 1. ]] SLAMing on 1.64327356 meters Centerline goodness [0,1] 0.5668009491749904 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.04 [[ 0.99870485 -0.04970112 -0.01088244 0.18889538] [ 0.04966817 0.9987604 -0.00327717 -0.05038428] [ 0.01103182 0.00273242 0.99993541 -0.04133601] [ 0. 0. 0. 1. ]] SLAMing on 1.67327356 meters Centerline goodness [0,1] 0.5619267950095017 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.04 [[ 0.99856029 -0.05232029 -0.01182964 0.19270106] [ 0.05224191 0.99861103 -0.00684107 -0.0489042 ] [ 0.01217113 0.00621322 0.99990663 -0.04163836] [ 0. 0. 0. 1. ]] SLAMing on 1.70327356 meters Centerline goodness [0,1] 0.5857784389894481 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.04 [[ 0.99853222 -0.0527247 -0.01238988 0.1944291 ] [ 0.05264396 0.9985905 -0.00675511 -0.04945376] [ 0.01272858 0.00609294 0.99990042 -0.04212496] [ 0. 0. 0. 1. ]] SLAMing on 1.73327356 meters Centerline goodness [0,1] 0.5575170217439052 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.04 [[ 0.99818075 -0.05882612 -0.01321638 0.21451514] [ 0.05876632 0.99825989 -0.0048685 -0.05034075] [ 0.01347977 0.00408297 0.99990081 -0.04331576] [ 0. 0. 0. 1. ]] SLAMing on 1.76327356 meters Centerline goodness [0,1] 0.5569146757679181 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.05 [[ 0.99803994 -0.06204006 -0.00820426 0.22661308] [ 0.06206989 0.9980659 0.00343301 -0.05388076] [ 0.00797541 -0.00393551 0.99996045 -0.04795747] [ 0. 0. 0. 1. ]] SLAMing on 1.79327356 meters Centerline goodness [0,1] 0.5595182573866286 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.05 [[ 0.99798654 -0.06282674 -0.00869916 0.227877 ] [ 0.06285584 0.99801776 0.00311277 -0.05426163] [ 0.00848635 -0.0036533 0.99995732 -0.04806296] [ 0. 0. 0. 1. ]] SLAMing on 1.8232735599999998 meters Centerline goodness [0,1] 0.545854631932865 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.05 [[ 9.97704038e-01 -6.71335172e-02 -8.92994679e-03 2.30887851e-01] [ 6.71259022e-02 9.97743850e-01 -1.15009733e-03 -5.34534048e-02] [ 8.98700958e-03 5.48026018e-04 9.99959466e-01 -4.76930450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8532735599999999 meters Centerline goodness [0,1] 0.5690313366839692 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.05 [[ 9.97661004e-01 -6.76974956e-02 -9.46413399e-03 2.32381268e-01] [ 6.76897672e-02 9.97705772e-01 -1.13490914e-03 -5.38917917e-02] [ 9.51925161e-03 4.91629570e-04 9.99954570e-01 -4.81741394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.88327356 meters Centerline goodness [0,1] 0.5548489232196959 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.05 [[ 0.99745628 -0.07046811 -0.01073409 0.23687008] [ 0.07041841 0.99750531 -0.00494049 -0.05274507] [ 0.01105546 0.00417205 0.99993018 -0.04840936] [ 0. 0. 0. 1. ]] SLAMing on 1.91327356 meters Centerline goodness [0,1] 0.5568072801030617 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.05 [[ 0.99742198 -0.07088408 -0.0111732 0.2384271 ] [ 0.0708341 0.99747652 -0.00480785 -0.05325329] [ 0.0114858 0.00400401 0.99992602 -0.04911089] [ 0. 0. 0. 1. ]] SLAMing on 1.94327356 meters Centerline goodness [0,1] 0.5602237823606845 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.05 [[ 0.9971933 -0.07398145 -0.01150057 0.24286173] [ 0.0738888 0.99723209 -0.00828318 -0.05246601] [ 0.01208153 0.00741017 0.99989956 -0.04994099] [ 0. 0. 0. 1. ]] SLAMing on 1.97327356 meters Centerline goodness [0,1] 0.550568865550815 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.05 [[ 0.99701188 -0.07621697 -0.0125815 0.24744135] [ 0.07606801 0.99703135 -0.01192231 -0.05069613] [ 0.01345283 0.01092963 0.99984977 -0.05048945] [ 0. 0. 0. 1. ]] SLAMing on 2.00327356 meters Centerline goodness [0,1] 0.552620785825609 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.05 [[ 0.99701029 -0.07605993 -0.01361491 0.25032741] [ 0.07590135 0.9970454 -0.01180878 -0.05050496] [ 0.01447286 0.01074009 0.99983758 -0.05117414] [ 0. 0. 0. 1. ]] SLAMing on 2.0332735599999996 meters Centerline goodness [0,1] 0.5562819706212216 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.05 [[ 0.99691664 -0.07723981 -0.01382861 0.25593086] [ 0.07703694 0.99692064 -0.01464761 -0.0483935 ] [ 0.01491741 0.01353714 0.99979709 -0.05229771] [ 0. 0. 0. 1. ]] SLAMing on 2.06327356 meters Centerline goodness [0,1] 0.5543540906221698 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.05 [[ 0.99691712 -0.07703497 -0.01489537 0.25866917] [ 0.0768172 0.99693714 -0.01467838 -0.04760142] [ 0.0159805 0.01348891 0.99978131 -0.05270897] [ 0. 0. 0. 1. ]] SLAMing on 2.0932735599999996 meters Centerline goodness [0,1] 0.5709929954676556 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.05 [[ 0.99692522 -0.07669277 -0.0160722 0.26181719] [ 0.0764593 0.99696478 -0.01466986 -0.04691525] [ 0.01714849 0.01339589 0.99976321 -0.05319037] [ 0. 0. 0. 1. ]] SLAMing on 2.12327356 meters Centerline goodness [0,1] 0.5935927911990713 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.05 [[ 0.99694353 -0.07636283 -0.01650208 0.26516162] [ 0.07612548 0.99699189 -0.01456326 -0.04551314] [ 0.01756453 0.01326252 0.99975777 -0.05393717] [ 0. 0. 0. 1. ]] SLAMing on 2.1532735599999997 meters Centerline goodness [0,1] 0.5930650874474208 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.05 [[ 0.99695716 -0.07591811 -0.01768776 0.26844899] [ 0.07566833 0.99702923 -0.01438794 -0.04479324] [ 0.01872752 0.01300576 0.99974003 -0.0547739 ] [ 0. 0. 0. 1. ]] SLAMing on 2.18327356 meters Centerline goodness [0,1] 0.5824759376037172 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.06 [[ 0.99696398 -0.07551706 -0.01897357 0.27184975] [ 0.07524791 0.99705911 -0.01452152 -0.04370645] [ 0.02001439 0.01304971 0.99971452 -0.05526379] [ 0. 0. 0. 1. ]] SLAMing on 2.2132735599999998 meters Centerline goodness [0,1] 0.5949254395726686 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.06 [[ 0.99700923 -0.07472773 -0.01970685 0.27602229] [ 0.07445328 0.99712179 -0.0143121 -0.0417665 ] [ 0.02071964 0.01280206 0.99970336 -0.05646712] [ 0. 0. 0. 1. ]] SLAMing on 2.2432735599999996 meters Centerline goodness [0,1] 0.6014613546702228 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.06 [[ 0.99703102 -0.07407711 -0.02101743 0.27966903] [ 0.07378586 0.99717142 -0.0143112 -0.04052954] [ 0.02201811 0.01271792 0.99967668 -0.05712699] [ 0. 0. 0. 1. ]] SLAMing on 2.27327356 meters Centerline goodness [0,1] 0.6002546853805055 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.06 [[ 0.99728245 -0.07134036 -0.01839191 0.29305192] [ 0.07097726 0.99728352 -0.01969265 -0.0377404 ] [ 0.01974683 0.01833373 0.9996369 -0.0577761 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3032735599999996 meters Centerline goodness [0,1] 0.6165058050076934 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.06 [[ 0.99749537 -0.06806133 -0.01925188 0.29417449] [ 0.06776249 0.99757682 -0.01577148 -0.03801102] [ 0.02027865 0.01442743 0.99969026 -0.05844223] [ 0. 0. 0. 1. ]] SLAMing on 2.33327356 meters Centerline goodness [0,1] 0.6069291426653991 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.06 [[ 0.99750695 -0.0675225 -0.02050823 0.29736167] [ 0.0671985 0.99760976 -0.01609771 -0.03611226] [ 0.02154617 0.01467945 0.99966008 -0.05849352] [ 0. 0. 0. 1. ]] SLAMing on 2.3632735599999997 meters Centerline goodness [0,1] 0.6140129884671369 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.03, Z:-0.06 [[ 0.9975259 -0.06684419 -0.02176977 0.30075721] [ 0.06649816 0.99765422 -0.01624994 -0.03437598] [ 0.02280491 0.01476209 0.99963094 -0.05886972] [ 0. 0. 0. 1. ]] SLAMing on 2.39327356 meters Centerline goodness [0,1] 0.6140306622943468 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:-0.06 [[ 0.99758664 -0.06562727 -0.02267071 0.30523092] [ 0.06526863 0.997736 -0.01621358 -0.03152312] [ 0.02368344 0.01469476 0.9996115 -0.05993611] [ 0. 0. 0. 1. ]] SLAMing on 2.4232735599999997 meters Centerline goodness [0,1] 0.6135911447386857 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:-0.06 [[ 0.99760166 -0.06497885 -0.02384685 0.30862453] [ 0.06460335 0.99777962 -0.01619358 -0.03021766] [ 0.02484614 0.01461415 0.99958446 -0.06068369] [ 0. 0. 0. 1. ]] SLAMing on 2.4532735599999995 meters Centerline goodness [0,1] 0.6235931404193213 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:-0.06 [[ 0.997611 -0.06444018 -0.02489509 0.31154748] [ 0.06404624 0.99781363 -0.01631081 -0.02877279] [ 0.02589173 0.01467741 0.999557 -0.06112944] [ 0. 0. 0. 1. ]] SLAMing on 2.4832735599999998 meters Centerline goodness [0,1] 0.6414728137042558 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:-0.06 [[ 0.99762362 -0.0641383 -0.02516714 0.31401171] [ 0.06373593 0.99783076 -0.01647763 -0.02653116] [ 0.02616939 0.01483442 0.99954745 -0.06188613] [ 0. 0. 0. 1. ]] SLAMing on 2.5132735599999996 meters Centerline goodness [0,1] 0.6523742624332678 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:-0.06 [[ 0.99760761 -0.06399898 -0.02613801 0.31623321] [ 0.06357583 0.99783707 -0.01671218 -0.02555835] [ 0.02715104 0.01501045 0.99951864 -0.06191576] [ 0. 0. 0. 1. ]] SLAMing on 2.54327356 meters Centerline goodness [0,1] 0.6445952796710415 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:-0.06 [[ 0.99774141 -0.06148382 -0.02705202 0.31724339] [ 0.0611466 0.99804254 -0.01312185 -0.02637017] [ 0.02780585 0.01143808 0.9995479 -0.06274163] [ 0. 0. 0. 1. ]] SLAMing on 2.5732735599999996 meters Centerline goodness [0,1] 0.6639856009899319 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:-0.06 [[ 0.9977332 -0.06118789 -0.02800883 0.3195343 ] [ 0.06084023 0.99806153 -0.0131017 -0.02580368] [ 0.0287562 0.01136794 0.99952181 -0.0629682 ] [ 0. 0. 0. 1. ]] SLAMing on 2.60327356 meters Centerline goodness [0,1] 0.6562297255366563 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.06 [[ 0.9977298 -0.06104957 -0.02842884 0.32169014] [ 0.06069699 0.99807021 -0.01310499 -0.02469499] [ 0.02917403 0.01134969 0.99950991 -0.06333737] [ 0. 0. 0. 1. ]] SLAMing on 2.6332735599999997 meters Centerline goodness [0,1] 0.648564910007605 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.06 [[ 0.99771826 -0.0607829 -0.02938892 0.3239904 ] [ 0.06041924 0.99808701 -0.01310858 -0.02393414] [ 0.03012948 0.01130302 0.99948209 -0.06360075] [ 0. 0. 0. 1. ]] SLAMing on 2.6632735599999995 meters Centerline goodness [0,1] 0.6734428821503191 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.06 [[ 0.99770985 -0.06051778 -0.03021017 0.32605629] [ 0.06014971 0.99810539 -0.01294793 -0.02352208] [ 0.03093652 0.01110115 0.9994597 -0.06409427] [ 0. 0. 0. 1. ]] SLAMing on 2.6932735599999997 meters Centerline goodness [0,1] 0.6589059992680386 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.06 [[ 0.99770218 -0.06018974 -0.03110561 0.32844071] [ 0.05981753 0.99812774 -0.01276204 -0.02336618] [ 0.03181552 0.01087205 0.99943463 -0.06471325] [ 0. 0. 0. 1. ]] SLAMing on 2.7232735599999995 meters Centerline goodness [0,1] 0.6589059992680386 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.06 [[ 0.99770218 -0.06018974 -0.03110561 0.32844071] [ 0.05981753 0.99812774 -0.01276204 -0.02336618] [ 0.03181552 0.01087205 0.99943463 -0.06471325] [ 0. 0. 0. 1. ]] SLAMing on 2.75327356 meters Centerline goodness [0,1] 0.6701868399675062 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.07 [[ 0.99751921 -0.06230948 -0.03275602 0.33419806] [ 0.06179562 0.99795287 -0.01647357 -0.02127637] [ 0.03371543 0.01440853 0.99932761 -0.06529678] [ 0. 0. 0. 1. ]] SLAMing on 2.7832735599999996 meters Centerline goodness [0,1] 0.664106301861404 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.07 [[ 0.99751512 -0.06198225 -0.0334931 0.336203 ] [ 0.0614618 0.99797547 -0.01635245 -0.02083495] [ 0.03443886 0.01425327 0.99930516 -0.06575855] [ 0. 0. 0. 1. ]] SLAMing on 2.81327356 meters Centerline goodness [0,1] 0.6669927607121894 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.07 [[ 0.99751029 -0.06141193 -0.03466696 0.33955239] [ 0.06087878 0.99801318 -0.01623193 -0.01982337] [ 0.03559491 0.01408104 0.99926709 -0.06618836] [ 0. 0. 0. 1. ]] SLAMing on 2.8432735599999996 meters Centerline goodness [0,1] 0.6653631284916202 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.07 [[ 0.9975036 -0.06111597 -0.03537523 0.34135755] [ 0.06057153 0.99803135 -0.0162638 -0.01925504] [ 0.03629957 0.01408047 0.99924175 -0.06632288] [ 0. 0. 0. 1. ]] SLAMing on 2.87327356 meters Centerline goodness [0,1] 0.6692331382814907 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.07 [[ 0.99766961 -0.05803192 -0.03588379 0.34171934] [ 0.057631 0.99826452 -0.0121087 -0.02079069] [ 0.0365242 0.01001246 0.99928261 -0.06734929] [ 0. 0. 0. 1. ]] SLAMing on 2.9032735599999997 meters Centerline goodness [0,1] 0.6703425556269019 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.07 [[ 0.99766644 -0.05761554 -0.03663508 0.34365081] [ 0.05721247 0.99829041 -0.01195784 -0.0205531 ] [ 0.0372614 0.00983396 0.99925716 -0.06757871] [ 0. 0. 0. 1. ]] SLAMing on 2.9332735599999995 meters Centerline goodness [0,1] 0.6758969486978876 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99765672 -0.05730987 -0.03737176 0.34540815] [ 0.05690251 0.99830911 -0.01187522 -0.02024904] [ 0.03798914 0.00972085 0.99923087 -0.06768733] [ 0. 0. 0. 1. ]] SLAMing on 2.9632735599999998 meters Centerline goodness [0,1] 0.6756522468611057 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99764879 -0.05707819 -0.03793373 0.34701397] [ 0.05666652 0.99832294 -0.01184115 -0.01960125] [ 0.03854599 0.00966374 0.9992101 -0.06788364] [ 0. 0. 0. 1. ]] SLAMing on 2.9932735599999996 meters Centerline goodness [0,1] 0.6731026412571046 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99765085 -0.05658138 -0.03861777 0.34899042] [ 0.05617642 0.99835471 -0.01149299 -0.01981285] [ 0.03920452 0.00929658 0.99918796 -0.06839255] [ 0. 0. 0. 1. ]] SLAMing on 3.02327356 meters Centerline goodness [0,1] 0.6615106914745904 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99764563 -0.05609518 -0.03945278 0.35165326] [ 0.05571092 0.99838881 -0.01077351 -0.02065672] [ 0.03999355 0.0085502 0.99916335 -0.06954139] [ 0. 0. 0. 1. ]] SLAMing on 3.0532735599999996 meters Centerline goodness [0,1] 0.6663241216497708 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.9976411 -0.05584289 -0.03992258 0.35289192] [ 0.05547131 0.99840657 -0.01035629 -0.0211632 ] [ 0.04043729 0.0081173 0.99914911 -0.07001678] [ 0. 0. 0. 1. ]] SLAMing on 3.08327356 meters Centerline goodness [0,1] 0.6633776196564567 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99763795 -0.05569701 -0.04020406 0.35367846] [ 0.05533958 0.99841801 -0.00995006 -0.02188205] [ 0.04069465 0.00770168 0.99914195 -0.07046568] [ 0. 0. 0. 1. ]] SLAMing on 3.1132735599999997 meters Centerline goodness [0,1] 0.6595685610372304 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.07 [[ 0.99762938 -0.05570871 -0.04039996 0.35437597] [ 0.05536928 0.998421 -0.0094735 -0.02317078] [ 0.04086392 0.00721413 0.99913868 -0.07103855] [ 0. 0. 0. 1. ]] SLAMing on 3.14327356 meters Centerline goodness [0,1] 0.6567069118298626 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.07 [[ 0.99763143 -0.05544302 -0.04071362 0.35542255] [ 0.05511436 0.99843811 -0.00915181 -0.02410074] [ 0.04115744 0.00688623 0.99912894 -0.07142939] [ 0. 0. 0. 1. ]] SLAMing on 3.1732735599999997 meters Centerline goodness [0,1] 0.6537276478679505 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.07 [[ 0.99763092 -0.0550833 -0.04121131 0.35687351] [ 0.05476612 0.99846055 -0.00878694 -0.02494884] [ 0.04163188 0.00650914 0.99911181 -0.07180113] [ 0. 0. 0. 1. ]] SLAMing on 3.2032735599999995 meters Centerline goodness [0,1] 0.6532738095238095 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99762678 -0.05484821 -0.04162309 0.35775766] [ 0.05453873 0.99847517 -0.00853575 -0.0256915 ] [ 0.04202779 0.00624542 0.99909692 -0.0717213 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2332735599999998 meters Centerline goodness [0,1] 0.6516295543779688 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99762538 -0.05463321 -0.04193811 0.35860822] [ 0.05433529 0.99848898 -0.00821197 -0.02625571] [ 0.04232338 0.00591375 0.99908646 -0.07200254] [ 0. 0. 0. 1. ]] SLAMing on 3.2632735599999996 meters Centerline goodness [0,1] 0.6516063148597924 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99762798 -0.05444195 -0.04212467 0.35905549] [ 0.05415842 0.99850155 -0.00784372 -0.02725347] [ 0.04248857 0.00554371 0.99908157 -0.0721669 ] [ 0. 0. 0. 1. ]] SLAMing on 3.29327356 meters Centerline goodness [0,1] 0.6461804982676126 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99763491 -0.05420021 -0.04227194 0.35941893] [ 0.05393765 0.99851741 -0.00732817 -0.02918843] [ 0.04260646 0.00503079 0.99907927 -0.07218837] [ 0. 0. 0. 1. ]] SLAMing on 3.3232735599999996 meters Centerline goodness [0,1] 0.6442518048567053 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99763916 -0.05385483 -0.04261168 0.36043438] [ 0.05361429 0.99853878 -0.0067687 -0.03035366] [ 0.04291394 0.00446813 0.99906878 -0.07263104] [ 0. 0. 0. 1. ]] SLAMing on 3.35327356 meters Centerline goodness [0,1] 0.6448667528395808 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99763888 -0.05363025 -0.04290065 0.36112428] [ 0.05339658 0.99855174 -0.0065751 -0.03111316] [ 0.04319115 0.00426883 0.99905771 -0.07255744] [ 0. 0. 0. 1. ]] SLAMing on 3.3832735599999997 meters Centerline goodness [0,1] 0.6434551093788599 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99764562 -0.05326025 -0.04320369 0.36205465] [ 0.05304263 0.9985732 -0.00616873 -0.03186485] [ 0.0434706 0.00386257 0.99904724 -0.07284131] [ 0. 0. 0. 1. ]] SLAMing on 3.4132735599999995 meters Centerline goodness [0,1] 0.6399015451934911 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99766663 -0.05247051 -0.04368222 0.36384675] [ 0.05229272 0.99861824 -0.00520362 -0.03379683] [ 0.04389489 0.00290722 0.99903192 -0.07377772] [ 0. 0. 0. 1. ]] SLAMing on 3.4432735599999997 meters Centerline goodness [0,1] 0.6412444103042441 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 0.99767309 -0.05207444 -0.04400751 0.36492193] [ 0.05191364 0.99864009 -0.00478982 -0.03478508] [ 0.04419709 0.00249409 0.99901972 -0.07415076] [ 0. 0. 0. 1. ]] SLAMing on 3.4732735599999995 meters Centerline goodness [0,1] 0.6386892235371286 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.07 [[ 0.99768334 -0.05157874 -0.04435749 0.36628395] [ 0.0514436 0.99866714 -0.00418354 -0.03601609] [ 0.04451415 0.00189194 0.99900696 -0.07485404] [ 0. 0. 0. 1. ]] SLAMing on 3.50327356 meters Centerline goodness [0,1] 0.6405366844098117 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99769397 -0.05119334 -0.0445643 0.36710895] [ 0.05107493 0.99868762 -0.00379244 -0.0369014 ] [ 0.04469996 0.00150758 0.99899932 -0.07523108] [ 0. 0. 0. 1. ]] SLAMing on 3.5332735599999996 meters Centerline goodness [0,1] 0.6376491141866623 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97722634e-01 -5.04429053e-02 -4.47778898e-02 3.68309898e-01] [ 5.03524079e-02 9.98726554e-01 -3.14735624e-03 -3.82493097e-02] [ 4.48796294e-02 8.85513985e-04 9.98992009e-01 -7.58187366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56327356 meters Centerline goodness [0,1] 0.6382903181756111 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97726753e-01 -5.01579153e-02 -4.50056621e-02 3.68836272e-01] [ 5.00740900e-02 9.98741034e-01 -2.98871150e-03 -3.86319972e-02] [ 4.50989091e-02 7.28299847e-04 9.98982261e-01 -7.56884631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5932735599999996 meters Centerline goodness [0,1] 0.6382803943044907 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97734895e-01 -4.97587739e-02 -4.52674670e-02 3.69585587e-01] [ 4.96864651e-02 9.98761156e-01 -2.72183418e-03 -3.91695923e-02] [ 4.53468228e-02 4.66488526e-04 9.98971195e-01 -7.57009360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6232735599999994 meters Centerline goodness [0,1] 0.6389577825624813 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97749693e-01 -4.92362401e-02 -4.55120096e-02 3.70083426e-01] [ 4.91802430e-02 9.98787155e-01 -2.34997027e-03 -4.04347411e-02] [ 4.55725143e-02 1.06390422e-04 9.98961028e-01 -7.53406168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6532735599999997 meters Centerline goodness [0,1] 0.639513644666176 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97755141e-01 -4.89634932e-02 -4.56864901e-02 3.70460171e-01] [ 4.89146359e-02 9.98800567e-01 -2.18741713e-03 -4.11268619e-02] [ 4.57387958e-02 -5.22313364e-05 9.98953432e-01 -7.51116745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6832735599999995 meters Centerline goodness [0,1] 0.6377260981912145 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97778084e-01 -4.83351096e-02 -4.58542518e-02 3.71207059e-01] [ 4.83177567e-02 9.98830908e-01 -1.48738075e-03 -4.30726847e-02] [ 4.58725367e-02 -7.31498669e-04 9.98947033e-01 -7.53952622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7132735599999998 meters Centerline goodness [0,1] 0.6391235624352756 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 9.97792879e-01 -4.77828330e-02 -4.61104305e-02 3.72251570e-01] [ 4.77936642e-02 9.98856853e-01 -8.68185280e-04 -4.45698715e-02] [ 4.60992038e-02 -1.33751734e-03 9.98935971e-01 -7.58617174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7432735599999996 meters Centerline goodness [0,1] 0.6387016093953892 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.08 [[ 9.97799907e-01 -4.73672509e-02 -4.63863117e-02 3.73225505e-01] [ 4.73985203e-02 9.98875968e-01 -4.26192243e-04 -4.58654401e-02] [ 4.63543595e-02 -1.77338795e-03 9.98923485e-01 -7.61783065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77327356 meters Centerline goodness [0,1] 0.6364844703648447 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 9.97828523e-01 -4.63747959e-02 -4.67719648e-02 3.75015841e-01] [ 4.64599040e-02 9.98919886e-01 7.33592801e-04 -4.85550157e-02] [ 4.66874255e-02 -2.90502082e-03 9.98905323e-01 -7.72141977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8032735599999996 meters Centerline goodness [0,1] 0.6391147121998967 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.99784522 -0.04584897 -0.04693387 0.37592668] [ 0.04596116 0.99894236 0.00131352 -0.04980687] [ 0.04682401 -0.00346783 0.99889713 -0.07777914] [ 0. 0. 0. 1. ]] SLAMing on 3.83327356 meters Centerline goodness [0,1] 0.6348337443429717 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.9978581 -0.0451602 -0.04732621 0.37732573] [ 0.04529852 0.99897178 0.0018538 -0.05090013] [ 0.04719383 -0.00399364 0.99887777 -0.0781581 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8632735599999997 meters Centerline goodness [0,1] 0.6395484202831849 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.99788728 -0.04392752 -0.04786796 0.37932414] [ 0.04410571 0.9990233 0.00267227 -0.05209656] [ 0.04770382 -0.00477788 0.9988501 -0.07861232] [ 0. 0. 0. 1. ]] SLAMing on 3.8932735599999995 meters Centerline goodness [0,1] 0.6428397302202118 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.99789451 -0.0434713 -0.04813312 0.38008849] [ 0.04366186 0.99904212 0.00291414 -0.05255853] [ 0.04796033 -0.00500958 0.99883668 -0.07857114] [ 0. 0. 0. 1. ]] SLAMing on 3.9232735599999997 meters Centerline goodness [0,1] 0.6827186255115038 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.99789775 -0.04307755 -0.04841911 0.3807135 ] [ 0.04327876 0.99905818 0.00311429 -0.0531671 ] [ 0.04823935 -0.00520326 0.99882225 -0.07832437] [ 0. 0. 0. 1. ]] SLAMing on 3.9532735599999995 meters Centerline goodness [0,1] 0.6828958051420839 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.08 [[ 0.99790535 -0.04267208 -0.0486211 0.38123712] [ 0.04288806 0.99907407 0.00340709 -0.05399137] [ 0.04843069 -0.00548522 0.99881148 -0.07824431] [ 0. 0. 0. 1. ]] SLAMing on 3.9832735599999998 meters Centerline goodness [0,1] 0.6840071343638525 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99791624 -0.04214944 -0.04885277 0.38165653] [ 0.04238673 0.99909393 0.0038311 -0.05578113] [ 0.04864703 -0.00589383 0.99879864 -0.07784242] [ 0. 0. 0. 1. ]] SLAMing on 4.01327356 meters Centerline goodness [0,1] 0.6842375445801362 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99792208 -0.04175127 -0.04907489 0.38226066] [ 0.04200525 0.99910875 0.00415506 -0.05689217] [ 0.04885767 -0.00620783 0.99878646 -0.0778054 ] [ 0. 0. 0. 1. ]] SLAMing on 4.043273559999999 meters Centerline goodness [0,1] 0.6836462570374162 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99792258 -0.04141034 -0.04935291 0.38298653] [ 0.04167963 0.99912116 0.00443941 -0.05774269] [ 0.0491257 -0.0064872 0.99877154 -0.07781057] [ 0. 0. 0. 1. ]] SLAMing on 4.07327356 meters Centerline goodness [0,1] 0.6836946277097078 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99793611 -0.04064918 -0.0497108 0.38408521] [ 0.04095057 0.99914837 0.005059 -0.05943637] [ 0.04946283 -0.00708425 0.99875084 -0.07785262] [ 0. 0. 0. 1. ]] SLAMing on 4.10327356 meters Centerline goodness [0,1] 0.6869897890454508 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99793897 -0.04029856 -0.04993834 0.38469257] [ 0.04061484 0.99916064 0.00533453 -0.06033401] [ 0.04968145 -0.00735177 0.99873806 -0.0777971 ] [ 0. 0. 0. 1. ]] SLAMing on 4.133273559999999 meters Centerline goodness [0,1] 0.6855657607670967 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.08 [[ 0.99794128 -0.0399784 -0.05014913 0.38525137] [ 0.04031285 0.99917099 0.00567507 -0.06141345] [ 0.04988067 -0.00768504 0.99872562 -0.0778057 ] [ 0. 0. 0. 1. ]] SLAMing on 4.1632735599999995 meters Centerline goodness [0,1] 0.683452464126404 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.08 [[ 0.99795521 -0.03933179 -0.05038257 0.38630359] [ 0.03970968 0.99918998 0.0065212 -0.06432111] [ 0.05008527 -0.00850854 0.9987087 -0.07830586] [ 0. 0. 0. 1. ]] SLAMing on 4.19327356 meters Centerline goodness [0,1] 0.683589454769759 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99796236 -0.03900005 -0.05049875 0.38692753] [ 0.03940115 0.99919915 0.00697137 -0.06575648] [ 0.05018643 -0.00894688 0.99869979 -0.07866928] [ 0. 0. 0. 1. ]] SLAMing on 4.22327356 meters Centerline goodness [0,1] 0.6829189884269181 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99797223 -0.03869367 -0.05053939 0.38737061] [ 0.03911699 0.99920714 0.00741367 -0.06703544] [ 0.05021246 -0.00937558 0.99869455 -0.07903865] [ 0. 0. 0. 1. ]] SLAMing on 4.253273559999999 meters Centerline goodness [0,1] 0.6822615219721329 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99798072 -0.03826546 -0.05069743 0.38778571] [ 0.03871802 0.99921836 0.00797454 -0.06885194] [ 0.05035265 -0.00992134 0.99868222 -0.07905466] [ 0. 0. 0. 1. ]] SLAMing on 4.28327356 meters Centerline goodness [0,1] 0.6847133757961783 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99798231 -0.0379873 -0.05087506 0.38821872] [ 0.03845496 0.99922632 0.00824485 -0.06988185] [ 0.0505225 -0.01018461 0.99867099 -0.07895564] [ 0. 0. 0. 1. ]] SLAMing on 4.31327356 meters Centerline goodness [0,1] 0.6812628652391264 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99799193 -0.03765145 -0.05093602 0.38845528] [ 0.03814598 0.99923368 0.00877154 -0.07179073] [ 0.05056673 -0.01069693 0.9986634 -0.07901956] [ 0. 0. 0. 1. ]] SLAMing on 4.34327356 meters Centerline goodness [0,1] 0.6809354049164626 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99798612 -0.03752218 -0.05114477 0.38871898] [ 0.03802338 0.99923756 0.00886168 -0.07284025] [ 0.05077327 -0.01078853 0.99865193 -0.07860319] [ 0. 0. 0. 1. ]] SLAMing on 4.3732735599999994 meters Centerline goodness [0,1] 0.6792201566078944 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99798826 -0.03748252 -0.05113204 0.38858598] [ 0.03799071 0.99923754 0.00900302 -0.07381468] [ 0.05075559 -0.01092745 0.99865132 -0.07840527] [ 0. 0. 0. 1. ]] SLAMing on 4.40327356 meters Centerline goodness [0,1] 0.6799882769829217 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.08 [[ 0.99798665 -0.03749712 -0.05115291 0.38847231] [ 0.03801005 0.999236 0.00909132 -0.07464108] [ 0.05077293 -0.01101734 0.99864945 -0.07820205] [ 0. 0. 0. 1. ]] SLAMing on 4.43327356 meters Centerline goodness [0,1] 0.6794421377621633 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.9979881 -0.03753051 -0.05110011 0.38824195] [ 0.03804594 0.99923409 0.00915122 -0.07545709] [ 0.05071752 -0.01107696 0.99865161 -0.07800497] [ 0. 0. 0. 1. ]] SLAMing on 4.463273559999999 meters Centerline goodness [0,1] 0.6765213237440619 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.99798866 -0.03756437 -0.05106422 0.38793686] [ 0.03808804 0.99923092 0.00932048 -0.0772101 ] [ 0.05067483 -0.01124667 0.99865188 -0.07764187] [ 0. 0. 0. 1. ]] SLAMing on 4.4932735599999996 meters Centerline goodness [0,1] 0.6751788896869098 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.99798917 -0.03759345 -0.0510329 0.38781354] [ 0.03812609 0.99922774 0.00950396 -0.07830837] [ 0.05063621 -0.01143054 0.99865175 -0.0776055 ] [ 0. 0. 0. 1. ]] SLAMing on 4.52327356 meters Centerline goodness [0,1] 0.6742184802528486 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.99798915 -0.0376862 -0.05096481 0.38772283] [ 0.0382259 0.99922247 0.00965634 -0.07947811] [ 0.05056127 -0.01158509 0.99865377 -0.07768672] [ 0. 0. 0. 1. ]] SLAMing on 4.55327356 meters Centerline goodness [0,1] 0.6695171026156941 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.99798368 -0.03767322 -0.05108129 0.38802524] [ 0.03822432 0.99922059 0.00985469 -0.08076009] [ 0.05067022 -0.01178737 0.99864588 -0.07770629] [ 0. 0. 0. 1. ]] SLAMing on 4.583273559999999 meters Centerline goodness [0,1] 0.6652593005656018 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.9979817 -0.03783398 -0.05100119 0.38790801] [ 0.03840978 0.9992084 0.01035719 -0.08299222] [ 0.05056897 -0.01229523 0.99864489 -0.07811097] [ 0. 0. 0. 1. ]] SLAMing on 4.61327356 meters Centerline goodness [0,1] 0.6652593005656018 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.9979817 -0.03783398 -0.05100119 0.38790801] [ 0.03840978 0.9992084 0.01035719 -0.08299222] [ 0.05056897 -0.01229523 0.99864489 -0.07811097] [ 0. 0. 0. 1. ]] SLAMing on 4.64327356 meters Centerline goodness [0,1] 0.6644469795452737 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.08 [[ 0.99798317 -0.03795492 -0.05088239 0.38778127] [ 0.03853932 0.99920135 0.01055361 -0.08400177] [ 0.05044119 -0.0124933 0.99864889 -0.07837483] [ 0. 0. 0. 1. ]] SLAMing on 4.673273559999999 meters Centerline goodness [0,1] 0.6615425461303597 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99798082 -0.03802025 -0.05087972 0.38769274] [ 0.03861744 0.99919564 0.01080571 -0.08562961] [ 0.05042796 -0.01274873 0.99864633 -0.07829134] [ 0. 0. 0. 1. ]] SLAMing on 4.7032735599999995 meters Centerline goodness [0,1] 0.6611028553232141 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99797792 -0.03812699 -0.05085671 0.38754498] [ 0.03872098 0.99919228 0.01074581 -0.08593878] [ 0.05040593 -0.0126933 0.99864815 -0.07814679] [ 0. 0. 0. 1. ]] SLAMing on 4.73327356 meters Centerline goodness [0,1] 0.7358725614927906 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99797351 -0.03826546 -0.05083928 0.38709141] [ 0.03885032 0.99918918 0.01056584 -0.08618457] [ 0.05039375 -0.01251955 0.99865096 -0.07756368] [ 0. 0. 0. 1. ]] SLAMing on 4.76327356 meters Centerline goodness [0,1] 0.7384562370778773 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99796835 -0.03832557 -0.05089517 0.38696343] [ 0.038902 0.99918908 0.01038368 -0.08605585] [ 0.05045594 -0.0123425 0.99865002 -0.07716087] [ 0. 0. 0. 1. ]] SLAMing on 4.793273559999999 meters Centerline goodness [0,1] 0.7368909635837997 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99796492 -0.03842973 -0.05088398 0.38668429] [ 0.03899716 0.9991872 0.01020564 -0.08596445] [ 0.05045043 -0.0121692 0.99865242 -0.07677484] [ 0. 0. 0. 1. ]] SLAMing on 4.82327356 meters Centerline goodness [0,1] 0.7345582174479512 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99796126 -0.03831566 -0.05104152 0.38683934] [ 0.03888126 0.99919245 0.01013427 -0.08621911] [ 0.050612 -0.01209817 0.99864511 -0.07633924] [ 0. 0. 0. 1. ]] SLAMing on 4.85327356 meters Centerline goodness [0,1] 0.7320037229091876 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99795704 -0.03826029 -0.05116531 0.38714721] [ 0.03882628 0.99919479 0.01011392 -0.08625648] [ 0.05073715 -0.01207982 0.99863898 -0.07632069] [ 0. 0. 0. 1. ]] SLAMing on 4.883273559999999 meters Centerline goodness [0,1] 0.7197822623473181 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99795284 -0.03822956 -0.05127009 0.38747868] [ 0.03879402 0.99919659 0.01005972 -0.08624838] [ 0.05084432 -0.0120281 0.99863416 -0.0763575 ] [ 0. 0. 0. 1. ]] SLAMing on 4.9132735599999995 meters Centerline goodness [0,1] 0.7401999893622679 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99794949 -0.03807982 -0.05144654 0.38803353] [ 0.0386483 0.99920183 0.01010033 -0.08629599] [ 0.05102085 -0.01206794 0.99862467 -0.0764495 ] [ 0. 0. 0. 1. ]] SLAMing on 4.94327356 meters Centerline goodness [0,1] 0.7389461901335252 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.9979553 -0.03778008 -0.05155459 0.38866079] [ 0.03836339 0.99921003 0.01037172 -0.08638013] [ 0.05112202 -0.01232832 0.99861632 -0.07691911] [ 0. 0. 0. 1. ]] SLAMing on 4.97327356 meters Centerline goodness [0,1] 0.7343076185912794 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99794847 -0.03791823 -0.05158545 0.38869312] [ 0.03849092 0.99920736 0.01015361 -0.08595987] [ 0.05115955 -0.01211836 0.99861697 -0.07678101] [ 0. 0. 0. 1. ]] SLAMing on 5.003273559999999 meters Centerline goodness [0,1] 0.7386254661694193 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99794776 -0.0378938 -0.05161719 0.38872151] [ 0.03846595 0.9992085 0.01013628 -0.08598598] [ 0.05119223 -0.01210098 0.9986155 -0.07665478] [ 0. 0. 0. 1. ]] SLAMing on 5.03327356 meters Centerline goodness [0,1] 0.7264541832669322 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99795046 -0.03788926 -0.05156828 0.38900182] [ 0.03847323 0.99920573 0.01037885 -0.08658039] [ 0.05113408 -0.01234158 0.99861554 -0.07726658] [ 0. 0. 0. 1. ]] SLAMing on 5.06327356 meters Centerline goodness [0,1] 0.7528922535586714 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99794815 -0.03805515 -0.05149079 0.38884258] [ 0.03863928 0.99919914 0.01039666 -0.08705757] [ 0.0510539 -0.01236489 0.99861935 -0.07735851] [ 0. 0. 0. 1. ]] SLAMing on 5.093273559999999 meters Centerline goodness [0,1] 0.7474903064747438 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99794587 -0.03822386 -0.05140988 0.38870633] [ 0.03881099 0.99919171 0.01047091 -0.08779119] [ 0.05096809 -0.01244467 0.99862274 -0.07748612] [ 0. 0. 0. 1. ]] SLAMing on 5.1232735599999994 meters Centerline goodness [0,1] 0.7323581630760262 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99793271 -0.03891815 -0.05114374 0.38761509] [ 0.0394969 0.99916604 0.01035426 -0.08892631] [ 0.05069812 -0.01235288 0.99863763 -0.07721198] [ 0. 0. 0. 1. ]] SLAMing on 5.15327356 meters Centerline goodness [0,1] 0.7424302630533259 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99792761 -0.03929872 -0.0509519 0.38680815] [ 0.03986553 0.99915344 0.0101558 -0.08938109] [ 0.05050966 -0.01216598 0.99864947 -0.07677728] [ 0. 0. 0. 1. ]] SLAMing on 5.18327356 meters Centerline goodness [0,1] 0.7419029682484947 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.08 [[ 0.99792426 -0.0396033 -0.05078136 0.38610593] [ 0.04016355 0.99914248 0.01005963 -0.08992904] [ 0.05033942 -0.0120783 0.99865913 -0.07642692] [ 0. 0. 0. 1. ]] SLAMing on 5.213273559999999 meters Centerline goodness [0,1] 0.7282146160962072 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.08 [[ 0.99790342 -0.04041349 -0.05055219 0.38446033] [ 0.04094694 0.99911557 0.00956129 -0.09056796] [ 0.05012107 -0.0116112 0.99867565 -0.07519302] [ 0. 0. 0. 1. ]] SLAMing on 5.2432735599999996 meters Centerline goodness [0,1] 0.734162806088683 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.07 [[ 0.99789377 -0.04091543 -0.05033835 0.38340394] [ 0.04143742 0.99909717 0.00936964 -0.09096937] [ 0.04990954 -0.0114358 0.99868827 -0.07468434] [ 0. 0. 0. 1. ]] SLAMing on 5.27327356 meters Centerline goodness [0,1] 0.7315710009800546 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.07 [[ 0.99788611 -0.04127226 -0.05019882 0.38262032] [ 0.04178969 0.99908313 0.00930155 -0.09180532] [ 0.0497689 -0.01137968 0.99869593 -0.07420346] [ 0. 0. 0. 1. ]] SLAMing on 5.303273559999999 meters Centerline goodness [0,1] 0.7165050595788528 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.07 [[ 0.99786133 -0.04206571 -0.05003244 0.3814084 ] [ 0.04257762 0.99905071 0.00920963 -0.09379888] [ 0.04959754 -0.0113202 0.99870513 -0.07353808] [ 0. 0. 0. 1. ]] SLAMing on 5.333273559999999 meters Centerline goodness [0,1] 0.7232135796937189 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.07 [[ 0.997856 -0.04216236 -0.05005728 0.38154306] [ 0.0426855 0.99904407 0.00942789 -0.09521966] [ 0.04961192 -0.01154439 0.99870185 -0.07368135] [ 0. 0. 0. 1. ]] SLAMing on 5.36327356 meters Centerline goodness [0,1] 0.7176436600483245 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.07 [[ 0.9978532 -0.04220388 -0.05007813 0.38183733] [ 0.04274109 0.99903905 0.00970494 -0.09658166] [ 0.04962042 -0.0118245 0.99869815 -0.07405411] [ 0. 0. 0. 1. ]] SLAMing on 5.39327356 meters Centerline goodness [0,1] 0.7289052244683645 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.07 [[ 0.99785178 -0.04221276 -0.0500989 0.38223845] [ 0.0427863 0.99902979 0.01043091 -0.09946282] [ 0.04960998 -0.01255205 0.99868979 -0.07482361] [ 0. 0. 0. 1. ]] SLAMing on 5.423273559999999 meters Centerline goodness [0,1] 0.7222251377591183 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.08 [[ 0.99785084 -0.04221767 -0.05011348 0.38235482] [ 0.04280565 0.99902593 0.01071779 -0.10058439] [ 0.04961219 -0.01283989 0.99868602 -0.07501939] [ 0. 0. 0. 1. ]] SLAMing on 5.4532735599999995 meters Centerline goodness [0,1] 0.7188349007314525 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.08 [[ 0.99784747 -0.04203839 -0.05033085 0.38302093] [ 0.04263707 0.99903138 0.0108804 -0.10140477] [ 0.04982471 -0.01300294 0.99867333 -0.07510411] [ 0. 0. 0. 1. ]] SLAMing on 5.48327356 meters Centerline goodness [0,1] 0.7136206716183702 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.08 [[ 0.99785619 -0.04178837 -0.05036624 0.38313264] [ 0.0424074 0.99903667 0.01128483 -0.10275327] [ 0.04984615 -0.01339654 0.99866706 -0.07510165] [ 0. 0. 0. 1. ]] SLAMing on 5.51327356 meters Centerline goodness [0,1] 0.7169461421929687 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.08 [[ 0.99786246 -0.04159179 -0.0504047 0.38334746] [ 0.0422244 0.99904138 0.0115509 -0.10368995] [ 0.04987596 -0.01365452 0.99866208 -0.07517376] [ 0. 0. 0. 1. ]] SLAMing on 5.543273559999999 meters Centerline goodness [0,1] 0.7135587912948176 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.07 [[ 0.99785999 -0.04171823 -0.05034899 0.38296515] [ 0.0423486 0.9990365 0.01151838 -0.10433012] [ 0.04981995 -0.01362594 0.99866526 -0.07480205] [ 0. 0. 0. 1. ]] SLAMing on 5.57327356 meters Centerline goodness [0,1] 0.7182743753571244 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.99784997 -0.04198341 -0.05032725 0.38207836] [ 0.0426081 0.99902678 0.01140405 -0.10599346] [ 0.04979949 -0.01352388 0.99866767 -0.07364175] [ 0. 0. 0. 1. ]] SLAMing on 5.60327356 meters Centerline goodness [0,1] 0.718893169512703 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.9978469 -0.04198484 -0.05038682 0.38197774] [ 0.04261297 0.99902596 0.01145699 -0.10673667] [ 0.04985672 -0.01357946 0.99866406 -0.07328836] [ 0. 0. 0. 1. ]] SLAMing on 5.633273559999999 meters Centerline goodness [0,1] 0.7199502087601463 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.99784375 -0.04180359 -0.0505996 0.38237124] [ 0.04244314 0.99903118 0.01163125 -0.10793313] [ 0.05006435 -0.01375378 0.99865129 -0.07305294] [ 0. 0. 0. 1. ]] SLAMing on 5.6632735599999995 meters Centerline goodness [0,1] 0.7216272979490237 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.99784499 -0.04150439 -0.05082094 0.38302864] [ 0.04215585 0.99904119 0.01181431 -0.10845219] [ 0.05028187 -0.01393125 0.9986379 -0.07308666] [ 0. 0. 0. 1. ]] SLAMing on 5.69327356 meters Centerline goodness [0,1] 0.724887536729334 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.99784743 -0.04123092 -0.05099521 0.38352641] [ 0.04189433 0.99904987 0.0120089 -0.10872052] [ 0.05045162 -0.01411946 0.99862669 -0.07315848] [ 0. 0. 0. 1. ]] SLAMing on 5.72327356 meters Centerline goodness [0,1] 0.7238001195333004 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.99784514 -0.0411303 -0.05112128 0.38390854] [ 0.04179264 0.99905478 0.0119551 -0.10871976] [ 0.05058124 -0.01406583 0.99862089 -0.07313554] [ 0. 0. 0. 1. ]] SLAMing on 5.753273559999999 meters Centerline goodness [0,1] 0.7232691360584774 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.07 [[ 0.9978431 -0.04093175 -0.05132003 0.3844639 ] [ 0.04159665 0.99906296 0.01195521 -0.10885658] [ 0.05078259 -0.01406416 0.9986107 -0.07304739] [ 0. 0. 0. 1. ]] SLAMing on 5.78327356 meters Centerline goodness [0,1] 0.7241754822650902 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99785651 -0.04034284 -0.05152518 0.38541434] [ 0.04102732 0.99908236 0.01229624 -0.109255 ] [ 0.05098184 -0.01438383 0.99859599 -0.07338936] [ 0. 0. 0. 1. ]] SLAMing on 5.81327356 meters Centerline goodness [0,1] 0.7201699393813792 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99785923 -0.04004851 -0.05170174 0.38598528] [ 0.04073987 0.99909299 0.01238785 -0.10944119] [ 0.05115873 -0.01446766 0.99858574 -0.07337048] [ 0. 0. 0. 1. ]] SLAMing on 5.843273559999999 meters Centerline goodness [0,1] 0.7332626515993897 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99787104 -0.03951538 -0.05188366 0.38686047] [ 0.04022492 0.9991099 0.01270299 -0.10976955] [ 0.05133552 -0.01476296 0.99857234 -0.07369815] [ 0. 0. 0. 1. ]] SLAMing on 5.8732735599999994 meters Centerline goodness [0,1] 0.731798382078407 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99787128 -0.03925622 -0.05207559 0.38742026] [ 0.03997352 0.99911869 0.01280455 -0.10973973] [ 0.05152704 -0.01485893 0.99856105 -0.07374104] [ 0. 0. 0. 1. ]] SLAMing on 5.90327356 meters Centerline goodness [0,1] 0.7255359411048035 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.9978706 -0.03904695 -0.05224554 0.38789609] [ 0.03976162 0.99912836 0.01270995 -0.10939929] [ 0.05170372 -0.01476025 0.99855338 -0.07361974] [ 0. 0. 0. 1. ]] SLAMing on 5.93327356 meters Centerline goodness [0,1] 0.7267455406839776 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99787084 -0.03866385 -0.05252513 0.38871366] [ 0.03938442 0.99914275 0.01275304 -0.10914474] [ 0.05198702 -0.01479456 0.99853817 -0.07360226] [ 0. 0. 0. 1. ]] SLAMing on 5.963273559999999 meters Centerline goodness [0,1] 0.7336034702200057 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99787089 -0.03841925 -0.05270332 0.38915379] [ 0.03913849 0.9991533 0.01268309 -0.10881055] [ 0.05217142 -0.01471881 0.99852967 -0.07342926] [ 0. 0. 0. 1. ]] SLAMing on 5.9932735599999996 meters Centerline goodness [0,1] 0.7331696601628117 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.9978679 -0.03799145 -0.05306889 0.38984164] [ 0.03870218 0.99917348 0.01242935 -0.10806054] [ 0.05255282 -0.01445673 0.9985135 -0.07277469] [ 0. 0. 0. 1. ]] SLAMing on 6.02327356 meters Centerline goodness [0,1] 0.7382170401724273 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.9978624 -0.03774866 -0.05334487 0.3903422 ] [ 0.03845576 0.99918471 0.01229117 -0.10743539] [ 0.05283741 -0.01431632 0.9985005 -0.0724431 ] [ 0. 0. 0. 1. ]] SLAMing on 6.053273559999999 meters Centerline goodness [0,1] 0.745677533590251 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99786265 -0.0374125 -0.05357642 0.39103047] [ 0.03811823 0.99919862 0.01221118 -0.10682102] [ 0.05307663 -0.01422732 0.99848909 -0.07236243] [ 0. 0. 0. 1. ]] SLAMing on 6.083273559999999 meters Centerline goodness [0,1] 0.7456176853055917 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.07 [[ 0.99786484 -0.03670749 -0.05402147 0.39224416] [ 0.03740919 0.99922755 0.01203565 -0.10546419] [ 0.05353795 -0.01403085 0.99846724 -0.07206751] [ 0. 0. 0. 1. ]] SLAMing on 6.11327356 meters Centerline goodness [0,1] 0.7420237010027347 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.07 [[ 0.99786156 -0.03641019 -0.0542826 0.39298417] [ 0.03710912 0.99924008 0.01192345 -0.10467111] [ 0.05380721 -0.01391233 0.99845442 -0.0720228 ] [ 0. 0. 0. 1. ]] SLAMing on 6.14327356 meters Centerline goodness [0,1] 0.7487085833550744 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.07 [[ 0.997864 -0.03597277 -0.05452888 0.39397517] [ 0.03667033 0.9992572 0.01184605 -0.10385651] [ 0.05406224 -0.01382034 0.99844192 -0.07218306] [ 0. 0. 0. 1. ]] SLAMing on 6.173273559999999 meters Centerline goodness [0,1] 0.7553881565181 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.07 [[ 0.99800769 -0.03168621 -0.05455854 0.39426589] [ 0.03260818 0.99933866 0.01609211 -0.10440735] [ 0.05401256 -0.0178391 0.99838089 -0.07297318] [ 0. 0. 0. 1. ]] SLAMing on 6.2032735599999995 meters Centerline goodness [0,1] 0.7668997668997669 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.07 [[ 0.99800553 -0.03129258 -0.05482459 0.39513488] [ 0.03220738 0.99935501 0.01588251 -0.10314173] [ 0.05429222 -0.01761659 0.99836968 -0.07293947] [ 0. 0. 0. 1. ]] SLAMing on 6.23327356 meters Centerline goodness [0,1] 0.7648543485119361 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.07 [[ 0.99800639 -0.03083291 -0.0550689 0.39592031] [ 0.03173684 0.99937426 0.01561596 -0.10154055] [ 0.05455295 -0.01733254 0.99836043 -0.07279172] [ 0. 0. 0. 1. ]] SLAMing on 6.26327356 meters Centerline goodness [0,1] 0.7952131875099064 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.07 [[ 0.99812692 -0.02658742 -0.05509781 0.395797 ] [ 0.02768523 0.99943117 0.01925809 -0.10019224] [ 0.05455445 -0.02074741 0.99829523 -0.07272288] [ 0. 0. 0. 1. ]] SLAMing on 6.293273559999999 meters Centerline goodness [0,1] 0.7968923712213458 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.07 [[ 0.99812502 -0.02620067 -0.05531703 0.39635755] [ 0.02728156 0.99944955 0.01887602 -0.09845977] [ 0.05479202 -0.02034976 0.9982904 -0.07231336] [ 0. 0. 0. 1. ]] SLAMing on 6.32327356 meters Centerline goodness [0,1] 0.7885314165981487 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.07 [[ 0.9981221 -0.0259855 -0.05547092 0.39672794] [ 0.0270438 0.99946464 0.01841384 -0.09659616] [ 0.05496273 -0.0198794 0.99829049 -0.0719536 ] [ 0. 0. 0. 1. ]] SLAMing on 6.35327356 meters Centerline goodness [0,1] 0.7975152630035458 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99813566 -0.02480891 -0.05576481 0.39805246] [ 0.02586401 0.99949834 0.01827913 -0.09421314] [ 0.05528335 -0.01968735 0.99827659 -0.07179693] [ 0. 0. 0. 1. ]] SLAMing on 6.383273559999999 meters Centerline goodness [0,1] 0.8090528616746194 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99812735 -0.02458998 -0.05601014 0.39875381] [ 0.02562863 0.99951123 0.01790166 -0.09280444] [ 0.05554256 -0.0193036 0.9982697 -0.07164333] [ 0. 0. 0. 1. ]] SLAMing on 6.4132735599999995 meters Centerline goodness [0,1] 0.8122913383723726 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99812598 -0.0243876 -0.05612283 0.39913647] [ 0.02541223 0.99952183 0.0176161 -0.09178345] [ 0.05566638 -0.01900929 0.99826845 -0.07147003] [ 0. 0. 0. 1. ]] SLAMing on 6.44327356 meters Centerline goodness [0,1] 0.8147119314084244 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.9981216 -0.02392157 -0.05640062 0.40000524] [ 0.02493365 0.99953924 0.01730939 -0.09003961] [ 0.05596057 -0.01868315 0.99825816 -0.07128921] [ 0. 0. 0. 1. ]] SLAMing on 6.47327356 meters Centerline goodness [0,1] 0.8146396215826185 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99811432 -0.02380835 -0.05657701 0.40053254] [ 0.02480765 0.99954724 0.01702643 -0.08876723] [ 0.05614603 -0.01839787 0.99825305 -0.07124911] [ 0. 0. 0. 1. ]] SLAMing on 6.503273559999999 meters Centerline goodness [0,1] 0.815513963638311 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99810906 -0.02344425 -0.05682147 0.40142533] [ 0.02443371 0.99956059 0.01678173 -0.08730823] [ 0.05640307 -0.01813835 0.9982433 -0.07128964] [ 0. 0. 0. 1. ]] SLAMing on 6.53327356 meters Centerline goodness [0,1] 0.815513963638311 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99810906 -0.02344425 -0.05682147 0.40142533] [ 0.02443371 0.99956059 0.01678173 -0.08730823] [ 0.05640307 -0.01813835 0.9982433 -0.07128964] [ 0. 0. 0. 1. ]] SLAMing on 6.56327356 meters Centerline goodness [0,1] 0.8184183003030384 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.07 [[ 0.99810127 -0.02303468 -0.05712502 0.40230116] [ 0.02400654 0.99957751 0.01638534 -0.08565968] [ 0.05672346 -0.01772561 0.99823256 -0.07098145] [ 0. 0. 0. 1. ]] SLAMing on 6.593273559999999 meters Centerline goodness [0,1] 0.8219855867484135 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.07 [[ 0.99818904 -0.01889688 -0.05710992 0.40241922] [ 0.02007545 0.99959571 0.02013413 -0.08479873] [ 0.05670636 -0.02124417 0.99816485 -0.071338 ] [ 0. 0. 0. 1. ]] SLAMing on 6.6232735599999994 meters Centerline goodness [0,1] 0.8255601525979259 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.07 [[ 0.99818119 -0.01855778 -0.05735789 0.40330157] [ 0.0197144 0.99961224 0.01966522 -0.08286371] [ 0.0569707 -0.02076023 0.99815998 -0.07120641] [ 0. 0. 0. 1. ]] SLAMing on 6.65327356 meters Centerline goodness [0,1] 0.8233178560884619 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.07 [[ 0.99816972 -0.01840452 -0.0576063 0.40383546] [ 0.01953075 0.99962777 0.01904896 -0.08087079] [ 0.05723428 -0.02013919 0.99815763 -0.07073635] [ 0. 0. 0. 1. ]] SLAMing on 6.68327356 meters Centerline goodness [0,1] 0.8199892241379311 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.07 [[ 0.99818452 -0.0172949 -0.05769358 0.40493893] [ 0.01840858 0.99965325 0.01882814 -0.07769662] [ 0.05734794 -0.01985602 0.99815678 -0.0708404 ] [ 0. 0. 0. 1. ]] SLAMing on 6.713273559999999 meters Centerline goodness [0,1] 0.8199252266064176 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.07 [[ 0.99817672 -0.01736189 -0.05780828 0.40512058] [ 0.01843401 0.99966687 0.01806478 -0.07569344] [ 0.05747538 -0.01909748 0.99816425 -0.07030514] [ 0. 0. 0. 1. ]] SLAMing on 6.7432735599999996 meters Centerline goodness [0,1] 0.8196553581044695 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.07 [[ 0.99816542 -0.01738784 -0.05799537 0.40542424] [ 0.01843098 0.99967696 0.01750043 -0.07391203] [ 0.05767234 -0.01853724 0.99816345 -0.06989366] [ 0. 0. 0. 1. ]] SLAMing on 6.77327356 meters Centerline goodness [0,1] 0.8166278376767622 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.07 [[ 0.99816279 -0.01726744 -0.0580765 0.40556366] [ 0.01826332 0.99969439 0.01666088 -0.0707735 ] [ 0.05777106 -0.01769094 0.9981731 -0.06927878] [ 0. 0. 0. 1. ]] SLAMing on 6.803273559999999 meters Centerline goodness [0,1] 0.8165949500690103 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.07 [[ 0.99814974 -0.0175276 -0.0582226 0.40567128] [ 0.01848164 0.99970295 0.01588819 -0.06899722] [ 0.05792682 -0.01693485 0.99817719 -0.06870823] [ 0. 0. 0. 1. ]] SLAMing on 6.833273559999999 meters Centerline goodness [0,1] 0.8161796536796537 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.07 [[ 0.99814079 -0.01771641 -0.05831891 0.40585961] [ 0.01864107 0.99970841 0.01534958 -0.06762676] [ 0.05802997 -0.01640816 0.99817999 -0.06848163] [ 0. 0. 0. 1. ]] SLAMing on 6.86327356 meters Centerline goodness [0,1] 0.8201936376210235 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.07 [[ 0.99813725 -0.01781915 -0.05834811 0.40615083] [ 0.01872699 0.99971137 0.01504927 -0.06653186] [ 0.05806311 -0.01611392 0.99818286 -0.06867805] [ 0. 0. 0. 1. ]] SLAMing on 6.89327356 meters Centerline goodness [0,1] 0.8157064359936892 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.07 [[ 0.99813175 -0.01773918 -0.05846653 0.40695646] [ 0.01861933 0.99972086 0.01454361 -0.06393693] [ 0.05819222 -0.01560505 0.99818342 -0.0690789 ] [ 0. 0. 0. 1. ]] SLAMing on 6.923273559999999 meters Centerline goodness [0,1] 0.8172333006429117 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.07 [[ 0.9981232 -0.01778075 -0.05859967 0.40742555] [ 0.01864103 0.99972587 0.01416678 -0.06243669] [ 0.05833171 -0.01523255 0.99818104 -0.06915573] [ 0. 0. 0. 1. ]] SLAMing on 6.9532735599999995 meters Centerline goodness [0,1] 0.818092723164457 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.07 [[ 0.99811302 -0.01785448 -0.05875047 0.40781766] [ 0.0186884 0.99973183 0.01367547 -0.06072024] [ 0.05849054 -0.01474762 0.99817902 -0.06902744] [ 0. 0. 0. 1. ]] SLAMing on 6.98327356 meters Centerline goodness [0,1] 0.8142431775343514 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.07 [[ 0.99810472 -0.01802148 -0.05884036 0.40789575] [ 0.01881606 0.99973873 0.01297797 -0.05845101] [ 0.0585911 -0.01406052 0.99818304 -0.06862983] [ 0. 0. 0. 1. ]] SLAMing on 7.013273559999999 meters Centerline goodness [0,1] 0.8173287371416065 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.07 [[ 0.9981032 -0.01845378 -0.05873209 0.40712777] [ 0.01915882 0.99975073 0.01146401 -0.05383702] [ 0.0585059 -0.0125675 0.99820795 -0.06735521] [ 0. 0. 0. 1. ]] SLAMing on 7.043273559999999 meters Centerline goodness [0,1] 0.8177985820262244 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.07 [[ 0.99810051 -0.01913395 -0.05855993 0.40606454] [ 0.01978578 0.99974835 0.01057143 -0.05189132] [ 0.05834292 -0.01171 0.99822792 -0.0665242 ] [ 0. 0. 0. 1. ]] SLAMing on 7.07327356 meters Centerline goodness [0,1] 0.820679443941762 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.07 [[ 0.99809767 -0.01990763 -0.05834999 0.40481485] [ 0.02050602 0.99974292 0.0096744 -0.05018704] [ 0.0581424 -0.01085252 0.99824931 -0.06561843] [ 0. 0. 0. 1. ]] SLAMing on 7.10327356 meters Centerline goodness [0,1] 0.8188742541314928 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.06 [[ 0.99810575 -0.0212888 -0.05772084 0.40240445] [ 0.02180504 0.99972755 0.00832863 -0.04766066] [ 0.0575278 -0.00957146 0.99829802 -0.06457361] [ 0. 0. 0. 1. ]] SLAMing on 7.133273559999999 meters Centerline goodness [0,1] 0.8201622885435291 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.06 [[ 0.99810488 -0.02190186 -0.05750607 0.40160364] [ 0.02237845 0.99972025 0.00765679 -0.04632466] [ 0.05732229 -0.00892918 0.99831579 -0.06422754] [ 0. 0. 0. 1. ]] SLAMing on 7.1632735599999995 meters Centerline goodness [0,1] 0.8228923279914236 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.05, Z:-0.06 [[ 0.9981012 -0.02227714 -0.05742573 0.4014922 ] [ 0.02272808 0.99971568 0.00721123 -0.04525972] [ 0.05724876 -0.00850271 0.99832374 -0.06428919] [ 0. 0. 0. 1. ]] SLAMing on 7.19327356 meters Centerline goodness [0,1] 0.8254954236868868 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99809301 -0.02296583 -0.05729679 0.40166351] [ 0.02339064 0.99970358 0.00675451 -0.0431853 ] [ 0.05712468 -0.00808184 0.99833434 -0.06526756] [ 0. 0. 0. 1. ]] SLAMing on 7.223273559999999 meters Centerline goodness [0,1] 0.8291636883488206 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99808529 -0.02335761 -0.0572728 0.40176614] [ 0.02376231 0.99969718 0.00639534 -0.04195389] [ 0.05710608 -0.00774403 0.99833808 -0.06561416] [ 0. 0. 0. 1. ]] SLAMing on 7.253273559999999 meters Centerline goodness [0,1] 0.8295561069754618 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99808005 -0.02375312 -0.05720136 0.40176035] [ 0.02413962 0.99969014 0.00607524 -0.04090919] [ 0.05703933 -0.0074444 0.99834418 -0.06596074] [ 0. 0. 0. 1. ]] SLAMing on 7.28327356 meters Centerline goodness [0,1] 0.8313066548750829 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.9980844 -0.02437068 -0.0568648 0.40100322] [ 0.02473295 0.99967798 0.00567561 -0.0397235 ] [ 0.05670817 -0.00707118 0.99836576 -0.06621065] [ 0. 0. 0. 1. ]] SLAMing on 7.31327356 meters Centerline goodness [0,1] 0.831656346749226 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99808139 -0.02504228 -0.05662534 0.40022978] [ 0.02537528 0.99966463 0.00516923 -0.03843722] [ 0.0564769 -0.0065962 0.99838212 -0.06614317] [ 0. 0. 0. 1. ]] SLAMing on 7.343273559999999 meters Centerline goodness [0,1] 0.8358854860186418 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99807843 -0.02679915 -0.05586825 0.39715002] [ 0.02705396 0.99962672 0.00380949 -0.03541914] [ 0.0557453 -0.00531362 0.99843088 -0.06508402] [ 0. 0. 0. 1. ]] SLAMing on 7.3732735599999994 meters Centerline goodness [0,1] 0.8350406999280138 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.03, Z:-0.06 [[ 0.99807515 -0.02772427 -0.05547394 0.39568294] [ 0.02793853 0.99960487 0.00309045 -0.0340331 ] [ 0.05536634 -0.00463436 0.99845535 -0.0646515 ] [ 0. 0. 0. 1. ]] SLAMing on 7.40327356 meters Centerline goodness [0,1] 0.8351000194752803 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 0.99807564 -0.02854748 -0.05504598 0.39427557] [ 0.02872976 0.99958403 0.00252285 -0.03296215] [ 0.05495106 -0.00409946 0.99848063 -0.06439042] [ 0. 0. 0. 1. ]] SLAMing on 7.43327356 meters Centerline goodness [0,1] 0.8282218823856528 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 0.99805684 -0.03020587 -0.05449901 0.39237311] [ 0.03033756 0.99953844 0.0015906 -0.03143226] [ 0.05442581 -0.00324087 0.99851256 -0.06437439] [ 0. 0. 0. 1. ]] SLAMing on 7.463273559999999 meters Centerline goodness [0,1] 0.8186417590971006 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 0.99805037 -0.03111443 -0.05410497 0.3910615 ] [ 0.03121692 0.99951208 0.00105016 -0.03046537] [ 0.05404589 -0.0027371 0.9985347 -0.06425646] [ 0. 0. 0. 1. ]] SLAMing on 7.4932735599999996 meters Centerline goodness [0,1] 0.815272585235199 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 9.98038885e-01 -3.20043770e-02 -5.37968702e-02 3.89775287e-01] [ 3.20778848e-02 9.99485246e-01 5.03259865e-04 -2.94308372e-02] [ 5.37530715e-02 -2.22796272e-03 9.98551773e-01 -6.39315572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52327356 meters Centerline goodness [0,1] 0.786705461056401 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 9.98016238e-01 -3.38720150e-02 -5.30685962e-02 3.87026817e-01] [ 3.38940837e-02 9.99425313e-01 -4.84341319e-04 -2.73911347e-02] [ 5.30545040e-02 -1.31533094e-03 9.98590752e-01 -6.35677696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.553273559999999 meters Centerline goodness [0,1] 0.7786511510811491 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 9.98004849e-01 -3.45534103e-02 -5.28430089e-02 3.86291114e-01] [ 3.45681687e-02 9.99402141e-01 -6.34940917e-04 -2.70286427e-02] [ 5.28333556e-02 -1.19301193e-03 9.98602630e-01 -6.38189419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583273559999999 meters Centerline goodness [0,1] 0.7660318259361804 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.06 [[ 9.97991730e-01 -3.53747055e-02 -5.25465278e-02 3.85232509e-01] [ 3.53750402e-02 9.99373680e-01 -9.23981489e-04 -2.67373937e-02] [ 5.25463025e-02 -9.36709650e-04 9.98618049e-01 -6.38394350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61327356 meters Centerline goodness [0,1] 0.7548087676135093 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.06 [[ 9.97978762e-01 -3.63292022e-02 -5.21400035e-02 3.83865167e-01] [ 3.63115491e-02 9.99339691e-01 -1.28613237e-03 -2.63775977e-02] [ 5.21522991e-02 -6.09751504e-04 9.98638957e-01 -6.38403200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64327356 meters Centerline goodness [0,1] 0.7523069179576086 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.06 [[ 9.97969319e-01 -3.71452099e-02 -5.17442911e-02 3.82713257e-01] [ 3.71207178e-02 9.99309759e-01 -1.43461888e-03 -2.63513310e-02] [ 5.17618643e-02 -4.89079598e-04 9.98659336e-01 -6.41083123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.673273559999999 meters Centerline goodness [0,1] 0.7447010793579778 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.06 [[ 9.97934046e-01 -3.90804284e-02 -5.09937197e-02 3.80273494e-01] [ 3.90332217e-02 9.99236066e-01 -1.92166158e-03 -2.59384661e-02] [ 5.10298632e-02 -7.27576550e-05 9.98697125e-01 -6.46228795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7032735599999995 meters Centerline goodness [0,1] 0.7401907318846659 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.06 [[ 9.97925216e-01 -3.97168998e-02 -5.06737697e-02 3.79435629e-01] [ 3.96697177e-02 9.99210970e-01 -1.93690616e-03 -2.59286719e-02] [ 5.07107145e-02 -7.73266367e-05 9.98713381e-01 -6.49809062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73327356 meters Centerline goodness [0,1] 0.739402926610895 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.07 [[ 9.97906064e-01 -4.07476541e-02 -5.02306274e-02 3.78420889e-01] [ 4.06904699e-02 9.99169463e-01 -2.16093294e-03 -2.49432922e-02] [ 5.02769620e-02 1.12500250e-04 9.98735307e-01 -6.58049574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763273559999999 meters Centerline goodness [0,1] 0.7383698147007782 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.07 [[ 9.97894362e-01 -4.13571316e-02 -4.99642924e-02 3.77654661e-01] [ 4.12855523e-02 9.99144349e-01 -2.46424936e-03 -2.42234426e-02] [ 5.00234547e-02 3.96257133e-04 9.98747965e-01 -6.59269259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.793273559999999 meters Centerline goodness [0,1] 0.7333128182174229 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.07 [[ 9.97888564e-01 -4.18821732e-02 -4.96416847e-02 3.76831644e-01] [ 4.17986618e-02 9.99122353e-01 -2.71966700e-03 -2.34892169e-02] [ 4.97120224e-02 6.38968609e-04 9.98763389e-01 -6.60553766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82327356 meters Centerline goodness [0,1] 0.7332415962256733 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.02, Z:-0.07 [[ 0.99787757 -0.04257233 -0.04927434 0.37545746] [ 0.04246537 0.99909276 -0.00321602 -0.02237014] [ 0.04936655 0.00111674 0.9987801 -0.06563357] [ 0. 0. 0. 1. ]] SLAMing on 7.85327356 meters Centerline goodness [0,1] 0.7271732420450081 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.06 [[ 0.99785499 -0.04336105 -0.04904333 0.37425712] [ 0.04321009 0.99905745 -0.00413467 -0.0199788 ] [ 0.04917639 0.00200663 0.99878809 -0.06488368] [ 0. 0. 0. 1. ]] SLAMing on 7.883273559999999 meters Centerline goodness [0,1] 0.7243714004775952 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.06 [[ 0.9978488 -0.04362954 -0.04893097 0.37375487] [ 0.04346291 0.99904506 -0.00446471 -0.01889152] [ 0.04907904 0.00232842 0.99879218 -0.06462003] [ 0. 0. 0. 1. ]] SLAMing on 7.9132735599999995 meters Centerline goodness [0,1] 0.7260223987425267 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.06 [[ 0.99784 -0.04390057 -0.0488679 0.37352421] [ 0.04372096 0.99903254 -0.00473877 -0.01798216] [ 0.04902866 0.00259199 0.99879401 -0.064605 ] [ 0. 0. 0. 1. ]] SLAMing on 7.94327356 meters Centerline goodness [0,1] 0.707754093296262 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.06 [[ 0.99782423 -0.04447459 -0.04867043 0.3728564 ] [ 0.04428502 0.99900659 -0.00496704 -0.01704197] [ 0.04884299 0.00280087 0.99880254 -0.06481371] [ 0. 0. 0. 1. ]] SLAMing on 7.973273559999999 meters Centerline goodness [0,1] 0.7133215219775584 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.06 [[ 0.9978121 -0.04486207 -0.04856335 0.37242178] [ 0.04466625 0.99898889 -0.00511066 -0.01663292] [ 0.04874352 0.00293033 0.99880703 -0.06486002] [ 0. 0. 0. 1. ]] SLAMing on 8.00327356 meters Centerline goodness [0,1] 0.7116476474225646 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.99780449 -0.04502889 -0.04856548 0.37240329] [ 0.04483427 0.99898147 -0.00508983 -0.0162076 ] [ 0.04874521 0.00290126 0.99880703 -0.06507083] [ 0. 0. 0. 1. ]] SLAMing on 8.03327356 meters Centerline goodness [0,1] 0.708617482951023 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.07 [[ 0.9977967 -0.04512225 -0.04863882 0.37275065] [ 0.04491608 0.99897658 -0.00532402 -0.01489889] [ 0.04882927 0.00312762 0.99880224 -0.06529543] [ 0. 0. 0. 1. ]] SLAMing on 8.063273559999999 meters Centerline goodness [0,1] 0.7056218442357056 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.07 [[ 0.99779447 -0.04505237 -0.04874923 0.37311897] [ 0.04484539 0.99897971 -0.00533173 -0.01433043] [ 0.0489397 0.00313379 0.99879682 -0.06542769] [ 0. 0. 0. 1. ]] SLAMing on 8.09327356 meters Centerline goodness [0,1] 0.7054722998334886 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.07 [[ 0.99779038 -0.04512106 -0.04876939 0.37312689] [ 0.04490383 0.99897595 -0.0055411 -0.01344741] [ 0.04896947 0.00333892 0.9987947 -0.06533886] [ 0. 0. 0. 1. ]] SLAMing on 8.12327356 meters Centerline goodness [0,1] 0.7060964256495613 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.07 [[ 0.99779803 -0.04468192 -0.04901657 0.37420838] [ 0.04445769 0.99899526 -0.00565581 -0.01185083] [ 0.04922003 0.0034642 0.99878195 -0.06559147] [ 0. 0. 0. 1. ]] SLAMing on 8.153273559999999 meters Centerline goodness [0,1] 0.7243095015972634 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.07 [[ 0.99779147 -0.04460949 -0.04921552 0.37453678] [ 0.0443673 0.99899725 -0.00600306 -0.01077915] [ 0.04943397 0.00380624 0.99877014 -0.06512073] [ 0. 0. 0. 1. ]] SLAMing on 8.18327356 meters Centerline goodness [0,1] 0.7028321945964335 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99778125 -0.04476722 -0.04927961 0.3743384 ] [ 0.04450021 0.99898821 -0.00650269 -0.0094549 ] [ 0.04952086 0.00429531 0.99876385 -0.06448315] [ 0. 0. 0. 1. ]] SLAMing on 8.21327356 meters Centerline goodness [0,1] 0.7151310946259697 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99777464 -0.04479551 -0.04938746 0.37436177] [ 0.0445106 0.9989854 -0.00685426 -0.0081999 ] [ 0.04964439 0.00464074 0.99875618 -0.06401398] [ 0. 0. 0. 1. ]] SLAMing on 8.243273559999999 meters Centerline goodness [0,1] 0.7177078307268754 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99776434 -0.04507117 -0.04934486 0.37388178] [ 0.04477455 0.99897188 -0.00710081 -0.007845 ] [ 0.04961417 0.00487554 0.99875656 -0.06363137] [ 0. 0. 0. 1. ]] SLAMing on 8.27327356 meters Centerline goodness [0,1] 0.7217704230540365 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99776347 -0.04515091 -0.0492895 0.37377054] [ 0.04486785 0.99896955 -0.00683476 -0.00843363] [ 0.04954731 0.00460796 0.99876115 -0.06393558] [ 0. 0. 0. 1. ]] SLAMing on 8.30327356 meters Centerline goodness [0,1] 0.717213347734637 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99775592 -0.04538443 -0.04922789 0.37332826] [ 0.045101 0.99895892 -0.00685369 -0.00885396] [ 0.04948769 0.00461808 0.99876406 -0.06372983] [ 0. 0. 0. 1. ]] SLAMing on 8.33327356 meters Centerline goodness [0,1] 0.7159588379100574 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99775557 -0.04535955 -0.04925792 0.37335139] [ 0.04509725 0.99896195 -0.00642407 -0.00982831] [ 0.04949818 0.00418826 0.99876543 -0.06404806] [ 0. 0. 0. 1. ]] SLAMing on 8.36327356 meters Centerline goodness [0,1] 0.7143627284076722 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99775666 -0.04541013 -0.04918903 0.37328614] [ 0.04516267 0.99896083 -0.0061312 -0.01074246] [ 0.04941634 0.00389594 0.99877067 -0.0644089 ] [ 0. 0. 0. 1. ]] SLAMing on 8.393273559999999 meters Centerline goodness [0,1] 0.7140141304656245 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99776234 -0.04538965 -0.04909276 0.37322855] [ 0.04516294 0.99896327 -0.00571806 -0.01202494] [ 0.04930141 0.00348809 0.99877786 -0.06481523] [ 0. 0. 0. 1. ]] SLAMing on 8.42327356 meters Centerline goodness [0,1] 0.7140141304656245 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99776234 -0.04538965 -0.04909276 0.37322855] [ 0.04516294 0.99896327 -0.00571806 -0.01202494] [ 0.04930141 0.00348809 0.99877786 -0.06481523] [ 0. 0. 0. 1. ]] SLAMing on 8.45327356 meters Centerline goodness [0,1] 0.712951696426045 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.06 [[ 0.99775988 -0.04553384 -0.04900905 0.37294336] [ 0.04531865 0.99895748 -0.00549361 -0.01311555] [ 0.0492081 0.00326028 0.99878323 -0.06494573] [ 0. 0. 0. 1. ]] SLAMing on 8.483273559999999 meters Centerline goodness [0,1] 0.7090284039675383 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.99776113 -0.04564587 -0.0488793 0.37282762] [ 0.04546679 0.99895446 -0.0047698 -0.01543612] [ 0.04904592 0.00253673 0.9987933 -0.06573601] [ 0. 0. 0. 1. ]] SLAMing on 8.51327356 meters Centerline goodness [0,1] 0.7097655040396362 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.9977621 -0.04570842 -0.04880094 0.37264185] [ 0.04554076 0.99895215 -0.0045424 -0.01645067] [ 0.04895743 0.0023098 0.9987982 -0.06588219] [ 0. 0. 0. 1. ]] SLAMing on 8.54327356 meters Centerline goodness [0,1] 0.7088920750049197 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.99776812 -0.0457751 -0.04861504 0.37231873] [ 0.04562215 0.99894972 -0.0042517 -0.01731353] [ 0.04875861 0.00202428 0.99880854 -0.06619943] [ 0. 0. 0. 1. ]] SLAMing on 8.573273559999999 meters Centerline goodness [0,1] 0.6993513604582596 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.99775833 -0.04641217 -0.0482102 0.37071948] [ 0.04627584 0.99892093 -0.0039408 -0.01972204] [ 0.04834108 0.001701 0.99882944 -0.06604369] [ 0. 0. 0. 1. ]] SLAMing on 8.60327356 meters Centerline goodness [0,1] 0.7006888440860215 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 0.99775873 -0.04660459 -0.04801601 0.37014566] [ 0.04648859 0.99891258 -0.00353038 -0.02147481] [ 0.04812833 0.00129027 0.99884033 -0.06625047] [ 0. 0. 0. 1. ]] SLAMing on 8.63327356 meters Centerline goodness [0,1] 0.6959863603331656 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.07 [[ 9.97756007e-01 -4.69037449e-02 -4.77806369e-02 3.69382716e-01] [ 4.68054594e-02 9.98898980e-01 -3.17439572e-03 -2.31704166e-02] [ 4.78769205e-02 9.30877733e-04 9.98852809e-01 -6.64031102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66327356 meters Centerline goodness [0,1] 0.6992071911116073 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.03, Z:-0.07 [[ 9.97736456e-01 -4.77910922e-02 -4.73072397e-02 3.67484879e-01] [ 4.77142640e-02 9.98857233e-01 -2.75259017e-03 -2.59313880e-02] [ 4.73847279e-02 4.89129436e-04 9.98876593e-01 -6.63637917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69327356 meters Centerline goodness [0,1] 0.691477494561883 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.03, Z:-0.07 [[ 9.97731614e-01 -4.80881708e-02 -4.71079081e-02 3.66854759e-01] [ 4.80287567e-02 9.98843087e-01 -2.39297555e-03 -2.74817618e-02] [ 4.71684822e-02 1.25013096e-04 9.98886940e-01 -6.65777148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723273559999999 meters Centerline goodness [0,1] 0.6932270916334662 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.03, Z:-0.07 [[ 9.97723479e-01 -4.84597048e-02 -4.68990024e-02 3.66018129e-01] [ 4.84093668e-02 9.98825136e-01 -2.20920311e-03 -2.88552456e-02] [ 4.69509597e-02 -6.61771942e-05 9.98897193e-01 -6.64877588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75327356 meters Centerline goodness [0,1] 0.6916033508669395 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.03, Z:-0.07 [[ 9.97720217e-01 -4.87562133e-02 -4.66604869e-02 3.65258629e-01] [ 4.87195506e-02 9.98810646e-01 -1.92334618e-03 -3.05280344e-02] [ 4.66987661e-02 -3.54316583e-04 9.98908955e-01 -6.65622692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78327356 meters Centerline goodness [0,1] 0.674008079242986 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:-0.07 [[ 9.97700887e-01 -4.93614138e-02 -4.64369634e-02 3.64234291e-01] [ 4.93389987e-02 9.98780761e-01 -1.62947111e-03 -3.39789143e-02] [ 4.64607786e-02 -6.65428503e-04 9.98919893e-01 -6.63965502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.813273559999999 meters Centerline goodness [0,1] 0.6788736301844915 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 0.99770701 -0.04934441 -0.04632338 0.36404966] [ 0.04934165 0.99878123 -0.00120389 -0.03557666] [ 0.04632633 -0.00108454 0.99892577 -0.06668404] [ 0. 0. 0. 1. ]] SLAMing on 8.84327356 meters Centerline goodness [0,1] 0.6834589996409535 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 9.97713495e-01 -4.91734483e-02 -4.63654396e-02 3.64362924e-01] [ 4.91914398e-02 9.98789084e-01 -7.53581134e-04 -3.70605125e-02] [ 4.63463512e-02 -1.52892466e-03 9.98924260e-01 -6.70192380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.87327356 meters Centerline goodness [0,1] 0.6828931754836217 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 9.97718796e-01 -4.90886270e-02 -4.63412359e-02 3.64285186e-01] [ 4.91225294e-02 9.98792677e-01 -4.07633668e-04 -3.82730353e-02] [ 4.63052972e-02 -1.86969495e-03 9.98925585e-01 -6.70912919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903273559999999 meters Centerline goodness [0,1] 0.6716557273501222 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 9.97726414e-01 -4.88220600e-02 -4.64586819e-02 3.64592836e-01] [ 4.88937948e-02 9.98803900e-01 4.08247099e-04 -4.09997678e-02] [ 4.63831812e-02 -2.67886017e-03 9.98920129e-01 -6.73822433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93327356 meters Centerline goodness [0,1] 0.6787785079242366 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 9.97730267e-01 -4.87597856e-02 -4.64413285e-02 3.64511708e-01] [ 4.88499202e-02 9.98805804e-01 8.07191686e-04 -4.24287167e-02] [ 4.63465100e-02 -3.07401477e-03 9.98920693e-01 -6.74931474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.96327356 meters Centerline goodness [0,1] 0.6905673895670865 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 0.99773767 -0.04870698 -0.04633749 0.36433392] [ 0.04881325 0.99880724 0.0011641 -0.04382473] [ 0.04622552 -0.00342335 0.99892516 -0.06762924] [ 0. 0. 0. 1. ]] SLAMing on 8.993273559999999 meters Centerline goodness [0,1] 0.6803026134800549 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.07 [[ 0.99774987 -0.04849146 -0.04630089 0.36413413] [ 0.0486273 0.99881535 0.00181144 -0.04663489] [ 0.0461582 -0.00405885 0.9989259 -0.06758192] [ 0. 0. 0. 1. ]] SLAMing on 9.02327356 meters Centerline goodness [0,1] 0.6842712684106397 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.07 [[ 0.99776049 -0.04826821 -0.04630536 0.36435878] [ 0.0484232 0.99882442 0.00223057 -0.0480318 ] [ 0.04614326 -0.00446783 0.99892484 -0.06782158] [ 0. 0. 0. 1. ]] SLAMing on 9.05327356 meters Centerline goodness [0,1] 0.6999643043466323 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.07 [[ 0.99778038 -0.04774318 -0.04642103 0.36480238] [ 0.04792969 0.99884647 0.00291241 -0.05055395] [ 0.04622843 -0.00513089 0.99891772 -0.06790546] [ 0. 0. 0. 1. ]] SLAMing on 9.08327356 meters Centerline goodness [0,1] 0.6924067629408379 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.07 [[ 0.99778462 -0.04756875 -0.04650867 0.3651128 ] [ 0.04776684 0.99885353 0.00315629 -0.05174262] [ 0.04630521 -0.00537087 0.9989129 -0.06791944] [ 0. 0. 0. 1. ]] SLAMing on 9.11327356 meters Centerline goodness [0,1] 0.6883656131341 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.07 [[ 0.99779686 -0.0471431 -0.04667925 0.36549673] [ 0.04737387 0.99886981 0.00384922 -0.05484223] [ 0.04644503 -0.00605212 0.99890251 -0.06778589] [ 0. 0. 0. 1. ]] SLAMing on 9.143273559999999 meters Centerline goodness [0,1] 0.6883656131341 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.07 [[ 0.99779686 -0.0471431 -0.04667925 0.36549673] [ 0.04737387 0.99886981 0.00384922 -0.05484223] [ 0.04644503 -0.00605212 0.99890251 -0.06778589] [ 0. 0. 0. 1. ]] SLAMing on 9.17327356 meters Centerline goodness [0,1] 0.6930755174952955 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99779925 -0.04712432 -0.04664715 0.36525857] [ 0.04736352 0.99886957 0.00403512 -0.05612639] [ 0.04640427 -0.00623561 0.99890328 -0.06755391] [ 0. 0. 0. 1. ]] SLAMing on 9.20327356 meters Centerline goodness [0,1] 0.6924354645463457 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99780607 -0.0467439 -0.04688333 0.36533802] [ 0.04700908 0.99888401 0.00456914 -0.05883242] [ 0.04661743 -0.00676306 0.99888992 -0.06691198] [ 0. 0. 0. 1. ]] SLAMing on 9.233273559999999 meters Centerline goodness [0,1] 0.6944663708865239 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99781015 -0.04636708 -0.04716986 0.36586217] [ 0.04664599 0.99889981 0.00482884 -0.06006429] [ 0.04689406 -0.00701855 0.99887521 -0.06655829] [ 0. 0. 0. 1. ]] SLAMing on 9.26327356 meters Centerline goodness [0,1] 0.6932031441238067 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99782241 -0.04583633 -0.04742861 0.36665306] [ 0.0461348 0.9989216 0.00521696 -0.0610146 ] [ 0.04713834 -0.0073937 0.99886101 -0.06661127] [ 0. 0. 0. 1. ]] SLAMing on 9.29327356 meters Centerline goodness [0,1] 0.7026006141471235 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99784838 -0.04456856 -0.04808592 0.36849528] [ 0.04490587 0.99897346 0.00595685 -0.06292156] [ 0.04777107 -0.00810338 0.99882544 -0.06645526] [ 0. 0. 0. 1. ]] SLAMing on 9.323273559999999 meters Centerline goodness [0,1] 0.7044330983061837 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99785748 -0.04379439 -0.04860553 0.36999274] [ 0.04415323 0.9990047 0.00633311 -0.06379053] [ 0.0482798 -0.00846563 0.99879797 -0.06644529] [ 0. 0. 0. 1. ]] SLAMing on 9.35327356 meters Centerline goodness [0,1] 0.7018149214801934 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99786963 -0.04302236 -0.04904365 0.37129217] [ 0.04340339 0.99903496 0.00673036 -0.06439467] [ 0.04870676 -0.00884468 0.99877396 -0.06648514] [ 0. 0. 0. 1. ]] SLAMing on 9.38327356 meters Centerline goodness [0,1] 0.7184571506179547 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.07 [[ 0.99788779 -0.0421165 -0.04945867 0.37267655] [ 0.04252368 0.99906945 0.00720905 -0.06496275] [ 0.04910903 -0.00929698 0.99875015 -0.0666111 ] [ 0. 0. 0. 1. ]] SLAMing on 9.413273559999999 meters Centerline goodness [0,1] 0.7144563270180773 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.07 [[ 0.99807395 -0.03723884 -0.0496151 0.37336278] [ 0.03788848 0.99920728 0.01221768 -0.06772662] [ 0.0491208 -0.01407399 0.99869368 -0.06751021] [ 0. 0. 0. 1. ]] SLAMing on 9.44327356 meters Centerline goodness [0,1] 0.7158705617489896 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.07 [[ 0.99808353 -0.03656297 -0.0499242 0.37430623] [ 0.03722505 0.99923001 0.01239679 -0.06801399] [ 0.0494325 -0.01423146 0.99867607 -0.06732557] [ 0. 0. 0. 1. ]] SLAMing on 9.473273559999999 meters Centerline goodness [0,1] 0.7287483402433407 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.07 [[ 0.99808828 -0.03609531 -0.0501688 0.3748658 ] [ 0.03676408 0.99924614 0.01247196 -0.06840506] [ 0.0496808 -0.01429252 0.99866288 -0.06693924] [ 0. 0. 0. 1. ]] SLAMing on 9.50327356 meters Centerline goodness [0,1] 0.731452313708451 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99809529 -0.03556672 -0.05040633 0.37557822] [ 0.03625621 0.99926016 0.01283064 -0.06907548] [ 0.0499127 -0.01463374 0.99864637 -0.06699251] [ 0. 0. 0. 1. ]] SLAMing on 9.53327356 meters Centerline goodness [0,1] 0.738762830902215 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99810627 -0.03446984 -0.05094813 0.37689783] [ 0.03519191 0.99929148 0.01334391 -0.07107079] [ 0.05045207 -0.0151116 0.99861215 -0.066434 ] [ 0. 0. 0. 1. ]] SLAMing on 9.563273559999999 meters Centerline goodness [0,1] 0.7467815811583598 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99810869 -0.03388788 -0.05128989 0.37785305] [ 0.03463257 0.9993062 0.01370055 -0.07218103] [ 0.05079002 -0.01545094 0.99858983 -0.0663765 ] [ 0. 0. 0. 1. ]] SLAMing on 9.59327356 meters Centerline goodness [0,1] 0.7583976180809311 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.9981047 -0.03346297 -0.05164527 0.37855735] [ 0.03421827 0.99931896 0.01381025 -0.07288005] [ 0.05114797 -0.01555129 0.99857 -0.0659076 ] [ 0. 0. 0. 1. ]] SLAMing on 9.62327356 meters Centerline goodness [0,1] 0.7610130966554822 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99811107 -0.03217327 -0.05233707 0.38037058] [ 0.03297162 0.99935165 0.01446242 -0.07429224] [ 0.05183783 -0.01616074 0.99852475 -0.06552631] [ 0. 0. 0. 1. ]] SLAMing on 9.653273559999999 meters Centerline goodness [0,1] 0.7606814567215678 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99810845 -0.03135973 -0.05287815 0.38190965] [ 0.03217425 0.9993753 0.01462314 -0.07450315] [ 0.05238654 -0.01629679 0.9984939 -0.06533386] [ 0. 0. 0. 1. ]] SLAMing on 9.68327356 meters Centerline goodness [0,1] 0.7846087121520153 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.07 [[ 0.99811389 -0.03048689 -0.05328435 0.38331059] [ 0.03132468 0.99939732 0.01495893 -0.07479242] [ 0.05279618 -0.01659983 0.99846733 -0.06545664] [ 0. 0. 0. 1. ]] SLAMing on 9.71327356 meters Centerline goodness [0,1] 0.7779073868106231 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.07 [[ 0.99811118 -0.02964445 -0.05380777 0.38481025] [ 0.030504 0.9994187 0.01522393 -0.07508338] [ 0.05332519 -0.01683652 0.99843525 -0.06539877] [ 0. 0. 0. 1. ]] SLAMing on 9.743273559999999 meters Centerline goodness [0,1] 0.8079984836997726 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.07 [[ 0.99812608 -0.0279698 -0.05442438 0.38683839] [ 0.0288755 0.99945613 0.01592666 -0.07625272] [ 0.05394932 -0.01746835 0.99839087 -0.06518419] [ 0. 0. 0. 1. ]] SLAMing on 9.77327356 meters Centerline goodness [0,1] 0.8115977357059668 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.06 [[ 0.99811989 -0.02773605 -0.054657 0.38703643] [ 0.02864087 0.99946424 0.01584117 -0.07664075] [ 0.05418835 -0.01737681 0.99837952 -0.06446952] [ 0. 0. 0. 1. ]] SLAMing on 9.80327356 meters Centerline goodness [0,1] 0.81266718906212 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.06 [[ 0.99811638 -0.02759341 -0.05479317 0.38703285] [ 0.02849974 0.99946847 0.01582885 -0.07751943] [ 0.05432727 -0.01736062 0.99837225 -0.06383177] [ 0. 0. 0. 1. ]] SLAMing on 9.83327356 meters Centerline goodness [0,1] 0.8084693189480783 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.06 [[ 0.99811577 -0.02728321 -0.05495941 0.38712336] [ 0.02821771 0.9994689 0.01629957 -0.08040577] [ 0.05448552 -0.01781969 0.99835554 -0.06328848] [ 0. 0. 0. 1. ]] SLAMing on 9.86327356 meters Centerline goodness [0,1] 0.8066720473500134 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.06 [[ 0.99811095 -0.02723634 -0.05507002 0.38717088] [ 0.02818727 0.9994654 0.01656507 -0.08213066] [ 0.05458941 -0.01808605 0.99834508 -0.06306581] [ 0. 0. 0. 1. ]] SLAMing on 9.893273559999999 meters Centerline goodness [0,1] 0.8094342158312055 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.06 [[ 0.99810595 -0.02715097 -0.05520263 0.38718194] [ 0.02811978 0.99946254 0.01684971 -0.08410868] [ 0.05471548 -0.01837009 0.99833299 -0.0626889 ] [ 0. 0. 0. 1. ]] SLAMing on 9.92327356 meters Centerline goodness [0,1] 0.8139447472279646 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.06 [[ 0.99810245 -0.02709971 -0.05529118 0.38713717] [ 0.02808816 0.99945782 0.01717907 -0.0862129 ] [ 0.05479565 -0.0186995 0.99832248 -0.06238989] [ 0. 0. 0. 1. ]] SLAMing on 9.95327356 meters Centerline goodness [0,1] 0.8159541883073644 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.06 [[ 0.99797318 -0.03044837 -0.05587872 0.38854266] [ 0.03125951 0.99941741 0.01369983 -0.08849377] [ 0.05542903 -0.0154188 0.99834357 -0.06160415] [ 0. 0. 0. 1. ]] SLAMing on 9.983273559999999 meters Centerline goodness [0,1] 0.807987834160397 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.06 [[ 0.997969 -0.03060939 -0.05586541 0.38821555] [ 0.03144056 0.99940672 0.01406021 -0.09079401] [ 0.05540189 -0.01578809 0.9983393 -0.0614236 ] [ 0. 0. 0. 1. ]] SLAMing on 10.01327356 meters Centerline goodness [0,1] 0.8018066028937622 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.06 [[ 0.9979684 -0.03075695 -0.05579496 0.38789337] [ 0.03160448 0.99939713 0.01437156 -0.09311021] [ 0.0553193 -0.01610573 0.99833881 -0.06127747] [ 0. 0. 0. 1. ]] SLAMing on 10.04327356 meters Centerline goodness [0,1] 0.7914369034994697 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99796517 -0.03076417 -0.05584885 0.38798274] [ 0.03163354 0.9993907 0.01474944 -0.09538581] [ 0.05536107 -0.01648612 0.99833029 -0.06127655] [ 0. 0. 0. 1. ]] SLAMing on 10.073273559999999 meters Centerline goodness [0,1] 0.7885505674453057 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99796273 -0.03077454 -0.05588665 0.38786468] [ 0.03168174 0.99937905 0.0154199 -0.09907105] [ 0.05537741 -0.01715907 0.99831804 -0.06118493] [ 0. 0. 0. 1. ]] SLAMing on 10.10327356 meters Centerline goodness [0,1] 0.7999048424614084 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99796367 -0.03078423 -0.05586449 0.38754197] [ 0.03169659 0.99937704 0.01551955 -0.10042925] [ 0.05535193 -0.01725866 0.99831774 -0.06072927] [ 0. 0. 0. 1. ]] SLAMing on 10.13327356 meters Centerline goodness [0,1] 0.7921995894520764 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99796009 -0.03071415 -0.05596691 0.38705264] [ 0.03163462 0.9993772 0.01563537 -0.10240533] [ 0.05545182 -0.01737396 0.99831019 -0.05967475] [ 0. 0. 0. 1. ]] SLAMing on 10.163273559999999 meters Centerline goodness [0,1] 0.7904914754788466 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99795801 -0.03078071 -0.05596749 0.38663167] [ 0.03170278 0.99937462 0.01566242 -0.10336242] [ 0.05545039 -0.01740476 0.99830974 -0.05913895] [ 0. 0. 0. 1. ]] SLAMing on 10.19327356 meters Centerline goodness [0,1] 0.7897678079496262 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.06 [[ 0.99795976 -0.03078924 -0.05593154 0.38628772] [ 0.03171376 0.9993734 0.01571759 -0.1044823 ] [ 0.05541257 -0.01745932 0.99831088 -0.05869313] [ 0. 0. 0. 1. ]] SLAMing on 10.223273559999999 meters Centerline goodness [0,1] 0.8044988595548331 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99795286 -0.03092532 -0.05597958 0.38598098] [ 0.0318466 0.99937038 0.01564064 -0.10552144] [ 0.05546064 -0.01739138 0.9983094 -0.05809733] [ 0. 0. 0. 1. ]] SLAMing on 10.25327356 meters Centerline goodness [0,1] 0.8030172301095511 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99794893 -0.03079671 -0.05612041 0.38596139] [ 0.03174827 0.99936551 0.01614368 -0.10799517] [ 0.05558763 -0.0178923 0.99829348 -0.05775728] [ 0. 0. 0. 1. ]] SLAMing on 10.28327356 meters Centerline goodness [0,1] 0.7848970849441019 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99794471 -0.03075346 -0.05621899 0.38608924] [ 0.0317186 0.999363 0.01635647 -0.10918236] [ 0.05568016 -0.01810604 0.99828447 -0.0576342 ] [ 0. 0. 0. 1. ]] SLAMing on 10.313273559999999 meters Centerline goodness [0,1] 0.8011153385104498 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99794205 -0.030683 -0.05630463 0.38640662] [ 0.03166264 0.99936092 0.01658986 -0.11030487] [ 0.05575962 -0.01833848 0.9982758 -0.05777708] [ 0. 0. 0. 1. ]] SLAMing on 10.34327356 meters Centerline goodness [0,1] 0.8011153385104498 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99794205 -0.030683 -0.05630463 0.38640662] [ 0.03166264 0.99936092 0.01658986 -0.11030487] [ 0.05575962 -0.01833848 0.9982758 -0.05777708] [ 0. 0. 0. 1. ]] SLAMing on 10.37327356 meters Centerline goodness [0,1] 0.795051804681995 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99794012 -0.03075995 -0.05629683 0.38633739] [ 0.03174813 0.99935565 0.01674346 -0.11153719] [ 0.05574553 -0.01849629 0.99827367 -0.05770618] [ 0. 0. 0. 1. ]] SLAMing on 10.403273559999999 meters Centerline goodness [0,1] 0.8020509633312617 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.9978399 -0.03304638 -0.05677553 0.38890758] [ 0.03387965 0.99933096 0.01377692 -0.1124898 ] [ 0.05628227 -0.01567069 0.99829191 -0.05823154] [ 0. 0. 0. 1. ]] SLAMing on 10.43327356 meters Centerline goodness [0,1] 0.7948179816038347 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99784339 -0.03296529 -0.05676147 0.38905514] [ 0.03381039 0.9993303 0.01399293 -0.11348348] [ 0.05626218 -0.01588188 0.9982897 -0.05840676] [ 0. 0. 0. 1. ]] SLAMing on 10.46327356 meters Centerline goodness [0,1] 0.8051921187361017 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99783867 -0.03299941 -0.0568246 0.38895191] [ 0.03384471 0.99932935 0.01397779 -0.1143224 ] [ 0.05632523 -0.01587079 0.99828632 -0.05802287] [ 0. 0. 0. 1. ]] SLAMing on 10.493273559999999 meters Centerline goodness [0,1] 0.8055871996685998 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99784157 -0.0331837 -0.05666612 0.38786674] [ 0.0340264 0.99932327 0.01397159 -0.11550546] [ 0.05616414 -0.01586957 0.99829542 -0.05709018] [ 0. 0. 0. 1. ]] SLAMing on 10.52327356 meters Centerline goodness [0,1] 0.8109808185136289 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99783592 -0.03346898 -0.05659777 0.38719514] [ 0.03429566 0.99931785 0.01369825 -0.11573635] [ 0.05610069 -0.01560966 0.99830309 -0.05641663] [ 0. 0. 0. 1. ]] SLAMing on 10.55327356 meters Centerline goodness [0,1] 0.807940357032298 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99783192 -0.0336421 -0.05656558 0.38676091] [ 0.03445761 0.99931493 0.0135038 -0.11613478] [ 0.05607253 -0.01542363 0.99830756 -0.05584823] [ 0. 0. 0. 1. ]] SLAMing on 10.583273559999999 meters Centerline goodness [0,1] 0.808567018266015 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99782777 -0.03361187 -0.05665666 0.38659424] [ 0.03442677 0.99931646 0.01346881 -0.11691784] [ 0.05616522 -0.01539006 0.99830287 -0.05528316] [ 0. 0. 0. 1. ]] SLAMing on 10.61327356 meters Centerline goodness [0,1] 0.8110499511291733 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99782409 -0.03364007 -0.05670476 0.38665242] [ 0.03444853 0.99931743 0.01334035 -0.11709226] [ 0.05621728 -0.01526472 0.99830186 -0.05510642] [ 0. 0. 0. 1. ]] SLAMing on 10.643273559999999 meters Centerline goodness [0,1] 0.8131531531531532 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99782693 -0.03372142 -0.05660635 0.38646439] [ 0.0345236 0.999316 0.01325337 -0.11727151] [ 0.05612071 -0.01517883 0.9983086 -0.05500498] [ 0. 0. 0. 1. ]] SLAMing on 10.67327356 meters Centerline goodness [0,1] 0.8098094747682801 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.05 [[ 0.99781758 -0.03380602 -0.05672071 0.38669627] [ 0.03459922 0.99931592 0.01306073 -0.11710874] [ 0.05624038 -0.01499472 0.99830465 -0.05487156] [ 0. 0. 0. 1. ]] SLAMing on 10.70327356 meters Centerline goodness [0,1] 0.8079090230787043 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.05 [[ 0.9978157 -0.03399452 -0.05664093 0.38660322] [ 0.03477402 0.9993128 0.01283359 -0.11666522] [ 0.05616574 -0.01477519 0.99831213 -0.05493138] [ 0. 0. 0. 1. ]] SLAMing on 10.733273559999999 meters Centerline goodness [0,1] 0.8097519511629704 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.9978158 -0.03405811 -0.05660107 0.38675151] [ 0.03482459 0.99931387 0.0126107 -0.11609327] [ 0.05613274 -0.01455426 0.99831723 -0.05508296] [ 0. 0. 0. 1. ]] SLAMing on 10.76327356 meters Centerline goodness [0,1] 0.7885188611368075 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.05 [[ 0.99780686 -0.03436385 -0.05657382 0.38649601] [ 0.03510702 0.99930915 0.01219496 -0.11563395] [ 0.05611567 -0.01415436 0.99832394 -0.05477454] [ 0. 0. 0. 1. ]] SLAMing on 10.79327356 meters Centerline goodness [0,1] 0.8129581827568405 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99780191 -0.03455707 -0.05654349 0.38617561] [ 0.03528381 0.99930642 0.01190494 -0.11492817] [ 0.05609287 -0.01387384 0.99832916 -0.05446967] [ 0. 0. 0. 1. ]] SLAMing on 10.823273559999999 meters Centerline goodness [0,1] 0.8134836076095607 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99779422 -0.03467317 -0.05660802 0.38639891] [ 0.03537969 0.99930747 0.0115264 -0.11409352] [ 0.05616916 -0.01350375 0.99832994 -0.05435115] [ 0. 0. 0. 1. ]] SLAMing on 10.85327356 meters Centerline goodness [0,1] 0.8013482797809691 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99779181 -0.03479945 -0.05657299 0.38630067] [ 0.03547412 0.99931044 0.01096516 -0.11227694] [ 0.05615239 -0.01294783 0.99833825 -0.05412836] [ 0. 0. 0. 1. ]] SLAMing on 10.88327356 meters Centerline goodness [0,1] 0.8164685864549228 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99778545 -0.03504288 -0.05653494 0.38615413] [ 0.03568885 0.99930824 0.0104568 -0.11120266] [ 0.0561294 -0.01245131 0.99834586 -0.05390896] [ 0. 0. 0. 1. ]] SLAMing on 10.913273559999999 meters Centerline goodness [0,1] 0.8177977085385453 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99777729 -0.03523966 -0.05655649 0.38589611] [ 0.03585818 0.99930727 0.00995872 -0.11002943] [ 0.05616637 -0.0119646 0.99834973 -0.05342379] [ 0. 0. 0. 1. ]] SLAMing on 10.94327356 meters Centerline goodness [0,1] 0.8173221022169397 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.99777063 -0.03550536 -0.05650791 0.38559403] [ 0.0360882 0.99930508 0.00932709 -0.10854637] [ 0.05613748 -0.01134556 0.99835858 -0.0529749 ] [ 0. 0. 0. 1. ]] SLAMing on 10.973273559999999 meters Centerline goodness [0,1] 0.8192739754524652 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.05 [[ 0.9977623 -0.03569999 -0.05653226 0.38530453] [ 0.03623516 0.9993074 0.00846976 -0.10574696] [ 0.05619074 -0.01049926 0.99836485 -0.05231921] [ 0. 0. 0. 1. ]] SLAMing on 11.00327356 meters Centerline goodness [0,1] 0.8175652763648694 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.05 [[ 0.99776121 -0.0358869 -0.05643306 0.38503839] [ 0.03640407 0.99930381 0.00816286 -0.10468703] [ 0.05610083 -0.01019898 0.99837302 -0.05226127] [ 0. 0. 0. 1. ]] SLAMing on 11.03327356 meters Centerline goodness [0,1] 0.8207517700957934 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.05 [[ 0.99775428 -0.03608122 -0.05643179 0.38514174] [ 0.03658139 0.9992998 0.00785511 -0.10386258] [ 0.05610885 -0.00990183 0.99837556 -0.05234583] [ 0. 0. 0. 1. ]] SLAMing on 11.063273559999999 meters Centerline goodness [0,1] 0.8168451292765735 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99775008 -0.03673983 -0.05607988 0.38439727] [ 0.03720652 0.99928093 0.00730016 -0.10237756] [ 0.05577135 -0.00937027 0.9983996 -0.05251846] [ 0. 0. 0. 1. ]] SLAMing on 11.09327356 meters Centerline goodness [0,1] 0.8059093756525371 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99774356 -0.03720246 -0.05589065 0.38378374] [ 0.03764589 0.99926731 0.00690176 -0.10180461] [ 0.05559294 -0.00899024 0.99841304 -0.05233151] [ 0. 0. 0. 1. ]] SLAMing on 11.12327356 meters Centerline goodness [0,1] 0.80164469390419 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99774012 -0.03761911 -0.05567269 0.38326679] [ 0.03804397 0.99925433 0.00659105 -0.10145309] [ 0.05538323 -0.00869416 0.99842732 -0.05230507] [ 0. 0. 0. 1. ]] SLAMing on 11.153273559999999 meters Centerline goodness [0,1] 0.7980470483799379 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99773895 -0.03803205 -0.05541257 0.38280299] [ 0.03844016 0.99924093 0.00631733 -0.1010348 ] [ 0.05513025 -0.00843311 0.99844356 -0.05245666] [ 0. 0. 0. 1. ]] SLAMing on 11.18327356 meters Centerline goodness [0,1] 0.7734951658176525 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99765656 -0.04034819 -0.05525762 0.38341832] [ 0.0406274 0.9991666 0.0039385 -0.0989886 ] [ 0.05505265 -0.00617424 0.99846436 -0.0531513 ] [ 0. 0. 0. 1. ]] SLAMing on 11.21327356 meters Centerline goodness [0,1] 0.7714308102178342 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99764396 -0.04086465 -0.05510544 0.3828125 ] [ 0.04112216 0.99914783 0.00354684 -0.09851216] [ 0.05491354 -0.00580454 0.99847424 -0.05290444] [ 0. 0. 0. 1. ]] SLAMing on 11.243273559999999 meters Centerline goodness [0,1] 0.7800715087298066 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99763373 -0.0414564 -0.05484799 0.38206764] [ 0.04169696 0.99912502 0.00324837 -0.09807398] [ 0.05466533 -0.00552767 0.99848943 -0.05291499] [ 0. 0. 0. 1. ]] SLAMing on 11.27327356 meters Centerline goodness [0,1] 0.757046664578766 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99762662 -0.04179156 -0.05472294 0.38183593] [ 0.04202484 0.9991117 0.0031186 -0.0978644 ] [ 0.054544 -0.00541092 0.99849671 -0.05309997] [ 0. 0. 0. 1. ]] SLAMing on 11.30327356 meters Centerline goodness [0,1] 0.7699688048863607 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99760498 -0.04263369 -0.05446712 0.38088535] [ 0.04283362 0.99907907 0.00250808 -0.09678351] [ 0.05431003 -0.0048351 0.99851241 -0.05292852] [ 0. 0. 0. 1. ]] SLAMing on 11.333273559999999 meters Centerline goodness [0,1] 0.759214985681633 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.05 [[ 0.99759683 -0.04291623 -0.05439459 0.38064393] [ 0.0430989 0.99906841 0.00218915 -0.09595709] [ 0.05424996 -0.00452823 0.99851712 -0.05286081] [ 0. 0. 0. 1. ]] SLAMing on 11.36327356 meters Centerline goodness [0,1] 0.764151686130429 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 0.9975884 -0.04349718 -0.05408678 0.37993996] [ 0.04364866 0.99904563 0.00162202 -0.09395519] [ 0.0539646 -0.00397893 0.99853492 -0.05299087] [ 0. 0. 0. 1. ]] SLAMing on 11.393273559999999 meters Centerline goodness [0,1] 0.7617496387757783 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 0.99758035 -0.04379207 -0.05399725 0.37973671] [ 0.04392425 0.99903407 0.00126295 -0.09273073] [ 0.05388978 -0.00363169 0.99854029 -0.05299839] [ 0. 0. 0. 1. ]] SLAMing on 11.42327356 meters Centerline goodness [0,1] 0.7624806120034702 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97575301e-01 -4.39713620e-02 -5.39447615e-02 3.79767322e-01] [ 4.40869625e-02 9.99027241e-01 9.54243742e-04 -9.14997492e-02] [ 5.38503269e-02 -3.33019067e-03 9.98543465e-01 -5.31711981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.45327356 meters Centerline goodness [0,1] 0.7604862901952529 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97570994e-01 -4.41202232e-02 -5.39028620e-02 3.79740896e-01] [ 4.42174985e-02 9.99021740e-01 6.12802332e-04 -9.02977882e-02] [ 5.38230941e-02 -2.99476356e-03 9.98545996e-01 -5.31390397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483273559999999 meters Centerline goodness [0,1] 0.7566954871362295 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97566021e-01 -4.43241479e-02 -5.38275357e-02 3.79705072e-01] [ 4.44040978e-02 9.99013610e-01 2.89669688e-04 -8.89697928e-02] [ 5.37616013e-02 -2.67912780e-03 9.98550205e-01 -5.32945031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51327356 meters Centerline goodness [0,1] 0.7508652347362025 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97555753e-01 -4.49301950e-02 -5.35144545e-02 3.78989518e-01] [ 4.49790039e-02 9.98987890e-01 -2.92567287e-04 -8.71375853e-02] [ 5.34734371e-02 -2.11517468e-03 9.98567032e-01 -5.34055121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54327356 meters Centerline goodness [0,1] 0.7525045597525839 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97553196e-01 -4.51550613e-02 -5.33726667e-02 3.78740792e-01] [ 4.51977592e-02 9.98977976e-01 -4.07372209e-04 -8.66349009e-02] [ 5.33365134e-02 -2.00594949e-03 9.98574580e-01 -5.36029131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.573273559999999 meters Centerline goodness [0,1] 0.7477365712023228 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.05 [[ 9.97549583e-01 -4.53213022e-02 -5.32992376e-02 3.78813004e-01] [ 4.53546670e-02 9.98970777e-01 -5.84010026e-04 -8.57899505e-02] [ 5.32708488e-02 -1.83479021e-03 9.98578415e-01 -5.38913385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60327356 meters Centerline goodness [0,1] 0.7507189025194565 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 0.99754599 -0.04557951 -0.05314612 0.37859043] [ 0.04558999 0.99895972 -0.00101575 -0.08344367] [ 0.05313713 -0.00140967 0.99858623 -0.05410018] [ 0. 0. 0. 1. ]] SLAMing on 11.63327356 meters Centerline goodness [0,1] 0.7540748986244732 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 0.99753918 -0.04585268 -0.05303882 0.37818036] [ 0.04584442 0.99894765 -0.00137288 -0.08222214] [ 0.05304595 -0.00106203 0.99859151 -0.05391114] [ 0. 0. 0. 1. ]] SLAMing on 11.663273559999999 meters Centerline goodness [0,1] 0.7523574909938546 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97528861e-01 -4.61753205e-02 -5.29529151e-02 3.77716369e-01] [ 4.61461543e-02 9.98933124e-01 -1.77396157e-03 -8.11019190e-02] [ 5.29783342e-02 -6.73995523e-04 9.98595435e-01 -5.35995521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69327356 meters Centerline goodness [0,1] 0.7521680324608163 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97524042e-01 -4.63484977e-02 -5.28923613e-02 3.77610484e-01] [ 4.62934199e-02 9.98925313e-01 -2.26664570e-03 -7.91903714e-02] [ 5.29405742e-02 -1.87534715e-04 9.98597647e-01 -5.35525635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723273559999999 meters Centerline goodness [0,1] 0.7418944354603536 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97522119e-01 -4.63235467e-02 -5.29504571e-02 3.77962355e-01] [ 4.62593503e-02 9.98926488e-01 -2.43798996e-03 -7.82429116e-02] [ 5.30065505e-02 -1.75048283e-05 9.98594164e-01 -5.37423537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75327356 meters Centerline goodness [0,1] 0.7440493526437025 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97522921e-01 -4.62333271e-02 -5.30141591e-02 3.78386890e-01] [ 4.61686283e-02 9.98930668e-01 -2.44506969e-03 -7.74285848e-02] [ 5.30705131e-02 -8.57794754e-06 9.98590767e-01 -5.40598810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.78327356 meters Centerline goodness [0,1] 0.7451422807390105 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97517091e-01 -4.64478009e-02 -5.29363293e-02 3.78247891e-01] [ 4.63677631e-02 9.98920680e-01 -2.73975676e-03 -7.64042072e-02] [ 5.30064498e-02 2.78415018e-04 9.98594131e-01 -5.41254277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.813273559999999 meters Centerline goodness [0,1] 0.7424443618207892 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97508125e-01 -4.67090194e-02 -5.28753957e-02 3.78159199e-01] [ 4.66182615e-02 9.98908424e-01 -2.94916741e-03 -7.53806759e-02] [ 5.29554309e-02 4.76859428e-04 9.98596763e-01 -5.43026777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84327356 meters Centerline goodness [0,1] 0.7395725198967233 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.05 [[ 9.97501145e-01 -4.67436231e-02 -5.29764081e-02 3.78640854e-01] [ 4.66527173e-02 9.98906807e-01 -2.95196346e-03 -7.50177739e-02] [ 5.30564801e-02 4.73093542e-04 9.98591401e-01 -5.46863847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.87327356 meters Centerline goodness [0,1] 0.7472501195600192 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 9.97499311e-01 -4.67065303e-02 -5.30436175e-02 3.79113173e-01] [ 4.66121451e-02 9.98908511e-01 -3.01578167e-03 -7.44041467e-02] [ 5.31265777e-02 5.35763339e-04 9.98587642e-01 -5.50342147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903273559999999 meters Centerline goodness [0,1] 0.7437501663959958 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 9.97495867e-01 -4.67040412e-02 -5.31105302e-02 3.79525702e-01] [ 4.65996907e-02 9.98908512e-01 -3.20210421e-03 -7.35772484e-02] [ 5.32021119e-02 7.19151432e-04 9.98583506e-01 -5.52535343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93327356 meters Centerline goodness [0,1] 0.7506741783034737 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 0.99749192 -0.04680396 -0.0530967 0.37950342] [ 0.04667751 0.99890345 -0.00361982 -0.07193593] [ 0.0532079 0.00113232 0.99858281 -0.05517723] [ 0. 0. 0. 1. ]] SLAMing on 11.96327356 meters Centerline goodness [0,1] 0.7497463555294495 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.99748673 -0.04690236 -0.05310739 0.37934124] [ 0.04675503 0.99889832 -0.00401394 -0.07087182] [ 0.05323714 0.00152082 0.99858074 -0.05475909] [ 0. 0. 0. 1. ]] SLAMing on 11.993273559999999 meters Centerline goodness [0,1] 0.7485397352767804 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.99748422 -0.04681199 -0.05323407 0.37959882] [ 0.04665312 0.99890222 -0.00422378 -0.06995746] [ 0.05337335 0.00172962 0.99857313 -0.05456632] [ 0. 0. 0. 1. ]] SLAMing on 12.02327356 meters Centerline goodness [0,1] 0.7526590756865372 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.99749221 -0.04642474 -0.05342312 0.37998194] [ 0.04624788 0.99891967 -0.00454258 -0.06830846] [ 0.05357629 0.00206048 0.99856163 -0.05405143] [ 0. 0. 0. 1. ]] SLAMing on 12.05327356 meters Centerline goodness [0,1] 0.753971880964542 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.99748863 -0.04646246 -0.05345722 0.37990849] [ 0.0462692 0.99891724 -0.00484786 -0.0674675 ] [ 0.05362458 0.00236226 0.99855837 -0.05371838] [ 0. 0. 0. 1. ]] SLAMing on 12.083273559999999 meters Centerline goodness [0,1] 0.7492929185121938 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.9974857 -0.04605718 -0.053861 0.38100727] [ 0.04586114 0.99893595 -0.00487075 -0.06667081] [ 0.05402803 0.00238837 0.99853656 -0.05368922] [ 0. 0. 0. 1. ]] SLAMing on 12.11327356 meters Centerline goodness [0,1] 0.7658089721137007 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 9.97656889e-01 -4.24341951e-02 -5.36662834e-02 3.80105271e-01] [ 4.24468197e-02 9.99098318e-01 -9.05051603e-04 -6.69756112e-02] [ 5.36562986e-02 -1.37503209e-03 9.98558517e-01 -5.40632231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143273559999999 meters Centerline goodness [0,1] 0.7667178368479168 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.05 [[ 0.99765474 -0.041992 -0.05405271 0.38119989] [ 0.04199935 0.99911714 -0.00100047 -0.06609476] [ 0.054047 -0.00127206 0.99853758 -0.05402196] [ 0. 0. 0. 1. ]] SLAMing on 12.17327356 meters Centerline goodness [0,1] 0.7705868082697647 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.05 [[ 0.99765634 -0.04154796 -0.0543653 0.38226503] [ 0.04155205 0.99913578 -0.00105564 -0.06498906] [ 0.05436217 -0.00120583 0.99852056 -0.05420793] [ 0. 0. 0. 1. ]] SLAMing on 12.20327356 meters Centerline goodness [0,1] 0.7781856460363302 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 0.99782937 -0.03724603 -0.05430735 0.3826192 ] [ 0.03747751 0.99929219 0.00324988 -0.06571402] [ 0.05414786 -0.00527813 0.99851898 -0.05535231] [ 0. 0. 0. 1. ]] SLAMing on 12.233273559999999 meters Centerline goodness [0,1] 0.7781856460363302 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 0.99782937 -0.03724603 -0.05430735 0.3826192 ] [ 0.03747751 0.99929219 0.00324988 -0.06571402] [ 0.05414786 -0.00527813 0.99851898 -0.05535231] [ 0. 0. 0. 1. ]] SLAMing on 12.26327356 meters Centerline goodness [0,1] 0.7786271914422324 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.06 [[ 0.99782994 -0.03672421 -0.05465115 0.3838414 ] [ 0.03695514 0.99931174 0.00322051 -0.06492555] [ 0.05449526 -0.00523316 0.99850032 -0.05552914] [ 0. 0. 0. 1. ]] SLAMing on 12.29327356 meters Centerline goodness [0,1] 0.8026447714277972 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.06 [[ 0.99797946 -0.03251481 -0.05458744 0.38394051] [ 0.03296925 0.99942864 0.00744492 -0.06516375] [ 0.05431418 -0.00922958 0.99848124 -0.05640214] [ 0. 0. 0. 1. ]] SLAMing on 12.323273559999999 meters Centerline goodness [0,1] 0.816728634624257 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.06 [[ 0.99796955 -0.0321762 -0.05496787 0.38489686] [ 0.03262058 0.99944183 0.00720621 -0.06394255] [ 0.05470532 -0.00898467 0.99846212 -0.05620867] [ 0. 0. 0. 1. ]] SLAMing on 12.35327356 meters Centerline goodness [0,1] 0.8266500487699144 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.06 [[ 0.99796229 -0.03184347 -0.05529258 0.38574097] [ 0.03227796 0.99945454 0.00698258 -0.06280254] [ 0.05504007 -0.00875309 0.99844578 -0.05600834] [ 0. 0. 0. 1. ]] SLAMing on 12.38327356 meters Centerline goodness [0,1] 0.8182877584758395 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.06 [[ 0.99796172 -0.03154285 -0.05547489 0.38629275] [ 0.03197099 0.99946535 0.0068469 -0.06194221] [ 0.05522926 -0.00860653 0.99843661 -0.05587529] [ 0. 0. 0. 1. ]] SLAMing on 12.413273559999999 meters Centerline goodness [0,1] 0.8238017871649066 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.06 [[ 0.99795348 -0.03141804 -0.05569343 0.38656906] [ 0.03182889 0.99947216 0.00650513 -0.06097607] [ 0.05545965 -0.00826448 0.99842673 -0.05531592] [ 0. 0. 0. 1. ]] SLAMing on 12.44327356 meters Centerline goodness [0,1] 0.8260256896645168 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99795446 -0.03114049 -0.05583163 0.38675372] [ 0.03153268 0.99948376 0.00615725 -0.05994298] [ 0.05561107 -0.00790517 0.99842121 -0.05466742] [ 0. 0. 0. 1. ]] SLAMing on 12.473273559999999 meters Centerline goodness [0,1] 0.8242388027270011 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99795161 -0.03110063 -0.05590478 0.38689919] [ 0.0314829 0.99948646 0.00597012 -0.05940141] [ 0.0556904 -0.00771794 0.99841826 -0.05450948] [ 0. 0. 0. 1. ]] SLAMing on 12.50327356 meters Centerline goodness [0,1] 0.826505958682846 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99794395 -0.03085592 -0.05617628 0.38740419] [ 0.0312265 0.99949591 0.00573061 -0.05901009] [ 0.05597114 -0.00747302 0.99840442 -0.05402559] [ 0. 0. 0. 1. ]] SLAMing on 12.53327356 meters Centerline goodness [0,1] 0.827084287986199 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99793738 -0.03059034 -0.05643778 0.38836571] [ 0.03096586 0.99950367 0.00579107 -0.05917567] [ 0.05623261 -0.00752677 0.99838932 -0.0542235 ] [ 0. 0. 0. 1. ]] SLAMing on 12.563273559999999 meters Centerline goodness [0,1] 0.8233415432917423 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99793768 -0.03063882 -0.05640613 0.38843878] [ 0.0310215 0.99950118 0.00592111 -0.05984369] [ 0.05619657 -0.0076587 0.99839035 -0.05444032] [ 0. 0. 0. 1. ]] SLAMing on 12.59327356 meters Centerline goodness [0,1] 0.8217835188344571 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99793535 -0.03069761 -0.05641535 0.38849606] [ 0.03108381 0.99949889 0.00598082 -0.06037658] [ 0.05620349 -0.00772207 0.99838947 -0.05449523] [ 0. 0. 0. 1. ]] SLAMing on 12.62327356 meters Centerline goodness [0,1] 0.8247208025742949 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99793368 -0.03084361 -0.05636518 0.38839343] [ 0.03123209 0.99949401 0.0060241 -0.06115187] [ 0.05615085 -0.00777205 0.99839205 -0.05451024] [ 0. 0. 0. 1. ]] SLAMing on 12.653273559999999 meters Centerline goodness [0,1] 0.8221927306213098 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.05 [[ 0.99793475 -0.03103435 -0.05624144 0.38813373] [ 0.03142635 0.99948746 0.00609875 -0.0619387 ] [ 0.05602335 -0.00785361 0.99839857 -0.05460042] [ 0. 0. 0. 1. ]] SLAMing on 12.68327356 meters Centerline goodness [0,1] 0.8201712911679679 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.06 [[ 0.99793433 -0.03132923 -0.05608521 0.38782904] [ 0.03174658 0.99947438 0.00656572 -0.06430129] [ 0.05585004 -0.00833267 0.9984044 -0.05507188] [ 0. 0. 0. 1. ]] SLAMing on 12.71327356 meters Centerline goodness [0,1] 0.8115742614326183 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.06 [[ 0.99793259 -0.0314803 -0.05603154 0.38777015] [ 0.03190079 0.99946908 0.00662574 -0.06530329] [ 0.05579321 -0.00839949 0.99840701 -0.055159 ] [ 0. 0. 0. 1. ]] SLAMing on 12.743273559999999 meters Centerline goodness [0,1] 0.8154939817432749 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.06 [[ 0.99793126 -0.03166082 -0.05595356 0.38750723] [ 0.03207817 0.99946373 0.00657639 -0.06586132] [ 0.05571534 -0.00835768 0.99841171 -0.05504294] [ 0. 0. 0. 1. ]] SLAMing on 12.77327356 meters Centerline goodness [0,1] 0.817653859597236 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.9979282 -0.03183829 -0.05590732 0.38705285] [ 0.03225195 0.99945855 0.00651235 -0.06643403] [ 0.05566971 -0.00830197 0.99841472 -0.05460014] [ 0. 0. 0. 1. ]] SLAMing on 12.80327356 meters Centerline goodness [0,1] 0.8167709368203421 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99792044 -0.03177286 -0.05608279 0.38720455] [ 0.03217887 0.99946195 0.00635121 -0.06643114] [ 0.05585082 -0.00814268 0.99840592 -0.0540856 ] [ 0. 0. 0. 1. ]] SLAMing on 12.833273559999999 meters Centerline goodness [0,1] 0.8167620890788377 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791747 -0.03146491 -0.05630886 0.38793458] [ 0.03187539 0.99947132 0.00640627 -0.0663104 ] [ 0.05607752 -0.00818779 0.99839284 -0.05414989] [ 0. 0. 0. 1. ]] SLAMing on 12.86327356 meters Centerline goodness [0,1] 0.8239455562728643 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99792072 -0.03107187 -0.05646931 0.388374 ] [ 0.03149007 0.99948273 0.00653077 -0.06665991] [ 0.05623718 -0.00829542 0.99838298 -0.05399603] [ 0. 0. 0. 1. ]] SLAMing on 12.893273559999999 meters Centerline goodness [0,1] 0.822764794168096 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791856 -0.03106114 -0.05651335 0.38861718] [ 0.0314706 0.99948438 0.00636959 -0.06674221] [ 0.05628636 -0.00813485 0.99838153 -0.05394394] [ 0. 0. 0. 1. ]] SLAMing on 12.92327356 meters Centerline goodness [0,1] 0.8232588168832217 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791675 -0.03105567 -0.05654823 0.38862642] [ 0.03146386 0.99948477 0.00634217 -0.06691746] [ 0.05632213 -0.00810819 0.99837972 -0.05380649] [ 0. 0. 0. 1. ]] SLAMing on 12.95327356 meters Centerline goodness [0,1] 0.8240343347639485 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791863 -0.03091665 -0.05659119 0.38883268] [ 0.03134066 0.99948684 0.00662015 -0.06802137] [ 0.05635748 -0.00837997 0.99837549 -0.05389489] [ 0. 0. 0. 1. ]] SLAMing on 12.983273559999999 meters Centerline goodness [0,1] 0.8224694999329669 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.9979135 -0.03081922 -0.05673463 0.38917985] [ 0.03124571 0.99948964 0.00664536 -0.0685109 ] [ 0.05650087 -0.0084042 0.99836718 -0.0537573 ] [ 0. 0. 0. 1. ]] SLAMing on 13.01327356 meters Centerline goodness [0,1] 0.823136550170319 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791371 -0.03076439 -0.05676075 0.38934344] [ 0.03119513 0.99949074 0.00671816 -0.06884523] [ 0.05652516 -0.0084748 0.99836521 -0.053846 ] [ 0. 0. 0. 1. ]] SLAMing on 13.04327356 meters Centerline goodness [0,1] 0.823120860261189 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791756 -0.02999508 -0.05710372 0.39049303] [ 0.03044618 0.99951157 0.00704591 -0.06929443] [ 0.05686449 -0.00876982 0.99834339 -0.05388331] [ 0. 0. 0. 1. ]] SLAMing on 13.073273559999999 meters Centerline goodness [0,1] 0.8244536801179783 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99791742 -0.02963271 -0.05729514 0.39104133] [ 0.03008617 0.99952232 0.00706797 -0.06907159] [ 0.05705833 -0.00877704 0.99833226 -0.05378041] [ 0. 0. 0. 1. ]] SLAMing on 13.10327356 meters Centerline goodness [0,1] 0.8259690754858799 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99790993 -0.02921299 -0.05763995 0.39195432] [ 0.02966699 0.99953507 0.00703646 -0.06859198] [ 0.05740759 -0.00873176 0.99831264 -0.05362148] [ 0. 0. 0. 1. ]] SLAMing on 13.13327356 meters Centerline goodness [0,1] 0.8264875755540632 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.05 [[ 0.99790968 -0.02859446 -0.05795374 0.39304908] [ 0.02906159 0.99955145 0.00723344 -0.06843893] [ 0.0577209 -0.00890254 0.99829306 -0.05376898] [ 0. 0. 0. 1. ]] SLAMing on 13.163273559999999 meters Centerline goodness [0,1] 0.8222067375981561 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99793191 -0.02692912 -0.05836716 0.39526333] [ 0.02743902 0.99959185 0.00795213 -0.06864018] [ 0.05812919 -0.00953722 0.99826351 -0.05442189] [ 0. 0. 0. 1. ]] SLAMing on 13.19327356 meters Centerline goodness [0,1] 0.8243837084673098 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99793231 -0.02631037 -0.05864194 0.39635734] [ 0.02683549 0.99960635 0.00818502 -0.06882798] [ 0.0584035 -0.00974178 0.99824553 -0.05466436] [ 0. 0. 0. 1. ]] SLAMing on 13.223273559999999 meters Centerline goodness [0,1] 0.8188238453276047 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.06 [[ 0.99796098 -0.02424205 -0.05904402 0.39890865] [ 0.02482641 0.9996496 0.00918341 -0.0691859 ] [ 0.05880071 -0.01063054 0.99821314 -0.05554959] [ 0. 0. 0. 1. ]] SLAMing on 13.253273559999998 meters Centerline goodness [0,1] 0.8170525127046866 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.06 [[ 0.99795974 -0.02363032 -0.05931237 0.39976834] [ 0.0242231 0.99966337 0.00929504 -0.06893622] [ 0.05907276 -0.01071281 0.9981962 -0.05547675] [ 0. 0. 0. 1. ]] SLAMing on 13.28327356 meters Centerline goodness [0,1] 0.8171985147715655 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.06 [[ 0.99795717 -0.0231565 -0.05954212 0.40035061] [ 0.02375618 0.99967374 0.00938341 -0.0688439 ] [ 0.05930541 -0.01077874 0.99818169 -0.05522507] [ 0. 0. 0. 1. ]] SLAMing on 13.313273559999999 meters Centerline goodness [0,1] 0.8148048524625441 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99794763 -0.02278175 -0.05984586 0.40080418] [ 0.02338173 0.99968294 0.00934428 -0.0687177 ] [ 0.05961401 -0.0107244 0.99816389 -0.05465253] [ 0. 0. 0. 1. ]] SLAMing on 13.34327356 meters Centerline goodness [0,1] 0.8133742199268346 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99794799 -0.02150206 -0.06031145 0.40237468] [ 0.02213529 0.99970645 0.00985087 -0.06946419] [ 0.06008193 -0.01116567 0.998131 -0.05450088] [ 0. 0. 0. 1. ]] SLAMing on 13.37327356 meters Centerline goodness [0,1] 0.8132889294730623 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99794466 -0.02113092 -0.06049743 0.40300854] [ 0.02177483 0.99971285 0.01000405 -0.06996387] [ 0.06026866 -0.01130081 0.99811822 -0.05452893] [ 0. 0. 0. 1. ]] SLAMing on 13.403273559999999 meters Centerline goodness [0,1] 0.8120032223415682 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99794138 -0.02081796 -0.0606599 0.4035126 ] [ 0.02147321 0.99971769 0.0101702 -0.07073725] [ 0.06043106 -0.01145183 0.99810668 -0.0544788 ] [ 0. 0. 0. 1. ]] SLAMing on 13.43327356 meters Centerline goodness [0,1] 0.8106934091274736 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99793663 -0.02063647 -0.06079983 0.40380355] [ 0.02129457 0.99972125 0.01019598 -0.0714813 ] [ 0.06057247 -0.01146964 0.9980979 -0.05420896] [ 0. 0. 0. 1. ]] SLAMing on 13.46327356 meters Centerline goodness [0,1] 0.8123011948357435 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99793655 -0.02003223 -0.06100293 0.40438056] [ 0.02072109 0.99972824 0.01068058 -0.07355128] [ 0.0607724 -0.01192259 0.99808044 -0.05401229] [ 0. 0. 0. 1. ]] SLAMing on 13.493273559999999 meters Centerline goodness [0,1] 0.8104023709716177 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99793511 -0.01982695 -0.06109347 0.40468976] [ 0.02052617 0.99973056 0.01083873 -0.07450192] [ 0.06086211 -0.01207036 0.9980732 -0.05395234] [ 0. 0. 0. 1. ]] SLAMing on 13.52327356 meters Centerline goodness [0,1] 0.8085271525305784 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.05 [[ 0.99793402 -0.01969519 -0.06115379 0.40488347] [ 0.02040828 0.99973058 0.0110579 -0.07571185] [ 0.06091953 -0.0122831 0.9980671 -0.05394345] [ 0. 0. 0. 1. ]] SLAMing on 13.55327356 meters Centerline goodness [0,1] 0.8063932769533535 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.05 [[ 0.99793005 -0.01935757 -0.06132625 0.40552352] [ 0.02010889 0.99972983 0.01165778 -0.07851111] [ 0.06108402 -0.01286685 0.99804969 -0.05414149] [ 0. 0. 0. 1. ]] SLAMing on 13.583273559999999 meters Centerline goodness [0,1] 0.8118298166724317 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.05 [[ 0.99792779 -0.01946868 -0.06132786 0.40521582] [ 0.02023774 0.99972385 0.01194398 -0.08032297] [ 0.06107839 -0.01316037 0.99804621 -0.05388437] [ 0. 0. 0. 1. ]] SLAMing on 13.61327356 meters Centerline goodness [0,1] 0.8086082528906333 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.05 [[ 0.99792192 -0.01997616 -0.06126009 0.40446144] [ 0.0207482 0.99971281 0.01199247 -0.08215852] [ 0.06100293 -0.01323858 0.99804979 -0.05337991] [ 0. 0. 0. 1. ]] SLAMing on 13.643273559999999 meters Centerline goodness [0,1] 0.8099425272134968 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.05 [[ 0.99791961 -0.02043269 -0.06114696 0.40375507] [ 0.02121572 0.99970068 0.01218395 -0.084352 ] [ 0.06087971 -0.01345588 0.99805441 -0.05309778] [ 0. 0. 0. 1. ]] SLAMing on 13.67327356 meters Centerline goodness [0,1] 0.808117302671484 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.05 [[ 0.99782584 -0.02449589 -0.06118458 0.40387152] [ 0.0250711 0.99964824 0.00865114 -0.08643245] [ 0.06095114 -0.0101663 0.99808898 -0.05279104] [ 0. 0. 0. 1. ]] SLAMing on 13.70327356 meters Centerline goodness [0,1] 0.8104473684210527 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.05 [[ 0.99781907 -0.02516335 -0.06102389 0.40300024] [ 0.02574732 0.99962973 0.00880199 -0.08880232] [ 0.06077981 -0.010354 0.99809749 -0.05259109] [ 0. 0. 0. 1. ]] SLAMing on 13.733273559999999 meters Centerline goodness [0,1] 0.8102185977436752 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.05 [[ 0.99770436 -0.02979417 -0.06081373 0.40216126] [ 0.03015122 0.99953303 0.00496186 -0.09139903] [ 0.06063749 -0.00678408 0.9981368 -0.05187371] [ 0. 0. 0. 1. ]] SLAMing on 13.76327356 meters Centerline goodness [0,1] 0.8073765150527825 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.05 [[ 0.99768719 -0.03085941 -0.06056368 0.40078381] [ 0.03120491 0.99950164 0.00476717 -0.09368016] [ 0.06038638 -0.00664602 0.99815295 -0.05133276] [ 0. 0. 0. 1. ]] SLAMing on 13.79327356 meters Centerline goodness [0,1] 0.8075895520452364 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.05 [[ 9.97543100e-01 -3.47686429e-02 -6.08186326e-02 4.01465801e-01] [ 3.48821964e-02 9.99391106e-01 8.06033188e-04 -9.38465374e-02] [ 6.07535758e-02 -2.92554033e-03 9.98148508e-01 -5.08026290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823273559999999 meters Centerline goodness [0,1] 0.8067361668003208 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.05 [[ 9.97383140e-01 -3.95099025e-02 -6.05461727e-02 4.00340376e-01] [ 3.94071762e-02 9.99219055e-01 -2.89026162e-03 -9.61775347e-02] [ 6.06130834e-02 4.96744514e-04 9.98161213e-01 -5.00685997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85327356 meters Centerline goodness [0,1] 0.8027701258914091 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.05 [[ 9.97361096e-01 -4.01775856e-02 -6.04698831e-02 3.99732530e-01] [ 4.00938442e-02 9.99192541e-01 -2.59804576e-03 -9.83251719e-02] [ 6.05254393e-02 1.66719700e-04 9.98166641e-01 -5.00969630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.88327356 meters Centerline goodness [0,1] 0.8021457791957187 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.05 [[ 9.97342816e-01 -4.09697637e-02 -6.02394120e-02 3.98672925e-01] [ 4.08968111e-02 9.99160386e-01 -2.44398457e-03 -1.00249677e-01] [ 6.02889636e-02 -2.61093957e-05 9.98180966e-01 -4.99202382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.913273559999999 meters Centerline goodness [0,1] 0.7991678010941874 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.05 [[ 0.99716287 -0.04528601 -0.06012807 0.39870548] [ 0.04500933 0.99896886 -0.00594868 -0.10196027] [ 0.06033546 0.00322548 0.99817295 -0.04998887] [ 0. 0. 0. 1. ]] SLAMing on 13.94327356 meters Centerline goodness [0,1] 0.797144984466867 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.05 [[ 0.99715866 -0.0457569 -0.05984077 0.39805257] [ 0.04549625 0.99894818 -0.00571157 -0.10373531] [ 0.06003917 0.00297281 0.99819159 -0.05022835] [ 0. 0. 0. 1. ]] SLAMing on 13.973273559999999 meters Centerline goodness [0,1] 0.7946042705536376 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.05 [[ 0.99715869 -0.04588803 -0.05973974 0.39823793] [ 0.04566722 0.99894391 -0.00505705 -0.10572126] [ 0.0599087 0.00231453 0.99820118 -0.05109769] [ 0. 0. 0. 1. ]] SLAMing on 14.003273559999998 meters Centerline goodness [0,1] 0.7882526895426503 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.05 [[ 0.99714041 -0.04675472 -0.05937176 0.39698946] [ 0.04655025 0.99890431 -0.00482302 -0.10794411] [ 0.05953221 0.00204546 0.99822429 -0.05113334] [ 0. 0. 0. 1. ]] SLAMing on 14.03327356 meters Centerline goodness [0,1] 0.7848766061594942 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.05 [[ 0.99713583 -0.04706528 -0.05920307 0.39643918] [ 0.04686447 0.99888984 -0.00477647 -0.10858015] [ 0.05936215 0.00198827 0.99823453 -0.05108966] [ 0. 0. 0. 1. ]] SLAMing on 14.063273559999999 meters Centerline goodness [0,1] 0.7776256749562704 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.05 [[ 0.99712583 -0.04710284 -0.05934139 0.39678222] [ 0.04692081 0.99888866 -0.00445786 -0.10961352] [ 0.05948542 0.0016607 0.99822779 -0.05133329] [ 0. 0. 0. 1. ]] SLAMing on 14.09327356 meters Centerline goodness [0,1] 0.7244077478818136 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.05 [[ 0.99737404 -0.04878068 -0.05353014 0.43044399] [ 0.04835411 0.99878755 -0.00923596 -0.11003557] [ 0.05391578 0.0066233 0.99852352 -0.05111468] [ 0. 0. 0. 1. ]] SLAMing on 14.12327356 meters Centerline goodness [0,1] 0.774508808447987 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99758997 -0.0474066 -0.05066431 0.37846355] [ 0.04708855 0.99886291 -0.0074536 -0.1127459 ] [ 0.05096005 0.00504993 0.99868792 -0.05646477] [ 0. 0. 0. 1. ]] SLAMing on 14.153273559999999 meters Centerline goodness [0,1] 0.774508808447987 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99758997 -0.0474066 -0.05066431 0.37846355] [ 0.04708855 0.99886291 -0.0074536 -0.1127459 ] [ 0.05096005 0.00504993 0.99868792 -0.05646477] [ 0. 0. 0. 1. ]] SLAMing on 14.18327356 meters Centerline goodness [0,1] 0.7613725440614965 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99756273 -0.04829232 -0.05036324 0.37717806] [ 0.04798238 0.99882117 -0.00734588 -0.11452405] [ 0.05065862 0.00491143 0.99870395 -0.05627523] [ 0. 0. 0. 1. ]] SLAMing on 14.21327356 meters Centerline goodness [0,1] 0.7556301757220764 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99755586 -0.04848382 -0.0503153 0.37698039] [ 0.04818438 0.99881288 -0.00714814 -0.11535608] [ 0.05060214 0.00470625 0.9987078 -0.05635477] [ 0. 0. 0. 1. ]] SLAMing on 14.243273559999999 meters Centerline goodness [0,1] 0.7553996770286637 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99755556 -0.04851036 -0.05029559 0.37706017] [ 0.04822537 0.99881289 -0.00686508 -0.11596061] [ 0.05056891 0.00442277 0.99871078 -0.05664757] [ 0. 0. 0. 1. ]] SLAMing on 14.27327356 meters Centerline goodness [0,1] 0.740726703052355 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.997556 -0.04851326 -0.05028415 0.37717891] [ 0.04824031 0.99881377 -0.00662824 -0.11629495] [ 0.05054605 0.00418632 0.99871296 -0.05696138] [ 0. 0. 0. 1. ]] SLAMing on 14.30327356 meters Centerline goodness [0,1] 0.7497984886649873 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99754884 -0.04848063 -0.05045734 0.3779804 ] [ 0.04822599 0.99881688 -0.00625262 -0.11667796] [ 0.05070077 0.00380393 0.99870664 -0.05773468] [ 0. 0. 0. 1. ]] SLAMing on 14.333273559999999 meters Centerline goodness [0,1] 0.7462133622319111 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99754644 -0.04840215 -0.05057994 0.3785071 ] [ 0.04815092 0.99882099 -0.00617443 -0.11667 ] [ 0.05081916 0.00372381 0.99870093 -0.0580601 ] [ 0. 0. 0. 1. ]] SLAMing on 14.36327356 meters Centerline goodness [0,1] 0.7380330503792254 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99754947 -0.04811176 -0.05079679 0.37938751] [ 0.04787398 0.99883603 -0.00588818 -0.11679806] [ 0.05102095 0.00344191 0.99869165 -0.058552 ] [ 0. 0. 0. 1. ]] SLAMing on 14.393273559999999 meters Centerline goodness [0,1] 0.7481044862590998 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99753896 -0.04853682 -0.05059835 0.37853264] [ 0.04827946 0.99881402 -0.00629675 -0.115949 ] [ 0.05084397 0.00383839 0.99869923 -0.05812067] [ 0. 0. 0. 1. ]] SLAMing on 14.423273559999998 meters Centerline goodness [0,1] 0.7414453459658318 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.9975327 -0.04866907 -0.0505948 0.37835649] [ 0.04840624 0.99880717 -0.00640807 -0.11555479] [ 0.05084632 0.00394316 0.9986987 -0.0579345 ] [ 0. 0. 0. 1. ]] SLAMing on 14.45327356 meters Centerline goodness [0,1] 0.7342602836166148 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99752643 -0.04876078 -0.05063001 0.3782572 ] [ 0.04848761 0.99880191 -0.00661055 -0.11483618] [ 0.05089169 0.00413927 0.9986956 -0.05768078] [ 0. 0. 0. 1. ]] SLAMing on 14.483273559999999 meters Centerline goodness [0,1] 0.7351687971156997 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99752112 -0.04871554 -0.0507781 0.37846455] [ 0.04843958 0.99880397 -0.00665175 -0.11457512] [ 0.05104141 0.00417559 0.99868781 -0.05753572] [ 0. 0. 0. 1. ]] SLAMing on 14.51327356 meters Centerline goodness [0,1] 0.7402466649886735 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99752081 -0.0487058 -0.05079358 0.37869295] [ 0.04843314 0.99880472 -0.00658572 -0.11440181] [ 0.05105363 0.0041093 0.99868746 -0.05781679] [ 0. 0. 0. 1. ]] SLAMing on 14.54327356 meters Centerline goodness [0,1] 0.7316177395416699 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99752107 -0.04861011 -0.05088001 0.37908281] [ 0.04835031 0.99881041 -0.00632523 -0.11471618] [ 0.05112696 0.00384949 0.99868474 -0.05814276] [ 0. 0. 0. 1. ]] SLAMing on 14.573273559999999 meters Centerline goodness [0,1] 0.7272841839949591 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751337 -0.04897323 -0.05068227 0.37860847] [ 0.0487163 0.99879283 -0.00629319 -0.11511626] [ 0.05092929 0.00380849 0.998695 -0.05831558] [ 0. 0. 0. 1. ]] SLAMing on 14.60327356 meters Centerline goodness [0,1] 0.7374305906108026 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751328 -0.04903433 -0.05062497 0.37869004] [ 0.04878543 0.9987904 -0.00614126 -0.1153541 ] [ 0.05086487 0.00365622 0.99869885 -0.05868396] [ 0. 0. 0. 1. ]] SLAMing on 14.63327356 meters Centerline goodness [0,1] 0.7260125513521687 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751736 -0.04887285 -0.05070073 0.37932779] [ 0.04864136 0.99879952 -0.00579037 -0.11574526] [ 0.05092285 0.00330984 0.99869711 -0.05938369] [ 0. 0. 0. 1. ]] SLAMing on 14.663273559999999 meters Centerline goodness [0,1] 0.7307614775991533 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751359 -0.04896854 -0.05068257 0.37972682] [ 0.04874437 0.9987953 -0.00565039 -0.11569057] [ 0.0508982 0.00316585 0.99869883 -0.0601222 ] [ 0. 0. 0. 1. ]] SLAMing on 14.69327356 meters Centerline goodness [0,1] 0.7284601225446935 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99750992 -0.04897182 -0.05075147 0.38001337] [ 0.04874967 0.99879529 -0.00560645 -0.11555525] [ 0.05096488 0.00311837 0.99869558 -0.06033272] [ 0. 0. 0. 1. ]] SLAMing on 14.723273559999999 meters Centerline goodness [0,1] 0.7256849056128236 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99750934 -0.04910393 -0.05063511 0.38001193] [ 0.04888705 0.9987891 -0.00551358 -0.11533788] [ 0.05084454 0.00302445 0.998702 -0.06081873] [ 0. 0. 0. 1. ]] SLAMing on 14.753273559999998 meters Centerline goodness [0,1] 0.7276578575751462 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99750014 -0.04950237 -0.05042812 0.3793804 ] [ 0.04928268 0.99876922 -0.00559131 -0.11521191] [ 0.05064284 0.0030921 0.99871204 -0.06081955] [ 0. 0. 0. 1. ]] SLAMing on 14.78327356 meters Centerline goodness [0,1] 0.7265976994135266 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99749411 -0.04958543 -0.05046572 0.37938801] [ 0.04936977 0.99876536 -0.0055119 -0.11556024] [ 0.05067672 0.0030066 0.99871058 -0.06081797] [ 0. 0. 0. 1. ]] SLAMing on 14.813273559999999 meters Centerline goodness [0,1] 0.7142137604512945 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99749189 -0.04982276 -0.05027539 0.37891107] [ 0.04960875 0.9987536 -0.00549647 -0.11587198] [ 0.05048657 0.00298858 0.99872027 -0.06083914] [ 0. 0. 0. 1. ]] SLAMing on 14.84327356 meters Centerline goodness [0,1] 0.723138832997988 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99747346 -0.05036039 -0.05010525 0.37790905] [ 0.05013628 0.998726 -0.00572045 -0.11614541] [ 0.0503295 0.00319391 0.99872756 -0.06026323] [ 0. 0. 0. 1. ]] SLAMing on 14.87327356 meters Centerline goodness [0,1] 0.7272384020942936 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99747276 -0.05048103 -0.04999759 0.37762181] [ 0.05025962 0.99872006 -0.00567646 -0.11613252] [ 0.05022015 0.00314926 0.99873321 -0.06031615] [ 0. 0. 0. 1. ]] SLAMing on 14.903273559999999 meters Centerline goodness [0,1] 0.7137649277184162 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99746708 -0.05050014 -0.0500916 0.37773258] [ 0.0502748 0.99871887 -0.00574921 -0.11581643] [ 0.05031777 0.0032163 0.99872808 -0.06019392] [ 0. 0. 0. 1. ]] SLAMing on 14.93327356 meters Centerline goodness [0,1] 0.7171948548845872 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99746736 -0.05043578 -0.05015078 0.37798086] [ 0.05021073 0.99872216 -0.00573799 -0.11536805] [ 0.0503761 0.00320535 0.99872517 -0.06031982] [ 0. 0. 0. 1. ]] SLAMing on 14.96327356 meters Centerline goodness [0,1] 0.7221859296482411 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99747599 -0.05013574 -0.05027974 0.3787534 ] [ 0.04992271 0.99873802 -0.00548459 -0.11531869] [ 0.05049126 0.00296065 0.99872011 -0.06088136] [ 0. 0. 0. 1. ]] SLAMing on 14.993273559999999 meters Centerline goodness [0,1] 0.7265101942851369 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99747818 -0.05007502 -0.05029694 0.37895683] [ 0.0498686 0.99874145 -0.00535136 -0.11536925] [ 0.05050161 0.00282963 0.99871997 -0.06114389] [ 0. 0. 0. 1. ]] SLAMing on 15.02327356 meters Centerline goodness [0,1] 0.7168609481608299 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99748594 -0.04981986 -0.05039625 0.37956578] [ 0.04962998 0.99875509 -0.00501293 -0.11565284] [ 0.05058325 0.00249916 0.99871672 -0.06163553] [ 0. 0. 0. 1. ]] SLAMing on 15.05327356 meters Centerline goodness [0,1] 0.7189419108023759 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99749085 -0.04966642 -0.05045045 0.37988339] [ 0.04948084 0.99876295 -0.00492153 -0.11555048] [ 0.05063247 0.00241285 0.99871444 -0.06184152] [ 0. 0. 0. 1. ]] SLAMing on 15.083273559999999 meters Centerline goodness [0,1] 0.7167344275460523 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99749605 -0.04925809 -0.05074704 0.38082626] [ 0.04908865 0.99878392 -0.00458068 -0.11582789] [ 0.05091097 0.0020781 0.99870103 -0.06215147] [ 0. 0. 0. 1. ]] SLAMing on 15.11327356 meters Centerline goodness [0,1] 0.7282901867863174 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99749819 -0.04918129 -0.05077954 0.3808811 ] [ 0.04900715 0.99878751 -0.00466946 -0.1155919 ] [ 0.05094762 0.00216922 0.99869897 -0.06200911] [ 0. 0. 0. 1. ]] SLAMing on 15.143273559999999 meters Centerline goodness [0,1] 0.72449672019905 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99750758 -0.04893332 -0.05083464 0.38113298] [ 0.04876618 0.99879998 -0.00452381 -0.1156404 ] [ 0.050995 0.00203352 0.99869684 -0.06208089] [ 0. 0. 0. 1. ]] SLAMing on 15.173273559999998 meters Centerline goodness [0,1] 0.7234807532748346 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751569 -0.04877424 -0.05082836 0.38134449] [ 0.04861882 0.99880819 -0.00429036 -0.11571259] [ 0.05097704 0.00180849 0.99869819 -0.06241169] [ 0. 0. 0. 1. ]] SLAMing on 15.20327356 meters Centerline goodness [0,1] 0.7261314750056604 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99751984 -0.04851968 -0.05099034 0.38187761] [ 0.04837321 0.9988209 -0.00410354 -0.11577966] [ 0.05112932 0.0016268 0.99869072 -0.06258876] [ 0. 0. 0. 1. ]] SLAMing on 15.233273559999999 meters Centerline goodness [0,1] 0.7259901239544493 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99753496 -0.04788784 -0.05129094 0.38283381] [ 0.04773923 0.99885134 -0.00411941 -0.11507591] [ 0.0514293 0.00166067 0.99867526 -0.06251486] [ 0. 0. 0. 1. ]] SLAMing on 15.26327356 meters Centerline goodness [0,1] 0.7290763335686196 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99754481 -0.04741446 -0.0515386 0.38361922] [ 0.04726818 0.99887401 -0.00405411 -0.11468461] [ 0.05167279 0.00160802 0.99866277 -0.06256144] [ 0. 0. 0. 1. ]] SLAMing on 15.29327356 meters Centerline goodness [0,1] 0.7340734199571086 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.9975489 -0.04709875 -0.05174838 0.38406221] [ 0.0469441 0.99888869 -0.00420059 -0.11392951] [ 0.05188871 0.00176101 0.99865132 -0.06226864] [ 0. 0. 0. 1. ]] SLAMing on 15.323273559999999 meters Centerline goodness [0,1] 0.733651949628281 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 9.97726563e-01 -4.33919734e-02 -5.15639679e-02 3.82782061e-01] [ 4.34335988e-02 9.99056267e-01 -3.13546063e-04 -1.14798092e-01] [ 5.15289106e-02 -1.92677546e-03 9.98669645e-01 -6.19223599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35327356 meters Centerline goodness [0,1] 0.7464164514004964 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 9.97728076e-01 -4.30912078e-02 -5.17864351e-02 3.83187832e-01] [ 4.31272893e-02 9.99069497e-01 -4.21036189e-04 -1.14153853e-01] [ 5.17563906e-02 -1.81332894e-03 9.98658094e-01 -6.15983334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38327356 meters Centerline goodness [0,1] 0.7574803948937898 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99789297 -0.03901538 -0.05184033 0.3828944 ] [ 0.039255 0.9992227 0.00361176 -0.11526106] [ 0.05165912 -0.00563914 0.99864886 -0.06158531] [ 0. 0. 0. 1. ]] SLAMing on 15.413273559999999 meters Centerline goodness [0,1] 0.7538547514415628 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99790029 -0.03857295 -0.05203015 0.38360151] [ 0.03881643 0.99923959 0.00367675 -0.11486362] [ 0.05184877 -0.00568865 0.99863875 -0.06169561] [ 0. 0. 0. 1. ]] SLAMing on 15.44327356 meters Centerline goodness [0,1] 0.7614329268292683 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.06 [[ 0.99789692 -0.03823379 -0.05234417 0.38446112] [ 0.03847788 0.99925274 0.00366311 -0.11445896] [ 0.052165 -0.0056695 0.99862239 -0.06173388] [ 0. 0. 0. 1. ]] SLAMing on 15.473273559999999 meters Centerline goodness [0,1] 0.7687734986281882 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99791275 -0.03713691 -0.05282981 0.3864298 ] [ 0.03740268 0.99929207 0.00405062 -0.1139673 ] [ 0.05264199 -0.00601815 0.99859532 -0.06232643] [ 0. 0. 0. 1. ]] SLAMing on 15.503273559999998 meters Centerline goodness [0,1] 0.7706923742178359 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99791289 -0.03683446 -0.05303849 0.38702553] [ 0.03710319 0.99930307 0.00409057 -0.11365565] [ 0.05285086 -0.00604993 0.99858409 -0.06237719] [ 0. 0. 0. 1. ]] SLAMing on 15.53327356 meters Centerline goodness [0,1] 0.7572605666039367 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.9979167 -0.03656655 -0.05315206 0.38749557] [ 0.03684002 0.99931246 0.00417404 -0.11345484] [ 0.05296288 -0.00612347 0.99857771 -0.06250142] [ 0. 0. 0. 1. ]] SLAMing on 15.563273559999999 meters Centerline goodness [0,1] 0.7631926792069141 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99791491 -0.03634037 -0.05334046 0.3880049 ] [ 0.03661699 0.99932047 0.00421748 -0.11353233] [ 0.05315095 -0.00616185 0.99856748 -0.06247948] [ 0. 0. 0. 1. ]] SLAMing on 15.59327356 meters Centerline goodness [0,1] 0.7795532033993181 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99792666 -0.03604458 -0.05332136 0.38808215] [ 0.03632992 0.9993302 0.00439141 -0.11387878] [ 0.05312736 -0.00631946 0.99856775 -0.06248267] [ 0. 0. 0. 1. ]] SLAMing on 15.62327356 meters Centerline goodness [0,1] 0.7825677567120499 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99792706 -0.03606337 -0.05330113 0.38792649] [ 0.0363488 0.9993295 0.00439508 -0.11429425] [ 0.05310689 -0.0063234 0.99856881 -0.0622742 ] [ 0. 0. 0. 1. ]] SLAMing on 15.653273559999999 meters Centerline goodness [0,1] 0.7760394178751937 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99792634 -0.03620155 -0.05322091 0.38755899] [ 0.03648347 0.99932485 0.00433493 -0.11459547] [ 0.05302805 -0.00626762 0.99857335 -0.06201798] [ 0. 0. 0. 1. ]] SLAMing on 15.68327356 meters Centerline goodness [0,1] 0.7792838614516047 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99792123 -0.03630829 -0.05324405 0.38718065] [ 0.03658856 0.99932117 0.00429832 -0.11524693] [ 0.05305184 -0.00623751 0.99857228 -0.06144559] [ 0. 0. 0. 1. ]] SLAMing on 15.71327356 meters Centerline goodness [0,1] 0.7711817026683608 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99792075 -0.03635554 -0.05322073 0.38720323] [ 0.03664109 0.99931881 0.00439924 -0.11583532] [ 0.05302454 -0.00634016 0.99857308 -0.06155299] [ 0. 0. 0. 1. ]] SLAMing on 15.743273559999999 meters Centerline goodness [0,1] 0.7684670272466418 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99791734 -0.03653968 -0.05315865 0.387078 ] [ 0.03682883 0.99931159 0.0044696 -0.11650151] [ 0.05295874 -0.00641807 0.99857608 -0.06166723] [ 0. 0. 0. 1. ]] SLAMing on 15.77327356 meters Centerline goodness [0,1] 0.7708006676445298 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99790895 -0.03681831 -0.0531239 0.38699647] [ 0.03711219 0.99930072 0.00455569 -0.11736534] [ 0.05291902 -0.00651771 0.99857754 -0.06185104] [ 0. 0. 0. 1. ]] SLAMing on 15.80327356 meters Centerline goodness [0,1] 0.7617291124529446 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99789985 -0.0372283 -0.05300894 0.38676604] [ 0.0375332 0.99928401 0.0047676 -0.11896393] [ 0.0527935 -0.00674719 0.99858266 -0.06215729] [ 0. 0. 0. 1. ]] SLAMing on 15.833273559999999 meters Centerline goodness [0,1] 0.7650278737734278 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99789552 -0.03748342 -0.05291062 0.38655857] [ 0.03778735 0.99927449 0.00475508 -0.11951906] [ 0.052694 -0.00674443 0.99858793 -0.06226942] [ 0. 0. 0. 1. ]] SLAMing on 15.86327356 meters Centerline goodness [0,1] 0.7571914786335561 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99788788 -0.03804401 -0.05265384 0.38570586] [ 0.0383452 0.9992534 0.00472134 -0.12045602] [ 0.05243491 -0.00673039 0.99860166 -0.06217147] [ 0. 0. 0. 1. ]] SLAMing on 15.893273559999999 meters Centerline goodness [0,1] 0.7529104121093259 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.9978853 -0.03826712 -0.05254097 0.38546094] [ 0.0385697 0.99924459 0.00475681 -0.1211071 ] [ 0.05231925 -0.00677324 0.99860744 -0.06223459] [ 0. 0. 0. 1. ]] SLAMing on 15.923273559999998 meters Centerline goodness [0,1] 0.7492270956390599 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99788058 -0.03857029 -0.05240888 0.38520915] [ 0.03886705 0.99923355 0.00465468 -0.12136305] [ 0.05218918 -0.00668179 0.99861486 -0.06231825] [ 0. 0. 0. 1. ]] SLAMing on 15.95327356 meters Centerline goodness [0,1] 0.7449997506110031 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99787363 -0.03848855 -0.05260092 0.385854 ] [ 0.03879652 0.99923538 0.00484589 -0.12196158] [ 0.05237419 -0.00687632 0.99860386 -0.06264055] [ 0. 0. 0. 1. ]] SLAMing on 15.983273559999999 meters Centerline goodness [0,1] 0.7392854452785659 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99786566 -0.03876087 -0.05255205 0.38558932] [ 0.03906707 0.99922501 0.00481162 -0.12241184] [ 0.05232482 -0.0068544 0.99860659 -0.06255822] [ 0. 0. 0. 1. ]] SLAMing on 16.013273560000002 meters Centerline goodness [0,1] 0.7405662741167627 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99786187 -0.03878509 -0.05260621 0.38573191] [ 0.03909059 0.99922419 0.00479052 -0.12230821] [ 0.0523796 -0.00683669 0.99860384 -0.06255317] [ 0. 0. 0. 1. ]] SLAMing on 16.04327356 meters Centerline goodness [0,1] 0.7405662741167627 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99786187 -0.03878509 -0.05260621 0.38573191] [ 0.03909059 0.99922419 0.00479052 -0.12230821] [ 0.0523796 -0.00683669 0.99860384 -0.06255317] [ 0. 0. 0. 1. ]] SLAMing on 16.07327356 meters Centerline goodness [0,1] 0.7484907938424389 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99784793 -0.03929554 -0.05249168 0.384703 ] [ 0.0395726 0.99920766 0.00424902 -0.12126938] [ 0.05228313 -0.00631711 0.99861232 -0.06163879] [ 0. 0. 0. 1. ]] SLAMing on 16.103273559999998 meters Centerline goodness [0,1] 0.7307663288146676 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99783887 -0.03954358 -0.05247759 0.3842677 ] [ 0.03980443 0.99919974 0.00393444 -0.12078325] [ 0.05228001 -0.00601478 0.99861435 -0.0611063 ] [ 0. 0. 0. 1. ]] SLAMing on 16.13327356 meters Centerline goodness [0,1] 0.7313342876516236 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99783415 -0.0396952 -0.05245284 0.38418237] [ 0.03994578 0.99919486 0.00373714 -0.12035553] [ 0.05226226 -0.00582431 0.99861641 -0.06104495] [ 0. 0. 0. 1. ]] SLAMing on 16.16327356 meters Centerline goodness [0,1] 0.7405435274024212 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.9978302 -0.03971908 -0.05250996 0.38429571] [ 0.03996288 0.99919468 0.0036006 -0.12016846] [ 0.05232466 -0.00569124 0.99861391 -0.06090775] [ 0. 0. 0. 1. ]] SLAMing on 16.193273559999998 meters Centerline goodness [0,1] 0.7408714948557595 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99782846 -0.03976223 -0.05251031 0.38446211] [ 0.03999582 0.99919405 0.00340472 -0.11964106] [ 0.05233261 -0.00549752 0.99861458 -0.06102083] [ 0. 0. 0. 1. ]] SLAMing on 16.22327356 meters Centerline goodness [0,1] 0.7473883421650265 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99782094 -0.03978254 -0.05263759 0.38476907] [ 0.04001215 0.99919369 0.00331519 -0.11932568] [ 0.05246326 -0.00541411 0.99860818 -0.06104395] [ 0. 0. 0. 1. ]] SLAMing on 16.25327356 meters Centerline goodness [0,1] 0.7427212708370222 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:-0.06 [[ 0.99781822 -0.03984801 -0.05263971 0.38491569] [ 0.0400752 0.99919133 0.00326714 -0.11880022] [ 0.05246696 -0.00536956 0.99860822 -0.0612783 ] [ 0. 0. 0. 1. ]] SLAMing on 16.283273559999998 meters Centerline goodness [0,1] 0.7320932815102721 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99781798 -0.03974544 -0.0527217 0.38562921] [ 0.03997491 0.99919522 0.00330481 -0.11797104] [ 0.05254792 -0.00540515 0.99860378 -0.06196209] [ 0. 0. 0. 1. ]] SLAMing on 16.31327356 meters Centerline goodness [0,1] 0.7409018487139931 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99781792 -0.03973989 -0.05272707 0.38579131] [ 0.03996939 0.99919544 0.00330488 -0.11787101] [ 0.05255331 -0.00540513 0.99860349 -0.06213134] [ 0. 0. 0. 1. ]] SLAMing on 16.34327356 meters Centerline goodness [0,1] 0.7353663165886373 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99781562 -0.03981656 -0.05271273 0.38584079] [ 0.04004347 0.99919264 0.00325502 -0.11784788] [ 0.05254057 -0.00535871 0.99860441 -0.06220613] [ 0. 0. 0. 1. ]] SLAMing on 16.373273559999998 meters Centerline goodness [0,1] 0.7372358709938327 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99781476 -0.03989061 -0.05267295 0.38560728] [ 0.04010751 0.99919066 0.0030668 -0.11746917] [ 0.05250798 -0.00517268 0.99860711 -0.0619674 ] [ 0. 0. 0. 1. ]] SLAMing on 16.40327356 meters Centerline goodness [0,1] 0.743086507293355 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.9978155 -0.03983312 -0.05270257 0.38553061] [ 0.04004237 0.99919372 0.00292019 -0.11701173] [ 0.05254375 -0.00502415 0.99860598 -0.06164726] [ 0. 0. 0. 1. ]] SLAMing on 16.43327356 meters Centerline goodness [0,1] 0.7388373625259743 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.06 [[ 0.99781287 -0.03981177 -0.0527683 0.38552642] [ 0.04000449 0.99919612 0.00260078 -0.11606974] [ 0.05262234 -0.00470606 0.9986034 -0.06130763] [ 0. 0. 0. 1. ]] SLAMing on 16.463273559999998 meters Centerline goodness [0,1] 0.7351957854212046 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99782552 -0.03922789 -0.05296601 0.38595604] [ 0.03940672 0.99922052 0.00233581 -0.11455942] [ 0.0528331 -0.00441794 0.99859358 -0.06075693] [ 0. 0. 0. 1. ]] SLAMing on 16.49327356 meters Centerline goodness [0,1] 0.7391967075680208 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99782403 -0.03910137 -0.05308761 0.38618929] [ 0.03926705 0.99922659 0.00208089 -0.11370127] [ 0.05296518 -0.00416096 0.99858769 -0.0604728 ] [ 0. 0. 0. 1. ]] SLAMing on 16.52327356 meters Centerline goodness [0,1] 0.7479986784924648 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99782459 -0.03878091 -0.05331168 0.38676197] [ 0.0389431 0.99923942 0.00200656 -0.1132147 ] [ 0.05319332 -0.00407831 0.99857591 -0.06034656] [ 0. 0. 0. 1. ]] SLAMing on 16.55327356 meters Centerline goodness [0,1] 0.7574214573043434 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99785271 -0.03756967 -0.0536515 0.38832824] [ 0.03775163 0.99928431 0.00238178 -0.11274383] [ 0.05352362 -0.00440209 0.99855688 -0.06073656] [ 0. 0. 0. 1. ]] SLAMing on 16.58327356 meters Centerline goodness [0,1] 0.7704458598726115 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.9978579 -0.03679097 -0.05409283 0.38979802] [ 0.03698247 0.99931268 0.00254313 -0.11215063] [ 0.05396209 -0.00453817 0.99853267 -0.06099313] [ 0. 0. 0. 1. ]] SLAMing on 16.61327356 meters Centerline goodness [0,1] 0.7769664785927647 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99786634 -0.0360932 -0.05440639 0.39091181] [ 0.03628777 0.99933802 0.0025922 -0.11119095] [ 0.05427682 -0.00456095 0.99851551 -0.06112164] [ 0. 0. 0. 1. ]] SLAMing on 16.64327356 meters Centerline goodness [0,1] 0.7833316305680424 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99787235 -0.03537292 -0.05476801 0.39202247] [ 0.03556683 0.999364 0.00256971 -0.11016698] [ 0.05464228 -0.00451216 0.9984958 -0.06105487] [ 0. 0. 0. 1. ]] SLAMing on 16.67327356 meters Centerline goodness [0,1] 0.7929913479752214 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99802755 -0.03044856 -0.05489894 0.39260356] [ 0.03086834 0.99950023 0.00681457 -0.10997672] [ 0.05466401 -0.00849577 0.99846866 -0.06144058] [ 0. 0. 0. 1. ]] SLAMing on 16.70327356 meters Centerline goodness [0,1] 0.7988698253598916 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.06 [[ 0.99803373 -0.02954872 -0.05527691 0.39385432] [ 0.02996966 0.99952767 0.0068014 -0.10908739] [ 0.05504983 -0.00844466 0.9984479 -0.06131799] [ 0. 0. 0. 1. ]] SLAMing on 16.73327356 meters Centerline goodness [0,1] 0.8018280973961134 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99804316 -0.0286343 -0.05558704 0.39504668] [ 0.02906482 0.99955335 0.00695186 -0.10871888] [ 0.05536315 -0.00855388 0.99842964 -0.06138168] [ 0. 0. 0. 1. ]] SLAMing on 16.76327356 meters Centerline goodness [0,1] 0.803113200277414 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99816289 -0.02367543 -0.05577031 0.39592391] [ 0.02434902 0.99963818 0.01142938 -0.11007927] [ 0.05547953 -0.01276634 0.99837821 -0.0619666 ] [ 0. 0. 0. 1. ]] SLAMing on 16.79327356 meters Centerline goodness [0,1] 0.8080941944033845 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99815952 -0.02301749 -0.05610504 0.39706133] [ 0.02368975 0.99965497 0.01134664 -0.1093644 ] [ 0.05582451 -0.01265487 0.99836039 -0.06194019] [ 0. 0. 0. 1. ]] SLAMing on 16.82327356 meters Centerline goodness [0,1] 0.8045823829416439 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99825121 -0.01834852 -0.05619476 0.39723842] [ 0.019263 0.99968999 0.01577518 -0.11082001] [ 0.05588789 -0.01683007 0.99829519 -0.06205245] [ 0. 0. 0. 1. ]] SLAMing on 16.853273559999998 meters Centerline goodness [0,1] 0.8052757056063985 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99825153 -0.01799096 -0.05630466 0.39754515] [ 0.01890636 0.99969692 0.01576783 -0.11067835] [ 0.05600392 -0.01680477 0.99828912 -0.06186502] [ 0. 0. 0. 1. ]] SLAMing on 16.88327356 meters Centerline goodness [0,1] 0.8034862855678031 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99824676 -0.01774354 -0.05646739 0.39778346] [ 0.01866779 0.99969958 0.01588256 -0.11131396] [ 0.05616861 -0.01690883 0.99827811 -0.06154766] [ 0. 0. 0. 1. ]] SLAMing on 16.91327356 meters Centerline goodness [0,1] 0.8046194333018217 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99824012 -0.01746892 -0.05667017 0.39790914] [ 0.0184149 0.99969896 0.01621367 -0.11343762] [ 0.05636988 -0.01722871 0.99826129 -0.06098902] [ 0. 0. 0. 1. ]] SLAMing on 16.943273559999998 meters Centerline goodness [0,1] 0.8058593153959616 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.06 [[ 0.99823883 -0.01750738 -0.05668093 0.39786557] [ 0.01846337 0.99969524 0.01638662 -0.11487733] [ 0.05637677 -0.01740428 0.99825786 -0.06088232] [ 0. 0. 0. 1. ]] SLAMing on 16.97327356 meters Centerline goodness [0,1] 0.8034309496015835 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99823793 -0.01762347 -0.05666088 0.39771311] [ 0.01859244 0.999689 0.01661983 -0.11661184] [ 0.05635035 -0.01764401 0.99825514 -0.0608063 ] [ 0. 0. 0. 1. ]] SLAMing on 17.00327356 meters Centerline goodness [0,1] 0.802347940491853 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99823781 -0.01772739 -0.05663043 0.39764777] [ 0.01871415 0.99968133 0.01694185 -0.11849035] [ 0.05631205 -0.01797179 0.99825146 -0.06090607] [ 0. 0. 0. 1. ]] SLAMing on 17.033273559999998 meters Centerline goodness [0,1] 0.8047916823626912 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99815038 -0.02157214 -0.05683722 0.39827976] [ 0.02236277 0.9996613 0.01331126 -0.12006452] [ 0.05653081 -0.01455767 0.99829472 -0.06066843] [ 0. 0. 0. 1. ]] SLAMing on 17.06327356 meters Centerline goodness [0,1] 0.8025113008538423 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99814604 -0.02209315 -0.05671317 0.39759011] [ 0.02288703 0.99964842 0.013387 -0.12212114] [ 0.05639747 -0.01466018 0.99830076 -0.06035401] [ 0. 0. 0. 1. ]] SLAMing on 17.09327356 meters Centerline goodness [0,1] 0.8032589922655253 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99804038 -0.02579167 -0.05701039 0.39855833] [ 0.02637138 0.99960765 0.00943947 -0.12191433] [ 0.05674456 -0.01092442 0.99832896 -0.06009543] [ 0. 0. 0. 1. ]] SLAMing on 17.123273559999998 meters Centerline goodness [0,1] 0.7972523104442015 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.06 [[ 0.99792688 -0.0299306 -0.05697449 0.39847242] [ 0.03031594 0.99952289 0.00591093 -0.12402364] [ 0.05677039 -0.00762592 0.99835814 -0.05976189] [ 0. 0. 0. 1. ]] SLAMing on 17.15327356 meters Centerline goodness [0,1] 0.7958895279650933 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.13, Z:-0.06 [[ 0.99791538 -0.03067678 -0.05677884 0.39732088] [ 0.03106082 0.99950012 0.00589347 -0.12606797] [ 0.05656966 -0.00764479 0.99836939 -0.05915649] [ 0. 0. 0. 1. ]] SLAMing on 17.18327356 meters Centerline goodness [0,1] 0.7934498247692383 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.13, Z:-0.06 [[ 0.99790195 -0.03153947 -0.05654159 0.39597026] [ 0.03192077 0.99947326 0.00585311 -0.12810273] [ 0.05632721 -0.00764568 0.99838309 -0.05853069] [ 0. 0. 0. 1. ]] SLAMing on 17.213273559999998 meters Centerline goodness [0,1] 0.7901195022791672 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99775782 -0.03616893 -0.05631283 0.39499643] [ 0.03634201 0.9993373 0.00205205 -0.13008243] [ 0.05620129 -0.00409397 0.99841106 -0.0577063 ] [ 0. 0. 0. 1. ]] SLAMing on 17.24327356 meters Centerline goodness [0,1] 0.7881513799696064 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99773221 -0.03706086 -0.05618662 0.39394502] [ 0.03723019 0.99930477 0.00196968 -0.13225102] [ 0.05607456 -0.00405705 0.99841834 -0.05711312] [ 0. 0. 0. 1. ]] SLAMing on 17.27327356 meters Centerline goodness [0,1] 0.7850266334359576 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99770768 -0.0380534 -0.05595826 0.39272602] [ 0.03821656 0.99926777 0.00184824 -0.13429761] [ 0.05584696 -0.00398253 0.9984314 -0.05661829] [ 0. 0. 0. 1. ]] SLAMing on 17.30327356 meters Centerline goodness [0,1] 0.775010911207022 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 9.97535569e-01 -4.25815289e-02 -5.57638024e-02 3.92225379e-01] [ 4.25552866e-02 9.99092737e-01 -1.65849892e-03 -1.36724503e-01] [ 5.57838314e-02 -7.18632925e-04 9.98442611e-01 -5.62877600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33327356 meters Centerline goodness [0,1] 0.7608979000724113 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99751475 -0.04317209 -0.05568213 0.39179651] [ 0.04316557 0.99906706 -0.00132039 -0.13895627] [ 0.05568719 -0.00108644 0.99844767 -0.05639184] [ 0. 0. 0. 1. ]] SLAMing on 17.36327356 meters Centerline goodness [0,1] 0.7678480951576713 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99750111 -0.04372452 -0.05549499 0.39121004] [ 0.043734 0.99904267 -0.00104425 -0.1409769 ] [ 0.05548753 -0.00138538 0.99845842 -0.05650247] [ 0. 0. 0. 1. ]] SLAMing on 17.39327356 meters Centerline goodness [0,1] 0.7595490493016994 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 9.97488923e-01 -4.41261679e-02 -5.53961255e-02 3.90927393e-01] [ 4.41552072e-02 9.99024438e-01 -7.00230492e-04 -1.42851914e-01] [ 5.53729816e-02 -1.74755524e-03 9.98464210e-01 -5.67483028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42327356 meters Centerline goodness [0,1] 0.7474321833026073 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99730642 -0.04792551 -0.05552529 0.39196452] [ 0.04776729 0.99884977 -0.0041739 -0.14391657] [ 0.05566146 0.00151037 0.99844856 -0.05712107] [ 0. 0. 0. 1. ]] SLAMing on 17.45327356 meters Centerline goodness [0,1] 0.7524615237548992 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 0.99730961 -0.04806151 -0.05535018 0.39180672] [ 0.04792083 0.99884365 -0.00386681 -0.14509145] [ 0.05547202 0.00120398 0.99845952 -0.0575191 ] [ 0. 0. 0. 1. ]] SLAMing on 17.48327356 meters Centerline goodness [0,1] 0.745214427042361 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97304229e-01 -4.83857377e-02 -5.51642571e-02 3.91458952e-01] [ 4.82612730e-02 9.98828305e-01 -3.58697384e-03 -1.46359673e-01] [ 5.52731798e-02 9.15006904e-04 9.98470850e-01 -5.78517367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51327356 meters Centerline goodness [0,1] 0.7408350790325653 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97305264e-01 -4.84244841e-02 -5.51115259e-02 3.91497937e-01] [ 4.83163938e-02 9.98826653e-01 -3.29280445e-03 -1.47142203e-01] [ 5.52063133e-02 6.21141019e-04 9.98474775e-01 -5.81785763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54327356 meters Centerline goodness [0,1] 0.7431814936455805 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97302908e-01 -4.86149849e-02 -5.49863060e-02 3.91042807e-01] [ 4.85101293e-02 9.98817433e-01 -3.24083280e-03 -1.47626796e-01] [ 5.50788341e-02 5.64699158e-04 9.98481849e-01 -5.80293284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57327356 meters Centerline goodness [0,1] 0.7277681681397057 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97290779e-01 -4.88583899e-02 -5.49905393e-02 3.90762944e-01] [ 4.87612500e-02 9.98805628e-01 -3.10762143e-03 -1.48492940e-01] [ 5.50766935e-02 4.17794759e-04 9.98482040e-01 -5.78491890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.603273559999998 meters Centerline goodness [0,1] 0.7356635718186784 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97283345e-01 -4.89738063e-02 -5.50226801e-02 3.90626468e-01] [ 4.88749221e-02 9.98799964e-01 -3.14216317e-03 -1.48620466e-01] [ 5.51105346e-02 4.44397790e-04 9.98480161e-01 -5.76125096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63327356 meters Centerline goodness [0,1] 0.7273632076589492 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97282400e-01 -4.90339828e-02 -5.49862033e-02 3.90651415e-01] [ 4.89411896e-02 9.98797055e-01 -3.03368066e-03 -1.48909239e-01] [ 5.50688114e-02 3.34346131e-04 9.98482506e-01 -5.78136096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66327356 meters Centerline goodness [0,1] 0.726446949160603 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97278652e-01 -4.91356957e-02 -5.49633857e-02 3.90585766e-01] [ 4.90418867e-02 9.98792050e-01 -3.05504494e-03 -1.48928424e-01] [ 5.50471045e-02 3.51222961e-04 9.98483697e-01 -5.78503433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.693273559999998 meters Centerline goodness [0,1] 0.7232452185468179 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97273436e-01 -4.91166439e-02 -5.50749406e-02 3.91112594e-01] [ 4.90255355e-02 9.98793005e-01 -3.00492604e-03 -1.48650053e-01] [ 5.51560573e-02 2.96654461e-04 9.98477702e-01 -5.82604519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72327356 meters Centerline goodness [0,1] 0.7208311515209216 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97269894e-01 -4.91570458e-02 -5.51030332e-02 3.91323324e-01] [ 4.90669099e-02 9.98791023e-01 -2.98829336e-03 -1.48479734e-01] [ 5.51833106e-02 2.76399436e-04 9.98476202e-01 -5.85069888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75327356 meters Centerline goodness [0,1] 0.7224917939203653 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97269896e-01 -4.90636949e-02 -5.51861287e-02 3.91812698e-01] [ 4.89836545e-02 9.98795647e-01 -2.80289403e-03 -1.48635726e-01] [ 5.52571855e-02 9.20235695e-05 9.98472150e-01 -5.89377281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783273559999998 meters Centerline goodness [0,1] 0.7161792351807343 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97269657e-01 -4.90741890e-02 -5.51811144e-02 3.92092826e-01] [ 4.89975112e-02 9.98795136e-01 -2.74242445e-03 -1.48704743e-01] [ 5.52492109e-02 3.11994200e-05 9.98472595e-01 -5.93153640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81327356 meters Centerline goodness [0,1] 0.7192803156343586 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97274640e-01 -4.91105704e-02 -5.50585578e-02 3.92019109e-01] [ 4.90419322e-02 9.98793342e-01 -2.59787800e-03 -1.48542588e-01] [ 5.51197042e-02 -1.09380213e-04 9.98479748e-01 -5.96831839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84327356 meters Centerline goodness [0,1] 0.7192320470833926 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97271022e-01 -4.91996534e-02 -5.50445527e-02 3.91894275e-01] [ 4.91304042e-02 9.98788959e-01 -2.61137875e-03 -1.48410214e-01] [ 5.51063704e-02 -1.00108765e-04 9.98480484e-01 -5.95932675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.873273559999998 meters Centerline goodness [0,1] 0.7157617215334189 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97258525e-01 -4.96809849e-02 -5.48382512e-02 3.90916228e-01] [ 4.96017181e-02 9.98765134e-01 -2.80642269e-03 -1.48243391e-01] [ 5.49099592e-02 7.86574724e-05 9.98491307e-01 -5.91079244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90327356 meters Centerline goodness [0,1] 0.7152065840489046 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97252106e-01 -4.99780470e-02 -5.46848418e-02 3.90372231e-01] [ 4.98919611e-02 9.98750296e-01 -2.93913270e-03 -1.48395334e-01] [ 5.47633941e-02 2.02722278e-04 9.98499339e-01 -5.89131791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93327356 meters Centerline goodness [0,1] 0.7131587701373379 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97246889e-01 -5.01150346e-02 -5.46546080e-02 3.90341084e-01] [ 5.00342032e-02 9.98743447e-01 -2.84713390e-03 -1.48731014e-01] [ 5.47286158e-02 1.04695661e-04 9.98501261e-01 -5.90351900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963273559999998 meters Centerline goodness [0,1] 0.7131587701373379 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97246889e-01 -5.01150346e-02 -5.46546080e-02 3.90341084e-01] [ 5.00342032e-02 9.98743447e-01 -2.84713390e-03 -1.48731014e-01] [ 5.47286158e-02 1.04695661e-04 9.98501261e-01 -5.90351900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99327356 meters Centerline goodness [0,1] 0.7072747169093159 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97227124e-01 -5.06894554e-02 -5.44852481e-02 3.89707754e-01] [ 5.06002908e-02 9.98714432e-01 -3.01564527e-03 -1.49343568e-01] [ 5.45680650e-02 2.50313864e-04 9.98510022e-01 -5.89041345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02327356 meters Centerline goodness [0,1] 0.7125903729071537 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97225080e-01 -5.08707271e-02 -5.43535484e-02 3.89553648e-01] [ 5.07831058e-02 9.98705221e-01 -2.99288715e-03 -1.49680061e-01] [ 5.44354229e-02 2.24340136e-04 9.98517268e-01 -5.91397972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.053273559999997 meters Centerline goodness [0,1] 0.7113274756589884 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97229477e-01 -5.07880743e-02 -5.43501852e-02 3.90166087e-01] [ 5.07155584e-02 9.98709452e-01 -2.71351605e-03 -1.49853957e-01] [ 5.44178579e-02 -5.04018019e-05 9.98518249e-01 -5.99975773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08327356 meters Centerline goodness [0,1] 0.7117061464990853 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97230709e-01 -5.07020884e-02 -5.44078163e-02 3.90703892e-01] [ 5.06350321e-02 9.98713811e-01 -2.61114852e-03 -1.49569577e-01] [ 5.44702283e-02 -1.51024033e-04 9.98515384e-01 -6.05283483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11327356 meters Centerline goodness [0,1] 0.709410276604377 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97226079e-01 -5.08817542e-02 -5.43248990e-02 3.90874148e-01] [ 5.08021747e-02 9.98704682e-01 -2.84570533e-03 -1.48417871e-01] [ 5.43993255e-02 7.79885607e-05 9.98519257e-01 -6.10096347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14327356 meters Centerline goodness [0,1] 0.7085830249492658 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97222628e-01 -5.09531132e-02 -5.43213599e-02 3.90912073e-01] [ 5.08669240e-02 9.98701027e-01 -2.96897632e-03 -1.47928815e-01] [ 5.44020765e-02 1.97569880e-04 9.98519091e-01 -6.10557947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17327356 meters Centerline goodness [0,1] 0.7113582018173124 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97213571e-01 -5.11550623e-02 -5.42978269e-02 3.90666615e-01] [ 5.10547625e-02 9.98690620e-01 -3.23362690e-03 -1.47200655e-01] [ 5.43921468e-02 4.52453970e-04 9.98519549e-01 -6.08619353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20327356 meters Centerline goodness [0,1] 0.7066612393448903 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 9.97204567e-01 -5.15581565e-02 -5.40815002e-02 3.89705108e-01] [ 5.14337603e-02 9.98669590e-01 -3.69039926e-03 -1.46342513e-01] [ 5.41998198e-02 8.98468077e-04 9.98529705e-01 -6.02330925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23327356 meters Centerline goodness [0,1] 0.7097601303587262 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 0.99719507 -0.05184658 -0.05398075 0.38920523] [ 0.05170719 0.99865437 -0.00397649 -0.14581322] [ 0.05411428 0.00117414 0.99853406 -0.05992083] [ 0. 0. 0. 1. ]] SLAMing on 18.26327356 meters Centerline goodness [0,1] 0.7131218249784338 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.06 [[ 0.9971892 -0.05205742 -0.05388627 0.38885831] [ 0.05190495 0.99864309 -0.00422619 -0.14530002] [ 0.05403316 0.00141735 0.99853814 -0.05971379] [ 0. 0. 0. 1. ]] SLAMing on 18.29327356 meters Centerline goodness [0,1] 0.7117309584963634 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99718033 -0.0523061 -0.05380953 0.38877216] [ 0.0521412 0.99862974 -0.00446484 -0.1444948 ] [ 0.05396933 0.00164655 0.99854124 -0.05989152] [ 0. 0. 0. 1. ]] SLAMing on 18.32327356 meters Centerline goodness [0,1] 0.7145873320537428 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99717858 -0.05229108 -0.05385645 0.38917829] [ 0.05212723 0.99863057 -0.00444361 -0.14420501] [ 0.05401506 0.00162368 0.9985388 -0.06032214] [ 0. 0. 0. 1. ]] SLAMing on 18.353273559999998 meters Centerline goodness [0,1] 0.7165433759246806 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99717361 -0.0524396 -0.05380418 0.38931664] [ 0.05226652 0.99862248 -0.00461996 -0.14351326] [ 0.05397233 0.00179475 0.99854082 -0.06064946] [ 0. 0. 0. 1. ]] SLAMing on 18.38327356 meters Centerline goodness [0,1] 0.7180528846153846 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99717592 -0.0522651 -0.05393097 0.3902545 ] [ 0.05208902 0.99863154 -0.00466642 -0.14225614] [ 0.05410106 0.00184403 0.99853376 -0.06149411] [ 0. 0. 0. 1. ]] SLAMing on 18.41327356 meters Centerline goodness [0,1] 0.7180641124374278 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99718124 -0.05219641 -0.05389912 0.39055564] [ 0.05202423 0.99863526 -0.00459357 -0.14180961] [ 0.05406533 0.00177656 0.99853582 -0.06199103] [ 0. 0. 0. 1. ]] SLAMing on 18.443273559999998 meters Centerline goodness [0,1] 0.7138794495457065 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99717528 -0.05223195 -0.05397485 0.39083421] [ 0.05205508 0.99863326 -0.00467856 -0.14114749] [ 0.05414545 0.00185568 0.99853133 -0.0621904 ] [ 0. 0. 0. 1. ]] SLAMing on 18.47327356 meters Centerline goodness [0,1] 0.7165593575924185 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.997163 -0.05258055 -0.05386305 0.39029069] [ 0.05238329 0.99861419 -0.0050686 -0.14011175] [ 0.05405492 0.0022327 0.99853547 -0.06188006] [ 0. 0. 0. 1. ]] SLAMing on 18.50327356 meters Centerline goodness [0,1] 0.7142650218477657 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99715818 -0.05281181 -0.05372602 0.38982356] [ 0.05260743 0.99860167 -0.00521216 -0.13987873] [ 0.05392615 0.00237096 0.99854211 -0.06174141] [ 0. 0. 0. 1. ]] SLAMing on 18.533273559999998 meters Centerline goodness [0,1] 0.7161388506413509 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99715239 -0.05323835 -0.05341157 0.38918136] [ 0.05303332 0.99857894 -0.00524959 -0.14004197] [ 0.05361515 0.00240205 0.99855878 -0.06198009] [ 0. 0. 0. 1. ]] SLAMing on 18.56327356 meters Centerline goodness [0,1] 0.7153658477667464 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99714594 -0.05340197 -0.05336861 0.38922311] [ 0.05319565 0.99857015 -0.00528001 -0.1399786 ] [ 0.05357426 0.00242597 0.99856092 -0.06221727] [ 0. 0. 0. 1. ]] SLAMing on 18.59327356 meters Centerline goodness [0,1] 0.7086919831223628 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99714342 -0.05337765 -0.05343996 0.38955343] [ 0.05317891 0.9985718 -0.00513497 -0.14010464] [ 0.05363773 0.00227842 0.99855786 -0.06250387] [ 0. 0. 0. 1. ]] SLAMing on 18.623273559999998 meters Centerline goodness [0,1] 0.7166061486322924 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99713062 -0.05378496 -0.05327007 0.38906579] [ 0.05357595 0.99854947 -0.00534484 -0.13982633] [ 0.05348028 0.00247551 0.99856584 -0.06251018] [ 0. 0. 0. 1. ]] SLAMing on 18.65327356 meters Centerline goodness [0,1] 0.696004058755315 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99712564 -0.05373833 -0.05341012 0.38949109] [ 0.05354124 0.99855254 -0.00511525 -0.14026835] [ 0.0536077 0.00224091 0.99855956 -0.06277949] [ 0. 0. 0. 1. ]] SLAMing on 18.68327356 meters Centerline goodness [0,1] 0.7142926145969184 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99711701 -0.0540424 -0.05326438 0.38902112] [ 0.05384018 0.99853589 -0.00522521 -0.14041371] [ 0.05346878 0.00234238 0.99856677 -0.06268617] [ 0. 0. 0. 1. ]] SLAMing on 18.713273559999998 meters Centerline goodness [0,1] 0.7179957078440355 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.9971144 -0.05414535 -0.05320864 0.38900548] [ 0.05394841 0.99853054 -0.00513172 -0.14053147] [ 0.05340831 0.00224639 0.99857023 -0.06291342] [ 0. 0. 0. 1. ]] SLAMing on 18.74327356 meters Centerline goodness [0,1] 0.7062036298605573 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.9971043 -0.05445331 -0.05308337 0.38860802] [ 0.05425158 0.99851358 -0.00523501 -0.14055679] [ 0.05328953 0.00234 0.99857636 -0.06285324] [ 0. 0. 0. 1. ]] SLAMing on 18.77327356 meters Centerline goodness [0,1] 0.7075856739198686 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99709853 -0.05447167 -0.053173 0.38879015] [ 0.05426853 0.99851254 -0.00525774 -0.14039445] [ 0.0533803 0.00235686 0.99857147 -0.06286451] [ 0. 0. 0. 1. ]] SLAMing on 18.803273559999997 meters Centerline goodness [0,1] 0.7088350500507761 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99709537 -0.05443879 -0.05326582 0.38892046] [ 0.05423251 0.99851421 -0.00531161 -0.14010754] [ 0.05347584 0.00240744 0.99856624 -0.06275504] [ 0. 0. 0. 1. ]] SLAMing on 18.83327356 meters Centerline goodness [0,1] 0.7089517906002567 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99709639 -0.05420368 -0.05348604 0.38960582] [ 0.05399293 0.99852683 -0.00537847 -0.13930715] [ 0.05369878 0.00247499 0.99855411 -0.06290816] [ 0. 0. 0. 1. ]] SLAMing on 18.86327356 meters Centerline goodness [0,1] 0.7012697489580304 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99709784 -0.0539563 -0.05370865 0.39027227] [ 0.05374162 0.99854009 -0.00543444 -0.1385767 ] [ 0.05392347 0.00253228 0.99854186 -0.06301514] [ 0. 0. 0. 1. ]] SLAMing on 18.89327356 meters Centerline goodness [0,1] 0.718849220776073 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.9971017 -0.05364482 -0.05394849 0.39122137] [ 0.05343022 0.99855691 -0.00541329 -0.13775826] [ 0.05416104 0.00251512 0.99852905 -0.06344133] [ 0. 0. 0. 1. ]] SLAMing on 18.92327356 meters Centerline goodness [0,1] 0.7210705596107057 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99729181 -0.05006526 -0.05387495 0.39034015] [ 0.05005121 0.99874535 -0.00161083 -0.13813081] [ 0.053888 -0.00109003 0.99854639 -0.06342389] [ 0. 0. 0. 1. ]] SLAMing on 18.95327356 meters Centerline goodness [0,1] 0.7211758407553415 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 0.99729832 -0.04975462 -0.0540421 0.39090944] [ 0.04974031 0.99876089 -0.00161062 -0.13740051] [ 0.05405527 -0.0010818 0.99853736 -0.06351097] [ 0. 0. 0. 1. ]] SLAMing on 18.98327356 meters Centerline goodness [0,1] 0.7226197429906542 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 9.97297302e-01 -4.95308197e-02 -5.42659075e-02 3.91387388e-01] [ 4.95100567e-02 9.98772131e-01 -1.72772100e-03 -1.36665261e-01] [ 5.42848515e-02 -9.63656668e-04 9.98525025e-01 -6.33643176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01327356 meters Centerline goodness [0,1] 0.7221408340658267 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:-0.06 [[ 9.97306698e-01 -4.92168263e-02 -5.43788036e-02 3.91450667e-01] [ 4.91817648e-02 9.98787875e-01 -1.98360061e-03 -1.35492197e-01] [ 5.44105162e-02 -6.96187361e-04 9.98518408e-01 -6.28182099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04327356 meters Centerline goodness [0,1] 0.7240653748287336 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97310131e-01 -4.89822574e-02 -5.45274376e-02 3.91930610e-01] [ 4.89466109e-02 9.98799414e-01 -1.98980673e-03 -1.34923177e-01] [ 5.45594379e-02 -6.84478862e-04 9.98510290e-01 -6.29045714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07327356 meters Centerline goodness [0,1] 0.7298652383398145 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97317216e-01 -4.85082002e-02 -5.48208374e-02 3.92959024e-01] [ 4.84759033e-02 9.98822508e-01 -1.91951112e-03 -1.34159776e-01] [ 5.48493984e-02 -7.43128126e-04 9.98494362e-01 -6.32061318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103273559999998 meters Centerline goodness [0,1] 0.7269113750122682 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97320329e-01 -4.84361194e-02 -5.48279475e-02 3.93224097e-01] [ 4.84003818e-02 9.98826052e-01 -1.98025372e-03 -1.33583524e-01] [ 5.48594982e-02 -6.78746296e-04 9.98493853e-01 -6.34457068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13327356 meters Centerline goodness [0,1] 0.7314991440449987 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97324841e-01 -4.83799160e-02 -5.47954806e-02 3.93450954e-01] [ 4.83483938e-02 9.98828723e-01 -1.90153530e-03 -1.33459373e-01] [ 5.48232960e-02 -7.52825085e-04 9.98495788e-01 -6.38367299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16327356 meters Centerline goodness [0,1] 0.7302149487054226 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97331190e-01 -4.82604078e-02 -5.47853044e-02 3.93831466e-01] [ 4.82370807e-02 9.98834384e-01 -1.74881849e-03 -1.33441366e-01] [ 5.48058445e-02 -8.98531930e-04 9.98496626e-01 -6.43208588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.193273559999998 meters Centerline goodness [0,1] 0.724412915851272 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.9973373 -0.04814665 -0.05477414 0.39423285] [ 0.04813375 0.99883969 -0.00155552 -0.13371196] [ 0.05478547 -0.0010851 0.99849756 -0.06487101] [ 0. 0. 0. 1. ]] SLAMing on 19.22327356 meters Centerline goodness [0,1] 0.7334588488434642 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99734069 -0.0480939 -0.05475879 0.39446739] [ 0.04809088 0.99884202 -0.00137359 -0.13401436] [ 0.05476145 -0.00126346 0.99849867 -0.06525908] [ 0. 0. 0. 1. ]] SLAMing on 19.25327356 meters Centerline goodness [0,1] 0.7351465152145708 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99733835 -0.04821034 -0.05469894 0.39427968] [ 0.04820822 0.99883638 -0.00135902 -0.1342482 ] [ 0.05470081 -0.00128154 0.99850197 -0.0652309 ] [ 0. 0. 0. 1. ]] SLAMing on 19.283273559999998 meters Centerline goodness [0,1] 0.7186720774458515 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99733229 -0.04856923 -0.05449156 0.39339607] [ 0.04855353 0.99881928 -0.00161277 -0.1339943 ] [ 0.05450556 -0.00103729 0.99851293 -0.06474663] [ 0. 0. 0. 1. ]] SLAMing on 19.31327356 meters Centerline goodness [0,1] 0.7160369971615934 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97328500e-01 -4.86859733e-02 -5.44567655e-02 3.93221728e-01] [ 4.86677098e-02 9.98813642e-01 -1.66224071e-03 -1.33842689e-01] [ 5.44730880e-02 -9.92486027e-04 9.98514746e-01 -6.46746011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34327356 meters Centerline goodness [0,1] 0.7227381592453199 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97324643e-01 -4.88234604e-02 -5.44042862e-02 3.93086661e-01] [ 4.88020389e-02 9.98806985e-01 -1.72297519e-03 -1.33713146e-01] [ 5.44235026e-02 -9.36674471e-04 9.98517504e-01 -6.46749724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.373273559999998 meters Centerline goodness [0,1] 0.7186343269043445 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 9.97320901e-01 -4.88094420e-02 -5.44854050e-02 3.93446821e-01] [ 4.87911454e-02 9.98807612e-01 -1.66674381e-03 -1.33688040e-01] [ 5.45017901e-02 -9.96126877e-04 9.98513176e-01 -6.49056533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40327356 meters Centerline goodness [0,1] 0.7214334671497111 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99731952 -0.04886248 -0.0544631 0.39343637] [ 0.04884443 0.99880501 -0.0016632 -0.13364365] [ 0.05447928 -0.00100148 0.9985144 -0.06499448] [ 0. 0. 0. 1. ]] SLAMing on 19.43327356 meters Centerline goodness [0,1] 0.7162533084991667 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97317043e-01 -4.89021402e-02 -5.44728879e-02 3.93612948e-01] [ 4.88789707e-02 9.98803161e-01 -1.75833507e-03 -1.33225237e-01] [ 5.44936790e-02 -9.08961159e-04 9.98513702e-01 -6.51854821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463273559999998 meters Centerline goodness [0,1] 0.7166711686270658 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97317143e-01 -4.88883074e-02 -5.44834816e-02 3.93934066e-01] [ 4.88494985e-02 9.98804058e-01 -2.04461112e-03 -1.31835487e-01] [ 5.45182801e-02 -6.22365030e-04 9.98512579e-01 -6.54448041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49327356 meters Centerline goodness [0,1] 0.7189275611855861 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97317628e-01 -4.88355179e-02 -5.45219256e-02 3.94214727e-01] [ 4.87909347e-02 9.98806701e-01 -2.14928494e-03 -1.31043743e-01] [ 5.45618260e-02 -5.16655955e-04 9.98510260e-01 -6.56404880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52327356 meters Centerline goodness [0,1] 0.7170626349892009 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97322104e-01 -4.86165156e-02 -5.46356661e-02 3.94875933e-01] [ 4.85756490e-02 9.98817348e-01 -2.07649575e-03 -1.30424963e-01] [ 5.46720031e-02 -5.83027831e-04 9.98504197e-01 -6.60763421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.553273559999997 meters Centerline goodness [0,1] 0.7214347343769258 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97317106e-01 -4.87184751e-02 -5.46360643e-02 3.94796386e-01] [ 4.86586609e-02 9.98812521e-01 -2.42528580e-03 -1.29178119e-01] [ 5.46893414e-02 -2.39738712e-04 9.98503389e-01 -6.59093988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58327356 meters Centerline goodness [0,1] 0.7274855818997388 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97313496e-01 -4.87764683e-02 -5.46502192e-02 3.94806717e-01] [ 4.87106516e-02 9.98809711e-01 -2.53649319e-03 -1.28846039e-01] [ 5.47088908e-02 -1.32368893e-04 9.98502338e-01 -6.58556542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61327356 meters Centerline goodness [0,1] 0.715116852381422 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97312490e-01 -4.87095460e-02 -5.47282128e-02 3.94935038e-01] [ 4.86443561e-02 9.98812975e-01 -2.52342701e-03 -1.28682973e-01] [ 5.47861640e-02 -1.45573402e-04 9.98498100e-01 -6.57981869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64327356 meters Centerline goodness [0,1] 0.7140603431275883 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97308479e-01 -4.90506482e-02 -5.44961658e-02 3.94137586e-01] [ 4.89807590e-02 9.98796291e-01 -2.61815191e-03 -1.28393497e-01] [ 5.45589903e-02 -5.81584668e-05 9.98510547e-01 -6.55873005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67327356 meters Centerline goodness [0,1] 0.7136196561166341 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97304082e-01 -4.91937531e-02 -5.44476071e-02 3.93951337e-01] [ 4.91239895e-02 9.98789252e-01 -2.61970394e-03 -1.28423469e-01] [ 5.45105578e-02 -6.20422381e-05 9.98513192e-01 -6.55679323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70327356 meters Centerline goodness [0,1] 0.7190803578029127 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97294189e-01 -4.94291453e-02 -5.44156230e-02 3.93909184e-01] [ 4.93592576e-02 9.98777631e-01 -2.62835997e-03 -1.28635283e-01] [ 5.44790246e-02 -6.46666322e-05 9.98514913e-01 -6.56701994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73327356 meters Centerline goodness [0,1] 0.7145495284761036 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97289541e-01 -4.96492258e-02 -5.43003285e-02 3.93694672e-01] [ 4.95819904e-02 9.98766710e-01 -2.58550032e-03 -1.29008933e-01] [ 5.43617286e-02 -1.13825934e-04 9.98521301e-01 -6.58702812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76327356 meters Centerline goodness [0,1] 0.7139332938622459 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97282853e-01 -4.99612494e-02 -5.41367287e-02 3.93403329e-01] [ 4.98941426e-02 9.98751150e-01 -2.59126158e-03 -1.29282484e-01] [ 5.41985827e-02 -1.16884927e-04 9.98530170e-01 -6.61086520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79327356 meters Centerline goodness [0,1] 0.7165805658056581 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97274826e-01 -5.02369990e-02 -5.40293022e-02 3.93245195e-01] [ 5.01719454e-02 9.98737312e-01 -2.56059677e-03 -1.29608328e-01] [ 5.40897167e-02 -1.57136504e-04 9.98536067e-01 -6.63817281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82327356 meters Centerline goodness [0,1] 0.7164919205624769 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97263826e-01 -5.06591293e-02 -5.38378509e-02 3.92782568e-01] [ 5.05886683e-02 9.98716000e-01 -2.67161769e-03 -1.29707148e-01] [ 5.39040650e-02 -5.92775008e-05 9.98546117e-01 -6.65178817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.853273559999998 meters Centerline goodness [0,1] 0.7164919205624769 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97263826e-01 -5.06591293e-02 -5.38378509e-02 3.92782568e-01] [ 5.05886683e-02 9.98716000e-01 -2.67161769e-03 -1.29707148e-01] [ 5.39040650e-02 -5.92775008e-05 9.98546117e-01 -6.65178817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88327356 meters Centerline goodness [0,1] 0.71306769177694 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97262517e-01 -5.08108288e-02 -5.37190054e-02 3.92560932e-01] [ 5.07374496e-02 9.98708296e-01 -2.72975088e-03 -1.29385614e-01] [ 5.37883172e-02 -3.28709458e-06 9.98552361e-01 -6.66082853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91327356 meters Centerline goodness [0,1] 0.7095667201580051 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97257185e-01 -5.09560829e-02 -5.36803914e-02 3.92552191e-01] [ 5.08731080e-02 9.98700880e-01 -2.91190835e-03 -1.28659506e-01] [ 5.37590336e-02 1.73033173e-04 9.98553923e-01 -6.67044200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943273559999998 meters Centerline goodness [0,1] 0.7109174402528146 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97251914e-01 -5.10181910e-02 -5.37193064e-02 3.92719037e-01] [ 5.09272254e-02 9.98697674e-01 -3.06175944e-03 -1.27981260e-01] [ 5.38055518e-02 3.17570231e-04 9.98551382e-01 -6.67970041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97327356 meters Centerline goodness [0,1] 0.7135894708196235 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97236039e-01 -5.14385779e-02 -5.36130141e-02 3.92164225e-01] [ 5.13345133e-02 9.98676005e-01 -3.31723265e-03 -1.27329994e-01] [ 5.37126645e-02 5.55865966e-04 9.98556278e-01 -6.65679251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00327356 meters Centerline goodness [0,1] 0.7093538720622106 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97224283e-01 -5.18132140e-02 -5.34707403e-02 3.91478527e-01] [ 5.16968576e-02 9.98656486e-01 -3.55784325e-03 -1.27059355e-01] [ 5.35832449e-02 7.83698438e-04 9.98563078e-01 -6.62084822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.033273559999998 meters Centerline goodness [0,1] 0.7053227241277058 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97221252e-01 -5.20607599e-02 -5.32865003e-02 3.90973401e-01] [ 5.19437249e-02 9.98643597e-01 -3.57985741e-03 -1.27174607e-01] [ 5.34005925e-02 8.02010573e-04 9.98572848e-01 -6.62006220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06327356 meters Centerline goodness [0,1] 0.7034030441777008 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99719502 -0.05265601 -0.05319249 0.39013184] [ 0.05251572 0.99861195 -0.0040327 -0.12692742] [ 0.05333101 0.00122795 0.99857613 -0.06554611] [ 0. 0. 0. 1. ]] SLAMing on 20.09327356 meters Centerline goodness [0,1] 0.6993046791873903 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99718815 -0.0528738 -0.05310523 0.38986194] [ 0.05272752 0.9986003 -0.00415266 -0.12658042] [ 0.05325046 0.00134088 0.99858029 -0.06551394] [ 0. 0. 0. 1. ]] SLAMing on 20.123273559999998 meters Centerline goodness [0,1] 0.7086171451217398 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99717175 -0.05326984 -0.05301715 0.38926007] [ 0.05310384 0.99857869 -0.00453571 -0.12565413] [ 0.05318342 0.00170746 0.9985833 -0.06503271] [ 0. 0. 0. 1. ]] SLAMing on 20.15327356 meters Centerline goodness [0,1] 0.6985428953759231 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99716399 -0.053333 -0.05309968 0.38940973] [ 0.0531644 0.99857525 -0.00458369 -0.12533251] [ 0.05326849 0.00174768 0.9985787 -0.06502473] [ 0. 0. 0. 1. ]] SLAMing on 20.18327356 meters Centerline goodness [0,1] 0.7099505823338051 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.06 [[ 0.99715346 -0.05351744 -0.05311183 0.3893138 ] [ 0.05334387 0.99856523 -0.00468132 -0.12518206] [ 0.05328616 0.00183481 0.9985776 -0.06491445] [ 0. 0. 0. 1. ]] SLAMing on 20.213273559999998 meters Centerline goodness [0,1] 0.6977516670384969 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99715103 -0.05361092 -0.05306307 0.38942409] [ 0.0534415 0.99856035 -0.00460755 -0.12529323] [ 0.05323369 0.00175865 0.99858053 -0.0651781 ] [ 0. 0. 0. 1. ]] SLAMing on 20.24327356 meters Centerline goodness [0,1] 0.7018716577540107 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99715248 -0.05348447 -0.05316342 0.38991353] [ 0.05332649 0.99856749 -0.00438676 -0.12551065] [ 0.05332189 0.00153925 0.99857619 -0.06553567] [ 0. 0. 0. 1. ]] SLAMing on 20.27327356 meters Centerline goodness [0,1] 0.7005238721851181 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99714926 -0.05356821 -0.05313948 0.3898626 ] [ 0.05340745 0.99856293 -0.00444172 -0.12527604] [ 0.05330105 0.00159102 0.99857722 -0.06554758] [ 0. 0. 0. 1. ]] SLAMing on 20.303273559999997 meters Centerline goodness [0,1] 0.6963085590037557 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99714693 -0.05341719 -0.05333477 0.39040979] [ 0.0532589 0.99857111 -0.00438584 -0.12502595] [ 0.05349284 0.00153278 0.99856706 -0.06556508] [ 0. 0. 0. 1. ]] SLAMing on 20.33327356 meters Centerline goodness [0,1] 0.6974296449277165 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.07 [[ 0.99714131 -0.05358487 -0.05327165 0.3901592 ] [ 0.0534206 0.99856194 -0.00450389 -0.12474066] [ 0.05343638 0.00164521 0.9985699 -0.06545269] [ 0. 0. 0. 1. ]] SLAMing on 20.36327356 meters Centerline goodness [0,1] 0.6944209846490139 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.07 [[ 0.99713637 -0.05367937 -0.05326906 0.39012085] [ 0.05351276 0.9985568 -0.00455016 -0.12465017] [ 0.05343644 0.00168655 0.99856983 -0.065415 ] [ 0. 0. 0. 1. ]] SLAMing on 20.39327356 meters Centerline goodness [0,1] 0.6905317511543618 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99713954 -0.05374404 -0.05314426 0.38997017] [ 0.05358837 0.99855363 -0.00435083 -0.12516126] [ 0.05330122 0.00149047 0.99857737 -0.06563149] [ 0. 0. 0. 1. ]] SLAMing on 20.42327356 meters Centerline goodness [0,1] 0.6898324022346369 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99713986 -0.05383244 -0.05304871 0.38988562] [ 0.05368085 0.99854897 -0.00427928 -0.12535545] [ 0.0532021 0.00141935 0.99858276 -0.06583189] [ 0. 0. 0. 1. ]] SLAMing on 20.45327356 meters Centerline goodness [0,1] 0.6889257672206672 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.9971261 -0.05431247 -0.05281754 0.38930542] [ 0.05416956 0.99852319 -0.00413458 -0.12613237] [ 0.0529641 0.0012616 0.99859562 -0.06605846] [ 0. 0. 0. 1. ]] SLAMing on 20.48327356 meters Centerline goodness [0,1] 0.6871206845090041 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 0.99711984 -0.05454455 -0.05269642 0.38899963] [ 0.05440375 0.99851059 -0.00410375 -0.12674943] [ 0.05284177 0.00122504 0.99860215 -0.0660615 ] [ 0. 0. 0. 1. ]] SLAMing on 20.51327356 meters Centerline goodness [0,1] 0.6838895224872317 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97120191e-01 -5.46378300e-02 -5.25930738e-02 3.88951684e-01] [ 5.45102660e-02 9.98505757e-01 -3.85794138e-03 -1.27454514e-01] [ 5.27252766e-02 9.79968804e-04 9.98608574e-01 -6.64176311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54327356 meters Centerline goodness [0,1] 0.683424182358771 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97114334e-01 -5.48495672e-02 -5.24836110e-02 3.88599509e-01] [ 5.47249442e-02 9.98494199e-01 -3.80973158e-03 -1.28174234e-01] [ 5.26135433e-02 9.26575289e-04 9.98614518e-01 -6.63359001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57327356 meters Centerline goodness [0,1] 0.6844029445185514 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97097166e-01 -5.53475330e-02 -5.22866288e-02 3.87877983e-01] [ 5.52358101e-02 9.98466918e-01 -3.58047378e-03 -1.29712950e-01] [ 5.24046395e-02 6.81985955e-04 9.98625700e-01 -6.63228200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603273559999998 meters Centerline goodness [0,1] 0.682929235626372 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97088176e-01 -5.56205583e-02 -5.21682243e-02 3.87373127e-01] [ 5.55079844e-02 9.98451734e-01 -3.60541418e-03 -1.30149892e-01] [ 5.22879891e-02 6.99162874e-04 9.98631803e-01 -6.60998850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63327356 meters Centerline goodness [0,1] 0.6698078298838099 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97079214e-01 -5.59663071e-02 -5.19693601e-02 3.86649860e-01] [ 5.58616093e-02 9.98432505e-01 -3.46609316e-03 -1.31269779e-01] [ 5.20818828e-02 5.52877349e-04 9.98642665e-01 -6.58712702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66327356 meters Centerline goodness [0,1] 0.6762552559980213 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97079388e-01 -5.60133235e-02 -5.19153250e-02 3.86558569e-01] [ 5.59129719e-02 9.98429910e-01 -3.38446742e-03 -1.31556881e-01] [ 5.20233885e-02 4.71842593e-04 9.98645755e-01 -6.59202926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.693273559999998 meters Centerline goodness [0,1] 0.6728663862031639 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97085310e-01 -5.58027282e-02 -5.20282686e-02 3.87174833e-01] [ 5.57137950e-02 9.98441782e-01 -3.15922191e-03 -1.31909093e-01] [ 5.21234904e-02 2.51321464e-04 9.98640615e-01 -6.62965631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72327356 meters Centerline goodness [0,1] 0.6627715318950036 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97087866e-01 -5.59159901e-02 -5.18574054e-02 3.86693452e-01] [ 5.58310564e-02 9.98435461e-01 -3.08612570e-03 -1.32306440e-01] [ 5.19488362e-02 1.81884759e-04 9.98649731e-01 -6.61888053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75327356 meters Centerline goodness [0,1] 0.6687013882051787 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97087004e-01 -5.59974941e-02 -5.17859791e-02 3.86545568e-01] [ 5.59199088e-02 9.98430908e-01 -2.94702400e-03 -1.32893207e-01] [ 5.18697481e-02 4.25720975e-05 9.98653858e-01 -6.62478171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783273559999998 meters Centerline goodness [0,1] 0.6642153257832034 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97085440e-01 -5.61350928e-02 -5.16669815e-02 3.86273573e-01] [ 5.60667668e-02 9.98423174e-01 -2.77199740e-03 -1.33750435e-01] [ 5.17411179e-02 -1.32882354e-04 9.98660522e-01 -6.63005925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81327356 meters Centerline goodness [0,1] 0.661839530332681 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:-0.07 [[ 9.97086796e-01 -5.62213740e-02 -5.15468595e-02 3.86047790e-01] [ 5.61677073e-02 9.98418243e-01 -2.49027987e-03 -1.34819770e-01] [ 5.16053319e-02 -4.12243742e-04 9.98667472e-01 -6.64860842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84327356 meters Centerline goodness [0,1] 0.6574333715344663 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 9.97058348e-01 -5.69983582e-02 -5.12429362e-02 3.84733815e-01] [ 5.69528025e-02 9.98374106e-01 -2.34993843e-03 -1.37073757e-01] [ 5.12935633e-02 -5.75403103e-04 9.98683453e-01 -6.60676994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.873273559999998 meters Centerline goodness [0,1] 0.6554931640625 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 9.97052173e-01 -5.72087418e-02 -5.11285124e-02 3.84298982e-01] [ 5.71702991e-02 9.98361983e-01 -2.21524048e-03 -1.38166513e-01] [ 5.11714941e-02 -7.14322010e-04 9.98689625e-01 -6.59285740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90327356 meters Centerline goodness [0,1] 0.6504951217731929 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 9.97045018e-01 -5.75607703e-02 -5.08722984e-02 3.83403608e-01] [ 5.75337939e-02 9.98341565e-01 -1.99572126e-03 -1.39750642e-01] [ 5.09028052e-02 -9.37052394e-04 9.98703172e-01 -6.56341418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93327356 meters Centerline goodness [0,1] 0.6618689267187843 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 0.99704239 -0.05763126 -0.05084397 0.38327864] [ 0.05761248 0.99833733 -0.00183598 -0.14039632] [ 0.05086525 -0.00109869 0.99870492 -0.06563546] [ 0. 0. 0. 1. ]] SLAMing on 20.963273559999998 meters Centerline goodness [0,1] 0.660573014288844 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 0.99704021 -0.05763796 -0.05087906 0.38344977] [ 0.05762515 0.99833681 -0.00171995 -0.14085535] [ 0.05089358 -0.00121706 0.99870334 -0.06575799] [ 0. 0. 0. 1. ]] SLAMing on 20.99327356 meters Centerline goodness [0,1] 0.6615086102352656 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 0.99704417 -0.05758004 -0.05086708 0.38358621] [ 0.05757851 0.99833986 -0.00149669 -0.14153725] [ 0.05086881 -0.00143658 0.99870431 -0.065961 ] [ 0. 0. 0. 1. ]] SLAMing on 21.02327356 meters Centerline goodness [0,1] 0.6634671320535195 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 0.99704737 -0.05763042 -0.05074723 0.38335365] [ 0.05764587 0.99833642 -0.00116028 -0.14327702] [ 0.05072968 -0.00176852 0.99871086 -0.06601325] [ 0. 0. 0. 1. ]] SLAMing on 21.053273559999997 meters Centerline goodness [0,1] 0.6610961757368791 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:-0.07 [[ 0.99704672 -0.05774914 -0.05062475 0.38309435] [ 0.05777229 0.99832928 -0.00100724 -0.14415924] [ 0.05059834 -0.00192044 0.99871724 -0.06608275] [ 0. 0. 0. 1. ]] SLAMing on 21.08327356 meters Centerline goodness [0,1] 0.6492186935689692 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 9.97046598e-01 -5.80869020e-02 -5.02393642e-02 3.81882580e-01] [ 5.81187408e-02 9.98309334e-01 -8.28109557e-04 -1.45995731e-01] [ 5.02025285e-02 -2.09418477e-03 9.98736863e-01 -6.56619621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11327356 meters Centerline goodness [0,1] 0.6584224115049586 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 9.97040636e-01 -5.82126587e-02 -5.02121205e-02 3.81493589e-01] [ 5.82401802e-02 9.98302180e-01 -9.16068561e-04 -1.46408975e-01] [ 5.01801961e-02 -2.01100537e-03 9.98738156e-01 -6.51927473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143273559999997 meters Centerline goodness [0,1] 0.6548723897911832 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.06 [[ 9.97047223e-01 -5.80904005e-02 -5.02229040e-02 3.81352078e-01] [ 5.81254357e-02 9.98308995e-01 -7.63896569e-04 -1.47049437e-01] [ 5.01823519e-02 -2.15758722e-03 9.98737742e-01 -6.49007460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17327356 meters Centerline goodness [0,1] 0.6476596969115672 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.06 [[ 9.97063394e-01 -5.76714063e-02 -5.03844997e-02 3.81799187e-01] [ 5.77270614e-02 9.98332341e-01 -3.51105791e-04 -1.48236968e-01] [ 5.03207243e-02 -2.55847437e-03 9.98729833e-01 -6.48071235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20327356 meters Centerline goodness [0,1] 0.663506424755763 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 9.97073772e-01 -5.73984910e-02 -5.04906577e-02 3.82225850e-01] [ 5.74703707e-02 9.98347212e-01 -2.82067216e-05 -1.48924392e-01] [ 5.04088264e-02 -2.87359263e-03 9.98724533e-01 -6.50335531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23327356 meters Centerline goodness [0,1] 0.6584135827669845 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 9.97086845e-01 -5.70196995e-02 -5.06614073e-02 3.82889194e-01] [ 5.71149714e-02 9.98367513e-01 4.33683230e-04 -1.49950422e-01] [ 5.05539747e-02 -3.32594467e-03 9.98715792e-01 -6.53652895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26327356 meters Centerline goodness [0,1] 0.66728280961183 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 0.99710678 -0.05658665 -0.05075452 0.38362396] [ 0.05671995 0.99838942 0.00118875 -0.15211838] [ 0.05060551 -0.0040641 0.99871045 -0.06597581] [ 0. 0. 0. 1. ]] SLAMing on 21.29327356 meters Centerline goodness [0,1] 0.6683117318703433 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 0.99711931 -0.0563599 -0.05076054 0.38402277] [ 0.05651155 0.99840073 0.00155612 -0.15288103] [ 0.05059166 -0.00442019 0.99870964 -0.06644807] [ 0. 0. 0. 1. ]] SLAMing on 21.32327356 meters Centerline goodness [0,1] 0.670596975579361 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.15, Z:-0.07 [[ 0.99714114 -0.05582697 -0.0509205 0.38460324] [ 0.05601026 0.99842782 0.00217855 -0.15461092] [ 0.05071882 -0.0050244 0.99870033 -0.06661018] [ 0. 0. 0. 1. ]] SLAMing on 21.353273559999998 meters Centerline goodness [0,1] 0.6683792955121158 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99715453 -0.05569064 -0.05080745 0.38454314] [ 0.0558814 0.99843467 0.00234053 -0.15513995] [ 0.05059757 -0.00517306 0.99870573 -0.06673195] [ 0. 0. 0. 1. ]] SLAMing on 21.38327356 meters Centerline goodness [0,1] 0.6695701978378636 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99716031 -0.05557142 -0.05082454 0.38455257] [ 0.05576777 0.99844075 0.00245239 -0.15556494] [ 0.05060901 -0.00527979 0.99870459 -0.06663318] [ 0. 0. 0. 1. ]] SLAMing on 21.41327356 meters Centerline goodness [0,1] 0.6660847104967355 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99716708 -0.05549204 -0.05077842 0.38447451] [ 0.05569524 0.99844445 0.00259431 -0.1561157 ] [ 0.05055547 -0.00541508 0.99870657 -0.06660503] [ 0. 0. 0. 1. ]] SLAMing on 21.443273559999998 meters Centerline goodness [0,1] 0.6668730945121951 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99718288 -0.05532684 -0.0506483 0.38421096] [ 0.05554903 0.99845149 0.00298885 -0.1576716 ] [ 0.05040451 -0.00579389 0.99871208 -0.06660847] [ 0. 0. 0. 1. ]] SLAMing on 21.47327356 meters Centerline goodness [0,1] 0.6651473571172891 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99718518 -0.05528935 -0.05064387 0.38419381] [ 0.05552212 0.99845233 0.00319991 -0.15857842] [ 0.05038857 -0.00600276 0.99871165 -0.06662064] [ 0. 0. 0. 1. ]] SLAMing on 21.50327356 meters Centerline goodness [0,1] 0.6609024523679266 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99719027 -0.05524865 -0.05058803 0.38409945] [ 0.0554958 0.99845281 0.00349301 -0.15964576] [ 0.05031678 -0.00629062 0.9987135 -0.066692 ] [ 0. 0. 0. 1. ]] SLAMing on 21.533273559999998 meters Centerline goodness [0,1] 0.6682670596344449 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99719349 -0.05544844 -0.05030514 0.38338415] [ 0.05570292 0.99844064 0.00366985 -0.16102156] [ 0.0500232 -0.0064617 0.99872715 -0.06660237] [ 0. 0. 0. 1. ]] SLAMing on 21.56327356 meters Centerline goodness [0,1] 0.6752388648571565 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99719032 -0.05556333 -0.05024115 0.38314845] [ 0.05582062 0.99843384 0.00373142 -0.16158011] [ 0.04995514 -0.00652543 0.99873015 -0.06651061] [ 0. 0. 0. 1. ]] SLAMing on 21.59327356 meters Centerline goodness [0,1] 0.6740549135005577 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99718935 -0.05569731 -0.05011198 0.38271652] [ 0.05595852 0.99842577 0.00382365 -0.16224651] [ 0.04982012 -0.00661709 0.99873629 -0.06635804] [ 0. 0. 0. 1. ]] SLAMing on 21.623273559999998 meters Centerline goodness [0,1] 0.6637765617226921 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.99718914 -0.0560022 -0.0497753 0.38194869] [ 0.05627015 0.99840758 0.00399721 -0.16381475] [ 0.04947219 -0.00678684 0.99875244 -0.06636665] [ 0. 0. 0. 1. ]] SLAMing on 21.65327356 meters Centerline goodness [0,1] 0.6633309675893069 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.07 [[ 0.9971906 -0.05612316 -0.04960949 0.38165865] [ 0.05639753 0.99839978 0.00414716 -0.16467334] [ 0.04929735 -0.00693337 0.99876008 -0.0664904 ] [ 0. 0. 0. 1. ]] SLAMing on 21.68327356 meters Centerline goodness [0,1] 0.6756699125737438 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.9971898 -0.05617576 -0.04956599 0.38167644] [ 0.05645729 0.99839577 0.0042971 -0.16530952] [ 0.04924509 -0.00708338 0.99876161 -0.06668247] [ 0. 0. 0. 1. ]] SLAMing on 21.713273559999998 meters Centerline goodness [0,1] 0.6642249527410208 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.9971908 -0.05629119 -0.04941474 0.38168871] [ 0.05658001 0.99838809 0.00446457 -0.16635052] [ 0.04908377 -0.00724791 0.99876837 -0.06712588] [ 0. 0. 0. 1. ]] SLAMing on 21.74327356 meters Centerline goodness [0,1] 0.6658477819246942 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99719351 -0.05636775 -0.04927256 0.38156538] [ 0.0566598 0.99838318 0.00454976 -0.16683579] [ 0.04893644 -0.00732877 0.99877501 -0.06735259] [ 0. 0. 0. 1. ]] SLAMing on 21.77327356 meters Centerline goodness [0,1] 0.6658477819246942 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99719351 -0.05636775 -0.04927256 0.38156538] [ 0.0566598 0.99838318 0.00454976 -0.16683579] [ 0.04893644 -0.00732877 0.99877501 -0.06735259] [ 0. 0. 0. 1. ]] SLAMing on 21.803273559999997 meters Centerline goodness [0,1] 0.6554095571205747 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99718891 -0.05669369 -0.04899089 0.38097717] [ 0.05698243 0.99836497 0.00451611 -0.1673474 ] [ 0.04865475 -0.00729504 0.99878902 -0.06746767] [ 0. 0. 0. 1. ]] SLAMing on 21.83327356 meters Centerline goodness [0,1] 0.6562433575021847 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99718715 -0.05686045 -0.04883307 0.38058711] [ 0.05714675 0.99835571 0.00448586 -0.16763636] [ 0.0484977 -0.0072639 0.99879688 -0.0674113 ] [ 0. 0. 0. 1. ]] SLAMing on 21.86327356 meters Centerline goodness [0,1] 0.6641315130615523 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99718403 -0.05703147 -0.04869717 0.38032486] [ 0.05731512 0.99834623 0.00444707 -0.16781265] [ 0.04836302 -0.00722563 0.99880369 -0.06743428] [ 0. 0. 0. 1. ]] SLAMing on 21.893273559999997 meters Centerline goodness [0,1] 0.6643150394035204 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99718137 -0.05720701 -0.04854548 0.38000639] [ 0.05748916 0.99833628 0.00443462 -0.16808336] [ 0.04821102 -0.00721296 0.99881113 -0.0674834 ] [ 0. 0. 0. 1. ]] SLAMing on 21.92327356 meters Centerline goodness [0,1] 0.6565989728125148 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99717383 -0.05747483 -0.0483839 0.37951467] [ 0.05775606 0.99832088 0.00443344 -0.16852711] [ 0.04804785 -0.00721537 0.99881897 -0.06741355] [ 0. 0. 0. 1. ]] SLAMing on 21.95327356 meters Centerline goodness [0,1] 0.6506558459941493 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99716947 -0.05763539 -0.04828254 0.37931299] [ 0.05791357 0.99831199 0.00438147 -0.16860732] [ 0.04794851 -0.00716528 0.99882411 -0.06745285] [ 0. 0. 0. 1. ]] SLAMing on 21.98327356 meters Centerline goodness [0,1] 0.6524603324518323 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99715523 -0.05819239 -0.04790706 0.37826807] [ 0.05846243 0.99828055 0.00425386 -0.1691205 ] [ 0.04757714 -0.00704252 0.99884274 -0.06731743] [ 0. 0. 0. 1. ]] SLAMing on 22.01327356 meters Centerline goodness [0,1] 0.6543215701075675 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99715019 -0.05839402 -0.04776654 0.3780383 ] [ 0.058665 0.99826851 0.00428974 -0.1696238 ] [ 0.04743333 -0.00707974 0.99884932 -0.06745256] [ 0. 0. 0. 1. ]] SLAMing on 22.04327356 meters Centerline goodness [0,1] 0.6519969892270782 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99714452 -0.05851721 -0.04773417 0.37809341] [ 0.05879354 0.99826045 0.00440441 -0.17033708] [ 0.0473934 -0.00719829 0.99885036 -0.06764871] [ 0. 0. 0. 1. ]] SLAMing on 22.07327356 meters Centerline goodness [0,1] 0.6544022264676054 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99712266 -0.05918912 -0.0473608 0.37711265] [ 0.05945648 0.99822183 0.00425519 -0.17144187] [ 0.04702472 -0.00705886 0.99886878 -0.06754995] [ 0. 0. 0. 1. ]] SLAMing on 22.103273559999998 meters Centerline goodness [0,1] 0.6514265586474111 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99712064 -0.0592688 -0.04730369 0.3773467 ] [ 0.05954445 0.99821579 0.00443847 -0.17216551] [ 0.04695622 -0.00724236 0.99887069 -0.06802292] [ 0. 0. 0. 1. ]] SLAMing on 22.13327356 meters Centerline goodness [0,1] 0.6485000234005709 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99711762 -0.05934697 -0.04726942 0.37743838] [ 0.05963184 0.99820966 0.00463809 -0.17287745] [ 0.04690953 -0.00744348 0.99887141 -0.06832555] [ 0. 0. 0. 1. ]] SLAMing on 22.16327356 meters Centerline goodness [0,1] 0.6486423001033543 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99711415 -0.05949591 -0.04715523 0.3772484 ] [ 0.0597788 0.998201 0.00461041 -0.17304853] [ 0.0467961 -0.00741599 0.99887693 -0.06840629] [ 0. 0. 0. 1. ]] SLAMing on 22.193273559999998 meters Centerline goodness [0,1] 0.64599756006006 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99710594 -0.05973911 -0.04702119 0.37681499] [ 0.06001747 0.99818705 0.00452927 -0.17327872] [ 0.04666536 -0.00733826 0.99888362 -0.06826249] [ 0. 0. 0. 1. ]] SLAMing on 22.22327356 meters Centerline goodness [0,1] 0.651173686923113 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99710415 -0.05978521 -0.04700054 0.37682597] [ 0.06006286 0.99818438 0.00451626 -0.17335779] [ 0.0466452 -0.00732616 0.99888465 -0.06831431] [ 0. 0. 0. 1. ]] SLAMing on 22.25327356 meters Centerline goodness [0,1] 0.6490590799371938 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99710775 -0.05984285 -0.04685048 0.37661142] [ 0.06012288 0.99818043 0.00458969 -0.17361714] [ 0.04649058 -0.0073932 0.99889137 -0.06846494] [ 0. 0. 0. 1. ]] SLAMing on 22.283273559999998 meters Centerline goodness [0,1] 0.6496372500991439 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.9970897 -0.06029722 -0.04665157 0.37596353] [ 0.06056745 0.99815441 0.00439956 -0.17417525] [ 0.04630018 -0.00721233 0.99890153 -0.0682657 ] [ 0. 0. 0. 1. ]] SLAMing on 22.31327356 meters Centerline goodness [0,1] 0.6472115047351806 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99708061 -0.0605209 -0.04655619 0.37568367] [ 0.0607875 0.99814133 0.00433078 -0.17459556] [ 0.04620756 -0.00714817 0.99890628 -0.06817423] [ 0. 0. 0. 1. ]] SLAMing on 22.34327356 meters Centerline goodness [0,1] 0.6449837961343872 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99707758 -0.06062666 -0.04648336 0.37562475] [ 0.06089752 0.99813418 0.00443205 -0.1752106 ] [ 0.04612793 -0.00724981 0.99890923 -0.06832349] [ 0. 0. 0. 1. ]] SLAMing on 22.373273559999998 meters Centerline goodness [0,1] 0.649645622324624 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99707449 -0.06076033 -0.0463751 0.37529538] [ 0.06103436 0.99812546 0.00451472 -0.17594887] [ 0.04601385 -0.00733199 0.99891389 -0.06823993] [ 0. 0. 0. 1. ]] SLAMing on 22.40327356 meters Centerline goodness [0,1] 0.648821367541375 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99707217 -0.06082253 -0.04634346 0.37523441] [ 0.06109689 0.99812158 0.00452556 -0.17623463] [ 0.04598115 -0.00734375 0.99891531 -0.06822325] [ 0. 0. 0. 1. ]] SLAMing on 22.43327356 meters Centerline goodness [0,1] 0.6489765328586818 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99706592 -0.06086363 -0.04642384 0.37533099] [ 0.06113942 0.9981189 0.00454291 -0.17645561] [ 0.04606001 -0.00736791 0.9989115 -0.06813221] [ 0. 0. 0. 1. ]] SLAMing on 22.463273559999998 meters Centerline goodness [0,1] 0.6454962117669067 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99706675 -0.06087118 -0.04639599 0.37539874] [ 0.06115043 0.99811786 0.00462227 -0.17672652] [ 0.0460273 -0.00744585 0.99891243 -0.06827708] [ 0. 0. 0. 1. ]] SLAMing on 22.49327356 meters Centerline goodness [0,1] 0.6473630024802284 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99706966 -0.06081111 -0.04641237 0.37554342] [ 0.06109584 0.99812065 0.00473979 -0.17714321] [ 0.04603692 -0.0075615 0.99891112 -0.06835134] [ 0. 0. 0. 1. ]] SLAMing on 22.52327356 meters Centerline goodness [0,1] 0.6468938437806759 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99706795 -0.06079781 -0.04646635 0.37561911] [ 0.06108129 0.99812171 0.00470428 -0.1771368 ] [ 0.04609306 -0.00752871 0.99890878 -0.06827114] [ 0. 0. 0. 1. ]] SLAMing on 22.553273559999997 meters Centerline goodness [0,1] 0.6341810878348397 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.997074 -0.06067951 -0.04649127 0.37579031] [ 0.06097192 0.99812747 0.00489602 -0.17771539] [ 0.04610713 -0.00771636 0.9989067 -0.06838286] [ 0. 0. 0. 1. ]] SLAMing on 22.58327356 meters Centerline goodness [0,1] 0.6543959637484817 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99707342 -0.06077129 -0.0463837 0.37560292] [ 0.06106359 0.9981218 0.00490987 -0.17801479] [ 0.0459982 -0.00772786 0.99891163 -0.06844124] [ 0. 0. 0. 1. ]] SLAMing on 22.61327356 meters Centerline goodness [0,1] 0.6543088747167519 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99706988 -0.06090061 -0.04629007 0.37534796] [ 0.06119363 0.9981137 0.0049384 -0.17852393] [ 0.04590201 -0.00775659 0.99891583 -0.06838522] [ 0. 0. 0. 1. ]] SLAMing on 22.643273559999997 meters Centerline goodness [0,1] 0.6493551922762995 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99704116 -0.06170394 -0.0458426 0.37388696] [ 0.06198131 0.99806647 0.00465256 -0.17976333] [ 0.04546688 -0.00748017 0.99893784 -0.06780792] [ 0. 0. 0. 1. ]] SLAMing on 22.67327356 meters Centerline goodness [0,1] 0.641015488529172 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99702409 -0.06214018 -0.04562419 0.37309449] [ 0.06240694 0.99804089 0.00444471 -0.18033143] [ 0.04525861 -0.00727875 0.99894879 -0.06739866] [ 0. 0. 0. 1. ]] SLAMing on 22.70327356 meters Centerline goodness [0,1] 0.6523102655237298 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99701321 -0.0624326 -0.04546232 0.37258529] [ 0.06269707 0.99802284 0.0044135 -0.18106758] [ 0.04509689 -0.00725067 0.9989563 -0.06718168] [ 0. 0. 0. 1. ]] SLAMing on 22.73327356 meters Centerline goodness [0,1] 0.643744052730522 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99699169 -0.06297001 -0.04519232 0.37167188] [ 0.06322805 0.99798983 0.00430178 -0.1819752 ] [ 0.04483059 -0.00714626 0.99896904 -0.06682903] [ 0. 0. 0. 1. ]] SLAMing on 22.76327356 meters Centerline goodness [0,1] 0.6410876132930514 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99698954 -0.06304219 -0.04513917 0.3716554 ] [ 0.06330368 0.99798467 0.00438561 -0.18238454] [ 0.04477172 -0.00722988 0.99897108 -0.06695946] [ 0. 0. 0. 1. ]] SLAMing on 22.79327356 meters Centerline goodness [0,1] 0.6443023255813953 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99698245 -0.06311941 -0.04518771 0.37181566] [ 0.0633848 0.99797918 0.00446288 -0.18298275] [ 0.0448147 -0.00731362 0.99896855 -0.06700675] [ 0. 0. 0. 1. ]] SLAMing on 22.82327356 meters Centerline goodness [0,1] 0.6414334328772832 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99698622 -0.06303875 -0.04521721 0.37223119] [ 0.06330931 0.99798347 0.00457524 -0.18327716] [ 0.04483761 -0.00742412 0.9989667 -0.06735715] [ 0. 0. 0. 1. ]] SLAMing on 22.853273559999998 meters Centerline goodness [0,1] 0.6457937867493866 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.9969892 -0.0630581 -0.04512432 0.3721658 ] [ 0.06332986 0.99798197 0.00461702 -0.18342989] [ 0.04474212 -0.00746084 0.99897071 -0.06749854] [ 0. 0. 0. 1. ]] SLAMing on 22.88327356 meters Centerline goodness [0,1] 0.6384883372170824 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700189 -0.06280391 -0.04519843 0.37287121] [ 0.06308484 0.99799655 0.00481494 -0.18373034] [ 0.04480548 -0.00765184 0.99896643 -0.06804636] [ 0. 0. 0. 1. ]] SLAMing on 22.91327356 meters Centerline goodness [0,1] 0.6385542168674698 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700708 -0.06273831 -0.04517514 0.37297452] [ 0.06302133 0.99800031 0.00486668 -0.18366457] [ 0.04477948 -0.00769912 0.99896723 -0.06822144] [ 0. 0. 0. 1. ]] SLAMing on 22.943273559999998 meters Centerline goodness [0,1] 0.6357890350064828 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700816 -0.06273075 -0.04516175 0.37300081] [ 0.06301184 0.99800111 0.00482633 -0.1834963 ] [ 0.04476872 -0.00765761 0.99896803 -0.06826276] [ 0. 0. 0. 1. ]] SLAMing on 22.97327356 meters Centerline goodness [0,1] 0.639291167352982 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700851 -0.06275519 -0.04512005 0.3728851 ] [ 0.06303414 0.9979999 0.00478496 -0.18350005] [ 0.04472953 -0.00761475 0.99897011 -0.0681549 ] [ 0. 0. 0. 1. ]] SLAMing on 23.00327356 meters Centerline goodness [0,1] 0.638081798834089 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.9970024 -0.06293209 -0.04500851 0.37245799] [ 0.06320357 0.9979899 0.00463288 -0.18349009] [ 0.04462648 -0.00746369 0.99897586 -0.06787554] [ 0. 0. 0. 1. ]] SLAMing on 23.033273559999998 meters Centerline goodness [0,1] 0.6268849435093382 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99698445 -0.06336014 -0.0448052 0.3716118 ] [ 0.06362257 0.99796409 0.00445406 -0.18436224] [ 0.04443177 -0.00729125 0.99898581 -0.06731916] [ 0. 0. 0. 1. ]] SLAMing on 23.06327356 meters Centerline goodness [0,1] 0.6396263406758159 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99697309 -0.0636099 -0.04470398 0.37119689] [ 0.06386636 0.99794906 0.00433067 -0.18482581] [ 0.04433682 -0.00717264 0.99899089 -0.06705636] [ 0. 0. 0. 1. ]] SLAMing on 23.09327356 meters Centerline goodness [0,1] 0.6263481040310898 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99697238 -0.06363831 -0.04467925 0.37119721] [ 0.06389924 0.9979465 0.00443497 -0.18548295] [ 0.04430526 -0.00727651 0.99899154 -0.06707854] [ 0. 0. 0. 1. ]] SLAMing on 23.123273559999998 meters Centerline goodness [0,1] 0.6432349153789552 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99696719 -0.06377042 -0.04460667 0.37102294] [ 0.06403013 0.99793819 0.00441633 -0.18595007] [ 0.04423307 -0.00725911 0.99899487 -0.06702761] [ 0. 0. 0. 1. ]] SLAMing on 23.15327356 meters Centerline goodness [0,1] 0.6417958507751047 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99697169 -0.06359899 -0.04475065 0.37164002] [ 0.06386629 0.99794801 0.00456726 -0.18613247] [ 0.04436835 -0.00741149 0.99898775 -0.06732482] [ 0. 0. 0. 1. ]] SLAMing on 23.18327356 meters Centerline goodness [0,1] 0.6399254589794322 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99697084 -0.06351301 -0.04489155 0.37207605] [ 0.06378349 0.99795308 0.00461725 -0.18604843] [ 0.0445064 -0.00746661 0.9989812 -0.06748506] [ 0. 0. 0. 1. ]] SLAMing on 23.213273559999998 meters Centerline goodness [0,1] 0.6424941944680753 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9969782 -0.06337133 -0.04492816 0.37248681] [ 0.06364915 0.99796089 0.00477896 -0.18616896] [ 0.0445337 -0.00762416 0.99897879 -0.06786505] [ 0. 0. 0. 1. ]] SLAMing on 23.24327356 meters Centerline goodness [0,1] 0.6494800294496594 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99698783 -0.06320407 -0.04495016 0.37276914] [ 0.06348752 0.99797058 0.0049051 -0.18626625] [ 0.04454891 -0.0077441 0.99897719 -0.06811335] [ 0. 0. 0. 1. ]] SLAMing on 23.27327356 meters Centerline goodness [0,1] 0.6495018136737224 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700522 -0.06278523 -0.04515084 0.37334705] [ 0.06307482 0.99799619 0.00501657 -0.18613618] [ 0.0447454 -0.00784942 0.99896758 -0.06812011] [ 0. 0. 0. 1. ]] SLAMing on 23.303273559999997 meters Centerline goodness [0,1] 0.6476810227873715 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700742 -0.06273362 -0.04517397 0.37332113] [ 0.06302071 0.99799991 0.00495776 -0.1858707 ] [ 0.0447726 -0.00778982 0.99896683 -0.06797108] [ 0. 0. 0. 1. ]] SLAMing on 23.33327356 meters Centerline goodness [0,1] 0.6378138915668181 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700484 -0.0627008 -0.0452765 0.37335366] [ 0.0629855 0.99800247 0.00488762 -0.18566269] [ 0.0448796 -0.00772475 0.99896254 -0.06768424] [ 0. 0. 0. 1. ]] SLAMing on 23.36327356 meters Centerline goodness [0,1] 0.6500172473266643 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701014 -0.06258925 -0.04531419 0.3731895 ] [ 0.06287087 0.99801005 0.00481524 -0.1854558 ] [ 0.04492263 -0.00764979 0.99896118 -0.06724409] [ 0. 0. 0. 1. ]] SLAMing on 23.393273559999997 meters Centerline goodness [0,1] 0.6507655116841258 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700863 -0.06259933 -0.04533335 0.3731057 ] [ 0.06287671 0.99801015 0.00471731 -0.18540355] [ 0.04494785 -0.00755361 0.99896078 -0.06700695] [ 0. 0. 0. 1. ]] SLAMing on 23.42327356 meters Centerline goodness [0,1] 0.6461082249091996 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701525 -0.06245551 -0.0453862 0.37345108] [ 0.06273776 0.99801841 0.00481996 -0.185705 ] [ 0.04499523 -0.007653 0.99895789 -0.06718846] [ 0. 0. 0. 1. ]] SLAMing on 23.45327356 meters Centerline goodness [0,1] 0.6504450219636163 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703122 -0.0621409 -0.04546712 0.37404418] [ 0.06243793 0.99803561 0.00514071 -0.18626121] [ 0.04505836 -0.00796432 0.99895261 -0.06765023] [ 0. 0. 0. 1. ]] SLAMing on 23.48327356 meters Centerline goodness [0,1] 0.6502594242159878 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703822 -0.06201778 -0.04548173 0.37441119] [ 0.06232438 0.99804159 0.00535313 -0.1867341 ] [ 0.04506067 -0.0081719 0.99895083 -0.06800818] [ 0. 0. 0. 1. ]] SLAMing on 23.51327356 meters Centerline goodness [0,1] 0.6502936588051758 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704202 -0.06194471 -0.04549785 0.37460397] [ 0.06225653 0.9980452 0.00546748 -0.1871296 ] [ 0.04507023 -0.00828384 0.99894947 -0.06817981] [ 0. 0. 0. 1. ]] SLAMing on 23.54327356 meters Centerline goodness [0,1] 0.6579712800311477 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704945 -0.06185463 -0.04545757 0.37450533] [ 0.06217849 0.99804852 0.00574403 -0.18839813] [ 0.04501356 -0.00855357 0.99894976 -0.06811191] [ 0. 0. 0. 1. ]] SLAMing on 23.57327356 meters Centerline goodness [0,1] 0.6555344167602631 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705042 -0.06193081 -0.04533239 0.37411599] [ 0.0622557 0.99804344 0.00578907 -0.18903583] [ 0.04488517 -0.00859419 0.99895518 -0.06793398] [ 0. 0. 0. 1. ]] SLAMing on 23.603273559999998 meters Centerline goodness [0,1] 0.6529990842490843 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704911 -0.06192574 -0.04536812 0.37404024] [ 0.0622557 0.99804282 0.00589529 -0.18968165] [ 0.04491426 -0.00870232 0.99895294 -0.06771786] [ 0. 0. 0. 1. ]] SLAMing on 23.63327356 meters Centerline goodness [0,1] 0.6610037727220761 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704877 -0.06193199 -0.04536714 0.37392619] [ 0.06226334 0.99804216 0.00592627 -0.19011618] [ 0.04491129 -0.00873349 0.9989528 -0.06750269] [ 0. 0. 0. 1. ]] SLAMing on 23.66327356 meters Centerline goodness [0,1] 0.6610037727220761 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704877 -0.06193199 -0.04536714 0.37392619] [ 0.06226334 0.99804216 0.00592627 -0.19011618] [ 0.04491129 -0.00873349 0.9989528 -0.06750269] [ 0. 0. 0. 1. ]] SLAMing on 23.693273559999998 meters Centerline goodness [0,1] 0.6555497178883889 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.997053 -0.06183715 -0.0454036 0.37376493] [ 0.06217642 0.99804655 0.0060972 -0.19077029] [ 0.04493787 -0.00890226 0.99895012 -0.0671569 ] [ 0. 0. 0. 1. ]] SLAMing on 23.72327356 meters Centerline goodness [0,1] 0.6614822427772068 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705946 -0.06165329 -0.04551153 0.37414735] [ 0.06200305 0.998056 0.0063124 -0.19147683] [ 0.04503387 -0.0091157 0.99894387 -0.0672874 ] [ 0. 0. 0. 1. ]] SLAMing on 23.75327356 meters Centerline goodness [0,1] 0.658923926436362 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99706926 -0.06150046 -0.04550365 0.37440886] [ 0.06186079 0.99806328 0.00655217 -0.19220094] [ 0.04501256 -0.00934786 0.99894268 -0.06758411] [ 0. 0. 0. 1. ]] SLAMing on 23.783273559999998 meters Centerline goodness [0,1] 0.6614321750789719 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99708034 -0.06134796 -0.0454667 0.37458548] [ 0.0617208 0.99807001 0.00684088 -0.1935712 ] [ 0.04495928 -0.00962715 0.99894243 -0.06778528] [ 0. 0. 0. 1. ]] SLAMing on 23.81327356 meters Centerline goodness [0,1] 0.6591235059760956 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99708347 -0.06131567 -0.04544165 0.37454411] [ 0.06169386 0.99807081 0.00696615 -0.19416821] [ 0.04492685 -0.0097493 0.99894271 -0.06775362] [ 0. 0. 0. 1. ]] SLAMing on 23.84327356 meters Centerline goodness [0,1] 0.6567499489413847 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99708085 -0.0613286 -0.0454816 0.37468907] [ 0.06171117 0.99806912 0.0070543 -0.19464706] [ 0.04496115 -0.00984043 0.99894027 -0.06780464] [ 0. 0. 0. 1. ]] SLAMing on 23.873273559999998 meters Centerline goodness [0,1] 0.6518031299614425 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.9970813 -0.0613098 -0.04549718 0.37475738] [ 0.06169574 0.99806956 0.00712614 -0.19515346] [ 0.04497245 -0.00991232 0.99893905 -0.06779921] [ 0. 0. 0. 1. ]] SLAMing on 23.90327356 meters Centerline goodness [0,1] 0.657506003896869 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709238 -0.06122911 -0.04536284 0.37465604] [ 0.06162688 0.99807167 0.00742132 -0.19626914] [ 0.04482097 -0.01019531 0.99894301 -0.06798974] [ 0. 0. 0. 1. ]] SLAMing on 23.93327356 meters Centerline goodness [0,1] 0.6530575213209944 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709514 -0.0612404 -0.04528686 0.37462569] [ 0.06164408 0.99806949 0.00757027 -0.19672996] [ 0.04473582 -0.01033995 0.99894534 -0.06819432] [ 0. 0. 0. 1. ]] SLAMing on 23.963273559999998 meters Centerline goodness [0,1] 0.6502335706834776 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709195 -0.06131402 -0.04525738 0.37457101] [ 0.06171712 0.99806503 0.00756273 -0.19696582] [ 0.04470611 -0.0103339 0.99894673 -0.06819659] [ 0. 0. 0. 1. ]] SLAMing on 23.99327356 meters Centerline goodness [0,1] 0.657434897899055 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709312 -0.06129841 -0.04525288 0.37445407] [ 0.06170687 0.99806474 0.0076839 -0.19771078] [ 0.04469429 -0.01045398 0.99894601 -0.06802334] [ 0. 0. 0. 1. ]] SLAMing on 24.02327356 meters Centerline goodness [0,1] 0.6453926381756069 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709795 -0.06119902 -0.04528093 0.37470347] [ 0.06161323 0.99806956 0.00780769 -0.19801749] [ 0.04471569 -0.01057494 0.99894378 -0.06820262] [ 0. 0. 0. 1. ]] SLAMing on 24.053273559999997 meters Centerline goodness [0,1] 0.6637510170870626 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99710097 -0.06118372 -0.04523508 0.37459585] [ 0.06159975 0.99806999 0.00785975 -0.19851876] [ 0.04466689 -0.01062343 0.99894545 -0.06812492] [ 0. 0. 0. 1. ]] SLAMing on 24.08327356 meters Centerline goodness [0,1] 0.6593774002620522 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709648 -0.06133988 -0.04512237 0.37439018] [ 0.06175242 0.99806098 0.00780496 -0.19878743] [ 0.04455612 -0.01056871 0.99895098 -0.06815003] [ 0. 0. 0. 1. ]] SLAMing on 24.11327356 meters Centerline goodness [0,1] 0.6598750339581636 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99709179 -0.06149321 -0.04501724 0.37411981] [ 0.06190554 0.99805136 0.00782213 -0.1993916 ] [ 0.04444851 -0.0105862 0.99895559 -0.06808432] [ 0. 0. 0. 1. ]] SLAMing on 24.143273559999997 meters Centerline goodness [0,1] 0.6604876722262509 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99708399 -0.06168101 -0.044933 0.37401904] [ 0.06209102 0.99804012 0.00778576 -0.19966116] [ 0.0443647 -0.010553 0.99895966 -0.06820365] [ 0. 0. 0. 1. ]] SLAMing on 24.17327356 meters Centerline goodness [0,1] 0.6542911920604488 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99707463 -0.06190961 -0.04482604 0.37400799] [ 0.06232123 0.99802533 0.00784272 -0.20037433] [ 0.04425198 -0.01061339 0.99896402 -0.06851538] [ 0. 0. 0. 1. ]] SLAMing on 24.20327356 meters Centerline goodness [0,1] 0.6570371039090006 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99706854 -0.06209811 -0.04470069 0.37385808] [ 0.06250166 0.99801526 0.00768624 -0.20026819] [ 0.04413467 -0.01045757 0.99897086 -0.06863027] [ 0. 0. 0. 1. ]] SLAMing on 24.23327356 meters Centerline goodness [0,1] 0.659304139443402 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99707864 -0.06195527 -0.04467359 0.37401363] [ 0.06235338 0.99802541 0.00757238 -0.1997063 ] [ 0.04411623 -0.01033581 0.99897294 -0.06872625] [ 0. 0. 0. 1. ]] SLAMing on 24.26327356 meters Centerline goodness [0,1] 0.6577459053479323 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99708278 -0.06183249 -0.04475123 0.37429594] [ 0.0622245 0.9980346 0.00741898 -0.1988217 ] [ 0.04420455 -0.01018196 0.99897061 -0.06881024] [ 0. 0. 0. 1. ]] SLAMing on 24.29327356 meters Centerline goodness [0,1] 0.6534044669499954 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99708348 -0.06176301 -0.04483143 0.37441466] [ 0.06214506 0.99804132 0.00717748 -0.19785998] [ 0.04430032 -0.0099426 0.99896878 -0.06866297] [ 0. 0. 0. 1. ]] SLAMing on 24.32327356 meters Centerline goodness [0,1] 0.6559049583966263 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99729943 -0.05832661 -0.04463008 0.37304983] [ 0.05885251 0.99821083 0.01056068 -0.1973347 ] [ 0.04393426 -0.01315876 0.99894776 -0.06823547] [ 0. 0. 0. 1. ]] SLAMing on 24.353273559999998 meters Centerline goodness [0,1] 0.6607876517988878 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99730438 -0.05818962 -0.04469825 0.37309725] [ 0.05870534 0.99822209 0.01031217 -0.19610222] [ 0.04401872 -0.0129084 0.99894731 -0.06803731] [ 0. 0. 0. 1. ]] SLAMing on 24.38327356 meters Centerline goodness [0,1] 0.6565215423606083 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99730613 -0.05814182 -0.04472158 0.37312594] [ 0.05864416 0.99822883 0.01000276 -0.19486913] [ 0.04406079 -0.01259848 0.99894941 -0.06789194] [ 0. 0. 0. 1. ]] SLAMing on 24.41327356 meters Centerline goodness [0,1] 0.6657981194063669 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99733286 -0.05760651 -0.04481812 0.37371266] [ 0.0581075 0.99826069 0.009956 -0.19350879] [ 0.04416664 -0.01253372 0.99894555 -0.06815233] [ 0. 0. 0. 1. ]] SLAMing on 24.443273559999998 meters Centerline goodness [0,1] 0.6665910534434262 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99733668 -0.05758175 -0.04476471 0.37387356] [ 0.05807693 0.99826362 0.00983999 -0.19293279] [ 0.04412038 -0.01241358 0.9989491 -0.06843113] [ 0. 0. 0. 1. ]] SLAMing on 24.47327356 meters Centerline goodness [0,1] 0.6699401251927788 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99733849 -0.05751562 -0.04480953 0.37419592] [ 0.05800761 0.99826847 0.00975651 -0.19254073] [ 0.04417078 -0.01232983 0.99894791 -0.06863467] [ 0. 0. 0. 1. ]] SLAMing on 24.50327356 meters Centerline goodness [0,1] 0.6670898127578546 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99733435 -0.05755603 -0.04484962 0.37442138] [ 0.05804326 0.99826755 0.00963704 -0.19204364] [ 0.04421725 -0.01221457 0.99894727 -0.06881612] [ 0. 0. 0. 1. ]] SLAMing on 24.533273559999998 meters Centerline goodness [0,1] 0.6746834579800414 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99734052 -0.05743313 -0.04487008 0.37464843] [ 0.05791338 0.99827663 0.00947651 -0.19093258] [ 0.04424848 -0.01204989 0.99894788 -0.06900933] [ 0. 0. 0. 1. ]] SLAMing on 24.56327356 meters Centerline goodness [0,1] 0.6711441429155871 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99734124 -0.05737958 -0.04492247 0.37481951] [ 0.05785491 0.99828119 0.00935237 -0.19018542] [ 0.04430862 -0.01192649 0.9989467 -0.06906267] [ 0. 0. 0. 1. ]] SLAMing on 24.59327356 meters Centerline goodness [0,1] 0.6723015134669057 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99733781 -0.05751624 -0.0448239 0.37455521] [ 0.05797737 0.99827683 0.0090554 -0.18931477] [ 0.04422583 -0.01163007 0.99895386 -0.0689389 ] [ 0. 0. 0. 1. ]] SLAMing on 24.623273559999998 meters Centerline goodness [0,1] 0.6803338336289626 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99732657 -0.05781001 -0.04469577 0.37405276] [ 0.05825664 0.99826325 0.00875439 -0.18859601] [ 0.04411205 -0.01133481 0.99896229 -0.06868342] [ 0. 0. 0. 1. ]] SLAMing on 24.65327356 meters Centerline goodness [0,1] 0.6755444646098003 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99731687 -0.05805364 -0.04459636 0.37383084] [ 0.05849344 0.99825058 0.00861989 -0.18876617] [ 0.04401792 -0.01120536 0.9989679 -0.06862926] [ 0. 0. 0. 1. ]] SLAMing on 24.68327356 meters Centerline goodness [0,1] 0.6628277937416567 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99730479 -0.05831204 -0.04452932 0.37369115] [ 0.0587466 0.99823663 0.00851233 -0.18897678] [ 0.04395443 -0.01110533 0.99897181 -0.06866361] [ 0. 0. 0. 1. ]] SLAMing on 24.713273559999998 meters Centerline goodness [0,1] 0.6665910431507782 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99728719 -0.05882464 -0.04424849 0.37307504] [ 0.05925045 0.99820803 0.00837299 -0.18942295] [ 0.04367666 -0.01097201 0.99898547 -0.06873993] [ 0. 0. 0. 1. ]] SLAMing on 24.74327356 meters Centerline goodness [0,1] 0.6665460057464763 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9972728 -0.05912212 -0.04417612 0.3729046 ] [ 0.05953986 0.99819225 0.00819988 -0.18961423] [ 0.04361146 -0.01080775 0.99899011 -0.06873904] [ 0. 0. 0. 1. ]] SLAMing on 24.77327356 meters Centerline goodness [0,1] 0.6668856469735411 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99726337 -0.05935227 -0.04408041 0.37277681] [ 0.05976354 0.99817994 0.00807031 -0.18969125] [ 0.04352119 -0.01068263 0.99899539 -0.06884871] [ 0. 0. 0. 1. ]] SLAMing on 24.803273559999997 meters Centerline goodness [0,1] 0.6642670157068062 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99725319 -0.05957171 -0.04401459 0.37270943] [ 0.05997409 0.99816885 0.00787771 -0.18958694] [ 0.0434647 -0.01049581 0.99899983 -0.06889346] [ 0. 0. 0. 1. ]] SLAMing on 24.83327356 meters Centerline goodness [0,1] 0.6795054683785069 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99724835 -0.05964884 -0.04401981 0.37264888] [ 0.06004574 0.99816555 0.00774868 -0.18926558] [ 0.04347686 -0.01037056 0.99900061 -0.0688214 ] [ 0. 0. 0. 1. ]] SLAMing on 24.86327356 meters Centerline goodness [0,1] 0.6640176199450512 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99725029 -0.05957796 -0.04407172 0.37275486] [ 0.05997428 0.99817003 0.00772451 -0.18868141] [ 0.04353086 -0.01034644 0.99899851 -0.06880525] [ 0. 0. 0. 1. ]] SLAMing on 24.893273559999997 meters Centerline goodness [0,1] 0.6617837139164153 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.997247 -0.05960892 -0.04410444 0.37290665] [ 0.06000093 0.99816926 0.00761734 -0.18823525] [ 0.04356964 -0.01024268 0.99899788 -0.06888364] [ 0. 0. 0. 1. ]] SLAMing on 24.92327356 meters Centerline goodness [0,1] 0.6613317571100552 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99724132 -0.05969063 -0.04412227 0.37286729] [ 0.06007639 0.99816585 0.00746797 -0.18780685] [ 0.04359558 -0.01009807 0.99899823 -0.0687757 ] [ 0. 0. 0. 1. ]] SLAMing on 24.95327356 meters Centerline goodness [0,1] 0.6651359461671364 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9972343 -0.0598495 -0.04406575 0.37281234] [ 0.06022875 0.9981577 0.00732867 -0.1875481 ] [ 0.04354595 -0.00996243 0.99900175 -0.06884393] [ 0. 0. 0. 1. ]] SLAMing on 24.98327356 meters Centerline goodness [0,1] 0.6608699610770947 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723759 -0.0599471 -0.04385822 0.37259563] [ 0.0603252 0.99815173 0.00734762 -0.18786072] [ 0.04333669 -0.00997308 0.99901075 -0.06909354] [ 0. 0. 0. 1. ]] SLAMing on 25.01327356 meters Centerline goodness [0,1] 0.6698476324959574 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723714 -0.05997804 -0.0438261 0.37264962] [ 0.06035672 0.99814968 0.00736762 -0.18808476] [ 0.04330311 -0.00999247 0.99901201 -0.06920327] [ 0. 0. 0. 1. ]] SLAMing on 25.04327356 meters Centerline goodness [0,1] 0.6575769292001183 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723269 -0.06021766 -0.04359809 0.37216283] [ 0.06058716 0.99813692 0.00720279 -0.18781066] [ 0.04308312 -0.00982434 0.99902319 -0.06920544] [ 0. 0. 0. 1. ]] SLAMing on 25.07327356 meters Centerline goodness [0,1] 0.6604087019843436 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722299 -0.06039249 -0.04357825 0.37195978] [ 0.06075577 0.9981277 0.00705924 -0.18758119] [ 0.04307033 -0.00968727 0.99902508 -0.06904006] [ 0. 0. 0. 1. ]] SLAMing on 25.103273559999998 meters Centerline goodness [0,1] 0.6563153112221718 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722332 -0.06046801 -0.04346572 0.3720289 ] [ 0.06083375 0.99812237 0.0071403 -0.1881135 ] [ 0.04295235 -0.00976465 0.9990294 -0.06940669] [ 0. 0. 0. 1. ]] SLAMing on 25.13327356 meters Centerline goodness [0,1] 0.658342044266691 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722635 -0.06050223 -0.04334855 0.37211174] [ 0.06087189 0.9981192 0.00725765 -0.18858963] [ 0.04282791 -0.00987623 0.99903365 -0.06978214] [ 0. 0. 0. 1. ]] SLAMing on 25.16327356 meters Centerline goodness [0,1] 0.6612011916403248 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722538 -0.06060896 -0.04322149 0.37201355] [ 0.06097712 0.99811283 0.00724983 -0.18880335] [ 0.04270052 -0.00986524 0.99903921 -0.06996439] [ 0. 0. 0. 1. ]] SLAMing on 25.193273559999998 meters Centerline goodness [0,1] 0.6634925685196127 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722069 -0.06069787 -0.04320482 0.37204216] [ 0.06106356 0.99810795 0.00719409 -0.18877128] [ 0.04268641 -0.00981233 0.99904033 -0.0700497 ] [ 0. 0. 0. 1. ]] SLAMing on 25.22327356 meters Centerline goodness [0,1] 0.653254087534727 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99722001 -0.06070544 -0.04320989 0.3720688 ] [ 0.06106919 0.99810794 0.00714738 -0.18842177] [ 0.04269425 -0.0097663 0.99904045 -0.07005792] [ 0. 0. 0. 1. ]] SLAMing on 25.25327356 meters Centerline goodness [0,1] 0.655405251790383 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9972163 -0.06082503 -0.04312737 0.37193019] [ 0.0611805 0.99810238 0.00696966 -0.18797593] [ 0.0426216 -0.00958882 0.99904527 -0.07006595] [ 0. 0. 0. 1. ]] SLAMing on 25.283273559999998 meters Centerline goodness [0,1] 0.6614771822009787 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99721549 -0.06077377 -0.04321827 0.37230755] [ 0.06113088 0.99810529 0.00698886 -0.18786654] [ 0.04271164 -0.00961137 0.99904121 -0.07030174] [ 0. 0. 0. 1. ]] SLAMing on 25.31327356 meters Centerline goodness [0,1] 0.662255426736214 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9972165 -0.06075293 -0.04322427 0.37245728] [ 0.06110943 0.99810671 0.00697345 -0.18790018] [ 0.04271878 -0.00959545 0.99904106 -0.07042077] [ 0. 0. 0. 1. ]] SLAMing on 25.34327356 meters Centerline goodness [0,1] 0.6552468855142312 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723363 -0.06043014 -0.04328157 0.37295442] [ 0.06079183 0.99812529 0.00708865 -0.18758417] [ 0.04277206 -0.00970021 0.99903777 -0.07077 ] [ 0. 0. 0. 1. ]] SLAMing on 25.373273559999998 meters Centerline goodness [0,1] 0.6589492430988424 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723733 -0.0602802 -0.04340512 0.37332623] [ 0.06064076 0.99813485 0.00703745 -0.18700454] [ 0.04289994 -0.00965013 0.99903277 -0.07085639] [ 0. 0. 0. 1. ]] SLAMing on 25.40327356 meters Centerline goodness [0,1] 0.6654994850669413 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99723955 -0.06020089 -0.04346425 0.37346575] [ 0.0605543 0.99814133 0.00685969 -0.18613225] [ 0.04297051 -0.0094727 0.99903143 -0.0708301 ] [ 0. 0. 0. 1. ]] SLAMing on 25.43327356 meters Centerline goodness [0,1] 0.6714879809889407 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99725049 -0.05993741 -0.04357712 0.3738378 ] [ 0.06029078 0.99815742 0.00683953 -0.18549378] [ 0.04308688 -0.00944802 0.99902665 -0.0708712 ] [ 0. 0. 0. 1. ]] SLAMing on 25.463273559999998 meters Centerline goodness [0,1] 0.6714102681431318 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99727802 -0.05932227 -0.04378839 0.37445251] [ 0.05968007 0.99819365 0.00690835 -0.18452073] [ 0.04329948 -0.00950284 0.99901694 -0.0708966 ] [ 0. 0. 0. 1. ]] SLAMing on 25.49327356 meters Centerline goodness [0,1] 0.6665221459051183 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99727947 -0.05918414 -0.0439419 0.37479173] [ 0.05954262 0.99820196 0.0068934 -0.1841007 ] [ 0.04345491 -0.00949107 0.99901031 -0.07089303] [ 0. 0. 0. 1. ]] SLAMing on 25.52327356 meters Centerline goodness [0,1] 0.6685317560006394 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99728291 -0.05899587 -0.0441167 0.37527655] [ 0.05935896 0.9982124 0.006965 -0.18395257] [ 0.04362693 -0.00956479 0.9990021 -0.07099071] [ 0. 0. 0. 1. ]] SLAMing on 25.553273559999997 meters Centerline goodness [0,1] 0.6657384794467396 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729295 -0.05877416 -0.0441857 0.37563539] [ 0.05914103 0.99822481 0.00704089 -0.1837552 ] [ 0.04369344 -0.00963502 0.99899852 -0.07118901] [ 0. 0. 0. 1. ]] SLAMing on 25.58327356 meters Centerline goodness [0,1] 0.6657384794467396 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729295 -0.05877416 -0.0441857 0.37563539] [ 0.05914103 0.99822481 0.00704089 -0.1837552 ] [ 0.04369344 -0.00963502 0.99899852 -0.07118901] [ 0. 0. 0. 1. ]] SLAMing on 25.61327356 meters Centerline goodness [0,1] 0.6662847452966383 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729571 -0.05877448 -0.04412297 0.37566685] [ 0.05914322 0.99822428 0.0070976 -0.18394806] [ 0.04362746 -0.00968798 0.99900089 -0.07135204] [ 0. 0. 0. 1. ]] SLAMing on 25.643273559999997 meters Centerline goodness [0,1] 0.6657826752932032 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729103 -0.05886739 -0.0441049 0.37564229] [ 0.05922927 0.99822026 0.00694258 -0.18376619] [ 0.04361771 -0.00953608 0.99900278 -0.07131699] [ 0. 0. 0. 1. ]] SLAMing on 25.67327356 meters Centerline goodness [0,1] 0.671585363059368 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729239 -0.0588249 -0.04413082 0.37580885] [ 0.05918454 0.99822331 0.00688639 -0.18351765] [ 0.04364732 -0.0094796 0.99900203 -0.07140529] [ 0. 0. 0. 1. ]] SLAMing on 25.70327356 meters Centerline goodness [0,1] 0.6713437421188986 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.9972967 -0.05876042 -0.04411915 0.37597636] [ 0.05911998 0.99822712 0.00688845 -0.18323392] [ 0.04363616 -0.00947815 0.99900253 -0.07161373] [ 0. 0. 0. 1. ]] SLAMing on 25.733273559999997 meters Centerline goodness [0,1] 0.6732923246419391 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99731189 -0.0584007 -0.0442532 0.37654528] [ 0.05875812 0.99824896 0.00681849 -0.18220839] [ 0.04377751 -0.0094004 0.99899708 -0.07178314] [ 0. 0. 0. 1. ]] SLAMing on 25.76327356 meters Centerline goodness [0,1] 0.6667964634202208 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99732152 -0.05818844 -0.04431579 0.37688748] [ 0.0585447 0.99826174 0.00678292 -0.18123517] [ 0.04384407 -0.0093592 0.99899455 -0.07199105] [ 0. 0. 0. 1. ]] SLAMing on 25.79327356 meters Centerline goodness [0,1] 0.6667964634202208 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99732152 -0.05818844 -0.04431579 0.37688748] [ 0.0585447 0.99826174 0.00678292 -0.18123517] [ 0.04384407 -0.0093592 0.99899455 -0.07199105] [ 0. 0. 0. 1. ]] SLAMing on 25.82327356 meters Centerline goodness [0,1] 0.6669567407882382 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99731485 -0.05832799 -0.04428252 0.37681643] [ 0.05867484 0.99825551 0.00657266 -0.18082282] [ 0.0438219 -0.00915328 0.99899743 -0.07195331] [ 0. 0. 0. 1. ]] SLAMing on 25.853273559999998 meters Centerline goodness [0,1] 0.6719234212519799 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99731198 -0.05847857 -0.04414839 0.3764919 ] [ 0.05881674 0.99824829 0.006399 -0.18058651] [ 0.04369685 -0.00897847 0.99900449 -0.07186044] [ 0. 0. 0. 1. ]] SLAMing on 25.88327356 meters Centerline goodness [0,1] 0.6656636192401342 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730969 -0.05852397 -0.04413994 0.37655606] [ 0.05886107 0.99824583 0.00637538 -0.18066766] [ 0.0436894 -0.00895636 0.99900501 -0.07194411] [ 0. 0. 0. 1. ]] SLAMing on 25.91327356 meters Centerline goodness [0,1] 0.6666513908620136 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729112 -0.05901515 -0.04390492 0.37578846] [ 0.05933618 0.99821976 0.00604389 -0.18081858] [ 0.04347008 -0.00863266 0.99901743 -0.07156228] [ 0. 0. 0. 1. ]] SLAMing on 25.943273559999998 meters Centerline goodness [0,1] 0.6659628669129966 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99728341 -0.05929295 -0.04370516 0.37507956] [ 0.05960836 0.99820412 0.00594809 -0.18117929] [ 0.04327399 -0.00853712 0.99902677 -0.07123706] [ 0. 0. 0. 1. ]] SLAMing on 25.97327356 meters Centerline goodness [0,1] 0.666674284669531 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.9972719 -0.05948874 -0.04370188 0.37507868] [ 0.05980367 0.99819252 0.00593347 -0.18168155] [ 0.04326992 -0.00853081 0.999027 -0.0712313 ] [ 0. 0. 0. 1. ]] SLAMing on 26.00327356 meters Centerline goodness [0,1] 0.6608814797899063 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99726058 -0.05986874 -0.04344051 0.37463725] [ 0.06018262 0.99816963 0.00595275 -0.18280209] [ 0.04300462 -0.00855081 0.99903828 -0.07142039] [ 0. 0. 0. 1. ]] SLAMing on 26.033273559999998 meters Centerline goodness [0,1] 0.6583886472877089 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99725491 -0.06005884 -0.04330789 0.37443078] [ 0.06037298 0.99815797 0.00598156 -0.18324493] [ 0.04286887 -0.00857976 0.99904387 -0.07154956] [ 0. 0. 0. 1. ]] SLAMing on 26.06327356 meters Centerline goodness [0,1] 0.6575806858006734 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99724792 -0.0602128 -0.04325522 0.37434175] [ 0.06052662 0.99814866 0.00598113 -0.18371056] [ 0.042815 -0.00858276 0.99904615 -0.07160742] [ 0. 0. 0. 1. ]] SLAMing on 26.09327356 meters Centerline goodness [0,1] 0.6702254398826979 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99724097 -0.06036921 -0.04319727 0.37427294] [ 0.06068527 0.99813866 0.006042 -0.18435368] [ 0.04275211 -0.00864677 0.99904829 -0.07168199] [ 0. 0. 0. 1. ]] SLAMing on 26.123273559999998 meters Centerline goodness [0,1] 0.6654707495429616 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99723603 -0.06048991 -0.04314251 0.37397872] [ 0.06080459 0.99813155 0.00601819 -0.18447336] [ 0.04269786 -0.00862482 0.9990508 -0.07149521] [ 0. 0. 0. 1. ]] SLAMing on 26.15327356 meters Centerline goodness [0,1] 0.66270257931979 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99723123 -0.06059296 -0.0431088 0.3738824 ] [ 0.06090328 0.99812611 0.00592056 -0.18437294] [ 0.04266927 -0.00852964 0.99905284 -0.07145484] [ 0. 0. 0. 1. ]] SLAMing on 26.18327356 meters Centerline goodness [0,1] 0.6641882953975278 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99722832 -0.06059287 -0.04317616 0.37392125] [ 0.06090151 0.99812653 0.00586811 -0.18435108] [ 0.04273971 -0.00848134 0.99905024 -0.0713123 ] [ 0. 0. 0. 1. ]] SLAMing on 26.213273559999998 meters Centerline goodness [0,1] 0.6442599393262015 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99725146 -0.06009028 -0.04334376 0.3745729 ] [ 0.06040656 0.99815568 0.00602339 -0.18392491] [ 0.04290187 -0.00862509 0.99904206 -0.07148519] [ 0. 0. 0. 1. ]] SLAMing on 26.24327356 meters Centerline goodness [0,1] 0.6586628357732476 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99725707 -0.05992351 -0.04344541 0.37482978] [ 0.06023666 0.99816649 0.00593383 -0.18322676] [ 0.04301017 -0.00853456 0.99903818 -0.07144145] [ 0. 0. 0. 1. ]] SLAMing on 26.27327356 meters Centerline goodness [0,1] 0.6553598757395098 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99728464 -0.05935379 -0.04359446 0.37554018] [ 0.05966616 0.99820096 0.00589819 -0.18190051] [ 0.04316595 -0.00848329 0.9990319 -0.07165128] [ 0. 0. 0. 1. ]] SLAMing on 26.303273559999997 meters Centerline goodness [0,1] 0.6553598757395098 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99728464 -0.05935379 -0.04359446 0.37554018] [ 0.05966616 0.99820096 0.00589819 -0.18190051] [ 0.04316595 -0.00848329 0.9990319 -0.07165128] [ 0. 0. 0. 1. ]] SLAMing on 26.33327356 meters Centerline goodness [0,1] 0.6537398020978542 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730076 -0.05890331 -0.04383597 0.37638332] [ 0.05922227 0.99822671 0.00601238 -0.18131911] [ 0.04340409 -0.00859222 0.99902065 -0.07195457] [ 0. 0. 0. 1. ]] SLAMing on 26.36327356 meters Centerline goodness [0,1] 0.6524668798538145 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.9973044 -0.05875683 -0.04394973 0.37690715] [ 0.05907767 0.99823514 0.00603612 -0.18122753] [ 0.0435175 -0.00861629 0.99901551 -0.07220709] [ 0. 0. 0. 1. ]] SLAMing on 26.393273559999997 meters Centerline goodness [0,1] 0.6535208047553727 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99731167 -0.05860267 -0.04399039 0.3772447 ] [ 0.05892604 0.99824378 0.00608937 -0.1808808 ] [ 0.04355628 -0.00866518 0.9990134 -0.07249477] [ 0. 0. 0. 1. ]] SLAMing on 26.42327356 meters Centerline goodness [0,1] 0.6477005591692343 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730887 -0.05869876 -0.0439257 0.37718233] [ 0.05901896 0.99823867 0.00602733 -0.18077811] [ 0.04349454 -0.00860356 0.99901662 -0.07255498] [ 0. 0. 0. 1. ]] SLAMing on 26.45327356 meters Centerline goodness [0,1] 0.6471745146019622 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730906 -0.0586688 -0.0439615 0.37736349] [ 0.05899057 0.99824016 0.00605693 -0.18077133] [ 0.04352878 -0.00863394 0.99901487 -0.07266113] [ 0. 0. 0. 1. ]] SLAMing on 26.483273559999997 meters Centerline goodness [0,1] 0.6455537008666224 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730365 -0.05875952 -0.04396306 0.37737044] [ 0.05907461 0.99823613 0.00590151 -0.18043231] [ 0.04353875 -0.0084827 0.99901573 -0.07263311] [ 0. 0. 0. 1. ]] SLAMing on 26.51327356 meters Centerline goodness [0,1] 0.6509405929278383 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99730878 -0.0588086 -0.04378074 0.37711266] [ 0.05911945 0.99823384 0.00583828 -0.18048083] [ 0.04336008 -0.00841086 0.9990241 -0.07268734] [ 0. 0. 0. 1. ]] SLAMing on 26.54327356 meters Centerline goodness [0,1] 0.6393682096229343 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99729983 -0.05895467 -0.04378812 0.37690456] [ 0.05925933 0.9982264 0.00569122 -0.18045232] [ 0.04337493 -0.00827071 0.99902463 -0.07240628] [ 0. 0. 0. 1. ]] SLAMing on 26.57327356 meters Centerline goodness [0,1] 0.6459940041650456 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.9972896 -0.05926043 -0.04360789 0.37626215] [ 0.05955205 0.9982105 0.00541775 -0.18011252] [ 0.0432088 -0.00800001 0.99903403 -0.07208789] [ 0. 0. 0. 1. ]] SLAMing on 26.603273559999998 meters Centerline goodness [0,1] 0.6321112227193864 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.9972787 -0.05959157 -0.04340559 0.37573108] [ 0.05987279 0.99819244 0.00520673 -0.17995323] [ 0.04301685 -0.00779138 0.99904397 -0.07193651] [ 0. 0. 0. 1. ]] SLAMing on 26.63327356 meters Centerline goodness [0,1] 0.6299841971463253 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99727111 -0.05976079 -0.04334723 0.37554955] [ 0.06003654 0.99818322 0.00508663 -0.17999002] [ 0.0429645 -0.00767517 0.99904712 -0.07184137] [ 0. 0. 0. 1. ]] SLAMing on 26.66327356 meters Centerline goodness [0,1] 0.661774822288466 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99726983 -0.05988308 -0.04320775 0.3754455 ] [ 0.06015974 0.99817558 0.00513023 -0.18023789] [ 0.04282171 -0.00771559 0.99905294 -0.07210136] [ 0. 0. 0. 1. ]] SLAMing on 26.693273559999998 meters Centerline goodness [0,1] 0.6596662764809842 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99727008 -0.05997233 -0.04307789 0.37536927] [ 0.06024684 0.99817047 0.00510161 -0.1803681 ] [ 0.04269312 -0.00768299 0.99905869 -0.07229301] [ 0. 0. 0. 1. ]] SLAMing on 26.72327356 meters Centerline goodness [0,1] 0.6580485456920855 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99726616 -0.06003794 -0.04307734 0.37586118] [ 0.06030904 0.99816713 0.00502042 -0.17987562] [ 0.04269697 -0.00760464 0.99905913 -0.07291121] [ 0. 0. 0. 1. ]] SLAMing on 26.75327356 meters Centerline goodness [0,1] 0.6631267489334374 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99725853 -0.06020751 -0.04301712 0.37575483] [ 0.06047254 0.99815791 0.0048855 -0.17948916] [ 0.04264373 -0.00747346 0.99906239 -0.0729921 ] [ 0. 0. 0. 1. ]] SLAMing on 26.783273559999998 meters Centerline goodness [0,1] 0.6615059978439872 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99725151 -0.0603803 -0.04293772 0.37566082] [ 0.06063966 0.99814836 0.00476242 -0.17924126] [ 0.04257066 -0.00735306 0.9990664 -0.0730959 ] [ 0. 0. 0. 1. ]] SLAMing on 26.81327356 meters Centerline goodness [0,1] 0.6593663911845731 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99724436 -0.06060012 -0.04279383 0.37543327] [ 0.0608479 0.99813686 0.00451027 -0.17841996] [ 0.04244078 -0.00710176 0.99907374 -0.07320797] [ 0. 0. 0. 1. ]] SLAMing on 26.84327356 meters Centerline goodness [0,1] 0.6599581387860247 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99723752 -0.06069426 -0.04281984 0.37556576] [ 0.06093509 0.99813229 0.00434054 -0.17787337] [ 0.04247642 -0.00693778 0.99907338 -0.07328465] [ 0. 0. 0. 1. ]] SLAMing on 26.873273559999998 meters Centerline goodness [0,1] 0.6612673139754268 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99722754 -0.06094238 -0.04269976 0.37514847] [ 0.0611676 0.99811955 0.00398689 -0.17675671] [ 0.04237649 -0.00658768 0.99907999 -0.07308812] [ 0. 0. 0. 1. ]] SLAMing on 26.90327356 meters Centerline goodness [0,1] 0.6588789340684585 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99722056 -0.06105643 -0.04269979 0.3752914 ] [ 0.06127461 0.99811364 0.0038185 -0.17623125] [ 0.0423861 -0.0064243 0.99908065 -0.07322752] [ 0. 0. 0. 1. ]] SLAMing on 26.93327356 meters Centerline goodness [0,1] 0.6614350807750725 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99721298 -0.06123816 -0.04261645 0.37493962] [ 0.06144754 0.99810375 0.00361962 -0.17562857] [ 0.04231398 -0.00622821 0.99908495 -0.07305619] [ 0. 0. 0. 1. ]] SLAMing on 26.963273559999998 meters Centerline goodness [0,1] 0.6612854938626995 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99720675 -0.06137998 -0.04255814 0.37488579] [ 0.06157756 0.99809669 0.0033463 -0.17476008] [ 0.04227174 -0.00595758 0.99908839 -0.07309475] [ 0. 0. 0. 1. ]] SLAMing on 26.99327356 meters Centerline goodness [0,1] 0.657574776940502 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99720225 -0.06145891 -0.04254959 0.3749094 ] [ 0.06164324 0.99809364 0.00303237 -0.17351304] [ 0.04228211 -0.00564678 0.99908975 -0.07310408] [ 0. 0. 0. 1. ]] SLAMing on 27.02327356 meters Centerline goodness [0,1] 0.6599930643856202 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99720043 -0.06167331 -0.04228133 0.3745743 ] [ 0.0618544 0.99808071 0.00298705 -0.17324102] [ 0.04201596 -0.00559398 0.99910128 -0.07347755] [ 0. 0. 0. 1. ]] SLAMing on 27.053273559999997 meters Centerline goodness [0,1] 0.6583045983661568 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99716521 -0.06243116 -0.04199866 0.37361006] [ 0.06259401 0.99803576 0.00257248 -0.1729804 ] [ 0.04175556 -0.00519405 0.99911436 -0.0732044 ] [ 0. 0. 0. 1. ]] SLAMing on 27.08327356 meters Centerline goodness [0,1] 0.6588284209553728 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99715745 -0.06263613 -0.04187753 0.37364073] [ 0.06279708 0.99802309 0.00253752 -0.17297089] [ 0.0416358 -0.0051601 0.99911953 -0.07358923] [ 0. 0. 0. 1. ]] SLAMing on 27.11327356 meters Centerline goodness [0,1] 0.6581267984776757 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99715449 -0.06265795 -0.04191553 0.37413566] [ 0.06282037 0.99802155 0.00256768 -0.17290938] [ 0.04167171 -0.00519353 0.99911786 -0.07410901] [ 0. 0. 0. 1. ]] SLAMing on 27.143273559999997 meters Centerline goodness [0,1] 0.648442201749919 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99715529 -0.06263125 -0.04193622 0.37460725] [ 0.06279656 0.99802287 0.0026351 -0.17268308] [ 0.04168827 -0.00526105 0.99911681 -0.07465692] [ 0. 0. 0. 1. ]] SLAMing on 27.17327356 meters Centerline goodness [0,1] 0.6591319235574475 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99715429 -0.06266108 -0.04191542 0.37482169] [ 0.06282572 0.99802107 0.00262093 -0.17242386] [ 0.04166824 -0.00524683 0.99911772 -0.07497517] [ 0. 0. 0. 1. ]] SLAMing on 27.20327356 meters Centerline goodness [0,1] 0.6557449173343213 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99713314 -0.06321818 -0.0415807 0.37381498] [ 0.06336693 0.99798772 0.00226781 -0.17200963] [ 0.04135367 -0.00489615 0.99913257 -0.0747234 ] [ 0. 0. 0. 1. ]] SLAMing on 27.233273559999997 meters Centerline goodness [0,1] 0.6579301075268817 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.9971237 -0.06344173 -0.04146662 0.37338056] [ 0.06358697 0.99797389 0.0021917 -0.17217486] [ 0.04124356 -0.00482214 0.99913749 -0.07451978] [ 0. 0. 0. 1. ]] SLAMing on 27.26327356 meters Centerline goodness [0,1] 0.6527726346972783 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.997088 -0.06417166 -0.04120097 0.37223698] [ 0.06430005 0.99792899 0.0017973 -0.17245536] [ 0.04100031 -0.00444129 0.99914926 -0.07387772] [ 0. 0. 0. 1. ]] SLAMing on 27.29327356 meters Centerline goodness [0,1] 0.6540976409972044 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99707708 -0.06441793 -0.04108063 0.37202601] [ 0.06454958 0.99791272 0.00188479 -0.17321917] [ 0.04087347 -0.00453102 0.99915406 -0.07400413] [ 0. 0. 0. 1. ]] SLAMing on 27.32327356 meters Centerline goodness [0,1] 0.6362418587463624 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99703271 -0.06537048 -0.04065064 0.3708462 ] [ 0.06549166 0.99785174 0.00165513 -0.17439226] [ 0.04045512 -0.00431249 0.99917205 -0.07389782] [ 0. 0. 0. 1. ]] SLAMing on 27.353273559999998 meters Centerline goodness [0,1] 0.6532345793310959 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99701926 -0.06566823 -0.04050043 0.37048775] [ 0.0657875 0.99783234 0.00161789 -0.17482254] [ 0.0403064 -0.00427749 0.99917821 -0.07390009] [ 0. 0. 0. 1. ]] SLAMing on 27.38327356 meters Centerline goodness [0,1] 0.6461449409585552 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99701001 -0.06586369 -0.04041067 0.37037328] [ 0.06598246 0.99781948 0.00161106 -0.17509707] [ 0.04021644 -0.00427264 0.99918186 -0.07400961] [ 0. 0. 0. 1. ]] SLAMing on 27.41327356 meters Centerline goodness [0,1] 0.6439148542341508 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700107 -0.0660616 -0.04030803 0.37011977] [ 0.06617722 0.9978067 0.00153959 -0.17515651] [ 0.04011791 -0.00420244 0.99918612 -0.07398804] [ 0. 0. 0. 1. ]] SLAMing on 27.443273559999998 meters Centerline goodness [0,1] 0.6420344157646406 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700187 -0.06606579 -0.04028118 0.37029928] [ 0.06618376 0.99780617 0.00160082 -0.17516287] [ 0.04008705 -0.00426198 0.9991871 -0.07429824] [ 0. 0. 0. 1. ]] SLAMing on 27.47327356 meters Centerline goodness [0,1] 0.6420344157646406 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700187 -0.06606579 -0.04028118 0.37029928] [ 0.06618376 0.99780617 0.00160082 -0.17516287] [ 0.04008705 -0.00426198 0.9991871 -0.07429824] [ 0. 0. 0. 1. ]] SLAMing on 27.50327356 meters Centerline goodness [0,1] 0.6433205134145776 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700506 -0.06599271 -0.04032217 0.37049722] [ 0.06611586 0.99781046 0.00172701 -0.1755014 ] [ 0.04011992 -0.00438777 0.99918524 -0.07441487] [ 0. 0. 0. 1. ]] SLAMing on 27.533273559999998 meters Centerline goodness [0,1] 0.644657001250637 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700196 -0.06615304 -0.04013561 0.3700836 ] [ 0.06627787 0.99779961 0.00178624 -0.17596619] [ 0.03992913 -0.00444099 0.99919265 -0.07443364] [ 0. 0. 0. 1. ]] SLAMing on 27.56327356 meters Centerline goodness [0,1] 0.6381084518441438 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99699437 -0.0662834 -0.04010917 0.37004184] [ 0.06640884 0.99779087 0.00180188 -0.17631953] [ 0.03990113 -0.00446007 0.99919368 -0.07448569] [ 0. 0. 0. 1. ]] SLAMing on 27.59327356 meters Centerline goodness [0,1] 0.6460021297282281 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99699834 -0.06626151 -0.04004652 0.37006591] [ 0.06639494 0.9977914 0.00200974 -0.17708015] [ 0.03982491 -0.00466259 0.9991958 -0.07468733] [ 0. 0. 0. 1. ]] SLAMing on 27.623273559999998 meters Centerline goodness [0,1] 0.6431283571031672 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99699197 -0.06644861 -0.03989477 0.36978323] [ 0.0665846 0.9977786 0.00208839 -0.17801085] [ 0.03966737 -0.00473848 0.9992017 -0.07477195] [ 0. 0. 0. 1. ]] SLAMing on 27.65327356 meters Centerline goodness [0,1] 0.6433059449009183 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99699434 -0.06638646 -0.03993907 0.37009652] [ 0.06653011 0.99778182 0.00227694 -0.17838789] [ 0.03969932 -0.00492725 0.99919952 -0.07506366] [ 0. 0. 0. 1. ]] SLAMing on 27.68327356 meters Centerline goodness [0,1] 0.6447143582875352 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99699404 -0.06641583 -0.0398976 0.36992164] [ 0.06656015 0.99777977 0.00229863 -0.17853415] [ 0.03965635 -0.00494732 0.99920113 -0.07495747] [ 0. 0. 0. 1. ]] SLAMing on 27.713273559999998 meters Centerline goodness [0,1] 0.6421047779288727 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99699406 -0.06649901 -0.03975829 0.36973532] [ 0.0666451 0.99777396 0.00235894 -0.17895852] [ 0.03951292 -0.00500154 0.99920654 -0.07510251] [ 0. 0. 0. 1. ]] SLAMing on 27.74327356 meters Centerline goodness [0,1] 0.6404460726711366 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99699563 -0.06652836 -0.03966987 0.36952358] [ 0.06668362 0.99777078 0.00260208 -0.18040074] [ 0.03940833 -0.0052396 0.99920945 -0.07508306] [ 0. 0. 0. 1. ]] SLAMing on 27.77327356 meters Centerline goodness [0,1] 0.639643990616807 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99699411 -0.06651749 -0.03972625 0.36965369] [ 0.06667568 0.99777113 0.00266917 -0.18089983] [ 0.03946016 -0.00530992 0.99920704 -0.07509114] [ 0. 0. 0. 1. ]] SLAMing on 27.803273559999997 meters Centerline goodness [0,1] 0.639613814612668 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99701869 -0.06601836 -0.03994139 0.3704443 ] [ 0.06619115 0.9978024 0.0030178 -0.18115784] [ 0.03965439 -0.00565257 0.99919747 -0.0754261 ] [ 0. 0. 0. 1. ]] SLAMing on 27.83327356 meters Centerline goodness [0,1] 0.6458964472597081 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99702534 -0.06576897 -0.04018606 0.37107148] [ 0.06594411 0.99781867 0.00304691 -0.18076329] [ 0.03989801 -0.00568788 0.99918757 -0.07550094] [ 0. 0. 0. 1. ]] SLAMing on 27.86327356 meters Centerline goodness [0,1] 0.6435623105886674 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99704039 -0.06537842 -0.04044909 0.37185764] [ 0.06556188 0.9978433 0.00322449 -0.18040325] [ 0.04015104 -0.00586687 0.9991764 -0.07574817] [ 0. 0. 0. 1. ]] SLAMing on 27.893273559999997 meters Centerline goodness [0,1] 0.6527314931856312 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99707096 -0.06473805 -0.04072451 0.37274387] [ 0.06493026 0.99788397 0.00341342 -0.17977662] [ 0.04041736 -0.00604768 0.99916458 -0.07592419] [ 0. 0. 0. 1. ]] SLAMing on 27.92327356 meters Centerline goodness [0,1] 0.6481111034466901 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.9970836 -0.06442743 -0.04090734 0.37338041] [ 0.06462538 0.99790334 0.00353397 -0.17953811] [ 0.04059388 -0.00616731 0.99915669 -0.07613723] [ 0. 0. 0. 1. ]] SLAMing on 27.95327356 meters Centerline goodness [0,1] 0.6551168041284615 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99710717 -0.06393956 -0.04109772 0.37407543] [ 0.06414011 0.99793449 0.00357848 -0.17891366] [ 0.04078403 -0.00620414 0.99914872 -0.07631889] [ 0. 0. 0. 1. ]] SLAMing on 27.983273559999997 meters Centerline goodness [0,1] 0.6566380243728259 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99711474 -0.06372709 -0.04124384 0.37461056] [ 0.06392884 0.997948 0.00359002 -0.17851421] [ 0.04093042 -0.00621633 0.99914266 -0.07652918] [ 0. 0. 0. 1. ]] SLAMing on 28.01327356 meters Centerline goodness [0,1] 0.6534033342543981 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99711707 -0.06369796 -0.04123244 0.37458598] [ 0.06389528 0.99795053 0.00348424 -0.17801013] [ 0.04092599 -0.00610875 0.99914351 -0.07649361] [ 0. 0. 0. 1. ]] SLAMing on 28.04327356 meters Centerline goodness [0,1] 0.6511101356190652 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99711232 -0.06378263 -0.04121641 0.37428215] [ 0.06397568 0.99794573 0.00338079 -0.17791172] [ 0.04091611 -0.00600787 0.99914452 -0.07614015] [ 0. 0. 0. 1. ]] SLAMing on 28.07327356 meters Centerline goodness [0,1] 0.6470113830130421 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99708729 -0.06432343 -0.04098089 0.37302293] [ 0.06450754 0.99791214 0.00318492 -0.17840747] [ 0.04069046 -0.00581922 0.99915485 -0.07528968] [ 0. 0. 0. 1. ]] SLAMing on 28.103273559999998 meters Centerline goodness [0,1] 0.6436289077798512 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99707723 -0.06453449 -0.04089371 0.37270659] [ 0.06472219 0.99789793 0.00328159 -0.17934962] [ 0.04059597 -0.00591873 0.99915811 -0.07515155] [ 0. 0. 0. 1. ]] SLAMing on 28.13327356 meters Centerline goodness [0,1] 0.6299064131159604 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99706987 -0.06470544 -0.04080282 0.37255731] [ 0.06490257 0.99788538 0.00352394 -0.18053333] [ 0.04048852 -0.00616183 0.999161 -0.07531406] [ 0. 0. 0. 1. ]] SLAMing on 28.16327356 meters Centerline goodness [0,1] 0.6353157290470723 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99704362 -0.06522895 -0.04061031 0.37201022] [ 0.06543273 0.99785009 0.00370773 -0.18297035] [ 0.04028115 -0.00635401 0.99916818 -0.0752948 ] [ 0. 0. 0. 1. ]] SLAMing on 28.193273559999998 meters Centerline goodness [0,1] 0.6425285514842194 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99703315 -0.06548775 -0.04045071 0.37169447] [ 0.06569601 0.9978323 0.00383931 -0.18405907] [ 0.04011159 -0.00648537 0.99917416 -0.07538156] [ 0. 0. 0. 1. ]] SLAMing on 28.22327356 meters Centerline goodness [0,1] 0.6432815356489945 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700094 -0.06614815 -0.04016899 0.37064218] [ 0.06635267 0.99778908 0.0037782 -0.1855265 ] [ 0.03983026 -0.00643219 0.99918576 -0.07497394] [ 0. 0. 0. 1. ]] SLAMing on 28.25327356 meters Centerline goodness [0,1] 0.6389295516925892 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99699491 -0.06625739 -0.04013853 0.37050061] [ 0.06646356 0.99778153 0.00382261 -0.18598279] [ 0.03979621 -0.00647887 0.99918681 -0.07491207] [ 0. 0. 0. 1. ]] SLAMing on 28.283273559999998 meters Centerline goodness [0,1] 0.6234718826405867 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99699574 -0.06622431 -0.0401725 0.3705091 ] [ 0.06643368 0.99778323 0.00389817 -0.18637178] [ 0.03982529 -0.00655527 0.99918516 -0.07482383] [ 0. 0. 0. 1. ]] SLAMing on 28.31327356 meters Centerline goodness [0,1] 0.6210569532194421 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700649 -0.06605804 -0.04017959 0.37055947] [ 0.06627625 0.9977928 0.00412189 -0.18696125] [ 0.03981862 -0.0067725 0.99918397 -0.07480703] [ 0. 0. 0. 1. ]] SLAMing on 28.34327356 meters Centerline goodness [0,1] 0.639831569363833 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701144 -0.06596463 -0.04021005 0.37076785] [ 0.06618688 0.99779832 0.00422003 -0.18735116] [ 0.03984315 -0.0068688 0.99918234 -0.07489987] [ 0. 0. 0. 1. ]] SLAMing on 28.373273559999998 meters Centerline goodness [0,1] 0.6424674970451859 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701822 -0.06580191 -0.04030856 0.37079731] [ 0.0660324 0.99780772 0.00441235 -0.18798965] [ 0.03992985 -0.00706087 0.99917754 -0.07463378] [ 0. 0. 0. 1. ]] SLAMing on 28.40327356 meters Centerline goodness [0,1] 0.6454963779671056 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99702335 -0.06563042 -0.04046097 0.37119426] [ 0.06586687 0.9978181 0.00453718 -0.18800284] [ 0.04007491 -0.00718871 0.99917082 -0.07470789] [ 0. 0. 0. 1. ]] SLAMing on 28.43327356 meters Centerline goodness [0,1] 0.6473890816140222 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703042 -0.06543525 -0.04060269 0.37159998] [ 0.06567655 0.99783019 0.00463621 -0.18789026] [ 0.04021122 -0.00728909 0.99916461 -0.07482603] [ 0. 0. 0. 1. ]] SLAMing on 28.463273559999998 meters Centerline goodness [0,1] 0.6447916903942963 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.08 [[ 0.99704217 -0.06518721 -0.04071285 0.37209473] [ 0.06543221 0.99784589 0.00471309 -0.18760462] [ 0.04031792 -0.00736308 0.99915977 -0.07505634] [ 0. 0. 0. 1. ]] SLAMing on 28.49327356 meters Centerline goodness [0,1] 0.64620625014288 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.08 [[ 0.99707777 -0.06441483 -0.0410689 0.37318778] [ 0.06467311 0.99789402 0.00499038 -0.18716901] [ 0.04066095 -0.00763185 0.99914385 -0.07529649] [ 0. 0. 0. 1. ]] SLAMing on 28.52327356 meters Centerline goodness [0,1] 0.6486826744798224 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.08 [[ 0.99708706 -0.06417997 -0.04121076 0.37356298] [ 0.06443659 0.99790964 0.00492789 -0.18659414] [ 0.04080834 -0.00756902 0.99913832 -0.07525923] [ 0. 0. 0. 1. ]] SLAMing on 28.553273559999997 meters Centerline goodness [0,1] 0.6522874021156753 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.08 [[ 0.99713007 -0.06336369 -0.04143279 0.37423678] [ 0.06362242 0.99796174 0.00495478 -0.18546271] [ 0.04103438 -0.00757661 0.99912901 -0.07512242] [ 0. 0. 0. 1. ]] SLAMing on 28.58327356 meters Centerline goodness [0,1] 0.6507066164999541 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99713777 -0.06304322 -0.04173524 0.37489363] [ 0.06330323 0.99798213 0.00493671 -0.18484105] [ 0.04133979 -0.00756456 0.99911651 -0.07506144] [ 0. 0. 0. 1. ]] SLAMing on 28.61327356 meters Centerline goodness [0,1] 0.6555838553498083 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99715161 -0.06268805 -0.04193894 0.37554216] [ 0.06294869 0.99800463 0.0049219 -0.18418226] [ 0.04154671 -0.00754788 0.99910805 -0.07516664] [ 0. 0. 0. 1. ]] SLAMing on 28.643273559999997 meters Centerline goodness [0,1] 0.6561399470595005 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718345 -0.06203996 -0.04214517 0.37625087] [ 0.06229991 0.99804554 0.00488138 -0.18281346] [ 0.04175996 -0.00749327 0.99909957 -0.07519909] [ 0. 0. 0. 1. ]] SLAMing on 28.67327356 meters Centerline goodness [0,1] 0.6572265399783215 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718522 -0.06187736 -0.04234182 0.37658493] [ 0.06213302 0.99805658 0.00474773 -0.18203922] [ 0.04196576 -0.0073652 0.9990919 -0.07500503] [ 0. 0. 0. 1. ]] SLAMing on 28.70327356 meters Centerline goodness [0,1] 0.6645595902736123 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99719749 -0.0614912 -0.04261447 0.37722991] [ 0.06174862 0.99808043 0.00474961 -0.18120627] [ 0.04224061 -0.00736768 0.9990803 -0.07497102] [ 0. 0. 0. 1. ]] SLAMing on 28.733273559999997 meters Centerline goodness [0,1] 0.6622576177285319 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99719729 -0.06146843 -0.04265198 0.3772764 ] [ 0.06172571 0.99808189 0.00474031 -0.18093161] [ 0.04227879 -0.00735975 0.99907874 -0.07495472] [ 0. 0. 0. 1. ]] SLAMing on 28.76327356 meters Centerline goodness [0,1] 0.6651357090103398 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.07 [[ 0.99719697 -0.06140654 -0.04274853 0.37752446] [ 0.06166449 0.99808568 0.00474071 -0.18096327] [ 0.04237559 -0.00736349 0.99907462 -0.07494715] [ 0. 0. 0. 1. ]] SLAMing on 28.79327356 meters Centerline goodness [0,1] 0.661360280546327 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99719571 -0.06138626 -0.04280693 0.37776827] [ 0.06164511 0.99808682 0.00475204 -0.18102558] [ 0.04243332 -0.00737756 0.99907206 -0.07506807] [ 0. 0. 0. 1. ]] SLAMing on 28.823273559999997 meters Centerline goodness [0,1] 0.6668051420526668 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99719379 -0.06143177 -0.04278642 0.37789491] [ 0.06169347 0.9980835 0.00482184 -0.18153315] [ 0.0424082 -0.00744795 0.99907261 -0.07527506] [ 0. 0. 0. 1. ]] SLAMing on 28.853273559999998 meters Centerline goodness [0,1] 0.661726403134724 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99719119 -0.06155087 -0.04267586 0.3777202 ] [ 0.06181354 0.99807587 0.00486181 -0.18193932] [ 0.0422945 -0.0074861 0.99907714 -0.07535039] [ 0. 0. 0. 1. ]] SLAMing on 28.88327356 meters Centerline goodness [0,1] 0.6650245171389765 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718909 -0.06161564 -0.04263144 0.37763866] [ 0.06187936 0.99807164 0.00489318 -0.18239267] [ 0.04224773 -0.00751743 0.99907888 -0.07531259] [ 0. 0. 0. 1. ]] SLAMing on 28.91327356 meters Centerline goodness [0,1] 0.666154445998945 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718993 -0.06159218 -0.04264558 0.37797128] [ 0.06186226 0.99807196 0.00504136 -0.18289674] [ 0.04225285 -0.00766535 0.99907754 -0.07563941] [ 0. 0. 0. 1. ]] SLAMing on 28.943273559999998 meters Centerline goodness [0,1] 0.665593302205764 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718981 -0.06153971 -0.04272404 0.37822606] [ 0.06181544 0.99807425 0.00516179 -0.18310659] [ 0.0423241 -0.00778829 0.99907358 -0.07578396] [ 0. 0. 0. 1. ]] SLAMing on 28.97327356 meters Centerline goodness [0,1] 0.6686465165344219 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99719203 -0.06154884 -0.04265913 0.37834572] [ 0.0618239 0.99807375 0.00515759 -0.18308654] [ 0.04225952 -0.00778046 0.99907637 -0.07604006] [ 0. 0. 0. 1. ]] SLAMing on 29.00327356 meters Centerline goodness [0,1] 0.6674037730633682 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99718623 -0.06165828 -0.0426365 0.3782583 ] [ 0.06193347 0.99806693 0.00516256 -0.18327982] [ 0.04223577 -0.00778866 0.99907731 -0.07598922] [ 0. 0. 0. 1. ]] SLAMing on 29.033273559999998 meters Centerline goodness [0,1] 0.661949179800579 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99715871 -0.06228624 -0.04236656 0.37734326] [ 0.0625484 0.99802995 0.00488951 -0.18380137] [ 0.04197855 -0.00752558 0.99909017 -0.07563931] [ 0. 0. 0. 1. ]] SLAMing on 29.06327356 meters Centerline goodness [0,1] 0.6630574712643678 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99714551 -0.06257286 -0.04225477 0.37696361] [ 0.06282733 0.99801325 0.00472027 -0.18388993] [ 0.04187546 -0.00736155 0.99909572 -0.07548255] [ 0. 0. 0. 1. ]] SLAMing on 29.09327356 meters Centerline goodness [0,1] 0.6632460540242051 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713114 -0.06300595 -0.04194935 0.37608276] [ 0.06324352 0.9979886 0.00435929 -0.18366725] [ 0.04159031 -0.00699981 0.99911023 -0.07518508] [ 0. 0. 0. 1. ]] SLAMing on 29.123273559999998 meters Centerline goodness [0,1] 0.6546001976602542 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712589 -0.06313623 -0.04187815 0.37595906] [ 0.06336681 0.99798147 0.00420027 -0.18306856] [ 0.04152843 -0.00684188 0.9991139 -0.07522716] [ 0. 0. 0. 1. ]] SLAMing on 29.15327356 meters Centerline goodness [0,1] 0.6593159212551398 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971208 -0.06324487 -0.0418353 0.37599861] [ 0.06347123 0.99797523 0.00410359 -0.18282777] [ 0.04149106 -0.00674712 0.99911609 -0.07536635] [ 0. 0. 0. 1. ]] SLAMing on 29.18327356 meters Centerline goodness [0,1] 0.6605032317636196 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.997109 -0.06352499 -0.04169196 0.37563266] [ 0.06373861 0.99795934 0.00381344 -0.18198942] [ 0.04136463 -0.0064598 0.99912323 -0.07534339] [ 0. 0. 0. 1. ]] SLAMing on 29.213273559999998 meters Centerline goodness [0,1] 0.660226331769252 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99711428 -0.06340426 -0.04174939 0.37613534] [ 0.06362231 0.99796637 0.00391367 -0.18185343] [ 0.04141635 -0.00655857 0.99912045 -0.07577295] [ 0. 0. 0. 1. ]] SLAMing on 29.24327356 meters Centerline goodness [0,1] 0.6590176763027067 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712115 -0.06324025 -0.04183402 0.37630145] [ 0.06345285 0.99797771 0.00377264 -0.18098326] [ 0.04151083 -0.00641627 0.99911745 -0.07567293] [ 0. 0. 0. 1. ]] SLAMing on 29.27327356 meters Centerline goodness [0,1] 0.6618007114149767 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971231 -0.0631426 -0.04193492 0.37666459] [ 0.06334939 0.99798485 0.00361967 -0.18015156] [ 0.04162186 -0.00626581 0.99911379 -0.07580033] [ 0. 0. 0. 1. ]] SLAMing on 29.303273559999997 meters Centerline goodness [0,1] 0.6644776256970367 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713269 -0.06290087 -0.04207002 0.37714613] [ 0.06310443 0.9980007 0.0035269 -0.17930658] [ 0.04176407 -0.00617159 0.99910844 -0.07590048] [ 0. 0. 0. 1. ]] SLAMing on 29.33327356 meters Centerline goodness [0,1] 0.665557250496926 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971409 -0.06269034 -0.04218937 0.37761164] [ 0.06288894 0.99801475 0.00339553 -0.1782555 ] [ 0.04189275 -0.00603907 0.99910386 -0.07604675] [ 0. 0. 0. 1. ]] SLAMing on 29.36327356 meters Centerline goodness [0,1] 0.6656533554419419 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99715867 -0.06242363 -0.04216481 0.37793278] [ 0.06261829 0.99803206 0.00331057 -0.17687851] [ 0.04187518 -0.00594145 0.99910518 -0.07636226] [ 0. 0. 0. 1. ]] SLAMing on 29.393273559999997 meters Centerline goodness [0,1] 0.6656533554419419 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99715867 -0.06242363 -0.04216481 0.37793278] [ 0.06261829 0.99803206 0.00331057 -0.17687851] [ 0.04187518 -0.00594145 0.99910518 -0.07636226] [ 0. 0. 0. 1. ]] SLAMing on 29.42327356 meters Centerline goodness [0,1] 0.6690276138231142 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99716474 -0.06226111 -0.04226155 0.37827672] [ 0.06245947 0.99804175 0.00338817 -0.1767538 ] [ 0.04196784 -0.00601819 0.99910084 -0.07649273] [ 0. 0. 0. 1. ]] SLAMing on 29.45327356 meters Centerline goodness [0,1] 0.6661601510337524 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971702 -0.06213384 -0.04232001 0.37863022] [ 0.06233659 0.99804909 0.00348705 -0.17706737] [ 0.04202079 -0.00611527 0.99909802 -0.07667156] [ 0. 0. 0. 1. ]] SLAMing on 29.483273559999997 meters Centerline goodness [0,1] 0.6664820072478822 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99716539 -0.06225847 -0.04225012 0.37843444] [ 0.06246154 0.99804123 0.00350214 -0.17729459] [ 0.04194932 -0.00613122 0.99910093 -0.07667325] [ 0. 0. 0. 1. ]] SLAMing on 29.51327356 meters Centerline goodness [0,1] 0.6656732968327673 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99716209 -0.06239706 -0.04212322 0.37809156] [ 0.0625989 0.99803267 0.0034885 -0.1775959 ] [ 0.04182268 -0.00611547 0.99910633 -0.07660008] [ 0. 0. 0. 1. ]] SLAMing on 29.54327356 meters Centerline goodness [0,1] 0.6707260710819429 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971537 -0.06254033 -0.04210951 0.37786178] [ 0.06273633 0.99802452 0.00334806 -0.17766143] [ 0.04181694 -0.00598032 0.99910739 -0.07631446] [ 0. 0. 0. 1. ]] SLAMing on 29.573273559999997 meters Centerline goodness [0,1] 0.6689098561583646 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713824 -0.06292188 -0.04190658 0.37715659] [ 0.06310959 0.99800157 0.0031701 -0.17765604] [ 0.04162336 -0.00580573 0.9991165 -0.07605109] [ 0. 0. 0. 1. ]] SLAMing on 29.603273559999998 meters Centerline goodness [0,1] 0.6657588626292467 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99714045 -0.06291218 -0.04186868 0.37722258] [ 0.06310362 0.99800164 0.00326542 -0.17793993] [ 0.04157958 -0.00589815 0.99911779 -0.07619527] [ 0. 0. 0. 1. ]] SLAMing on 29.63327356 meters Centerline goodness [0,1] 0.6641856594702048 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713988 -0.06290944 -0.04188618 0.37736251] [ 0.06310251 0.99800159 0.00330196 -0.17815366] [ 0.04159475 -0.00593564 0.99911693 -0.07629087] [ 0. 0. 0. 1. ]] SLAMing on 29.66327356 meters Centerline goodness [0,1] 0.6744293503373071 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99714484 -0.06278256 -0.0419585 0.37778245] [ 0.06297868 0.99800919 0.00336733 -0.17836607] [ 0.04166356 -0.00600021 0.99911368 -0.07654605] [ 0. 0. 0. 1. ]] SLAMing on 29.693273559999998 meters Centerline goodness [0,1] 0.6740078952836068 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99714688 -0.06270144 -0.04203125 0.37810934] [ 0.06289773 0.99801431 0.00336271 -0.17823759] [ 0.04173694 -0.00599679 0.99911064 -0.07668251] [ 0. 0. 0. 1. ]] SLAMing on 29.72327356 meters Centerline goodness [0,1] 0.6736749890494963 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99714446 -0.06271367 -0.04207051 0.37820938] [ 0.06290973 0.99801359 0.00335135 -0.17815774] [ 0.04177677 -0.00598843 0.99910902 -0.07668219] [ 0. 0. 0. 1. ]] SLAMing on 29.75327356 meters Centerline goodness [0,1] 0.6727230644601319 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971361 -0.06288799 -0.04200824 0.37759061] [ 0.06306914 0.99800465 0.00299973 -0.17747074] [ 0.04173578 -0.00564056 0.99911276 -0.07595234] [ 0. 0. 0. 1. ]] SLAMing on 29.783273559999998 meters Centerline goodness [0,1] 0.6719277164117021 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713161 -0.06291027 -0.04208149 0.37760955] [ 0.06308835 0.99800369 0.00291589 -0.17740796] [ 0.04181405 -0.00556238 0.99910993 -0.07573591] [ 0. 0. 0. 1. ]] SLAMing on 29.81327356 meters Centerline goodness [0,1] 0.6768718494195995 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712558 -0.0629782 -0.04212281 0.37753886] [ 0.06315366 0.99799976 0.00284651 -0.17749945] [ 0.04185929 -0.00549854 0.99910839 -0.07552165] [ 0. 0. 0. 1. ]] SLAMing on 29.84327356 meters Centerline goodness [0,1] 0.6764508902796702 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712598 -0.06301612 -0.04205648 0.37743159] [ 0.06318962 0.99799759 0.00280756 -0.17767376] [ 0.04179534 -0.00545702 0.99911129 -0.07546316] [ 0. 0. 0. 1. ]] SLAMing on 29.873273559999998 meters Centerline goodness [0,1] 0.6702385067404079 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712457 -0.0630147 -0.04209195 0.37754941] [ 0.06318389 0.99799825 0.0026999 -0.17753137] [ 0.04183756 -0.00535167 0.99911009 -0.07542339] [ 0. 0. 0. 1. ]] SLAMing on 29.90327356 meters Centerline goodness [0,1] 0.6712043820925879 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712173 -0.06306676 -0.04208144 0.37759175] [ 0.06323237 0.99799541 0.00261473 -0.1773281 ] [ 0.04183218 -0.00526812 0.99911076 -0.0754418 ] [ 0. 0. 0. 1. ]] SLAMing on 29.93327356 meters Centerline goodness [0,1] 0.6672044993546008 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712994 -0.062902 -0.04213327 0.37783465] [ 0.06306764 0.99800584 0.00261238 -0.17677477] [ 0.04188492 -0.00526213 0.99910858 -0.07550416] [ 0. 0. 0. 1. ]] SLAMing on 29.963273559999998 meters Centerline goodness [0,1] 0.6719744485847201 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99712649 -0.06292414 -0.04218186 0.37785517] [ 0.06308479 0.99800507 0.00248708 -0.17636136] [ 0.04194122 -0.00514096 0.99910685 -0.07537802] [ 0. 0. 0. 1. ]] SLAMing on 29.99327356 meters Centerline goodness [0,1] 0.6947253917189344 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713554 -0.06270378 -0.04229608 0.37809541] [ 0.06286083 0.99801944 0.00239217 -0.17579234] [ 0.04206231 -0.00504408 0.99910226 -0.07524999] [ 0. 0. 0. 1. ]] SLAMing on 30.02327356 meters Centerline goodness [0,1] 0.6787120685661339 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.9971369 -0.06261268 -0.04239869 0.37834921] [ 0.06277171 0.99802496 0.00242876 -0.17563872] [ 0.04216288 -0.00508325 0.99909782 -0.07529095] [ 0. 0. 0. 1. ]] SLAMing on 30.053273559999997 meters Centerline goodness [0,1] 0.6643673903985927 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99713405 -0.0625972 -0.04248852 0.37844041] [ 0.06275216 0.99802644 0.00232185 -0.17517933] [ 0.04225933 -0.00498144 0.99909426 -0.07513285] [ 0. 0. 0. 1. ]] SLAMing on 30.08327356 meters Centerline goodness [0,1] 0.6872563578986448 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99714045 -0.06245209 -0.04255195 0.37866441] [ 0.06259976 0.99803641 0.00214557 -0.17407469] [ 0.0423344 -0.00480318 0.99909195 -0.07513992] [ 0. 0. 0. 1. ]] SLAMing on 30.11327356 meters Centerline goodness [0,1] 0.6773489387394919 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99714154 -0.06235291 -0.04267152 0.37894242] [ 0.06249845 0.99804289 0.00208399 -0.17368519] [ 0.04245806 -0.00474494 0.99908698 -0.07512388] [ 0. 0. 0. 1. ]] SLAMing on 30.143273559999997 meters Centerline goodness [0,1] 0.6807843319471226 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99714838 -0.06216865 -0.04278039 0.37941294] [ 0.06231399 0.99805445 0.00207095 -0.17327062] [ 0.04256841 -0.00473086 0.99908235 -0.07532693] [ 0. 0. 0. 1. ]] SLAMing on 30.17327356 meters Centerline goodness [0,1] 0.6844612810263084 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99715306 -0.0620531 -0.0428392 0.3797108 ] [ 0.06219638 0.99806189 0.00201843 -0.17263702] [ 0.04263092 -0.00467713 0.99907994 -0.07551164] [ 0. 0. 0. 1. ]] SLAMing on 30.20327356 meters Centerline goodness [0,1] 0.6894473531122746 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99716125 -0.0618452 -0.04294889 0.38002115] [ 0.06197504 0.99807626 0.00169714 -0.17118611] [ 0.04276131 -0.00435408 0.99907583 -0.07537014] [ 0. 0. 0. 1. ]] SLAMing on 30.233273559999997 meters Centerline goodness [0,1] 0.6888567631216919 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99716108 -0.06175271 -0.0430858 0.3802226 ] [ 0.06187581 0.99808269 0.0015282 -0.17032464] [ 0.04290882 -0.00418983 0.99907021 -0.07517291] [ 0. 0. 0. 1. ]] SLAMing on 30.26327356 meters Centerline goodness [0,1] 0.6982593681459703 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 0.99715032 -0.06185292 -0.04319082 0.38010858] [ 0.06196039 0.99807794 0.00115262 -0.16931971] [ 0.04303651 -0.00382546 0.99906618 -0.07467284] [ 0. 0. 0. 1. ]] SLAMing on 30.29327356 meters Centerline goodness [0,1] 0.6871443231644743 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.97140123e-01 -6.20296764e-02 -4.31728375e-02 3.79806903e-01] [ 6.21196386e-02 9.98068433e-01 7.44035919e-04 -1.67997994e-01] [ 4.30432940e-02 -3.42378913e-03 9.99067341e-01 -7.42800207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323273559999997 meters Centerline goodness [0,1] 0.6957568110659377 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.97140223e-01 -6.20338032e-02 -4.31645980e-02 3.79803712e-01] [ 6.21233751e-02 9.98068207e-01 7.35544204e-04 -1.67832453e-01] [ 4.30355843e-02 -3.41497122e-03 9.99067704e-01 -7.43007215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.353273559999998 meters Centerline goodness [0,1] 0.6880112175741996 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.97140880e-01 -6.20076882e-02 -4.31869356e-02 3.80005105e-01] [ 6.20989008e-02 9.98069702e-01 7.72402830e-04 -1.67692897e-01] [ 4.30556770e-02 -3.45205567e-03 9.99066710e-01 -7.44921307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38327356 meters Centerline goodness [0,1] 0.6830977689522252 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97134784e-01 -6.21667112e-02 -4.30989833e-02 3.80186853e-01] [ 6.22568724e-02 9.98059876e-01 7.51593115e-04 -1.67585585e-01] [ 4.29686419e-02 -3.43264754e-03 9.99070524e-01 -7.50208715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.41327356 meters Centerline goodness [0,1] 0.6923976061342809 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97133822e-01 -6.22192834e-02 -4.30453538e-02 3.80228296e-01] [ 6.23104887e-02 9.98056509e-01 7.79058763e-04 -1.67478710e-01] [ 4.29132231e-02 -3.45900287e-03 9.99072815e-01 -7.52650745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443273559999998 meters Centerline goodness [0,1] 0.6758095416102051 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97134078e-01 -6.22413192e-02 -4.30075445e-02 3.80427593e-01] [ 6.23335486e-02 9.98055049e-01 8.05502710e-04 -1.67275474e-01] [ 4.28737613e-02 -3.48400707e-03 9.99074423e-01 -7.56086986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47327356 meters Centerline goodness [0,1] 0.6729687463529632 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97129495e-01 -6.23672733e-02 -4.29312524e-02 3.80297034e-01] [ 6.24560248e-02 9.98047451e-01 7.27823205e-04 -1.66941776e-01] [ 4.28020347e-02 -3.40704935e-03 9.99077764e-01 -7.56809792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50327356 meters Centerline goodness [0,1] 0.68918633817014 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97109486e-01 -6.28497300e-02 -4.26917322e-02 3.79463057e-01] [ 6.29209014e-02 9.98018464e-01 3.24105540e-04 -1.66183798e-01] [ 4.25867670e-02 -3.00937098e-03 9.99088240e-01 -7.53375543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.533273559999998 meters Centerline goodness [0,1] 0.6915769474350855 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97095564e-01 -6.31703439e-02 -4.25434407e-02 3.78887887e-01] [ 6.32334296e-02 9.97998755e-01 1.37449763e-04 -1.66065731e-01] [ 4.24496181e-02 -2.82721821e-03 9.99094609e-01 -7.50696468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56327356 meters Centerline goodness [0,1] 0.68445285841163 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 9.97082338e-01 -6.34118628e-02 -4.24940710e-02 3.78674799e-01] [ 6.34748565e-02 9.97983429e-01 1.33431173e-04 -1.66282459e-01] [ 4.23999176e-02 -2.83034692e-03 9.99096710e-01 -7.50475546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59327356 meters Centerline goodness [0,1] 0.6776006181077474 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.97020968e-01 -6.47120492e-02 -4.19707158e-02 3.76693556e-01] [ 6.47499302e-02 9.97901417e-01 -4.57641871e-04 -1.66955735e-01] [ 4.19122517e-02 -2.26132238e-03 9.99118736e-01 -7.42551258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623273559999998 meters Centerline goodness [0,1] 0.6784727102365893 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.96998947e-01 -6.52544324e-02 -4.16528442e-02 3.75817903e-01] [ 6.52856474e-02 9.97866429e-01 -6.11860543e-04 -1.67480500e-01] [ 4.16039015e-02 -2.10930858e-03 9.99131956e-01 -7.41130166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65327356 meters Centerline goodness [0,1] 0.6680245352811724 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.07 [[ 9.96984959e-01 -6.55897001e-02 -4.14606093e-02 3.75415845e-01] [ 6.56212587e-02 9.97844421e-01 -6.00772280e-04 -1.68148572e-01] [ 4.14106422e-02 -2.12173644e-03 9.99139959e-01 -7.42250317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68327356 meters Centerline goodness [0,1] 0.6585354444886218 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96945511e-01 -6.63895150e-02 -4.11348935e-02 3.74606977e-01] [ 6.64137525e-02 9.97791866e-01 -7.78549646e-04 -1.68754276e-01] [ 4.10957497e-02 -1.95575106e-03 9.99153299e-01 -7.43521687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.713273559999998 meters Centerline goodness [0,1] 0.6595779486340585 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96937841e-01 -6.66010104e-02 -4.09786206e-02 3.74415221e-01] [ 6.66275466e-02 9.97777657e-01 -7.19341045e-04 -1.69018888e-01] [ 4.09354609e-02 -2.01316665e-03 9.99159765e-01 -7.46234958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74327356 meters Centerline goodness [0,1] 0.6574798551909378 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96924543e-01 -6.68886163e-02 -4.08334136e-02 3.74053672e-01] [ 6.69129749e-02 9.97758517e-01 -7.71417815e-04 -1.69141922e-01] [ 4.07934852e-02 -1.96323982e-03 9.99165671e-01 -7.46377091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77327356 meters Centerline goodness [0,1] 0.6474441155217827 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96905046e-01 -6.73344779e-02 -4.05758200e-02 3.73433646e-01] [ 6.73627160e-02 9.97728326e-01 -6.72430094e-04 -1.69871962e-01] [ 4.05289227e-02 -2.06294849e-03 9.99176236e-01 -7.47731379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803273559999997 meters Centerline goodness [0,1] 0.6447901625599701 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96891164e-01 -6.76657930e-02 -4.03651828e-02 3.72799703e-01] [ 6.76915033e-02 9.97706032e-01 -7.31034552e-04 -1.70134221e-01] [ 4.03220524e-02 -2.00361802e-03 9.99184726e-01 -7.46092606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83327356 meters Centerline goodness [0,1] 0.6364886599379969 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96874168e-01 -6.80213306e-02 -4.01869539e-02 3.72144756e-01] [ 6.80403637e-02 9.97682167e-01 -8.95503922e-04 -1.70302557e-01] [ 4.01547206e-02 -1.84163023e-03 9.99191777e-01 -7.43208551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86327356 meters Centerline goodness [0,1] 0.6314463060624446 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99684516 -0.06859411 -0.03993212 0.3709694 ] [ 0.06860093 0.99764346 -0.001201 -0.17074226] [ 0.0399204 -0.00154217 0.99920167 -0.07357341] [ 0. 0. 0. 1. ]] SLAMing on 30.893273559999997 meters Centerline goodness [0,1] 0.633633563561695 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99683308 -0.06879986 -0.0398797 0.37064329] [ 0.06880034 0.99762952 -0.00136213 -0.17083109] [ 0.03987888 -0.00138592 0.99920356 -0.07330517] [ 0. 0. 0. 1. ]] SLAMing on 30.92327356 meters Centerline goodness [0,1] 0.6573392357875116 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99683024 -0.06883988 -0.0398817 0.37059822] [ 0.06884024 0.99762676 -0.00136592 -0.1710152 ] [ 0.03988108 -0.00138388 0.99920347 -0.07322656] [ 0. 0. 0. 1. ]] SLAMing on 30.95327356 meters Centerline goodness [0,1] 0.6550823951705009 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99683459 -0.06870659 -0.04000265 0.37085665] [ 0.0687058 0.99763599 -0.00139617 -0.17085904] [ 0.04000401 -0.00135666 0.9991986 -0.07309419] [ 0. 0. 0. 1. ]] SLAMing on 30.983273559999997 meters Centerline goodness [0,1] 0.6491730724435127 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.99684402 -0.06847018 -0.04017251 0.37141041] [ 0.06847622 0.99765199 -0.00122714 -0.17084963] [ 0.0401622 -0.00152759 0.99919201 -0.07327877] [ 0. 0. 0. 1. ]] SLAMing on 31.01327356 meters Centerline goodness [0,1] 0.6190476190476191 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.9968548 -0.06821153 -0.04034477 0.37192276] [ 0.06822376 0.99766947 -0.00107528 -0.17081743] [ 0.04032409 -0.00168058 0.99918524 -0.07341277] [ 0. 0. 0. 1. ]] SLAMing on 31.04327356 meters Centerline goodness [0,1] 0.6508602601762484 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 0.9968671 -0.06792817 -0.04051843 0.37243569] [ 0.06794243 0.99768871 -0.00102654 -0.17052669] [ 0.04049451 -0.0017296 0.99917826 -0.0734708 ] [ 0. 0. 0. 1. ]] SLAMing on 31.073273559999997 meters Centerline goodness [0,1] 0.6522245515956208 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96909744e-01 -6.71195257e-02 -4.08158297e-02 3.73392352e-01] [ 6.71454285e-02 9.97742927e-01 -7.37459868e-04 -1.70022671e-01] [ 4.07732033e-02 -2.00541545e-03 9.99166415e-01 -7.36074903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103273559999998 meters Centerline goodness [0,1] 0.652665966631665 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96917693e-01 -6.69007273e-02 -4.09805523e-02 3.73677013e-01] [ 6.69259314e-02 9.97757658e-01 -7.58111578e-04 -1.69714769e-01] [ 4.09393781e-02 -1.98688679e-03 9.99159657e-01 -7.33800311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13327356 meters Centerline goodness [0,1] 0.6493125828738922 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96951501e-01 -6.63530084e-02 -4.10485447e-02 3.74226060e-01] [ 6.63908055e-02 9.97793598e-01 -4.43227106e-04 -1.69747501e-01] [ 4.09873845e-02 -2.28337002e-03 9.99157055e-01 -7.37082708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16327356 meters Centerline goodness [0,1] 0.6477320404643141 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96958592e-01 -6.62133420e-02 -4.11018193e-02 3.74425687e-01] [ 6.62562135e-02 9.97802592e-01 -3.19765524e-04 -1.70023587e-01] [ 4.10326746e-02 -2.40445793e-03 9.99154912e-01 -7.37812915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.193273559999998 meters Centerline goodness [0,1] 0.6444501350218829 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96956758e-01 -6.62884174e-02 -4.10252184e-02 3.74336006e-01] [ 6.63333322e-02 9.97797483e-01 -2.66965175e-04 -1.70437968e-01] [ 4.09525564e-02 -2.45518671e-03 9.99158076e-01 -7.38570475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22327356 meters Centerline goodness [0,1] 0.6400521427407528 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96953683e-01 -6.64969877e-02 -4.07615662e-02 3.73503424e-01] [ 6.65454443e-02 9.97783381e-01 -1.68380381e-04 -1.71805061e-01] [ 4.06824102e-02 -2.54462910e-03 9.99168888e-01 -7.34743714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25327356 meters Centerline goodness [0,1] 0.635970621048717 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96956376e-01 -6.65652014e-02 -4.05839731e-02 3.73203836e-01] [ 6.66204087e-02 9.97778393e-01 7.92416657e-06 -1.72596761e-01] [ 4.04932840e-02 -2.71162092e-03 9.99176131e-01 -7.35886726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283273559999998 meters Centerline goodness [0,1] 0.635970621048717 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96956376e-01 -6.65652014e-02 -4.05839731e-02 3.73203836e-01] [ 6.66204087e-02 9.97778393e-01 7.92416657e-06 -1.72596761e-01] [ 4.04932840e-02 -2.71162092e-03 9.99176131e-01 -7.35886726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31327356 meters Centerline goodness [0,1] 0.6333224846568719 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.07 [[ 9.96953554e-01 -6.66785113e-02 -4.04671104e-02 3.72953752e-01] [ 6.67398836e-02 9.97770395e-01 1.66052235e-04 -1.73437306e-01] [ 4.03658126e-02 -2.86631660e-03 9.99180857e-01 -7.36282785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34327356 meters Centerline goodness [0,1] 0.6274482534826044 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 9.96951533e-01 -6.68624849e-02 -4.02125469e-02 3.72576988e-01] [ 6.69377780e-02 9.97757012e-01 5.27379144e-04 -1.75110867e-01] [ 4.00870888e-02 -3.21750998e-03 9.99191009e-01 -7.39281798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.373273559999998 meters Centerline goodness [0,1] 0.6200813797567855 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 9.96945732e-01 -6.70488305e-02 -4.00457456e-02 3.72422122e-01] [ 6.71372993e-02 9.97743370e-01 8.66956876e-04 -1.76892549e-01] [ 3.98972487e-02 -3.55287216e-03 9.99197471e-01 -7.42879886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40327356 meters Centerline goodness [0,1] 0.6397885454419538 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99694877 -0.06704914 -0.03996957 0.3724051 ] [ 0.06714527 0.99774264 0.00106583 -0.17762607] [ 0.03980788 -0.00374634 0.99920033 -0.07447869] [ 0. 0. 0. 1. ]] SLAMing on 31.43327356 meters Centerline goodness [0,1] 0.6560756283145031 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99694043 -0.06721964 -0.03989108 0.37183661] [ 0.06731356 0.99773135 0.00101446 -0.17820891] [ 0.03973239 -0.00369656 0.99920352 -0.07395632] [ 0. 0. 0. 1. ]] SLAMing on 31.463273559999998 meters Centerline goodness [0,1] 0.6560756283145031 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99694043 -0.06721964 -0.03989108 0.37183661] [ 0.06731356 0.99773135 0.00101446 -0.17820891] [ 0.03973239 -0.00369656 0.99920352 -0.07395632] [ 0. 0. 0. 1. ]] SLAMing on 31.49327356 meters Centerline goodness [0,1] 0.6518776045863743 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.9969373 -0.06725484 -0.03990999 0.37169298] [ 0.06734985 0.99772888 0.00103929 -0.17851975] [ 0.03974946 -0.00372404 0.99920274 -0.0737118 ] [ 0. 0. 0. 1. ]] SLAMing on 31.52327356 meters Centerline goodness [0,1] 0.6557120140121223 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99694055 -0.06717573 -0.03996189 0.37159245] [ 0.06727488 0.99773383 0.00114013 -0.17932659] [ 0.03979474 -0.00382507 0.99920055 -0.07333393] [ 0. 0. 0. 1. ]] SLAMing on 31.553273559999997 meters Centerline goodness [0,1] 0.6556869046252726 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99694818 -0.06698211 -0.04009634 0.37202043] [ 0.06708803 0.99774621 0.00130046 -0.17977652] [ 0.03991886 -0.00398648 0.99919497 -0.07342073] [ 0. 0. 0. 1. ]] SLAMing on 31.58327356 meters Centerline goodness [0,1] 0.657765542555632 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99696556 -0.06667719 -0.04017239 0.37222343] [ 0.06679844 0.99776507 0.00168202 -0.18065883] [ 0.03997046 -0.00436037 0.99919135 -0.07347227] [ 0. 0. 0. 1. ]] SLAMing on 31.61327356 meters Centerline goodness [0,1] 0.6462954440865163 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99696954 -0.06662447 -0.0401612 0.37225292] [ 0.06675014 0.99776811 0.0017949 -0.18105222] [ 0.03995198 -0.00447023 0.9991916 -0.07350264] [ 0. 0. 0. 1. ]] SLAMing on 31.643273559999997 meters Centerline goodness [0,1] 0.6643247462919595 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.9969744 -0.06653252 -0.04019284 0.37230441] [ 0.06666546 0.99777343 0.00197498 -0.18170954] [ 0.03997195 -0.00464847 0.99918999 -0.07347941] [ 0. 0. 0. 1. ]] SLAMing on 31.67327356 meters Centerline goodness [0,1] 0.6637899375688578 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99697894 -0.0664274 -0.04025405 0.37242816] [ 0.06657029 0.99777927 0.0022182 -0.18260041] [ 0.04001731 -0.00489123 0.99918701 -0.07345139] [ 0. 0. 0. 1. ]] SLAMing on 31.70327356 meters Centerline goodness [0,1] 0.6614864247188956 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99698884 -0.06625467 -0.04029352 0.3726719 ] [ 0.06642032 0.99778785 0.0027848 -0.18472335] [ 0.04001988 -0.00545272 0.99918401 -0.07365932] [ 0. 0. 0. 1. ]] SLAMing on 31.733273559999997 meters Centerline goodness [0,1] 0.6618016536476177 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99699656 -0.06615335 -0.04026912 0.3727152 ] [ 0.06632853 0.99779324 0.00302821 -0.18568577] [ 0.03997993 -0.00569011 0.99918428 -0.07373897] [ 0. 0. 0. 1. ]] SLAMing on 31.76327356 meters Centerline goodness [0,1] 0.6632137385378793 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700255 -0.06607271 -0.04025299 0.37275309] [ 0.06625876 0.997797 0.00330432 -0.18657672] [ 0.03994598 -0.00596153 0.99918406 -0.07382629] [ 0. 0. 0. 1. ]] SLAMing on 31.79327356 meters Centerline goodness [0,1] 0.6460136570214904 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700326 -0.06612057 -0.0401569 0.37244747] [ 0.06631212 0.99779295 0.00345551 -0.18721682] [ 0.03983979 -0.00610805 0.99918741 -0.07371523] [ 0. 0. 0. 1. ]] SLAMing on 31.823273559999997 meters Centerline goodness [0,1] 0.6577592491343175 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700236 -0.06613084 -0.04016231 0.37238919] [ 0.06632876 0.99779128 0.00361436 -0.18800111] [ 0.03983458 -0.00626744 0.99918663 -0.07360011] [ 0. 0. 0. 1. ]] SLAMing on 31.853273559999998 meters Centerline goodness [0,1] 0.6865552903739061 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99699989 -0.06619114 -0.04012417 0.3720934 ] [ 0.06640027 0.99778544 0.00390044 -0.18995813] [ 0.03977714 -0.006553 0.99918709 -0.07326344] [ 0. 0. 0. 1. ]] SLAMing on 31.88327356 meters Centerline goodness [0,1] 0.6550550323385906 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99699709 -0.06626231 -0.04007627 0.37188895] [ 0.06647865 0.99777947 0.00408843 -0.19107455] [ 0.03971637 -0.00674037 0.99918826 -0.07313577] [ 0. 0. 0. 1. ]] SLAMing on 31.91327356 meters Centerline goodness [0,1] 0.6607676292206028 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99698844 -0.06644948 -0.0399815 0.37126995] [ 0.06667359 0.99776559 0.00429682 -0.1929587 ] [ 0.03960664 -0.00694959 0.99919118 -0.07258868] [ 0. 0. 0. 1. ]] SLAMing on 31.943273559999998 meters Centerline goodness [0,1] 0.659176792704727 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99697783 -0.06662018 -0.03996201 0.37082103] [ 0.06684402 0.99775421 0.00429012 -0.19371269] [ 0.03958646 -0.00694838 0.99919199 -0.07207332] [ 0. 0. 0. 1. ]] SLAMing on 31.97327356 meters Centerline goodness [0,1] 0.6720637716505204 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99698323 -0.06655347 -0.03993833 0.37076867] [ 0.06679366 0.9977557 0.00470856 -0.19543007] [ 0.03953533 -0.00736198 0.99919105 -0.07207512] [ 0. 0. 0. 1. ]] SLAMing on 32.003273560000004 meters Centerline goodness [0,1] 0.6652531859704522 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99698533 -0.0665181 -0.0399449 0.37093501] [ 0.06676863 0.99775611 0.00496941 -0.19643916] [ 0.03952471 -0.0076215 0.99918953 -0.07225529] [ 0. 0. 0. 1. ]] SLAMing on 32.03327356 meters Centerline goodness [0,1] 0.658901643033986 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99699189 -0.06642851 -0.03993026 0.37109729] [ 0.06669317 0.99775929 0.00533148 -0.19776786] [ 0.03948662 -0.00797852 0.99918825 -0.07247621] [ 0. 0. 0. 1. ]] SLAMing on 32.06327356 meters Centerline goodness [0,1] 0.6571556953493597 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99698965 -0.06653267 -0.03981271 0.37080586] [ 0.06681562 0.99774838 0.00581767 -0.20020254] [ 0.039336 -0.00846027 0.99919022 -0.07248518] [ 0. 0. 0. 1. ]] SLAMing on 32.09327356 meters Centerline goodness [0,1] 0.6671685393258426 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99697895 -0.06672774 -0.03975392 0.37034786] [ 0.06701246 0.99773486 0.00587177 -0.20116314] [ 0.03927206 -0.00851804 0.99919225 -0.07207589] [ 0. 0. 0. 1. ]] SLAMing on 32.12327356 meters Centerline goodness [0,1] 0.665169851141696 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.9969797 -0.06682084 -0.03957844 0.36994775] [ 0.06711407 0.99772651 0.00612557 -0.2024045 ] [ 0.03907914 -0.00876334 0.99919769 -0.07199307] [ 0. 0. 0. 1. ]] SLAMing on 32.153273559999995 meters Centerline goodness [0,1] 0.6616761776882623 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.07 [[ 0.99695938 -0.06725216 -0.03935907 0.36898197] [ 0.06754908 0.9976963 0.00626168 -0.20444478] [ 0.03884729 -0.00890131 0.99920551 -0.07140328] [ 0. 0. 0. 1. ]] SLAMing on 32.183273559999996 meters Centerline goodness [0,1] 0.6578163827262755 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99695311 -0.06740056 -0.03926388 0.36860212] [ 0.06770083 0.99768535 0.00636729 -0.20551479] [ 0.03874384 -0.00900609 0.99920859 -0.07114095] [ 0. 0. 0. 1. ]] SLAMing on 32.21327356 meters Centerline goodness [0,1] 0.6618610161156933 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99694459 -0.06760766 -0.03912409 0.36805224] [ 0.06791061 0.99767046 0.0064653 -0.20667362] [ 0.03859584 -0.00910249 0.99921344 -0.07083847] [ 0. 0. 0. 1. ]] SLAMing on 32.24327356 meters Centerline goodness [0,1] 0.6507022126956483 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99690216 -0.06833581 -0.03893966 0.36701835] [ 0.06863283 0.99762183 0.00634124 -0.20894206] [ 0.03841372 -0.00899414 0.99922144 -0.0700725 ] [ 0. 0. 0. 1. ]] SLAMing on 32.27327356 meters Centerline goodness [0,1] 0.6535809136965207 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99690013 -0.06846161 -0.03877035 0.36672422] [ 0.06876706 0.99761092 0.00659894 -0.21038726] [ 0.03822595 -0.00924461 0.99922636 -0.0701577 ] [ 0. 0. 0. 1. ]] SLAMing on 32.30327356 meters Centerline goodness [0,1] 0.6509107935163095 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99689647 -0.06859373 -0.03863075 0.36647801] [ 0.06890795 0.99759943 0.00686059 -0.21184954] [ 0.03806743 -0.00950126 0.99923 -0.07021353] [ 0. 0. 0. 1. ]] SLAMing on 32.33327356 meters Centerline goodness [0,1] 0.6600173460537728 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99688706 -0.06870757 -0.03867106 0.36646508] [ 0.06903779 0.99758757 0.00726799 -0.21432598] [ 0.0380784 -0.00991513 0.99922556 -0.07005224] [ 0. 0. 0. 1. ]] SLAMing on 32.363273559999996 meters Centerline goodness [0,1] 0.6632183140893012 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99688621 -0.06868161 -0.03873905 0.36657785] [ 0.06901861 0.99758772 0.00742841 -0.21512488] [ 0.03813541 -0.010079 0.99922175 -0.06996903] [ 0. 0. 0. 1. ]] SLAMing on 32.39327356 meters Centerline goodness [0,1] 0.647145078871362 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99689673 -0.06857743 -0.03865291 0.36644325] [ 0.06892457 0.99759201 0.00771955 -0.21609072] [ 0.03803045 -0.01035973 0.99922288 -0.06997331] [ 0. 0. 0. 1. ]] SLAMing on 32.42327356 meters Centerline goodness [0,1] 0.6584468000177407 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99690165 -0.06850113 -0.03866119 0.36623221] [ 0.06886195 0.99759349 0.00807811 -0.21766164] [ 0.03801479 -0.01071537 0.99921972 -0.06961567] [ 0. 0. 0. 1. ]] SLAMing on 32.45327356 meters Centerline goodness [0,1] 0.6347410146821091 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99691046 -0.06836354 -0.03867774 0.36629382] [ 0.06873456 0.99760009 0.00834409 -0.21865625] [ 0.03801449 -0.01097681 0.9992169 -0.06959738] [ 0. 0. 0. 1. ]] SLAMing on 32.48327356 meters Centerline goodness [0,1] 0.6544979288040228 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99691972 -0.06819622 -0.0387342 0.36644826] [ 0.06857933 0.99760818 0.00864826 -0.21952735] [ 0.03805178 -0.01127799 0.99921212 -0.0696403 ] [ 0. 0. 0. 1. ]] SLAMing on 32.51327356 meters Centerline goodness [0,1] 0.6505835374059612 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99692457 -0.06812912 -0.03872759 0.36649658] [ 0.06851703 0.99761133 0.00877754 -0.22019448] [ 0.03803708 -0.01140404 0.99921125 -0.06964329] [ 0. 0. 0. 1. ]] SLAMing on 32.543273559999996 meters Centerline goodness [0,1] 0.6465027937896155 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9969327 -0.06799478 -0.03875442 0.36642016] [ 0.06839557 0.99761668 0.00911019 -0.22168922] [ 0.03804261 -0.01173287 0.99920724 -0.0693931 ] [ 0. 0. 0. 1. ]] SLAMing on 32.57327356 meters Centerline goodness [0,1] 0.6530634766487154 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99694152 -0.06782271 -0.03882905 0.36656565] [ 0.06823292 0.99762572 0.00933711 -0.22252291] [ 0.03810359 -0.01195797 0.99920224 -0.06928624] [ 0. 0. 0. 1. ]] SLAMing on 32.60327356 meters Centerline goodness [0,1] 0.6719060883406287 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99693943 -0.06786714 -0.03880501 0.36636564] [ 0.06827685 0.99762278 0.00933084 -0.22308575] [ 0.0380795 -0.01195177 0.99920324 -0.06901386] [ 0. 0. 0. 1. ]] SLAMing on 32.63327356 meters Centerline goodness [0,1] 0.6584536583211904 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99695522 -0.06748378 -0.0390671 0.36654342] [ 0.06790689 0.99764543 0.00960499 -0.22416748] [ 0.03832694 -0.01222867 0.99919043 -0.06836504] [ 0. 0. 0. 1. ]] SLAMing on 32.66327356 meters Centerline goodness [0,1] 0.653269319708415 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99696843 -0.06722531 -0.03917526 0.36663663] [ 0.06765339 0.99766168 0.00970477 -0.22441889] [ 0.03843125 -0.01232569 0.99918523 -0.06805913] [ 0. 0. 0. 1. ]] SLAMing on 32.69327356 meters Centerline goodness [0,1] 0.665417429069024 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99699302 -0.06681221 -0.03925612 0.36698001] [ 0.0672509 0.99768636 0.00996159 -0.22470354] [ 0.03849974 -0.01257164 0.99917953 -0.06813107] [ 0. 0. 0. 1. ]] SLAMing on 32.723273559999996 meters Centerline goodness [0,1] 0.6559443024587996 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99703022 -0.06605584 -0.03958995 0.36785595] [ 0.06651844 0.99773013 0.01048229 -0.22517853] [ 0.03880767 -0.01308462 0.99916103 -0.06821457] [ 0. 0. 0. 1. ]] SLAMing on 32.75327356 meters Centerline goodness [0,1] 0.6715351012663813 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99704382 -0.06570097 -0.0398371 0.36845563] [ 0.06617364 0.99775114 0.01066349 -0.2252531 ] [ 0.03904691 -0.01326813 0.99914929 -0.06821229] [ 0. 0. 0. 1. ]] SLAMing on 32.78327356 meters Centerline goodness [0,1] 0.6718719027377045 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99710046 -0.06462616 -0.04017623 0.36973266] [ 0.06512751 0.99781301 0.01129643 -0.22563773] [ 0.03935832 -0.01388026 0.99912875 -0.068706 ] [ 0. 0. 0. 1. ]] SLAMing on 32.81327356 meters Centerline goodness [0,1] 0.6652073479265208 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99711249 -0.06428757 -0.04042007 0.37033534] [ 0.06479619 0.9978334 0.0114003 -0.22578528] [ 0.0395996 -0.01398645 0.99911774 -0.06865551] [ 0. 0. 0. 1. ]] SLAMing on 32.84327356 meters Centerline goodness [0,1] 0.680668572685287 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99712283 -0.06409318 -0.04047372 0.37041458] [ 0.06460692 0.99784436 0.01151396 -0.22602984] [ 0.0396485 -0.01409572 0.99911426 -0.06853659] [ 0. 0. 0. 1. ]] SLAMing on 32.87327356 meters Centerline goodness [0,1] 0.6764569995379843 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99714155 -0.06370885 -0.04061919 0.37029589] [ 0.06422877 0.99786749 0.01162454 -0.22623152] [ 0.03979198 -0.01420023 0.99910708 -0.06784331] [ 0. 0. 0. 1. ]] SLAMing on 32.903273559999995 meters Centerline goodness [0,1] 0.6679367582008496 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99714232 -0.06363759 -0.0407119 0.37041559] [ 0.0641574 0.99787248 0.01159023 -0.22638256] [ 0.03988771 -0.01416908 0.9991037 -0.06761177] [ 0. 0. 0. 1. ]] SLAMing on 32.933273559999996 meters Centerline goodness [0,1] 0.686295620838918 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.9971479 -0.06353483 -0.04073567 0.37037981] [ 0.06405892 0.99787764 0.01169073 -0.22664821] [ 0.03990645 -0.01426687 0.99910156 -0.06744783] [ 0. 0. 0. 1. ]] SLAMing on 32.96327356 meters Centerline goodness [0,1] 0.6863342465753425 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99715491 -0.06339169 -0.04078698 0.37070589] [ 0.06392234 0.99788465 0.01183909 -0.22715231] [ 0.0399502 -0.0144126 0.99909772 -0.06760142] [ 0. 0. 0. 1. ]] SLAMing on 32.99327356 meters Centerline goodness [0,1] 0.6724978679670246 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99716335 -0.06321292 -0.04085796 0.37121107] [ 0.06375206 0.99789327 0.01202861 -0.22747806] [ 0.04001152 -0.01459927 0.99909256 -0.06801227] [ 0. 0. 0. 1. ]] SLAMing on 33.02327356 meters Centerline goodness [0,1] 0.6770588622741345 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99716985 -0.06313035 -0.04082716 0.37132382] [ 0.06367556 0.99789616 0.01219318 -0.22799759] [ 0.03997151 -0.01475836 0.99909182 -0.06820436] [ 0. 0. 0. 1. ]] SLAMing on 33.05327356 meters Centerline goodness [0,1] 0.6860526315789474 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99717178 -0.06312108 -0.04079428 0.37139703] [ 0.06366887 0.99789564 0.0122702 -0.22840858] [ 0.03993393 -0.01483282 0.99909222 -0.06833014] [ 0. 0. 0. 1. ]] SLAMing on 33.08327356 meters Centerline goodness [0,1] 0.6732258418339365 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99716421 -0.06318731 -0.04087673 0.37155649] [ 0.06373383 0.99789228 0.01220653 -0.22871833] [ 0.04001928 -0.01477714 0.99908963 -0.06825873] [ 0. 0. 0. 1. ]] SLAMing on 33.113273559999996 meters Centerline goodness [0,1] 0.6856078044502905 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99716492 -0.06316707 -0.04089067 0.3715736 ] [ 0.06371449 0.9978933 0.01222417 -0.22894912] [ 0.04003236 -0.01479484 0.99908885 -0.0681984 ] [ 0. 0. 0. 1. ]] SLAMing on 33.14327356 meters Centerline goodness [0,1] 0.6805262231608589 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99716151 -0.06318973 -0.04093877 0.37143661] [ 0.06372924 0.99789497 0.01200896 -0.22846762] [ 0.04009375 -0.01458387 0.99908949 -0.06782829] [ 0. 0. 0. 1. ]] SLAMing on 33.17327356 meters Centerline goodness [0,1] 0.6748634479127822 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99715907 -0.06317706 -0.04101769 0.371626 ] [ 0.06370749 0.99789939 0.01175463 -0.22781228] [ 0.0401889 -0.01433437 0.99908927 -0.06772415] [ 0. 0. 0. 1. ]] SLAMing on 33.20327356 meters Centerline goodness [0,1] 0.6748634479127822 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.99715907 -0.06317706 -0.04101769 0.371626 ] [ 0.06370749 0.99789939 0.01175463 -0.22781228] [ 0.0401889 -0.01433437 0.99908927 -0.06772415] [ 0. 0. 0. 1. ]] SLAMing on 33.23327356 meters Centerline goodness [0,1] 0.6851908731899956 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.9971639 -0.06306642 -0.04107052 0.37157165] [ 0.06358136 0.99791207 0.01135356 -0.22631409] [ 0.04026874 -0.01393268 0.99909174 -0.0673464 ] [ 0. 0. 0. 1. ]] SLAMing on 33.26327356 meters Centerline goodness [0,1] 0.6812638702731209 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.23, Z:-0.07 [[ 0.9971637 -0.06295938 -0.04123914 0.37182154] [ 0.06346886 0.99792139 0.01116238 -0.22561988] [ 0.04045064 -0.01374812 0.99908695 -0.06710605] [ 0. 0. 0. 1. ]] SLAMing on 33.293273559999996 meters Centerline goodness [0,1] 0.6896127302299002 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9971679 -0.06285155 -0.04130215 0.37193862] [ 0.0633506 0.99793196 0.01088609 -0.22446133] [ 0.04053253 -0.01347177 0.9990874 -0.06697125] [ 0. 0. 0. 1. ]] SLAMing on 33.32327356 meters Centerline goodness [0,1] 0.6858270305820453 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99716394 -0.06284551 -0.04140682 0.37225051] [ 0.06334006 0.9979342 0.0107407 -0.22412111] [ 0.04064628 -0.01333295 0.99908464 -0.06701437] [ 0. 0. 0. 1. ]] SLAMing on 33.35327356 meters Centerline goodness [0,1] 0.6954803004348399 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99716511 -0.06281645 -0.04142262 0.37233765] [ 0.06331079 0.99793616 0.01073104 -0.22405246] [ 0.04066305 -0.01332312 0.99908409 -0.06706199] [ 0. 0. 0. 1. ]] SLAMing on 33.38327356 meters Centerline goodness [0,1] 0.6820041349579906 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99715601 -0.06308503 -0.04123313 0.37188186] [ 0.06356753 0.99792234 0.01049599 -0.22383883] [ 0.04048533 -0.01308723 0.99909442 -0.06693887] [ 0. 0. 0. 1. ]] SLAMing on 33.41327356 meters Centerline goodness [0,1] 0.70314111991571 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99714482 -0.06326218 -0.0412324 0.37189688] [ 0.06374107 0.99791224 0.01040379 -0.22388596] [ 0.04048815 -0.01300228 0.99909542 -0.06694307] [ 0. 0. 0. 1. ]] SLAMing on 33.44327356 meters Centerline goodness [0,1] 0.7039670658682635 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99713232 -0.06351046 -0.04115292 0.37165333] [ 0.06398111 0.99789877 0.01022105 -0.22377467] [ 0.0404173 -0.01282475 0.99910058 -0.06681626] [ 0. 0. 0. 1. ]] SLAMing on 33.473273559999996 meters Centerline goodness [0,1] 0.6813887057789496 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99711849 -0.06374141 -0.0411309 0.37161065] [ 0.06420424 0.99788637 0.01003006 -0.22350683] [ 0.04040464 -0.01264194 0.99910342 -0.06682883] [ 0. 0. 0. 1. ]] SLAMing on 33.50327356 meters Centerline goodness [0,1] 0.681785091879729 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99709356 -0.06428469 -0.04088902 0.37082727] [ 0.06472918 0.9978563 0.00963992 -0.22338589] [ 0.04018166 -0.01225862 0.99911719 -0.06647144] [ 0. 0. 0. 1. ]] SLAMing on 33.53327356 meters Centerline goodness [0,1] 0.6910346653721398 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99707909 -0.06460464 -0.04073739 0.37053615] [ 0.06504041 0.99783776 0.00946276 -0.22351986] [ 0.04003796 -0.0120847 0.99912508 -0.06645803] [ 0. 0. 0. 1. ]] SLAMing on 33.56327356 meters Centerline goodness [0,1] 0.6906340152833139 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99706209 -0.06498863 -0.04054215 0.37011047] [ 0.06541495 0.99781502 0.00927768 -0.2237243 ] [ 0.03985063 -0.01190249 0.99913475 -0.06642943] [ 0. 0. 0. 1. ]] SLAMing on 33.59327356 meters Centerline goodness [0,1] 0.6887309017044954 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99702098 -0.06578511 -0.04026755 0.36909385] [ 0.06618566 0.99776944 0.00869476 -0.22340149] [ 0.03960574 -0.01133399 0.9991511 -0.06590472] [ 0. 0. 0. 1. ]] SLAMing on 33.62327356 meters Centerline goodness [0,1] 0.6852031587770768 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99700447 -0.06612567 -0.04011842 0.36872945] [ 0.06651188 0.99775054 0.00836819 -0.2229253 ] [ 0.03947482 -0.01101147 0.99915989 -0.06582329] [ 0. 0. 0. 1. ]] SLAMing on 33.653273559999995 meters Centerline goodness [0,1] 0.6858972943125345 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9969962 -0.06629675 -0.04004141 0.36836814] [ 0.06667188 0.99774203 0.00810561 -0.22246352] [ 0.03941362 -0.0107509 0.99916514 -0.0654838 ] [ 0. 0. 0. 1. ]] SLAMing on 33.683273559999996 meters Centerline goodness [0,1] 0.685339294409278 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99698397 -0.06651032 -0.03999174 0.36801653] [ 0.06686713 0.99773256 0.00765022 -0.22115497] [ 0.03939224 -0.01030128 0.99917072 -0.0651195 ] [ 0. 0. 0. 1. ]] SLAMing on 33.71327356 meters Centerline goodness [0,1] 0.6785706378550711 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.06 [[ 0.9969725 -0.06669332 -0.03997287 0.36785656] [ 0.06703604 0.99772389 0.00729406 -0.22023836] [ 0.03939542 -0.0099516 0.99917414 -0.06495546] [ 0. 0. 0. 1. ]] SLAMing on 33.74327356 meters Centerline goodness [0,1] 0.6821912958824701 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99696865 -0.0666942 -0.04006739 0.36814267] [ 0.06702858 0.99772608 0.00705924 -0.21922038] [ 0.03950547 -0.0097235 0.99917204 -0.06501097] [ 0. 0. 0. 1. ]] SLAMing on 33.77327356 meters Centerline goodness [0,1] 0.6666592925248325 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99696409 -0.06676813 -0.04005774 0.36836975] [ 0.06710027 0.99772165 0.00700378 -0.21902657] [ 0.03949885 -0.00967041 0.99917282 -0.0653117 ] [ 0. 0. 0. 1. ]] SLAMing on 33.80327356 meters Centerline goodness [0,1] 0.677584985835694 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99696114 -0.06683839 -0.0400139 0.36855992] [ 0.06717147 0.99771663 0.00703689 -0.2191788 ] [ 0.0394522 -0.0097033 0.99917434 -0.06565484] [ 0. 0. 0. 1. ]] SLAMing on 33.83327356 meters Centerline goodness [0,1] 0.6612030307716097 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99695653 -0.06699463 -0.03986731 0.36858231] [ 0.06732509 0.99770651 0.0070033 -0.21917602] [ 0.03930669 -0.00966605 0.99918044 -0.06607002] [ 0. 0. 0. 1. ]] SLAMing on 33.863273559999996 meters Centerline goodness [0,1] 0.6618609587829472 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9969366 -0.06738975 -0.03969938 0.36828033] [ 0.06770751 0.99768263 0.00671323 -0.21896743] [ 0.03915498 -0.00938062 0.99918912 -0.06611088] [ 0. 0. 0. 1. ]] SLAMing on 33.89327356 meters Centerline goodness [0,1] 0.6576064100577702 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9969274 -0.06759703 -0.03957785 0.36805183] [ 0.06790768 0.99767007 0.00655642 -0.21869737] [ 0.03904244 -0.00922392 0.99919498 -0.06613883] [ 0. 0. 0. 1. ]] SLAMing on 33.92327356 meters Centerline goodness [0,1] 0.6796966548011232 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99690389 -0.06799451 -0.03948887 0.36740523] [ 0.06828789 0.99764684 0.00612702 -0.21820237] [ 0.03897935 -0.00880466 0.99920123 -0.06549449] [ 0. 0. 0. 1. ]] SLAMing on 33.95327356 meters Centerline goodness [0,1] 0.6783003209029546 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.06 [[ 0.99688781 -0.06826825 -0.03942268 0.36687287] [ 0.06854963 0.99763068 0.00582902 -0.21783378] [ 0.03893134 -0.00851329 0.99920562 -0.06497165] [ 0. 0. 0. 1. ]] SLAMing on 33.98327356 meters Centerline goodness [0,1] 0.6408267020335986 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.06 [[ 0.99688267 -0.06835058 -0.03940993 0.36677059] [ 0.06862802 0.99762587 0.00572882 -0.21755334] [ 0.03892479 -0.00841558 0.9992067 -0.06485445] [ 0. 0. 0. 1. ]] SLAMing on 34.01327356 meters Centerline goodness [0,1] 0.6897438170374967 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.06 [[ 0.99687193 -0.06850445 -0.03941447 0.36662025] [ 0.06876965 0.99761789 0.00541091 -0.2165602 ] [ 0.03894991 -0.00810451 0.9992083 -0.06459916] [ 0. 0. 0. 1. ]] SLAMing on 34.043273559999996 meters Centerline goodness [0,1] 0.6645174155809626 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.06 [[ 0.99686768 -0.06853139 -0.03947493 0.36688275] [ 0.0687952 0.99761639 0.00536221 -0.21618675] [ 0.03901335 -0.0080611 0.99920617 -0.06480456] [ 0. 0. 0. 1. ]] SLAMing on 34.07327356 meters Centerline goodness [0,1] 0.6759528851244044 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9968573 -0.06865613 -0.03952039 0.36737219] [ 0.06892023 0.99760779 0.00535788 -0.21607588] [ 0.039058 -0.0080648 0.9992044 -0.06533257] [ 0. 0. 0. 1. ]] SLAMing on 34.10327356 meters Centerline goodness [0,1] 0.6759528851244044 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.9968573 -0.06865613 -0.03952039 0.36737219] [ 0.06892023 0.99760779 0.00535788 -0.21607588] [ 0.039058 -0.0080648 0.9992044 -0.06533257] [ 0. 0. 0. 1. ]] SLAMing on 34.13327356 meters Centerline goodness [0,1] 0.6676636093756922 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99683722 -0.06903905 -0.03935947 0.36711999] [ 0.06929053 0.99758369 0.00505953 -0.21568284] [ 0.03891506 -0.00777077 0.99921231 -0.06544763] [ 0. 0. 0. 1. ]] SLAMing on 34.16327356 meters Centerline goodness [0,1] 0.6712592330487859 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.07 [[ 0.99683484 -0.06904835 -0.03940349 0.36747673] [ 0.0692977 0.99758351 0.00499602 -0.2153691 ] [ 0.0389633 -0.00771078 0.99921089 -0.06570848] [ 0. 0. 0. 1. ]] SLAMing on 34.19327356 meters Centerline goodness [0,1] 0.6631375682514316 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99683221 -0.06908984 -0.03939716 0.36759195] [ 0.06933567 0.99758132 0.00490628 -0.21485749] [ 0.03896289 -0.00762236 0.99921159 -0.06586846] [ 0. 0. 0. 1. ]] SLAMing on 34.223273559999996 meters Centerline goodness [0,1] 0.6656089821820845 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99682694 -0.06916345 -0.03940127 0.36757253] [ 0.06939626 0.9975787 0.00457042 -0.2136394 ] [ 0.03898976 -0.00729022 0.99921302 -0.06575514] [ 0. 0. 0. 1. ]] SLAMing on 34.25327356 meters Centerline goodness [0,1] 0.6678158362989324 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99681313 -0.06935046 -0.03942195 0.36745765] [ 0.06956967 0.99756819 0.00421455 -0.21278983] [ 0.03903381 -0.00694369 0.99921376 -0.06550354] [ 0. 0. 0. 1. ]] SLAMing on 34.28327356 meters Centerline goodness [0,1] 0.6509916399857703 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.07 [[ 0.99680092 -0.0695336 -0.03940806 0.36719511] [ 0.06973685 0.99755817 0.00380486 -0.21188389] [ 0.03904727 -0.00654088 0.99921596 -0.06511187] [ 0. 0. 0. 1. ]] SLAMing on 34.31327356 meters Centerline goodness [0,1] 0.6620964865346888 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.06 [[ 0.99679013 -0.06971513 -0.03936034 0.36679211] [ 0.06989585 0.99754906 0.0032325 -0.21015292] [ 0.03903851 -0.00597325 0.99921985 -0.06463079] [ 0. 0. 0. 1. ]] SLAMing on 34.34327356 meters Centerline goodness [0,1] 0.6694430216243903 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.06 [[ 0.99678396 -0.06983367 -0.0393064 0.36665694] [ 0.07000628 0.99754195 0.00303045 -0.20929854] [ 0.03899815 -0.0057724 0.99922261 -0.06459567] [ 0. 0. 0. 1. ]] SLAMing on 34.37327356 meters Centerline goodness [0,1] 0.6701134312392754 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.06 [[ 0.99677245 -0.06998412 -0.0393307 0.36656085] [ 0.07014368 0.99753327 0.00269001 -0.20836682] [ 0.03904542 -0.00544012 0.99922263 -0.064346 ] [ 0. 0. 0. 1. ]] SLAMing on 34.403273559999995 meters Centerline goodness [0,1] 0.6666369492054294 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.06 [[ 0.99676302 -0.07010811 -0.03934885 0.36663567] [ 0.07025286 0.99752655 0.00230624 -0.20683795] [ 0.03908983 -0.00506315 0.99922287 -0.06434983] [ 0. 0. 0. 1. ]] SLAMing on 34.433273559999996 meters Centerline goodness [0,1] 0.6710602743398418 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.21, Z:-0.06 [[ 0.99675624 -0.07024191 -0.03928199 0.36650969] [ 0.07037812 0.99751819 0.00209386 -0.20616304] [ 0.03903742 -0.00485166 0.99922597 -0.06433733] [ 0. 0. 0. 1. ]] SLAMing on 34.46327356 meters Centerline goodness [0,1] 0.6673432516226887 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 0.99674798 -0.07036254 -0.03927571 0.3664956 ] [ 0.07048312 0.99751154 0.00169222 -0.20463635] [ 0.0390589 -0.00445499 0.99922698 -0.06429674] [ 0. 0. 0. 1. ]] SLAMing on 34.49327356 meters Centerline goodness [0,1] 0.6696688623022808 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 0.99673857 -0.07042844 -0.03939613 0.36667131] [ 0.07053725 0.9975082 0.00137701 -0.20365163] [ 0.03920098 -0.00415141 0.99922272 -0.06414203] [ 0. 0. 0. 1. ]] SLAMing on 34.52327356 meters Centerline goodness [0,1] 0.6398105329322499 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 0.99674027 -0.07034374 -0.03950433 0.36704967] [ 0.07044578 0.99751489 0.00119546 -0.20266405] [ 0.03932207 -0.00397448 0.99921868 -0.06427841] [ 0. 0. 0. 1. ]] SLAMing on 34.55327356 meters Centerline goodness [0,1] 0.6799236898215688 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96758592e-01 -7.00149255e-02 -3.96259831e-02 3.67745931e-01] [ 7.01040347e-02 9.97539313e-01 8.62015568e-04 -2.00324641e-01] [ 3.94681220e-02 -3.63716272e-03 9.99214210e-01 -6.46481071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58327356 meters Centerline goodness [0,1] 0.6794295980238042 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96759745e-01 -6.99284455e-02 -3.97495147e-02 3.68206701e-01] [ 7.00125367e-02 9.97545848e-01 7.25740011e-04 -1.99009923e-01] [ 3.96012135e-02 -3.50635278e-03 9.99209412e-01 -6.49233039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.613273559999996 meters Centerline goodness [0,1] 0.6624597871813908 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96758335e-01 -6.99498594e-02 -3.97471957e-02 3.68250305e-01] [ 7.00234572e-02 9.97545239e-01 4.60798410e-04 -1.97911434e-01] [ 3.96173930e-02 -3.24254071e-03 9.99209662e-01 -6.49137056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64327356 meters Centerline goodness [0,1] 0.6694869486948695 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96752262e-01 -7.00080782e-02 -3.97969431e-02 3.68334498e-01] [ 7.00724257e-02 9.97541882e-01 2.22597479e-04 -1.97068077e-01] [ 3.96835339e-02 -3.01054288e-03 9.99207763e-01 -6.48319624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67327356 meters Centerline goodness [0,1] 0.665901004368779 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96740546e-01 -7.02739404e-02 -3.96214238e-02 3.67826730e-01] [ 7.03227020e-02 9.97524281e-01 -1.63384932e-04 -1.96020506e-01] [ 3.95348140e-02 -2.62343319e-03 9.99214750e-01 -6.46070485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70327356 meters Centerline goodness [0,1] 0.6713289858331459 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96727572e-01 -7.04967519e-02 -3.95519286e-02 3.67565986e-01] [ 7.05382017e-02 9.97509018e-01 -3.48282965e-04 -1.95614880e-01] [ 3.94779582e-02 -2.44277868e-03 9.99217456e-01 -6.45045433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73327356 meters Centerline goodness [0,1] 0.6673332734136257 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.06 [[ 9.96726738e-01 -7.05819767e-02 -3.94207329e-02 3.67418562e-01] [ 7.06203015e-02 9.97503181e-01 -4.21187605e-04 -1.95347636e-01] [ 3.93520347e-02 -2.36409509e-03 9.99222612e-01 -6.46161791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76327356 meters Centerline goodness [0,1] 0.6617806486584155 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.06 [[ 9.96717413e-01 -7.07506547e-02 -3.93540827e-02 3.67365147e-01] [ 7.07774110e-02 9.97491878e-01 -7.14676921e-04 -1.94330185e-01] [ 3.93059418e-02 -2.07304916e-03 9.99225072e-01 -6.47358063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.793273559999996 meters Centerline goodness [0,1] 0.6620792347261077 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.06 [[ 9.96712873e-01 -7.07898461e-02 -3.93985598e-02 3.67582060e-01] [ 7.08112116e-02 9.97489369e-01 -8.54669521e-04 -1.93660646e-01] [ 3.93601464e-02 -1.93799964e-03 9.99223210e-01 -6.48971072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82327356 meters Centerline goodness [0,1] 0.6785609364760119 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96717571e-01 -7.07078562e-02 -3.94269305e-02 3.67948020e-01] [ 7.07312945e-02 9.97495083e-01 -8.01861147e-04 -1.93348718e-01] [ 3.93848672e-02 -1.98948873e-03 9.99222135e-01 -6.52483519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85327356 meters Centerline goodness [0,1] 0.6703068592057762 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96723168e-01 -7.06795933e-02 -3.93360099e-02 3.68025820e-01] [ 7.07015207e-02 9.97497167e-01 -8.35122758e-04 -1.92697086e-01] [ 3.92965845e-02 -1.94872951e-03 9.99225691e-01 -6.55701576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88327356 meters Centerline goodness [0,1] 0.6725573837091204 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671599 -0.07086793 -0.03917864 0.36760609] [ 0.0708778 0.99748436 -0.00113879 -0.19174804] [ 0.03916079 -0.00164185 0.99923157 -0.0654676 ] [ 0. 0. 0. 1. ]] SLAMing on 34.91327356 meters Centerline goodness [0,1] 0.671429863434928 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9967124 -0.07094144 -0.0391369 0.36759989] [ 0.07094916 0.99747922 -0.00119349 -0.19134347] [ 0.03912291 -0.00158717 0.99923315 -0.0655732 ] [ 0. 0. 0. 1. ]] SLAMing on 34.94327356 meters Centerline goodness [0,1] 0.655570421097984 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671036 -0.07101334 -0.03905838 0.3674663 ] [ 0.07101938 0.99747417 -0.0012346 -0.19103427] [ 0.0390474 -0.00154336 0.99923617 -0.06564311] [ 0. 0. 0. 1. ]] SLAMing on 34.973273559999996 meters Centerline goodness [0,1] 0.6555771227373268 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671171 -0.07102572 -0.03900144 0.36757028] [ 0.07103013 0.99747336 -0.0012744 -0.19036618] [ 0.03899341 -0.00150007 0.99923834 -0.06590468] [ 0. 0. 0. 1. ]] SLAMing on 35.00327356 meters Centerline goodness [0,1] 0.6585880112451257 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99670413 -0.07116539 -0.03894059 0.36740511] [ 0.07116116 0.99746371 -0.00149651 -0.18969074] [ 0.03894832 -0.00127948 0.99924041 -0.06585627] [ 0. 0. 0. 1. ]] SLAMing on 35.03327356 meters Centerline goodness [0,1] 0.6499331717373082 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9967026 -0.0711354 -0.03903435 0.36757338] [ 0.07112937 0.9974659 -0.00154507 -0.18918892] [ 0.03904535 -0.00123652 0.99923667 -0.06583719] [ 0. 0. 0. 1. ]] SLAMing on 35.06327356 meters Centerline goodness [0,1] 0.6579932397177922 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671148 -0.07101781 -0.03902171 0.36769731] [ 0.07101352 0.99747423 -0.00149772 -0.18885613] [ 0.03902952 -0.00127827 0.99923724 -0.06600147] [ 0. 0. 0. 1. ]] SLAMing on 35.09327356 meters Centerline goodness [0,1] 0.6579932397177922 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671148 -0.07101781 -0.03902171 0.36769731] [ 0.07101352 0.99747423 -0.00149772 -0.18885613] [ 0.03902952 -0.00127827 0.99923724 -0.06600147] [ 0. 0. 0. 1. ]] SLAMing on 35.12327356 meters Centerline goodness [0,1] 0.6492195510994645 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671073 -0.07107863 -0.03893004 0.36776476] [ 0.07106727 0.99747011 -0.0016774 -0.18787892] [ 0.03895078 -0.00109477 0.99924053 -0.06634673] [ 0. 0. 0. 1. ]] SLAMing on 35.153273559999995 meters Centerline goodness [0,1] 0.6638881297257904 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99670889 -0.07114963 -0.03884739 0.36790935] [ 0.07113927 0.99746503 -0.00165068 -0.18783133] [ 0.03886636 -0.00111833 0.99924379 -0.06677474] [ 0. 0. 0. 1. ]] SLAMing on 35.183273559999996 meters Centerline goodness [0,1] 0.6623116492921199 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99671036 -0.07120036 -0.03871653 0.36800502] [ 0.07119511 0.99746126 -0.00151604 -0.18798078] [ 0.03872619 -0.00124537 0.99924908 -0.06730576] [ 0. 0. 0. 1. ]] SLAMing on 35.21327356 meters Centerline goodness [0,1] 0.6575797569744687 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99670269 -0.07138282 -0.03857766 0.36784498] [ 0.07137585 0.99744827 -0.00155951 -0.18799949] [ 0.03859054 -0.00119915 0.99925439 -0.06751341] [ 0. 0. 0. 1. ]] SLAMing on 35.24327356 meters Centerline goodness [0,1] 0.6414639142408449 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99668646 -0.07181009 -0.03820218 0.36686129] [ 0.071797 0.99741779 -0.00171623 -0.18782361] [ 0.03822678 -0.00103226 0.99926856 -0.06737819] [ 0. 0. 0. 1. ]] SLAMing on 35.27327356 meters Centerline goodness [0,1] 0.6550939618692269 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96670911e-01 -7.20945476e-02 -3.80719304e-02 3.66319789e-01] [ 7.20744285e-02 9.97397442e-01 -1.90247851e-03 -1.87577859e-01] [ 3.81100043e-02 -8.47867630e-04 9.99273190e-01 -6.70733626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30327356 meters Centerline goodness [0,1] 0.6468175292267724 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96663613e-01 -7.21713240e-02 -3.81174836e-02 3.66208837e-01] [ 7.21475960e-02 9.97391962e-01 -1.99946835e-03 -1.87307999e-01] [ 3.81623760e-02 -7.57287459e-04 9.99271264e-01 -6.68115480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.333273559999995 meters Centerline goodness [0,1] 0.6425152703072294 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96655937e-01 -7.23411874e-02 -3.79960020e-02 3.65925654e-01] [ 7.23154478e-02 9.97379697e-01 -2.05314252e-03 -1.86918297e-01] [ 3.80449677e-02 -7.01421221e-04 9.99275782e-01 -6.68355604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.363273559999996 meters Centerline goodness [0,1] 0.6414819534841382 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96651384e-01 -7.24188798e-02 -3.79674271e-02 3.66060924e-01] [ 7.23949351e-02 9.97374025e-01 -2.00691532e-03 -1.86810117e-01] [ 3.80130641e-02 -7.48454488e-04 9.99276962e-01 -6.71526194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39327356 meters Centerline goodness [0,1] 0.6502709841963838 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96647849e-01 -7.24741797e-02 -3.79546939e-02 3.66308824e-01] [ 7.24516273e-02 9.97369980e-01 -1.97110411e-03 -1.86852639e-01] [ 3.79977265e-02 -7.85382664e-04 9.99277517e-01 -6.75267972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42327356 meters Centerline goodness [0,1] 0.6353372333887233 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96645303e-01 -7.25409106e-02 -3.78940123e-02 3.66431466e-01] [ 7.25191472e-02 9.97365113e-01 -1.95033628e-03 -1.87024104e-01] [ 3.79356450e-02 -8.04247960e-04 9.99279861e-01 -6.78082614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45327356 meters Centerline goodness [0,1] 0.6543918380360274 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96621948e-01 -7.29589976e-02 -3.77051324e-02 3.66142258e-01] [ 7.29349789e-02 9.97334664e-01 -2.01396059e-03 -1.87361376e-01] [ 3.77515721e-02 -7.42865705e-04 9.99286879e-01 -6.81054506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48327356 meters Centerline goodness [0,1] 0.6500341141687513 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96611128e-01 -7.31350062e-02 -3.76501142e-02 3.66088913e-01] [ 7.31123382e-02 9.97321745e-01 -1.98039869e-03 -1.87599212e-01] [ 3.76941141e-02 -7.79000504e-04 9.99289021e-01 -6.82610484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51327356 meters Centerline goodness [0,1] 0.6470105910488555 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96602325e-01 -7.33012565e-02 -3.75597082e-02 3.65811637e-01] [ 7.32785317e-02 9.97309543e-01 -1.98317496e-03 -1.87807505e-01] [ 3.76040247e-02 -7.75883501e-04 9.99292417e-01 -6.81910656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543273559999996 meters Centerline goodness [0,1] 0.6429772727272727 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96594248e-01 -7.34662862e-02 -3.74514298e-02 3.65518121e-01] [ 7.34466025e-02 9.97297335e-01 -1.90299419e-03 -1.88038059e-01] [ 3.74900170e-02 -8.54167213e-04 9.99296637e-01 -6.82171291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57327356 meters Centerline goodness [0,1] 0.6375551813589405 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96585762e-01 -7.35827126e-02 -3.74486852e-02 3.65212253e-01] [ 7.35572390e-02 9.97288871e-01 -2.05944039e-03 -1.87879037e-01] [ 3.74986962e-02 -7.02212913e-04 9.99296430e-01 -6.78087636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60327356 meters Centerline goodness [0,1] 0.6475748897677167 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96584445e-01 -7.36087440e-02 -3.74325676e-02 3.65022094e-01] [ 7.35787769e-02 9.97287027e-01 -2.17941088e-03 -1.87561203e-01] [ 3.74914377e-02 -5.82275553e-04 9.99296779e-01 -6.75722406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63327356 meters Centerline goodness [0,1] 0.6212179764042645 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96596264e-01 -7.33576991e-02 -3.76102950e-02 3.65275766e-01] [ 7.33286334e-02 9.97305507e-01 -2.15353711e-03 -1.87149420e-01] [ 3.76669329e-02 -6.11704497e-04 9.99290162e-01 -6.73349828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66327356 meters Centerline goodness [0,1] 0.6509815504862311 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96610317e-01 -7.31008509e-02 -3.77377957e-02 3.65760833e-01] [ 7.30747774e-02 9.97324313e-01 -2.07163225e-03 -1.86707581e-01] [ 3.77882592e-02 -6.93070948e-04 9.99285528e-01 -6.75460740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69327356 meters Centerline goodness [0,1] 0.6524796868243166 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96629468e-01 -7.27424779e-02 -3.79240710e-02 3.66563981e-01] [ 7.27254039e-02 9.97350320e-01 -1.83137011e-03 -1.86644204e-01] [ 3.79568027e-02 -9.32845956e-04 9.99278946e-01 -6.79822213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.723273559999996 meters Centerline goodness [0,1] 0.6165663749088257 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96637101e-01 -7.25957340e-02 -3.80045797e-02 3.66972678e-01] [ 7.25806766e-02 9.97360961e-01 -1.77757098e-03 -1.86322619e-01] [ 3.80333282e-02 -9.86804914e-04 9.99275984e-01 -6.82702866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75327356 meters Centerline goodness [0,1] 0.6634409092983977 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99667126 -0.07203908 -0.03816768 0.36800665] [ 0.07203816 0.99740089 -0.00140098 -0.18601046] [ 0.0381694 -0.00135321 0.99927037 -0.06912643] [ 0. 0. 0. 1. ]] SLAMing on 35.78327356 meters Centerline goodness [0,1] 0.6558853026987601 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99667801 -0.07192219 -0.0382119 0.3682846 ] [ 0.07192309 0.99740926 -0.0013529 -0.18572336] [ 0.03821021 -0.00139991 0.99926874 -0.06934324] [ 0. 0. 0. 1. ]] SLAMing on 35.81327356 meters Centerline goodness [0,1] 0.6552391358783491 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99668802 -0.07173443 -0.03830364 0.36875004] [ 0.07174398 0.99742244 -0.00112695 -0.18583551] [ 0.03828575 -0.00162484 0.99926551 -0.06971361] [ 0. 0. 0. 1. ]] SLAMing on 35.84327356 meters Centerline goodness [0,1] 0.6479518892545104 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99667991 -0.07193241 -0.03814295 0.36824912] [ 0.07194335 0.99740813 -0.00108745 -0.18645404] [ 0.03812231 -0.00166029 0.9992717 -0.06957465] [ 0. 0. 0. 1. ]] SLAMing on 35.87327356 meters Centerline goodness [0,1] 0.647483648255814 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99667094 -0.07215344 -0.03795942 0.3675945 ] [ 0.07216208 0.99739226 -0.00114411 -0.18691272] [ 0.03794298 -0.00159893 0.99927863 -0.06923275] [ 0. 0. 0. 1. ]] SLAMing on 35.903273559999995 meters Centerline goodness [0,1] 0.6444161513277555 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99665587 -0.072429 -0.03783014 0.36701919] [ 0.0724348 0.9973724 -0.00121918 -0.1873414 ] [ 0.03781904 -0.00152512 0.99928344 -0.0688892 ] [ 0. 0. 0. 1. ]] SLAMing on 35.933273559999996 meters Centerline goodness [0,1] 0.639689880304679 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99663744 -0.07275779 -0.03768432 0.36636356] [ 0.07276583 0.99734838 -0.00116001 -0.18836714] [ 0.0376688 -0.00158602 0.99928902 -0.0685233 ] [ 0. 0. 0. 1. ]] SLAMing on 35.96327356 meters Centerline goodness [0,1] 0.6484973482616382 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96641073e-01 -7.27271163e-02 -3.76475499e-02 3.66368415e-01] [ 7.27445786e-02 9.97350191e-01 -9.07587002e-04 -1.88976581e-01] [ 3.76137973e-02 -1.83411667e-03 9.99290668e-01 -6.86835481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99327356 meters Centerline goodness [0,1] 0.6478011645558148 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96646627e-01 -7.26426730e-02 -3.76635497e-02 3.66704166e-01] [ 7.26676056e-02 9.97355963e-01 -7.08352659e-04 -1.89328104e-01] [ 3.76154225e-02 -2.03094269e-03 9.99290226e-01 -6.90570951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02327356 meters Centerline goodness [0,1] 0.6486149804081448 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96654450e-01 -7.24891739e-02 -3.77521908e-02 3.67173822e-01] [ 7.25224130e-02 9.97366663e-01 -4.90034960e-04 -1.89686313e-01] [ 3.76882987e-02 -2.24948445e-03 9.99287012e-01 -6.94079068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05327356 meters Centerline goodness [0,1] 0.653124645571056 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96662132e-01 -7.23330716e-02 -3.78486664e-02 3.67702791e-01] [ 7.23750393e-02 9.97377454e-01 -2.61933572e-04 -1.90075310e-01] [ 3.77683530e-02 -2.47823945e-03 9.99283448e-01 -6.98289891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.083273559999995 meters Centerline goodness [0,1] 0.6489446119663546 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96693280e-01 -7.18697883e-02 -3.79109314e-02 3.68529453e-01] [ 7.19290305e-02 9.97409733e-01 1.99284443e-04 -1.90804190e-01] [ 3.77984094e-02 -2.92552201e-03 9.99281102e-01 -7.06378732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.113273559999996 meters Centerline goodness [0,1] 0.6268950536271892 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96702771e-01 -7.17323919e-02 -3.79216292e-02 3.68678517e-01] [ 7.17931185e-02 9.97419516e-01 2.40301311e-04 -1.90730159e-01] [ 3.78065356e-02 -2.96202100e-03 9.99280687e-01 -7.07402434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14327356 meters Centerline goodness [0,1] 0.6564255936197209 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 9.96722220e-01 -7.14071558e-02 -3.80241183e-02 3.69079969e-01] [ 7.14744303e-02 9.97442348e-01 4.11101534e-04 -1.90648282e-01] [ 3.78975102e-02 -3.12750622e-03 9.99276737e-01 -7.08849929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17327356 meters Centerline goodness [0,1] 0.6596925027738152 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99696744 -0.06797308 -0.03788906 0.3676862 ] [ 0.06817451 0.9976652 0.0040483 -0.19121215] [ 0.03752542 -0.0066191 0.99927375 -0.07038716] [ 0. 0. 0. 1. ]] SLAMing on 36.20327356 meters Centerline goodness [0,1] 0.6550276794627461 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99696936 -0.06783591 -0.03808382 0.36786993] [ 0.0680328 0.99767548 0.0038963 -0.19050673] [ 0.03773099 -0.00647544 0.99926695 -0.07002706] [ 0. 0. 0. 1. ]] SLAMing on 36.23327356 meters Centerline goodness [0,1] 0.6582550639357247 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99698576 -0.06756375 -0.03813846 0.36815593] [ 0.06776417 0.99769341 0.00398547 -0.19011459] [ 0.03778121 -0.00655788 0.99926452 -0.07012568] [ 0. 0. 0. 1. ]] SLAMing on 36.26327356 meters Centerline goodness [0,1] 0.6718469134678833 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99698686 -0.0675042 -0.03821503 0.36801458] [ 0.06769944 0.99769838 0.00383689 -0.18973655] [ 0.03786806 -0.00641246 0.99926217 -0.06965756] [ 0. 0. 0. 1. ]] SLAMing on 36.293273559999996 meters Centerline goodness [0,1] 0.6709839858458467 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99700091 -0.06720753 -0.03837093 0.36825436] [ 0.06740677 0.99771787 0.00392114 -0.18978352] [ 0.03801983 -0.00649584 0.99925587 -0.06942925] [ 0. 0. 0. 1. ]] SLAMing on 36.32327356 meters Centerline goodness [0,1] 0.6744381384790011 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701145 -0.06700153 -0.03845737 0.36862272] [ 0.06720716 0.99773071 0.0040779 -0.18998459] [ 0.03809687 -0.00665032 0.99925192 -0.06961733] [ 0. 0. 0. 1. ]] SLAMing on 36.35327356 meters Centerline goodness [0,1] 0.6703496567089529 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99701662 -0.06692841 -0.03845061 0.36878037] [ 0.06713798 0.99773493 0.00418386 -0.19009235] [ 0.03808349 -0.00675287 0.99925174 -0.06986956] [ 0. 0. 0. 1. ]] SLAMing on 36.38327356 meters Centerline goodness [0,1] 0.6656887524823976 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703117 -0.06662015 -0.03860827 0.36974309] [ 0.06684162 0.99775357 0.00447277 -0.19024647] [ 0.03822356 -0.00704013 0.99924441 -0.07063706] [ 0. 0. 0. 1. ]] SLAMing on 36.41327356 meters Centerline goodness [0,1] 0.6754489388717577 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703421 -0.06653914 -0.03866944 0.36992664] [ 0.06676328 0.99775855 0.00453264 -0.19018517] [ 0.03828117 -0.00710089 0.99924178 -0.07072311] [ 0. 0. 0. 1. ]] SLAMing on 36.44327356 meters Centerline goodness [0,1] 0.6632341292293764 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9970405 -0.06645252 -0.03865621 0.37018744] [ 0.0666811 0.99776349 0.00465303 -0.1903574 ] [ 0.03826055 -0.0072169 0.99924174 -0.07103228] [ 0. 0. 0. 1. ]] SLAMing on 36.473273559999996 meters Centerline goodness [0,1] 0.6729200099450761 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704387 -0.06635921 -0.03872944 0.37053867] [ 0.06659161 0.99776906 0.00474032 -0.1905722 ] [ 0.03832847 -0.00730536 0.99923849 -0.07125461] [ 0. 0. 0. 1. ]] SLAMing on 36.50327356 meters Centerline goodness [0,1] 0.6764293785310734 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705577 -0.06618033 -0.03872927 0.37085905] [ 0.06642137 0.99777929 0.00496881 -0.19109536] [ 0.03831443 -0.00752663 0.99923739 -0.07163713] [ 0. 0. 0. 1. ]] SLAMing on 36.53327356 meters Centerline goodness [0,1] 0.6743991498790387 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705811 -0.06614945 -0.03872179 0.37073569] [ 0.06638952 0.99778152 0.00494587 -0.19098918] [ 0.03830872 -0.00750204 0.99923779 -0.07147211] [ 0. 0. 0. 1. ]] SLAMing on 36.56327356 meters Centerline goodness [0,1] 0.6766999093381687 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705674 -0.06616212 -0.03873539 0.37058883] [ 0.06639791 0.99778153 0.00483126 -0.19050445] [ 0.03832981 -0.00738899 0.99923782 -0.07122749] [ 0. 0. 0. 1. ]] SLAMing on 36.59327356 meters Centerline goodness [0,1] 0.6728188677540324 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705347 -0.06620586 -0.03874484 0.37037045] [ 0.06643601 0.99777971 0.00468148 -0.18996197] [ 0.03834887 -0.00724174 0.99923817 -0.07088516] [ 0. 0. 0. 1. ]] SLAMing on 36.62327356 meters Centerline goodness [0,1] 0.6741878483077341 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704096 -0.06643403 -0.0386761 0.36975332] [ 0.06665212 0.99776668 0.00437558 -0.18938127] [ 0.03829904 -0.00694047 0.99924222 -0.07026613] [ 0. 0. 0. 1. ]] SLAMing on 36.653273559999995 meters Centerline goodness [0,1] 0.6702889546573888 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.9970325 -0.06652662 -0.03873494 0.36968984] [ 0.06673991 0.99776141 0.0042381 -0.18933289] [ 0.03836629 -0.00681069 0.99924053 -0.07001249] [ 0. 0. 0. 1. ]] SLAMing on 36.683273559999996 meters Centerline goodness [0,1] 0.6779411431548901 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99703505 -0.06648277 -0.03874467 0.36986467] [ 0.06669541 0.99776446 0.00422026 -0.18922835] [ 0.03837748 -0.00679184 0.99924023 -0.070156 ] [ 0. 0. 0. 1. ]] SLAMing on 36.71327356 meters Centerline goodness [0,1] 0.6705405282950478 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704327 -0.06629359 -0.03885702 0.37048675] [ 0.06650487 0.99777739 0.00416892 -0.18864683] [ 0.03849429 -0.00674078 0.99923608 -0.07052712] [ 0. 0. 0. 1. ]] SLAMing on 36.74327356 meters Centerline goodness [0,1] 0.6756155679110405 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99704719 -0.06619269 -0.03892853 0.37087725] [ 0.066402 0.9977845 0.00410703 -0.18809581] [ 0.03857043 -0.00667984 0.99923356 -0.070797 ] [ 0. 0. 0. 1. ]] SLAMing on 36.77327356 meters Centerline goodness [0,1] 0.6752396274727516 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705888 -0.06595664 -0.03902961 0.37131543] [ 0.06616825 0.99779983 0.00415374 -0.18757438] [ 0.03866977 -0.00672404 0.99922942 -0.07099135] [ 0. 0. 0. 1. ]] SLAMing on 36.80327356 meters Centerline goodness [0,1] 0.6872542110886317 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99705956 -0.06588044 -0.03914089 0.37168114] [ 0.0660893 0.99780543 0.00406503 -0.18691883] [ 0.03878719 -0.00663987 0.99922543 -0.07111126] [ 0. 0. 0. 1. ]] SLAMing on 36.833273559999995 meters Centerline goodness [0,1] 0.6881116016567292 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99707687 -0.06562539 -0.03912829 0.3719888 ] [ 0.06584046 0.99782119 0.00423214 -0.18656098] [ 0.0387653 -0.006796 0.99922523 -0.07150631] [ 0. 0. 0. 1. ]] SLAMing on 36.863273559999996 meters Centerline goodness [0,1] 0.6850816168780975 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99707582 -0.06563618 -0.03913695 0.37216815] [ 0.06585116 0.9978205 0.00422794 -0.18642245] [ 0.03877414 -0.00679279 0.99922491 -0.07170871] [ 0. 0. 0. 1. ]] SLAMing on 36.89327356 meters Centerline goodness [0,1] 0.6828852190528183 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99707664 -0.06565518 -0.03908417 0.37230099] [ 0.06587121 0.99781902 0.00426402 -0.18643219] [ 0.03871897 -0.00682608 0.99922682 -0.07201356] [ 0. 0. 0. 1. ]] SLAMing on 36.92327356 meters Centerline goodness [0,1] 0.6766517420850474 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99707088 -0.0657734 -0.03903239 0.37230927] [ 0.06598533 0.9978119 0.00416512 -0.18626479] [ 0.03867303 -0.00672849 0.99922927 -0.07212166] [ 0. 0. 0. 1. ]] SLAMing on 36.95327356 meters Centerline goodness [0,1] 0.6701736047991274 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.07 [[ 0.99706142 -0.06598209 -0.03892155 0.3719849 ] [ 0.06618469 0.99779962 0.00393859 -0.1855195 ] [ 0.03857603 -0.00650302 0.99923451 -0.07205208] [ 0. 0. 0. 1. ]] SLAMing on 36.98327356 meters Centerline goodness [0,1] 0.6786728780820361 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99705436 -0.0661278 -0.03885503 0.37184688] [ 0.06632129 0.99779142 0.00371053 -0.18487771] [ 0.03852384 -0.00627651 0.99923797 -0.07204566] [ 0. 0. 0. 1. ]] SLAMing on 37.01327356 meters Centerline goodness [0,1] 0.673779031414208 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99704156 -0.06642993 -0.03866775 0.37145607] [ 0.06660963 0.9977734 0.00337634 -0.18391611] [ 0.03835736 -0.005942 0.99924642 -0.0720533 ] [ 0. 0. 0. 1. ]] SLAMing on 37.043273559999996 meters Centerline goodness [0,1] 0.673779031414208 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99704156 -0.06642993 -0.03866775 0.37145607] [ 0.06660963 0.9977734 0.00337634 -0.18391611] [ 0.03835736 -0.005942 0.99924642 -0.0720533 ] [ 0. 0. 0. 1. ]] SLAMing on 37.07327356 meters Centerline goodness [0,1] 0.6732359709279807 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99703744 -0.06652591 -0.03860891 0.37153725] [ 0.06670366 0.99776727 0.00333262 -0.18357772] [ 0.038301 -0.0058981 0.99924884 -0.07237797] [ 0. 0. 0. 1. ]] SLAMing on 37.10327356 meters Centerline goodness [0,1] 0.6797059894411068 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99703299 -0.06661658 -0.03856741 0.37155786] [ 0.0667909 0.99776171 0.00324765 -0.18325698] [ 0.03826474 -0.00581396 0.99925072 -0.07249934] [ 0. 0. 0. 1. ]] SLAMing on 37.13327356 meters Centerline goodness [0,1] 0.6754429918462169 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99702697 -0.06677244 -0.03845333 0.37161006] [ 0.06694123 0.99775205 0.00311736 -0.18242566] [ 0.03815873 -0.0056822 0.99925553 -0.07296063] [ 0. 0. 0. 1. ]] SLAMing on 37.16327356 meters Centerline goodness [0,1] 0.6713387118829481 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99702079 -0.0668869 -0.03841467 0.37172656] [ 0.06705075 0.99774508 0.00299142 -0.18185767] [ 0.03812796 -0.00555824 0.99925741 -0.07320659] [ 0. 0. 0. 1. ]] SLAMing on 37.19327356 meters Centerline goodness [0,1] 0.666887341627668 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99701837 -0.06700179 -0.03827697 0.37163655] [ 0.06716308 0.99773767 0.00294184 -0.18145052] [ 0.03799326 -0.00550387 0.99926284 -0.0734923 ] [ 0. 0. 0. 1. ]] SLAMing on 37.223273559999996 meters Centerline goodness [0,1] 0.6630504293805957 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99701242 -0.06717713 -0.03812428 0.37168893] [ 0.0673352 0.99772626 0.00287598 -0.18085361] [ 0.03784439 -0.00543449 0.99926887 -0.07405743] [ 0. 0. 0. 1. ]] SLAMing on 37.25327356 meters Centerline goodness [0,1] 0.668656102078617 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99701063 -0.06725045 -0.03804172 0.37182973] [ 0.06740679 0.99772153 0.00284077 -0.18060024] [ 0.037764 -0.00539655 0.99927211 -0.07448738] [ 0. 0. 0. 1. ]] SLAMing on 37.28327356 meters Centerline goodness [0,1] 0.6577093719983533 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.99700966 -0.0673129 -0.03795668 0.37199677] [ 0.06746826 0.99771742 0.00282566 -0.1804309 ] [ 0.03767984 -0.00537808 0.99927539 -0.07492908] [ 0. 0. 0. 1. ]] SLAMing on 37.31327356 meters Centerline goodness [0,1] 0.6596094928894782 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99699821 -0.06759717 -0.03775166 0.37162053] [ 0.06774653 0.99769894 0.00268963 -0.17971697] [ 0.03748298 -0.0052391 0.99928353 -0.07517398] [ 0. 0. 0. 1. ]] SLAMing on 37.34327356 meters Centerline goodness [0,1] 0.6615180126501055 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.9969915 -0.06771907 -0.03771038 0.37155969] [ 0.06786146 0.9976916 0.00250734 -0.17905308] [ 0.03745354 -0.00505887 0.99928556 -0.07520972] [ 0. 0. 0. 1. ]] SLAMing on 37.37327356 meters Centerline goodness [0,1] 0.6539335644268955 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99698284 -0.06784727 -0.03770897 0.37159416] [ 0.06798115 0.99768401 0.00227803 -0.17811547] [ 0.03746708 -0.00483465 0.99928617 -0.07528729] [ 0. 0. 0. 1. ]] SLAMing on 37.403273559999995 meters Centerline goodness [0,1] 0.6575074729822947 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.9969823 -0.06787258 -0.03767773 0.3715246 ] [ 0.0680037 0.99768263 0.00220799 -0.17769701] [ 0.03744055 -0.00476355 0.9992875 -0.07528278] [ 0. 0. 0. 1. ]] SLAMing on 37.433273559999996 meters Centerline goodness [0,1] 0.6542445447012246 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99696335 -0.06824374 -0.03750828 0.37091594] [ 0.06836164 0.99765886 0.00186843 -0.17696433] [ 0.03729296 -0.00442688 0.99929457 -0.07507605] [ 0. 0. 0. 1. ]] SLAMing on 37.46327356 meters Centerline goodness [0,1] 0.647249637656153 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99696118 -0.06828046 -0.03749908 0.37099455] [ 0.06839826 0.99765635 0.00186609 -0.17677574] [ 0.03728378 -0.00442529 0.99929492 -0.07521952] [ 0. 0. 0. 1. ]] SLAMing on 37.49327356 meters Centerline goodness [0,1] 0.6524847147519882 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99695943 -0.06833979 -0.03743748 0.37096623] [ 0.06845856 0.99765215 0.00189845 -0.17669816] [ 0.03721984 -0.0044556 0.99929717 -0.07539514] [ 0. 0. 0. 1. ]] SLAMing on 37.52327356 meters Centerline goodness [0,1] 0.6479425815236205 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99694213 -0.06865677 -0.03731796 0.37081595] [ 0.06877221 0.99763073 0.00181723 -0.17631985] [ 0.03710477 -0.00437811 0.99930179 -0.07566982] [ 0. 0. 0. 1. ]] SLAMing on 37.55327356 meters Centerline goodness [0,1] 0.6471836998407827 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99693421 -0.06883113 -0.03720837 0.37077028] [ 0.06894562 0.99761879 0.00180099 -0.17613274] [ 0.0369958 -0.00436083 0.99930591 -0.07596083] [ 0. 0. 0. 1. ]] SLAMing on 37.583273559999995 meters Centerline goodness [0,1] 0.6485743333795462 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99692603 -0.06899933 -0.03711582 0.37080431] [ 0.069114 0.99760712 0.00181384 -0.17619449] [ 0.03690185 -0.00437348 0.99930932 -0.07629428] [ 0. 0. 0. 1. ]] SLAMing on 37.613273559999996 meters Centerline goodness [0,1] 0.6482550087711199 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99691659 -0.0692555 -0.03689149 0.37051752] [ 0.06936868 0.99758948 0.00179521 -0.17624092] [ 0.03667824 -0.00434878 0.99931766 -0.07663275] [ 0. 0. 0. 1. ]] SLAMing on 37.64327356 meters Centerline goodness [0,1] 0.6437419414256769 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99689077 -0.06975623 -0.0366452 0.37001844] [ 0.0698597 0.99755562 0.00154938 -0.1762672 ] [ 0.03644755 -0.00410458 0.99932714 -0.07677205] [ 0. 0. 0. 1. ]] SLAMing on 37.67327356 meters Centerline goodness [0,1] 0.6482602467538469 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99688575 -0.06985158 -0.03659989 0.36996131] [ 0.06995656 0.99754877 0.00159391 -0.1762868 ] [ 0.03639884 -0.00414935 0.99932873 -0.07692847] [ 0. 0. 0. 1. ]] SLAMing on 37.70327356 meters Centerline goodness [0,1] 0.6453741951861168 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99687629 -0.07005714 -0.0364644 0.36969906] [ 0.07015716 0.99753487 0.00146914 -0.17587114] [ 0.03627158 -0.00402279 0.99933387 -0.07702428] [ 0. 0. 0. 1. ]] SLAMing on 37.73327356 meters Centerline goodness [0,1] 0.6475186161602147 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99687623 -0.07002511 -0.03652755 0.36993482] [ 0.07012477 0.99753717 0.00145263 -0.17537686] [ 0.03633587 -0.00400958 0.99933159 -0.07717175] [ 0. 0. 0. 1. ]] SLAMing on 37.76327356 meters Centerline goodness [0,1] 0.6579738985560903 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687871 -0.06996589 -0.03657347 0.37008868] [ 0.0700576 0.99754219 0.00123059 -0.17420827] [ 0.03639748 -0.003789 0.99933021 -0.07716462] [ 0. 0. 0. 1. ]] SLAMing on 37.793273559999996 meters Centerline goodness [0,1] 0.6539886963772816 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99688425 -0.0698228 -0.03669572 0.37048103] [ 0.06991386 0.99755231 0.00120249 -0.17370144] [ 0.03652194 -0.00376428 0.99932576 -0.07727503] [ 0. 0. 0. 1. ]] SLAMing on 37.82327356 meters Centerline goodness [0,1] 0.6563051760988756 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99688015 -0.06982147 -0.03680948 0.37072694] [ 0.06990682 0.99755299 0.00103517 -0.1729832 ] [ 0.03664713 -0.00360517 0.99932177 -0.07725834] [ 0. 0. 0. 1. ]] SLAMing on 37.85327356 meters Centerline goodness [0,1] 0.6593733997486151 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96886655e-01 -6.97064079e-02 -3.68512382e-02 3.70973661e-01] [ 6.97866883e-02 9.97561535e-01 8.95137218e-04 -1.71642988e-01] [ 3.66989810e-02 -3.46407622e-03 9.99320362e-01 -7.74540783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88327356 meters Centerline goodness [0,1] 0.657583379914291 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96887080e-01 -6.96351002e-02 -3.69743607e-02 3.71361200e-01] [ 6.97156361e-02 9.97566506e-01 8.91787918e-04 -1.71064186e-01] [ 3.68222841e-02 -3.46670293e-03 9.99315817e-01 -7.76582013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91327356 meters Centerline goodness [0,1] 0.6578640957570676 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96885910e-01 -6.96611711e-02 -3.69567826e-02 3.71544329e-01] [ 6.97381923e-02 9.97565010e-01 7.97538701e-04 -1.70462364e-01] [ 3.68112357e-02 -3.37235430e-03 9.99316547e-01 -7.79254249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94327356 meters Centerline goodness [0,1] 0.6553817417697876 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96889522e-01 -6.96378017e-02 -3.69033516e-02 3.71655522e-01] [ 6.97154207e-02 9.97566584e-01 8.19125138e-04 -1.70090951e-01] [ 3.67565083e-02 -3.38930995e-03 9.99318504e-01 -7.82592837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.973273559999996 meters Centerline goodness [0,1] 0.6559953298307064 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96884658e-01 -6.96997596e-02 -3.69177624e-02 3.71698191e-01] [ 6.97751864e-02 9.97562454e-01 7.57077038e-04 -1.69829479e-01] [ 3.67750056e-02 -3.33066224e-03 9.99318020e-01 -7.83135658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00327356 meters Centerline goodness [0,1] 0.6542097420135978 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96880532e-01 -6.97506871e-02 -3.69329942e-02 3.71773021e-01] [ 6.98259241e-02 9.97558910e-01 7.49598773e-04 -1.69718690e-01] [ 3.67905524e-02 -3.32614087e-03 9.99317463e-01 -7.84055534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03327356 meters Centerline goodness [0,1] 0.655422417008579 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96878201e-01 -6.97689806e-02 -3.69613494e-02 3.71735177e-01] [ 6.98431417e-02 9.97557728e-01 7.17497926e-04 -1.69699901e-01] [ 3.68210206e-02 -3.29675481e-03 9.99316438e-01 -7.82463446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06327356 meters Centerline goodness [0,1] 0.653990271603789 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96872371e-01 -6.98749722e-02 -3.69183443e-02 3.71614880e-01] [ 6.99484445e-02 9.97550362e-01 7.00679370e-04 -1.69640745e-01] [ 3.67789478e-02 -3.28086866e-03 9.99318040e-01 -7.82337097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09327356 meters Centerline goodness [0,1] 0.6606076162030987 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96852444e-01 -7.01836351e-02 -3.68708827e-02 3.71299560e-01] [ 7.02520036e-02 9.97529118e-01 5.60383613e-04 -1.69584612e-01] [ 3.67404494e-02 -3.14887316e-03 9.99319881e-01 -7.80607600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12327356 meters Centerline goodness [0,1] 0.6560494691401237 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96851851e-01 -7.01444909e-02 -3.69612889e-02 3.71556431e-01] [ 7.02156406e-02 9.97531638e-01 6.28831594e-04 -1.69919965e-01] [ 3.68259460e-02 -3.22211252e-03 9.99316500e-01 -7.80927603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.153273559999995 meters Centerline goodness [0,1] 0.6565275155583525 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96850918e-01 -7.01685364e-02 -3.69408169e-02 3.71629079e-01] [ 7.02461039e-02 9.97529367e-01 8.04459637e-04 -1.70262225e-01] [ 3.67931019e-02 -3.39687479e-03 9.99317131e-01 -7.83468110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183273559999996 meters Centerline goodness [0,1] 0.6547896651431769 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96841824e-01 -7.03416805e-02 -3.68568344e-02 3.71537963e-01] [ 7.04198605e-02 9.97517098e-01 8.25714068e-04 -1.70563556e-01] [ 3.67072404e-02 -3.41855946e-03 9.99320215e-01 -7.85231980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21327356 meters Centerline goodness [0,1] 0.6567716700426067 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96837886e-01 -7.03694108e-02 -3.69103518e-02 3.71703311e-01] [ 7.04508997e-02 9.97514833e-01 9.10176606e-04 -1.70801860e-01] [ 3.67545748e-02 -3.50766602e-03 9.99318166e-01 -7.86039455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24327356 meters Centerline goodness [0,1] 0.6527894197634349 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96835226e-01 -7.04461791e-02 -3.68356961e-02 3.71468561e-01] [ 7.05297534e-02 9.97509202e-01 9.72719308e-04 -1.71030677e-01] [ 3.66754215e-02 -3.56765344e-03 9.99320862e-01 -7.85533629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27327356 meters Centerline goodness [0,1] 0.6518565018251146 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96825197e-01 -7.05752757e-02 -3.68599614e-02 3.71330734e-01] [ 7.06545063e-02 9.97500486e-01 8.49714189e-04 -1.70907560e-01] [ 3.67078606e-02 -3.45133889e-03 9.99320079e-01 -7.83241878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30327356 meters Centerline goodness [0,1] 0.6507803595934222 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96828724e-01 -7.05149958e-02 -3.68799446e-02 3.71492225e-01] [ 7.05938975e-02 9.97504785e-01 8.39995672e-04 -1.70622086e-01] [ 3.67286889e-02 -3.44083084e-03 9.99319350e-01 -7.84583624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.333273559999995 meters Centerline goodness [0,1] 0.6572517841783481 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96831510e-01 -7.04121019e-02 -3.70010403e-02 3.71831187e-01] [ 7.04914283e-02 9.97512030e-01 8.42092213e-04 -1.70333435e-01] [ 3.68496893e-02 -3.44768023e-03 9.99314872e-01 -7.85387576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363273559999996 meters Centerline goodness [0,1] 0.6491428039731094 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96836029e-01 -7.02985254e-02 -3.70951204e-02 3.72046938e-01] [ 7.03752763e-02 9.97520293e-01 7.65746491e-04 -1.69920356e-01] [ 3.69493046e-02 -3.37390304e-03 9.99311446e-01 -7.84744018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39327356 meters Centerline goodness [0,1] 0.6568691284531671 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96854179e-01 -6.99244312e-02 -3.73138083e-02 3.72738391e-01] [ 7.00048998e-02 9.97546283e-01 8.52781245e-04 -1.69206782e-01] [ 3.71626205e-02 -3.46224796e-03 9.99303233e-01 -7.86850446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42327356 meters Centerline goodness [0,1] 0.6503197302639228 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96855706e-01 -6.98737167e-02 -3.73679823e-02 3.72890412e-01] [ 6.99525181e-02 9.97549998e-01 8.03917011e-04 -1.68973984e-01] [ 3.72202580e-02 -3.41537372e-03 9.99301250e-01 -7.86324396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45327356 meters Centerline goodness [0,1] 0.6531952042835525 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96853072e-01 -6.98617806e-02 -3.74604337e-02 3.72983450e-01] [ 6.99393394e-02 9.97550955e-01 7.62388818e-04 -1.68885105e-01] [ 3.73154296e-02 -3.37994762e-03 9.99297821e-01 -7.84517955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48327356 meters Centerline goodness [0,1] 0.6520283621992329 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96855207e-01 -6.97877813e-02 -3.75414685e-02 3.73171236e-01] [ 6.98683426e-02 9.97555870e-01 8.36680262e-04 -1.69063843e-01] [ 3.73913222e-02 -3.45700926e-03 9.99294720e-01 -7.84480501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51327356 meters Centerline goodness [0,1] 0.6556748466257669 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.9968621 -0.06968198 -0.037555 0.37331522] [ 0.06976936 0.99756263 0.00101963 -0.16948873] [ 0.03739241 -0.00363662 0.99929404 -0.07862258] [ 0. 0. 0. 1. ]] SLAMing on 38.543273559999996 meters Centerline goodness [0,1] 0.6592869933257366 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99686624 -0.06962312 -0.03755434 0.37349256] [ 0.06971492 0.9975663 0.0011389 -0.16952286] [ 0.03738365 -0.00375343 0.99929394 -0.07886978] [ 0. 0. 0. 1. ]] SLAMing on 38.57327356 meters Centerline goodness [0,1] 0.656412165778512 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687478 -0.06952044 -0.03751774 0.37348472] [ 0.06961223 0.99757347 0.00114421 -0.16910737] [ 0.03734716 -0.00375232 0.99929531 -0.07896402] [ 0. 0. 0. 1. ]] SLAMing on 38.60327356 meters Centerline goodness [0,1] 0.6545424927860002 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687291 -0.06949849 -0.03760809 0.37366154] [ 0.06958786 0.99757525 0.00107085 -0.16864594] [ 0.03744248 -0.00368456 0.99929199 -0.07892989] [ 0. 0. 0. 1. ]] SLAMing on 38.63327356 meters Centerline goodness [0,1] 0.6632009862070569 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687632 -0.06946346 -0.03758225 0.37378036] [ 0.06955411 0.99757756 0.0011083 -0.16841548] [ 0.03741422 -0.00371884 0.99929292 -0.07917037] [ 0. 0. 0. 1. ]] SLAMing on 38.66327356 meters Centerline goodness [0,1] 0.6633418783500349 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99688224 -0.06944204 -0.03746473 0.37378435] [ 0.06953629 0.99757868 0.00121695 -0.16844426] [ 0.03728951 -0.00381832 0.99929721 -0.07951382] [ 0. 0. 0. 1. ]] SLAMing on 38.69327356 meters Centerline goodness [0,1] 0.6522163821573097 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687976 -0.06957468 -0.03728405 0.3737047 ] [ 0.06967139 0.99756915 0.00129925 -0.16870883] [ 0.03710303 -0.00389283 0.99930386 -0.07991632] [ 0. 0. 0. 1. ]] SLAMing on 38.723273559999996 meters Centerline goodness [0,1] 0.6537593897532501 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99686978 -0.06976695 -0.0371915 0.37341018] [ 0.06986017 0.99755606 0.00121135 -0.16872054] [ 0.03701609 -0.00380577 0.99930742 -0.07984274] [ 0. 0. 0. 1. ]] SLAMing on 38.75327356 meters Centerline goodness [0,1] 0.6525832483072072 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99686307 -0.06992363 -0.03707695 0.37319905] [ 0.07001661 0.99754509 0.00121362 -0.16892464] [ 0.03690107 -0.00380582 0.99931168 -0.07988406] [ 0. 0. 0. 1. ]] SLAMing on 38.78327356 meters Centerline goodness [0,1] 0.6621498705599739 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99684456 -0.07029881 -0.03686452 0.37258502] [ 0.07038595 0.99751926 0.00106962 -0.16885639] [ 0.03669788 -0.00366099 0.9993197 -0.07980017] [ 0. 0. 0. 1. ]] SLAMing on 38.81327356 meters Centerline goodness [0,1] 0.6454471450168624 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99684479 -0.07029433 -0.03686692 0.37274175] [ 0.07038574 0.99751914 0.00118585 -0.16893894] [ 0.0366921 -0.00377701 0.99931948 -0.08002106] [ 0. 0. 0. 1. ]] SLAMing on 38.84327356 meters Centerline goodness [0,1] 0.6506057847188178 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96833711e-01 -7.04557031e-02 -3.68584534e-02 3.72668961e-01] [ 7.05402157e-02 9.97508439e-01 9.95879161e-04 -1.68614426e-01] [ 3.66964529e-02 -3.59272917e-03 9.99320000e-01 -7.99373778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87327356 meters Centerline goodness [0,1] 0.6488055162166555 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99683483 -0.07043292 -0.03687162 0.37301459] [ 0.07052122 0.99750967 0.00109807 -0.16884045] [ 0.03670246 -0.00369482 0.99931941 -0.08033324] [ 0. 0. 0. 1. ]] SLAMing on 38.903273559999995 meters Centerline goodness [0,1] 0.6488055162166555 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99683483 -0.07043292 -0.03687162 0.37301459] [ 0.07052122 0.99750967 0.00109807 -0.16884045] [ 0.03670246 -0.00369482 0.99931941 -0.08033324] [ 0. 0. 0. 1. ]] SLAMing on 38.933273559999996 meters Centerline goodness [0,1] 0.6501385106036268 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99682721 -0.07062717 -0.0367057 0.37290839] [ 0.07071177 0.99749628 0.00101012 -0.16873172] [ 0.03654246 -0.00360244 0.99932561 -0.0806337 ] [ 0. 0. 0. 1. ]] SLAMing on 38.96327356 meters Centerline goodness [0,1] 0.651224508799702 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96822567e-01 -7.07062701e-02 -3.66796105e-02 3.73001916e-01] [ 7.07883924e-02 9.97490909e-01 9.43448177e-04 -1.68440676e-01] [ 3.65208703e-02 -3.53694109e-03 9.99326631e-01 -8.08360856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99327356 meters Centerline goodness [0,1] 0.6450890775114262 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96823175e-01 -7.06889595e-02 -3.66964501e-02 3.73101278e-01] [ 7.07708759e-02 9.97492158e-01 9.36503516e-04 -1.68135144e-01] [ 3.65382208e-02 -3.53056833e-03 9.99326020e-01 -8.09347805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02327356 meters Centerline goodness [0,1] 0.6460150165555193 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96845489e-01 -7.03266038e-02 -3.67864153e-02 3.73574423e-01] [ 7.04038819e-02 9.97518241e-01 8.07959086e-04 -1.66645181e-01] [ 3.66382992e-02 -3.39531681e-03 9.99322824e-01 -8.10634242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05327356 meters Centerline goodness [0,1] 0.6438640713252113 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 9.96848600e-01 -7.02223109e-02 -3.69011707e-02 3.73766946e-01] [ 7.02949206e-02 9.97526026e-01 6.72348983e-04 -1.65727649e-01] [ 3.67626642e-02 -3.26419501e-03 9.99318694e-01 -8.09751030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.083273559999995 meters Centerline goodness [0,1] 0.6502136402904575 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.08 [[ 9.96875776e-01 -6.97843039e-02 -3.69978094e-02 3.74053515e-01] [ 6.98553348e-02 9.97556934e-01 6.29086617e-04 -1.64350899e-01] [ 3.68635209e-02 -3.21161557e-03 9.99315149e-01 -8.08717489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.113273559999996 meters Centerline goodness [0,1] 0.6525754635366738 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.08 [[ 9.96890336e-01 -6.94700833e-02 -3.71963008e-02 3.74605181e-01] [ 6.95425624e-02 9.97578769e-01 6.56738017e-04 -1.63891068e-01] [ 3.70606163e-02 -3.24142185e-03 9.99307762e-01 -8.09091310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14327356 meters Centerline goodness [0,1] 0.6493421513869739 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.16, Z:-0.08 [[ 9.96900553e-01 -6.92786018e-02 -3.72795285e-02 3.74870654e-01] [ 6.93486774e-02 9.97592309e-01 5.88381028e-04 -1.63348191e-01] [ 3.71490087e-02 -3.17184337e-03 9.99304704e-01 -8.09165471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17327356 meters Centerline goodness [0,1] 0.6560691610242955 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 9.96913521e-01 -6.90615047e-02 -3.73355179e-02 3.75325349e-01] [ 6.91340885e-02 9.97607162e-01 6.55030466e-04 -1.63086151e-01] [ 3.72009426e-02 -3.23416573e-03 9.99302572e-01 -8.12322119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20327356 meters Centerline goodness [0,1] 0.6639696052909309 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 9.96936298e-01 -6.86354689e-02 -3.75125407e-02 3.76063356e-01] [ 6.87183432e-02 9.97635674e-01 9.22847737e-04 -1.63053311e-01] [ 3.73605087e-02 -3.49782005e-03 9.99295731e-01 -8.16240147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23327356 meters Centerline goodness [0,1] 0.6568689496753628 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 9.96940692e-01 -6.85071585e-02 -3.76301163e-02 3.76438288e-01] [ 6.85911857e-02 9.97644404e-01 9.45011495e-04 -1.63049240e-01] [ 3.74767349e-02 -3.52321471e-03 9.99291290e-01 -8.16795231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26327356 meters Centerline goodness [0,1] 0.655436159729717 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 9.96939154e-01 -6.85520853e-02 -3.75890302e-02 3.76371936e-01] [ 6.86354758e-02 9.97641371e-01 9.31038334e-04 -1.63149383e-01] [ 3.74365470e-02 -3.50812954e-03 9.99292849e-01 -8.17008890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.293273559999996 meters Centerline goodness [0,1] 0.6600684032983508 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 0.99694617 -0.06846733 -0.03755734 0.37651255] [ 0.06855821 0.99764647 0.00113589 -0.16358909] [ 0.03739117 -0.00370729 0.99929383 -0.08194563] [ 0. 0. 0. 1. ]] SLAMing on 39.32327356 meters Centerline goodness [0,1] 0.6592269878619854 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.08 [[ 0.99693571 -0.06870177 -0.03740672 0.37629881] [ 0.068803 0.99762925 0.00142417 -0.16480337] [ 0.03722019 -0.00399351 0.99929911 -0.08226339] [ 0. 0. 0. 1. ]] SLAMing on 39.35327356 meters Centerline goodness [0,1] 0.6579162482191653 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.08 [[ 0.99692339 -0.06898545 -0.03721227 0.37582013] [ 0.06908584 0.99760971 0.00141722 -0.16546648] [ 0.03702555 -0.0039837 0.99930638 -0.08220305] [ 0. 0. 0. 1. ]] SLAMing on 39.38327356 meters Centerline goodness [0,1] 0.6478554778554779 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99688519 -0.06969556 -0.03691129 0.37468245] [ 0.06979023 0.99756087 0.00128094 -0.16700149] [ 0.03673198 -0.003853 0.99931773 -0.08170224] [ 0. 0. 0. 1. ]] SLAMing on 39.41327356 meters Centerline goodness [0,1] 0.6523183423155547 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99687597 -0.06991786 -0.03673965 0.37435888] [ 0.07001669 0.99754483 0.00140874 -0.16798699] [ 0.03655095 -0.00397672 0.99932388 -0.08178181] [ 0. 0. 0. 1. ]] SLAMing on 39.44327356 meters Centerline goodness [0,1] 0.6454095273521958 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99686318 -0.0701802 -0.03658593 0.37377686] [ 0.0702782 0.99752645 0.00139805 -0.16875612] [ 0.03639732 -0.00396486 0.99932953 -0.08147268] [ 0. 0. 0. 1. ]] SLAMing on 39.473273559999996 meters Centerline goodness [0,1] 0.6467241099008292 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99684901 -0.07041914 -0.03651302 0.37337559] [ 0.07051818 0.99750947 0.00143013 -0.1695377 ] [ 0.03632138 -0.00400046 0.99933215 -0.08121871] [ 0. 0. 0. 1. ]] SLAMing on 39.50327356 meters Centerline goodness [0,1] 0.6509283081844099 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99682689 -0.07087275 -0.03623805 0.37246473] [ 0.07097558 0.99747684 0.0015577 -0.17103527] [ 0.03603622 -0.00412478 0.99934197 -0.08095256] [ 0. 0. 0. 1. ]] SLAMing on 39.53327356 meters Centerline goodness [0,1] 0.6456275874829429 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99682743 -0.07089486 -0.03617996 0.37232467] [ 0.07100311 0.99747462 0.00171436 -0.17192927] [ 0.03596705 -0.00427781 0.99934382 -0.08087985] [ 0. 0. 0. 1. ]] SLAMing on 39.56327356 meters Centerline goodness [0,1] 0.6425897684735893 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99683569 -0.07083716 -0.03606532 0.37229133] [ 0.07095378 0.99747767 0.00196229 -0.17266198] [ 0.03583535 -0.00451505 0.99934751 -0.08114907] [ 0. 0. 0. 1. ]] SLAMing on 39.59327356 meters Centerline goodness [0,1] 0.6425614578756274 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99685007 -0.07055362 -0.03622321 0.37292108] [ 0.07068568 0.99749581 0.00237631 -0.17389375] [ 0.03596485 -0.00492929 0.9993409 -0.08149129] [ 0. 0. 0. 1. ]] SLAMing on 39.62327356 meters Centerline goodness [0,1] 0.6414590951953817 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.08 [[ 0.99686846 -0.07019929 -0.03640519 0.37362694] [ 0.07034605 0.99751882 0.00276463 -0.17460745] [ 0.03612079 -0.00531694 0.99933329 -0.08183926] [ 0. 0. 0. 1. ]] SLAMing on 39.653273559999995 meters Centerline goodness [0,1] 0.6502425502425502 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99687946 -0.07003384 -0.03642261 0.37373857] [ 0.07018622 0.99752963 0.00292062 -0.17501992] [ 0.03612809 -0.00546787 0.99933221 -0.08187365] [ 0. 0. 0. 1. ]] SLAMing on 39.683273559999996 meters Centerline goodness [0,1] 0.637059513137025 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99689651 -0.06973323 -0.03653256 0.37386898] [ 0.06990279 0.99754807 0.00338319 -0.17640744] [ 0.03620706 -0.00592642 0.99932674 -0.08170673] [ 0. 0. 0. 1. ]] SLAMing on 39.71327356 meters Centerline goodness [0,1] 0.648370141546406 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99690781 -0.06957171 -0.0365321 0.37405794] [ 0.06975285 0.99755742 0.00370573 -0.17746976] [ 0.03618505 -0.00624249 0.99932561 -0.08188175] [ 0. 0. 0. 1. ]] SLAMing on 39.74327356 meters Centerline goodness [0,1] 0.6448168981747215 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99692291 -0.0693675 -0.03650845 0.37426358] [ 0.06956247 0.99756919 0.00409593 -0.17879842] [ 0.03613558 -0.00662294 0.99932495 -0.08209993] [ 0. 0. 0. 1. ]] SLAMing on 39.77327356 meters Centerline goodness [0,1] 0.645999267600476 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99693859 -0.06912754 -0.03653546 0.37439085] [ 0.06934742 0.9975811 0.00478435 -0.18137359] [ 0.03611636 -0.00730335 0.9993209 -0.08220051] [ 0. 0. 0. 1. ]] SLAMing on 39.80327356 meters Centerline goodness [0,1] 0.6433915780829418 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99694977 -0.0689704 -0.03652712 0.37452561] [ 0.0692013 0.99758971 0.0050939 -0.18244396] [ 0.03608775 -0.00760608 0.99931968 -0.08232749] [ 0. 0. 0. 1. ]] SLAMing on 39.833273559999995 meters Centerline goodness [0,1] 0.6418679989961901 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.08 [[ 0.99695946 -0.06884442 -0.03650048 0.37453965] [ 0.06908573 0.99759617 0.0053901 -0.18343194] [ 0.03604166 -0.00789537 0.9993191 -0.08239141] [ 0. 0. 0. 1. ]] SLAMing on 39.863273559999996 meters Centerline goodness [0,1] 0.6506946025962195 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.19, Z:-0.08 [[ 0.996984 -0.0684788 -0.03651778 0.37449542] [ 0.06873866 0.99761721 0.00590708 -0.18520561] [ 0.03602625 -0.00839944 0.99931554 -0.08216841] [ 0. 0. 0. 1. ]] SLAMing on 39.89327356 meters Centerline goodness [0,1] 0.6537255080238215 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99699868 -0.0681476 -0.0367361 0.37504077] [ 0.06842094 0.99763706 0.00623399 -0.18601663] [ 0.03622446 -0.0087288 0.99930556 -0.08220746] [ 0. 0. 0. 1. ]] SLAMing on 39.92327356 meters Centerline goodness [0,1] 0.6507702094788022 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99701415 -0.06788989 -0.03679329 0.37525678] [ 0.06817159 0.99765273 0.0064551 -0.18660898] [ 0.03626869 -0.00894408 0.99930205 -0.08222155] [ 0. 0. 0. 1. ]] SLAMing on 39.95327356 meters Centerline goodness [0,1] 0.6570403668891613 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99703117 -0.06758995 -0.03688411 0.37558473] [ 0.06788279 0.99767051 0.00674419 -0.18716634] [ 0.03634235 -0.00922797 0.99929679 -0.0823266 ] [ 0. 0. 0. 1. ]] SLAMing on 39.98327356 meters Centerline goodness [0,1] 0.6548953746992874 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99706487 -0.06696683 -0.03710908 0.37628976] [ 0.06728505 0.99770641 0.0073923 -0.18874258] [ 0.03652893 -0.00986749 0.99928388 -0.08247202] [ 0. 0. 0. 1. ]] SLAMing on 40.01327356 meters Centerline goodness [0,1] 0.654733133060782 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99707196 -0.06678989 -0.03723722 0.37662002] [ 0.06711451 0.99771682 0.00753535 -0.18933244] [ 0.03664892 -0.01001244 0.99927804 -0.08242485] [ 0. 0. 0. 1. ]] SLAMing on 40.043273559999996 meters Centerline goodness [0,1] 0.6564235719123956 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99708808 -0.06644908 -0.03741499 0.37699941] [ 0.06678664 0.99773644 0.00784436 -0.19005822] [ 0.03680905 -0.01032034 0.99926903 -0.08236035] [ 0. 0. 0. 1. ]] SLAMing on 40.07327356 meters Centerline goodness [0,1] 0.6628195862318186 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99713912 -0.06548504 -0.03775291 0.37800009] [ 0.06585235 0.99779259 0.00856811 -0.19138701] [ 0.03710849 -0.01102971 0.99925037 -0.08247585] [ 0. 0. 0. 1. ]] SLAMing on 40.10327356 meters Centerline goodness [0,1] 0.6605603934485403 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99716466 -0.0650293 -0.03786592 0.37844819] [ 0.06541175 0.99781823 0.00894908 -0.19190122] [ 0.03720135 -0.01140059 0.99924276 -0.0826487 ] [ 0. 0. 0. 1. ]] SLAMing on 40.13327356 meters Centerline goodness [0,1] 0.6649558797046642 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99718242 -0.06460275 -0.03812747 0.37908727] [ 0.06499813 0.99784278 0.00922166 -0.19222621] [ 0.03744947 -0.01167389 0.99923033 -0.08263592] [ 0. 0. 0. 1. ]] SLAMing on 40.16327356 meters Centerline goodness [0,1] 0.6679901640083922 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99720252 -0.06415165 -0.03836278 0.37973312] [ 0.06456192 0.99786799 0.00955181 -0.19250881] [ 0.03766823 -0.01200187 0.99921822 -0.08276586] [ 0. 0. 0. 1. ]] SLAMing on 40.19327356 meters Centerline goodness [0,1] 0.6711034297001257 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99724761 -0.06324862 -0.03868864 0.38071995] [ 0.06368447 0.99791859 0.01013769 -0.19296797] [ 0.03796692 -0.01257365 0.99919989 -0.08293527] [ 0. 0. 0. 1. ]] SLAMing on 40.223273559999996 meters Centerline goodness [0,1] 0.6718117181171812 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99726314 -0.06288536 -0.03888009 0.38124653] [ 0.06332844 0.99793989 0.01027042 -0.19298984] [ 0.03815413 -0.01270453 0.9991911 -0.08295937] [ 0. 0. 0. 1. ]] SLAMing on 40.25327356 meters Centerline goodness [0,1] 0.6877014992672754 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99728044 -0.06250063 -0.0390564 0.38165565] [ 0.06295468 0.9979611 0.0105047 -0.1933185 ] [ 0.03832022 -0.01293491 0.99918179 -0.0829339 ] [ 0. 0. 0. 1. ]] SLAMing on 40.28327356 meters Centerline goodness [0,1] 0.6788920639920797 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99731556 -0.06184439 -0.03920379 0.38216947] [ 0.06231821 0.99799593 0.01098018 -0.19422296] [ 0.03844616 -0.01339382 0.99917091 -0.08295533] [ 0. 0. 0. 1. ]] SLAMing on 40.31327356 meters Centerline goodness [0,1] 0.6834086159239534 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.99732613 -0.06163463 -0.03926519 0.38246281] [ 0.06211862 0.99800563 0.01122654 -0.19476272] [ 0.03849494 -0.01363562 0.99916576 -0.08311119] [ 0. 0. 0. 1. ]] SLAMing on 40.34327356 meters Centerline goodness [0,1] 0.6774883009359252 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99733726 -0.06133692 -0.03944846 0.38295459] [ 0.06183315 0.99802044 0.01148356 -0.19513082] [ 0.03866601 -0.01389221 0.99915562 -0.08319505] [ 0. 0. 0. 1. ]] SLAMing on 40.37327356 meters Centerline goodness [0,1] 0.684727403478808 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99736383 -0.06068598 -0.03978183 0.38400716] [ 0.06120291 0.99805433 0.01190653 -0.1954334 ] [ 0.03898187 -0.01430991 0.99913745 -0.08349309] [ 0. 0. 0. 1. ]] SLAMing on 40.403273559999995 meters Centerline goodness [0,1] 0.6856603604008449 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99737109 -0.06042406 -0.03999797 0.38469322] [ 0.06094888 0.99806835 0.0120332 -0.19549245] [ 0.03919362 -0.0144394 0.9991273 -0.08372447] [ 0. 0. 0. 1. ]] SLAMing on 40.433273559999996 meters Centerline goodness [0,1] 0.6836308051971407 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99738381 -0.06017827 -0.04005134 0.38478976] [ 0.06071076 0.99808068 0.01221329 -0.19610951] [ 0.03923949 -0.01461289 0.99912298 -0.08357377] [ 0. 0. 0. 1. ]] SLAMing on 40.46327356 meters Centerline goodness [0,1] 0.6835499876518264 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.9973803 -0.06025131 -0.04002886 0.38474653] [ 0.06078131 0.99807707 0.0121568 -0.19642521] [ 0.03921943 -0.01455795 0.99912457 -0.08347738] [ 0. 0. 0. 1. ]] SLAMing on 40.49327356 meters Centerline goodness [0,1] 0.6832455452202174 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99737564 -0.06032703 -0.04003103 0.38479275] [ 0.06085272 0.99807408 0.01204484 -0.1964642 ] [ 0.0392273 -0.01444923 0.99912584 -0.08344975] [ 0. 0. 0. 1. ]] SLAMing on 40.52327356 meters Centerline goodness [0,1] 0.6935888252148997 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99737328 -0.06036871 -0.04002688 0.38474507] [ 0.06089283 0.9980721 0.01200579 -0.19674353] [ 0.03922494 -0.01441161 0.99912647 -0.08334759] [ 0. 0. 0. 1. ]] SLAMing on 40.55327356 meters Centerline goodness [0,1] 0.6897306961671695 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99735691 -0.06068394 -0.03995819 0.38433271] [ 0.06120429 0.99805397 0.01192933 -0.19763836] [ 0.03915651 -0.01434341 0.99913014 -0.08300115] [ 0. 0. 0. 1. ]] SLAMing on 40.583273559999995 meters Centerline goodness [0,1] 0.6812266200748158 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99734559 -0.06090718 -0.03990089 0.38409672] [ 0.06142285 0.99804176 0.01182667 -0.19800924] [ 0.03910243 -0.0142461 0.99913365 -0.08285036] [ 0. 0. 0. 1. ]] SLAMing on 40.613273559999996 meters Centerline goodness [0,1] 0.6796025245065127 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99733909 -0.06099647 -0.03992715 0.38428289] [ 0.06151331 0.99803597 0.01184554 -0.19845368] [ 0.03912619 -0.01427007 0.99913238 -0.08298148] [ 0. 0. 0. 1. ]] SLAMing on 40.64327356 meters Centerline goodness [0,1] 0.7003336841869527 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99733503 -0.06109228 -0.03988187 0.38417037] [ 0.06160837 0.99803016 0.01184127 -0.19864865] [ 0.0390799 -0.01426677 0.99913424 -0.08297344] [ 0. 0. 0. 1. ]] SLAMing on 40.67327356 meters Centerline goodness [0,1] 0.6887711769701846 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99731898 -0.06134525 -0.03989512 0.38424819] [ 0.06186107 0.99801472 0.01182475 -0.19922089] [ 0.03909053 -0.014261 0.9991339 -0.08308531] [ 0. 0. 0. 1. ]] SLAMing on 40.70327356 meters Centerline goodness [0,1] 0.6814234178060838 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99730939 -0.06142659 -0.04000937 0.38455741] [ 0.06194281 0.99801004 0.011792 -0.19950852] [ 0.03920541 -0.01423856 0.99912972 -0.08312065] [ 0. 0. 0. 1. ]] SLAMing on 40.73327356 meters Centerline goodness [0,1] 0.6907684396449572 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99729925 -0.06162443 -0.0399579 0.38446385] [ 0.06213765 0.99799865 0.01173072 -0.19979671] [ 0.03915503 -0.01418192 0.9991325 -0.08314016] [ 0. 0. 0. 1. ]] SLAMing on 40.76327356 meters Centerline goodness [0,1] 0.6847403033149912 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99727494 -0.06212479 -0.03978951 0.38375698] [ 0.06262447 0.99797164 0.01143626 -0.2003652 ] [ 0.03899832 -0.01389689 0.99914264 -0.08267279] [ 0. 0. 0. 1. ]] SLAMing on 40.793273559999996 meters Centerline goodness [0,1] 0.6834152883325884 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99726464 -0.06233928 -0.03971201 0.38351878] [ 0.06283035 0.99796094 0.0112388 -0.20035488] [ 0.03893042 -0.01370317 0.99914796 -0.08249701] [ 0. 0. 0. 1. ]] SLAMing on 40.82327356 meters Centerline goodness [0,1] 0.6834152883325884 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99726464 -0.06233928 -0.03971201 0.38351878] [ 0.06283035 0.99796094 0.0112388 -0.20035488] [ 0.03893042 -0.01370317 0.99914796 -0.08249701] [ 0. 0. 0. 1. ]] SLAMing on 40.85327356 meters Centerline goodness [0,1] 0.6885516625753181 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.997261 -0.06239261 -0.03971987 0.38345818] [ 0.06287837 0.99795948 0.01109902 -0.20023048] [ 0.03894632 -0.01356614 0.99914921 -0.0823153 ] [ 0. 0. 0. 1. ]] SLAMing on 40.88327356 meters Centerline goodness [0,1] 0.6847156503883582 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99726961 -0.06216423 -0.03986155 0.38387414] [ 0.06264826 0.99797494 0.0110096 -0.19938959] [ 0.03909643 -0.01347679 0.99914456 -0.08233934] [ 0. 0. 0. 1. ]] SLAMing on 40.91327356 meters Centerline goodness [0,1] 0.6899756484439579 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99727075 -0.06211773 -0.03990528 0.38408693] [ 0.06260113 0.99797823 0.01097927 -0.1989063 ] [ 0.0391426 -0.01344742 0.99914314 -0.08248569] [ 0. 0. 0. 1. ]] SLAMing on 40.94327356 meters Centerline goodness [0,1] 0.6850113160194501 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99726679 -0.06216077 -0.03993728 0.38423866] [ 0.06263855 0.99797758 0.01082423 -0.1984173 ] [ 0.03918367 -0.01329625 0.99914356 -0.0825484 ] [ 0. 0. 0. 1. ]] SLAMing on 40.973273559999996 meters Centerline goodness [0,1] 0.6838080758395564 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99726488 -0.06218359 -0.0399494 0.38456478] [ 0.06265596 0.99797802 0.01068174 -0.19815994] [ 0.03920439 -0.01315559 0.99914461 -0.08281248] [ 0. 0. 0. 1. ]] SLAMing on 41.00327356 meters Centerline goodness [0,1] 0.686741893125014 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.08 [[ 0.99726632 -0.06210295 -0.04003886 0.3850377 ] [ 0.06257551 0.99798332 0.01065818 -0.19810169] [ 0.03929621 -0.01313449 0.99914128 -0.08302173] [ 0. 0. 0. 1. ]] SLAMing on 41.03327356 meters Centerline goodness [0,1] 0.6789709172259508 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.9972595 -0.06224535 -0.03998769 0.38486898] [ 0.06270924 0.99797711 0.01045181 -0.1974677 ] [ 0.03925622 -0.01293076 0.99914551 -0.08296604] [ 0. 0. 0. 1. ]] SLAMing on 41.06327356 meters Centerline goodness [0,1] 0.6921649714988265 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.08 [[ 0.99725454 -0.06232711 -0.0399839 0.38494728] [ 0.06277703 0.99797651 0.0100962 -0.19616876] [ 0.03927372 -0.01257855 0.99914932 -0.08298675] [ 0. 0. 0. 1. ]] SLAMing on 41.09327356 meters Centerline goodness [0,1] 0.6937223854486734 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.20, Z:-0.08 [[ 0.99725269 -0.06236395 -0.0399725 0.38508486] [ 0.06280578 0.99797673 0.0098935 -0.19535331] [ 0.03927462 -0.01237683 0.9991518 -0.08312806] [ 0. 0. 0. 1. ]] SLAMing on 41.12327356 meters Centerline goodness [0,1] 0.6900631975258841 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99724918 -0.06245996 -0.03991012 0.38501738] [ 0.06288848 0.99797466 0.00957217 -0.19442903] [ 0.03923141 -0.01205573 0.99915742 -0.08310604] [ 0. 0. 0. 1. ]] SLAMing on 41.153273559999995 meters Centerline goodness [0,1] 0.6946183009175135 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.9972507 -0.06240633 -0.03995613 0.38509503] [ 0.06281589 0.99798385 0.00907721 -0.19253823] [ 0.0393091 -0.01156213 0.9991602 -0.08292331] [ 0. 0. 0. 1. ]] SLAMing on 41.183273559999996 meters Centerline goodness [0,1] 0.6962250151763834 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.9972487 -0.06237581 -0.04005349 0.38516149] [ 0.06277558 0.99798886 0.00880078 -0.19155746] [ 0.03942398 -0.01129095 0.99915878 -0.08265459] [ 0. 0. 0. 1. ]] SLAMing on 41.21327356 meters Centerline goodness [0,1] 0.6980116643022811 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99724252 -0.06246324 -0.04007129 0.38501004] [ 0.06284927 0.99798729 0.00844597 -0.19052341] [ 0.03946307 -0.01094113 0.99916113 -0.0823384 ] [ 0. 0. 0. 1. ]] SLAMing on 41.24327356 meters Centerline goodness [0,1] 0.7062779257119647 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.08 [[ 0.9972437 -0.06242958 -0.04009436 0.3849162 ] [ 0.0627908 0.99799613 0.00781266 -0.18816092] [ 0.03952627 -0.01030868 0.99916535 -0.08194712] [ 0. 0. 0. 1. ]] SLAMing on 41.27327356 meters Centerline goodness [0,1] 0.7050166165532521 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99724783 -0.06234084 -0.0401295 0.3850601 ] [ 0.06269956 0.99800242 0.0077422 -0.18748219] [ 0.03956668 -0.01023699 0.99916449 -0.08200023] [ 0. 0. 0. 1. ]] SLAMing on 41.30327356 meters Centerline goodness [0,1] 0.6954211418880724 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99724899 -0.06232061 -0.04013212 0.38518317] [ 0.06267389 0.99800509 0.00760478 -0.1868267 ] [ 0.03957812 -0.0100991 0.99916544 -0.08210187] [ 0. 0. 0. 1. ]] SLAMing on 41.333273559999995 meters Centerline goodness [0,1] 0.7032894736842106 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99724646 -0.06236428 -0.04012735 0.38535962] [ 0.06271602 0.99800273 0.00756612 -0.18659243] [ 0.03957535 -0.01006192 0.99916593 -0.08234753] [ 0. 0. 0. 1. ]] SLAMing on 41.363273559999996 meters Centerline goodness [0,1] 0.6978255945639864 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99722901 -0.06274477 -0.03996752 0.38525604] [ 0.06308647 0.99798103 0.00734529 -0.18645065] [ 0.03942595 -0.00984634 0.99917398 -0.08267798] [ 0. 0. 0. 1. ]] SLAMing on 41.39327356 meters Centerline goodness [0,1] 0.7041123824628979 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99722152 -0.06294242 -0.03984336 0.3851281 ] [ 0.06327867 0.99796968 0.00723392 -0.18643247] [ 0.03930715 -0.00973505 0.99917975 -0.08284994] [ 0. 0. 0. 1. ]] SLAMing on 41.42327356 meters Centerline goodness [0,1] 0.700530035335689 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.08 [[ 0.99722032 -0.06299137 -0.03979601 0.38531442] [ 0.06332646 0.99796678 0.00721511 -0.1860633 ] [ 0.0392606 -0.0097152 0.99918178 -0.08322559] [ 0. 0. 0. 1. ]] SLAMing on 41.45327356 meters Centerline goodness [0,1] 0.6977904813756182 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.08 [[ 0.99722487 -0.06289462 -0.03983487 0.38551783] [ 0.06321347 0.9979769 0.00679494 -0.18429012] [ 0.03932691 -0.00929418 0.99918317 -0.08319253] [ 0. 0. 0. 1. ]] SLAMing on 41.48327356 meters Centerline goodness [0,1] 0.6985117835979554 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.08 [[ 0.99721881 -0.06291606 -0.03995264 0.3857012 ] [ 0.06321859 0.99797948 0.0063533 -0.18273908] [ 0.03947219 -0.00886138 0.99918138 -0.08298723] [ 0. 0. 0. 1. ]] SLAMing on 41.51327356 meters Centerline goodness [0,1] 0.6902819749608052 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.08 [[ 0.99721652 -0.06287514 -0.04007396 0.38582238] [ 0.06316086 0.9979859 0.00590268 -0.18108284] [ 0.03962212 -0.00841736 0.99917928 -0.08265336] [ 0. 0. 0. 1. ]] SLAMing on 41.543273559999996 meters Centerline goodness [0,1] 0.7003594503594504 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.08 [[ 0.9972268 -0.06266937 -0.04014058 0.38585703] [ 0.06294232 0.99800162 0.00557125 -0.17947487] [ 0.03971122 -0.00808235 0.99917851 -0.08234665] [ 0. 0. 0. 1. ]] SLAMing on 41.57327356 meters Centerline goodness [0,1] 0.7071861076202445 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.18, Z:-0.08 [[ 0.99743543 -0.05922882 -0.04018101 0.38493753] [ 0.05961581 0.99818519 0.00850128 -0.17763498] [ 0.03960457 -0.0108749 0.99915625 -0.08169845] [ 0. 0. 0. 1. ]] SLAMing on 41.60327356 meters Centerline goodness [0,1] 0.7162360271211288 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.08 [[ 0.99745117 -0.05885128 -0.04034462 0.38546974] [ 0.05922761 0.99821086 0.00819601 -0.17588818] [ 0.03979009 -0.01056464 0.99915221 -0.08166149] [ 0. 0. 0. 1. ]] SLAMing on 41.63327356 meters Centerline goodness [0,1] 0.7160627241791594 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99766156 -0.0551108 -0.04042538 0.38533186] [ 0.05562215 0.9983841 0.01163464 -0.17463871] [ 0.03971886 -0.01385598 0.99911482 -0.08196265] [ 0. 0. 0. 1. ]] SLAMing on 41.66327356 meters Centerline goodness [0,1] 0.7198087620098377 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99767009 -0.05478665 -0.0406548 0.38618423] [ 0.05529231 0.99840491 0.0114187 -0.17327407] [ 0.03996436 -0.01364 0.999108 -0.0822213 ] [ 0. 0. 0. 1. ]] SLAMing on 41.69327356 meters Centerline goodness [0,1] 0.7266534726377318 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99768316 -0.05445266 -0.0407827 0.38688585] [ 0.05495487 0.99842495 0.01129554 -0.17198578] [ 0.0401034 -0.01351057 0.99910419 -0.08257781] [ 0. 0. 0. 1. ]] SLAMing on 41.723273559999996 meters Centerline goodness [0,1] 0.7213452458105731 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99771308 -0.05386132 -0.0408359 0.38756555] [ 0.05435696 0.99845959 0.01112499 -0.16949378] [ 0.04017379 -0.01331927 0.99910393 -0.0830271 ] [ 0. 0. 0. 1. ]] SLAMing on 41.75327356 meters Centerline goodness [0,1] 0.7279049885625823 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99771093 -0.05393555 -0.04079035 0.38756748] [ 0.05441661 0.99846017 0.01077585 -0.16837331] [ 0.04014634 -0.01297085 0.99910962 -0.08302 ] [ 0. 0. 0. 1. ]] SLAMing on 41.78327356 meters Centerline goodness [0,1] 0.7326316278637484 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99770579 -0.05401692 -0.04080848 0.38759626] [ 0.05448685 0.99845937 0.01049165 -0.16733154] [ 0.04017888 -0.01269111 0.9991119 -0.08298804] [ 0. 0. 0. 1. ]] SLAMing on 41.81327356 meters Centerline goodness [0,1] 0.7260687732342008 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99770869 -0.05397965 -0.04078682 0.38766082] [ 0.05444698 0.99846214 0.01043437 -0.16689069] [ 0.04016085 -0.01263118 0.99911339 -0.08306695] [ 0. 0. 0. 1. ]] SLAMing on 41.84327356 meters Centerline goodness [0,1] 0.7077958366320496 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99769823 -0.05420736 -0.04074058 0.38743115] [ 0.05465576 0.99845545 0.00997343 -0.16581618] [ 0.04013702 -0.01217718 0.99911998 -0.08284743] [ 0. 0. 0. 1. ]] SLAMing on 41.87327356 meters Centerline goodness [0,1] 0.7163281013130582 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.08 [[ 0.99769597 -0.05428306 -0.0406951 0.38745859] [ 0.05472771 0.99845231 0.00989231 -0.16550271] [ 0.04009513 -0.01209667 0.99912264 -0.08297203] [ 0. 0. 0. 1. ]] SLAMing on 41.903273559999995 meters Centerline goodness [0,1] 0.7309288445397744 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99769578 -0.05431748 -0.04065392 0.38763756] [ 0.05475263 0.99845315 0.00966715 -0.1646835 ] [ 0.04006594 -0.01187078 0.99912652 -0.08323602] [ 0. 0. 0. 1. ]] SLAMing on 41.933273559999996 meters Centerline goodness [0,1] 0.7373067401560092 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99769949 -0.05424438 -0.04066051 0.38776126] [ 0.05467373 0.99845887 0.00952187 -0.16388874] [ 0.04008134 -0.01172303 0.99912765 -0.08328298] [ 0. 0. 0. 1. ]] SLAMing on 41.96327356 meters Centerline goodness [0,1] 0.7360573108694637 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99770651 -0.05408622 -0.04069882 0.38794861] [ 0.05450877 0.99846957 0.00934453 -0.16296466] [ 0.04013113 -0.01154154 0.99912776 -0.0832561 ] [ 0. 0. 0. 1. ]] SLAMing on 41.99327356 meters Centerline goodness [0,1] 0.7331012406831936 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99771572 -0.05381611 -0.04083103 0.38841989] [ 0.05423478 0.99848568 0.00921554 -0.16190366] [ 0.04027325 -0.01140895 0.99912357 -0.08333407] [ 0. 0. 0. 1. ]] SLAMing on 42.02327356 meters Centerline goodness [0,1] 0.7377789212705244 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99772572 -0.05346162 -0.04105176 0.3890332 ] [ 0.05387366 0.99850723 0.00899665 -0.16063188] [ 0.0405095 -0.01118779 0.99911652 -0.08325004] [ 0. 0. 0. 1. ]] SLAMing on 42.05327356 meters Centerline goodness [0,1] 0.7534477905994934 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.9979246 -0.04957925 -0.04109008 0.3885505 ] [ 0.05012973 0.99866479 0.01247593 -0.15985654] [ 0.04041667 -0.01450988 0.99907755 -0.08302595] [ 0. 0. 0. 1. ]] SLAMing on 42.083273559999995 meters Centerline goodness [0,1] 0.7541524325597833 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99794636 -0.04900971 -0.04124451 0.38918067] [ 0.04955648 0.99869509 0.01233992 -0.15845851] [ 0.04058591 -0.01435851 0.99907288 -0.08302668] [ 0. 0. 0. 1. ]] SLAMing on 42.113273559999996 meters Centerline goodness [0,1] 0.7616557118288689 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99796511 -0.04838972 -0.04152205 0.39008771] [ 0.04893352 0.99872776 0.01218107 -0.15693491] [ 0.04087978 -0.01418811 0.99906333 -0.0830487 ] [ 0. 0. 0. 1. ]] SLAMing on 42.14327356 meters Centerline goodness [0,1] 0.7758771411695216 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99817325 -0.04353385 -0.0418924 0.39128627] [ 0.044246 0.99888891 0.01622482 -0.15570882] [ 0.04113953 -0.01804875 0.99899038 -0.0838086 ] [ 0. 0. 0. 1. ]] SLAMing on 42.17327356 meters Centerline goodness [0,1] 0.7790358877176359 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.08 [[ 0.99820575 -0.04246912 -0.04220976 0.3928581 ] [ 0.0431929 0.99893237 0.01638551 -0.15418923] [ 0.04146882 -0.01817927 0.9989744 -0.08442832] [ 0. 0. 0. 1. ]] SLAMing on 42.20327356 meters Centerline goodness [0,1] 0.7886644486692015 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.09 [[ 0.99839318 -0.03751464 -0.04247001 0.39398715] [ 0.03841395 0.99905037 0.02056052 -0.15338378] [ 0.04165836 -0.02215892 0.99888616 -0.08529338] [ 0. 0. 0. 1. ]] SLAMing on 42.23327356 meters Centerline goodness [0,1] 0.7887071744061119 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.09 [[ 0.99841138 -0.03668951 -0.04276217 0.39520541] [ 0.03759696 0.99908036 0.02061321 -0.15219941] [ 0.04196656 -0.02218819 0.99887261 -0.08560574] [ 0. 0. 0. 1. ]] SLAMing on 42.263273559999995 meters Centerline goodness [0,1] 0.7924948512859811 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.09 [[ 0.9984255 -0.03605239 -0.04297372 0.39601382] [ 0.03696072 0.99910575 0.02053303 -0.15106145] [ 0.04219503 -0.02208904 0.99886518 -0.08564125] [ 0. 0. 0. 1. ]] SLAMing on 42.293273559999996 meters Centerline goodness [0,1] 0.7937824081817965 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.09 [[ 0.99846543 -0.03502136 -0.04289868 0.39634038] [ 0.03592097 0.99914676 0.02038218 -0.1494841 ] [ 0.04214826 -0.02189186 0.9988715 -0.08534661] [ 0. 0. 0. 1. ]] SLAMing on 42.32327356 meters Centerline goodness [0,1] 0.7936553574851447 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.09 [[ 0.99846865 -0.03467285 -0.04310635 0.39675576] [ 0.03557368 0.99916067 0.02030922 -0.14889051] [ 0.04236599 -0.02181157 0.99886404 -0.08510214] [ 0. 0. 0. 1. ]] SLAMing on 42.35327356 meters Centerline goodness [0,1] 0.7922842979956417 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99846834 -0.03463097 -0.04314714 0.39676649] [ 0.03551967 0.99916877 0.02000314 -0.14818564] [ 0.04241855 -0.02150507 0.99886846 -0.08476679] [ 0. 0. 0. 1. ]] SLAMing on 42.38327356 meters Centerline goodness [0,1] 0.7946778979611372 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99847326 -0.03426802 -0.04332262 0.39727877] [ 0.03516613 0.9991785 0.0201411 -0.14849257] [ 0.04259684 -0.02163384 0.99885809 -0.08474813] [ 0. 0. 0. 1. ]] SLAMing on 42.41327356 meters Centerline goodness [0,1] 0.7911286465805835 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99846785 -0.03438072 -0.04335799 0.39734032] [ 0.03527644 0.99917614 0.02006535 -0.14881454] [ 0.0426324 -0.02156412 0.99885808 -0.08467816] [ 0. 0. 0. 1. ]] SLAMing on 42.44327356 meters Centerline goodness [0,1] 0.7917253899624968 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99846216 -0.03446378 -0.04342314 0.39747416] [ 0.03536193 0.99917266 0.02008817 -0.14953888] [ 0.0426949 -0.0215928 0.99885479 -0.08461098] [ 0. 0. 0. 1. ]] SLAMing on 42.473273559999996 meters Centerline goodness [0,1] 0.7884936739078539 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99845338 -0.03460981 -0.04350862 0.39759896] [ 0.03551183 0.99916644 0.02013287 -0.15039544] [ 0.04277556 -0.0216468 0.99885017 -0.08455335] [ 0. 0. 0. 1. ]] SLAMing on 42.50327356 meters Centerline goodness [0,1] 0.789393615251135 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99831031 -0.0384027 -0.04360909 0.39828939] [ 0.03914716 0.99909973 0.01634721 -0.15046807] [ 0.04294205 -0.01802676 0.99891492 -0.08448362] [ 0. 0. 0. 1. ]] SLAMing on 42.53327356 meters Centerline goodness [0,1] 0.788874631689003 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99829245 -0.039029 -0.04346171 0.39742991] [ 0.03976254 0.99907875 0.01614285 -0.15163369] [ 0.04279163 -0.01784343 0.99892467 -0.08390539] [ 0. 0. 0. 1. ]] SLAMing on 42.56327356 meters Centerline goodness [0,1] 0.7915440827560026 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99813511 -0.04261862 -0.04370296 0.39836569] [ 0.0431896 0.99899234 0.01220484 -0.15107381] [ 0.04313877 -0.01406959 0.99897002 -0.08358346] [ 0. 0. 0. 1. ]] SLAMing on 42.59327356 meters Centerline goodness [0,1] 0.785019822541061 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99794431 -0.04701507 -0.04355165 0.39774699] [ 0.04741032 0.99884276 0.00808674 -0.15176107] [ 0.04312105 -0.01013492 0.99901845 -0.08257107] [ 0. 0. 0. 1. ]] SLAMing on 42.62327356 meters Centerline goodness [0,1] 0.7856705161442376 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99792026 -0.04770061 -0.04335669 0.39690044] [ 0.04809179 0.99881069 0.00802399 -0.15314235] [ 0.04292238 -0.01009241 0.99902743 -0.08224911] [ 0. 0. 0. 1. ]] SLAMing on 42.653273559999995 meters Centerline goodness [0,1] 0.7838364396037745 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99771515 -0.05187468 -0.0432838 0.39694754] [ 0.05210983 0.99863201 0.00432145 -0.15423436] [ 0.04300042 -0.00656709 0.99905347 -0.08195018] [ 0. 0. 0. 1. ]] SLAMing on 42.683273559999996 meters Centerline goodness [0,1] 0.7707345556463856 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.9976943 -0.05238759 -0.04314652 0.39651145] [ 0.05262529 0.99860468 0.00439106 -0.15559253] [ 0.04285628 -0.00665153 0.99905911 -0.08194387] [ 0. 0. 0. 1. ]] SLAMing on 42.71327356 meters Centerline goodness [0,1] 0.7707345556463856 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.9976943 -0.05238759 -0.04314652 0.39651145] [ 0.05262529 0.99860468 0.00439106 -0.15559253] [ 0.04285628 -0.00665153 0.99905911 -0.08194387] [ 0. 0. 0. 1. ]] SLAMing on 42.74327356 meters Centerline goodness [0,1] 0.7720632846408737 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.99767803 -0.05281376 -0.04300305 0.39615878] [ 0.05305523 0.99858147 0.00449273 -0.15692456] [ 0.04270477 -0.00676383 0.99906484 -0.082011 ] [ 0. 0. 0. 1. ]] SLAMing on 42.77327356 meters Centerline goodness [0,1] 0.7592553810354857 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.9976253 -0.05380166 -0.04300168 0.39584277] [ 0.05404133 0.99852887 0.00442991 -0.15901799] [ 0.04270008 -0.00674326 0.99906518 -0.08202113] [ 0. 0. 0. 1. ]] SLAMing on 42.80327356 meters Centerline goodness [0,1] 0.7571857472013406 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.99761489 -0.05408612 -0.04288608 0.39563703] [ 0.05433129 0.9985125 0.00457115 -0.16007202] [ 0.04257505 -0.0068903 0.99906951 -0.08217916] [ 0. 0. 0. 1. ]] SLAMing on 42.833273559999995 meters Centerline goodness [0,1] 0.7373155142359094 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.16, Z:-0.08 [[ 0.99759948 -0.05445862 -0.04277307 0.3953247 ] [ 0.05470575 0.9984918 0.0046277 -0.16100309] [ 0.04245654 -0.00695653 0.9990741 -0.08221759] [ 0. 0. 0. 1. ]] SLAMing on 42.863273559999996 meters Centerline goodness [0,1] 0.7466131576505521 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99758924 -0.0547378 -0.04265536 0.39492112] [ 0.05498779 0.99847592 0.00470858 -0.16185013] [ 0.04233261 -0.00704275 0.99907875 -0.08213736] [ 0. 0. 0. 1. ]] SLAMing on 42.89327356 meters Centerline goodness [0,1] 0.7455118256156038 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99755756 -0.05550004 -0.04241061 0.39389859] [ 0.055741 0.99843503 0.00451944 -0.16286521] [ 0.04209341 -0.00687241 0.99909004 -0.08167754] [ 0. 0. 0. 1. ]] SLAMing on 42.92327356 meters Centerline goodness [0,1] 0.7379232087443842 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99755083 -0.05569598 -0.04231183 0.3936984 ] [ 0.05593729 0.99842396 0.00453972 -0.16337606] [ 0.0419923 -0.00689542 0.99909414 -0.08169841] [ 0. 0. 0. 1. ]] SLAMing on 42.95327356 meters Centerline goodness [0,1] 0.7303047861861166 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99754562 -0.05588771 -0.04218168 0.39348932] [ 0.05612863 0.99841319 0.0045479 -0.16386329] [ 0.04186058 -0.00690434 0.99909961 -0.08178245] [ 0. 0. 0. 1. ]] SLAMing on 42.98327356 meters Centerline goodness [0,1] 0.7270245256825544 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753824 -0.0560641 -0.0421221 0.39380233] [ 0.05631262 0.99840195 0.00473601 -0.16470776] [ 0.04178926 -0.00709636 0.99910125 -0.0824309 ] [ 0. 0. 0. 1. ]] SLAMing on 43.013273559999995 meters Centerline goodness [0,1] 0.7366717529014657 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753569 -0.05608843 -0.04215023 0.39404288] [ 0.05633752 0.99840051 0.00474418 -0.16476141] [ 0.04181672 -0.00710713 0.99910002 -0.08264472] [ 0. 0. 0. 1. ]] SLAMing on 43.043273559999996 meters Centerline goodness [0,1] 0.7287431541817506 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753061 -0.05617261 -0.04215825 0.39403746] [ 0.05641721 0.99839653 0.00463387 -0.16442864] [ 0.04183035 -0.00700087 0.9991002 -0.08260356] [ 0. 0. 0. 1. ]] SLAMing on 43.07327356 meters Centerline goodness [0,1] 0.7396188751943922 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.9975304 -0.0561595 -0.04218072 0.39420168] [ 0.05639739 0.99839839 0.00447022 -0.16346891] [ 0.04186212 -0.00683807 0.9991 -0.08271608] [ 0. 0. 0. 1. ]] SLAMing on 43.10327356 meters Centerline goodness [0,1] 0.7336140480762556 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753475 -0.05612344 -0.0421258 0.39418554] [ 0.05635997 0.99840061 0.00444732 -0.16322316] [ 0.04180883 -0.00681057 0.99910242 -0.08275397] [ 0. 0. 0. 1. ]] SLAMing on 43.13327356 meters Centerline goodness [0,1] 0.7342976071436876 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753946 -0.05616159 -0.04196313 0.39367995] [ 0.05638626 0.99840024 0.00418886 -0.16246304] [ 0.04166075 -0.0065447 0.99911038 -0.0824076 ] [ 0. 0. 0. 1. ]] SLAMing on 43.16327356 meters Centerline goodness [0,1] 0.7276365074564363 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.9975395 -0.0561626 -0.0419609 0.39361421] [ 0.0563811 0.99840114 0.00404103 -0.16189998] [ 0.04166686 -0.00639689 0.99911108 -0.08227981] [ 0. 0. 0. 1. ]] SLAMing on 43.19327356 meters Centerline goodness [0,1] 0.7316692667706708 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99753655 -0.05621961 -0.04195447 0.39349915] [ 0.05642869 0.99839934 0.00381509 -0.16118327] [ 0.04167283 -0.00617313 0.99911224 -0.08206378] [ 0. 0. 0. 1. ]] SLAMing on 43.223273559999996 meters Centerline goodness [0,1] 0.7251579217267663 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99754432 -0.05608395 -0.04195142 0.39362116] [ 0.05629248 0.99840707 0.00380514 -0.16057628] [ 0.04167119 -0.00615735 0.99911241 -0.0821469 ] [ 0. 0. 0. 1. ]] SLAMing on 43.25327356 meters Centerline goodness [0,1] 0.744636095919226 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99755237 -0.05589621 -0.04201053 0.39388449] [ 0.05609464 0.99841911 0.00355848 -0.15903118] [ 0.04174521 -0.00590633 0.99911083 -0.08216464] [ 0. 0. 0. 1. ]] SLAMing on 43.28327356 meters Centerline goodness [0,1] 0.7379516664329453 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99755567 -0.05583006 -0.0420201 0.3940958 ] [ 0.05602638 0.99842313 0.00350816 -0.15841898] [ 0.04175798 -0.00585382 0.99911061 -0.08235969] [ 0. 0. 0. 1. ]] SLAMing on 43.31327356 meters Centerline goodness [0,1] 0.7395641103506272 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99755709 -0.05577359 -0.04206127 0.39428179] [ 0.05596264 0.99842731 0.00332989 -0.15764606] [ 0.0418094 -0.00567562 0.99910948 -0.08238737] [ 0. 0. 0. 1. ]] SLAMing on 43.34327356 meters Centerline goodness [0,1] 0.7411525138095684 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99757005 -0.05552884 -0.04207791 0.39446812] [ 0.05570574 0.99844259 0.00304242 -0.15622511] [ 0.04184344 -0.00537901 0.9991097 -0.08229955] [ 0. 0. 0. 1. ]] SLAMing on 43.37327356 meters Centerline goodness [0,1] 0.7432195668932651 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:-0.08 [[ 0.99757344 -0.05544063 -0.04211366 0.39470977] [ 0.0556092 0.99844857 0.00284097 -0.15506306] [ 0.04189082 -0.00517598 0.99910879 -0.08242568] [ 0. 0. 0. 1. ]] SLAMing on 43.403273559999995 meters Centerline goodness [0,1] 0.7494609038064879 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:-0.08 [[ 0.99757338 -0.05543218 -0.04212626 0.3947544 ] [ 0.05558782 0.99845059 0.00253146 -0.15376788] [ 0.04192067 -0.00486702 0.99910909 -0.08235602] [ 0. 0. 0. 1. ]] SLAMing on 43.433273559999996 meters Centerline goodness [0,1] 0.7370043534533475 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99759634 -0.05490459 -0.04227316 0.39551283] [ 0.0550526 0.9984807 0.00234444 -0.15189994] [ 0.04208021 -0.00466605 0.99910334 -0.08260372] [ 0. 0. 0. 1. ]] SLAMing on 43.46327356 meters Centerline goodness [0,1] 0.7549381989405533 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99760288 -0.05468736 -0.04240029 0.39617631] [ 0.05483479 0.99849274 0.00232103 -0.15095121] [ 0.04220945 -0.00464048 0.99909801 -0.08300301] [ 0. 0. 0. 1. ]] SLAMing on 43.49327356 meters Centerline goodness [0,1] 0.7567840850303345 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99761247 -0.05437763 -0.04257263 0.39691255] [ 0.0545262 0.99850961 0.00233558 -0.15029427] [ 0.04238218 -0.00465133 0.99909064 -0.08332642] [ 0. 0. 0. 1. ]] SLAMing on 43.52327356 meters Centerline goodness [0,1] 0.763302015957698 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99764221 -0.05381458 -0.04259127 0.39768056] [ 0.05395909 0.99854061 0.0022497 -0.14851232] [ 0.04240804 -0.00454258 0.99909005 -0.08390966] [ 0. 0. 0. 1. ]] SLAMing on 43.55327356 meters Centerline goodness [0,1] 0.7658495151357856 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99764467 -0.05373403 -0.04263523 0.39784218] [ 0.05387304 0.99854555 0.00211721 -0.14757794] [ 0.04245945 -0.00440911 0.99908846 -0.08394481] [ 0. 0. 0. 1. ]] SLAMing on 43.583273559999995 meters Centerline goodness [0,1] 0.765076955913392 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99765334 -0.05357898 -0.04262746 0.39776419] [ 0.05370862 0.99855484 0.00190085 -0.14631887] [ 0.04246402 -0.00418585 0.99908923 -0.08373491] [ 0. 0. 0. 1. ]] SLAMing on 43.613273559999996 meters Centerline goodness [0,1] 0.7652637818612922 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99764904 -0.05363853 -0.04265338 0.39772918] [ 0.05375967 0.99855246 0.00169741 -0.14566292] [ 0.04250059 -0.00398645 0.99908849 -0.08356248] [ 0. 0. 0. 1. ]] SLAMing on 43.64327356 meters Centerline goodness [0,1] 0.7638799800441879 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99764434 -0.05368176 -0.0427088 0.3977348 ] [ 0.05379618 0.99855076 0.00153352 -0.14520007] [ 0.04256458 -0.00382747 0.99908639 -0.08336341] [ 0. 0. 0. 1. ]] SLAMing on 43.67327356 meters Centerline goodness [0,1] 0.7638490190031079 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99764488 -0.05363219 -0.04275851 0.39802555] [ 0.05374661 0.99855343 0.00153021 -0.14499482] [ 0.04261459 -0.00382473 0.99908426 -0.08353776] [ 0. 0. 0. 1. ]] SLAMing on 43.70327356 meters Centerline goodness [0,1] 0.7632503799392097 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99764479 -0.05357577 -0.04283109 0.39836757] [ 0.05369063 0.99855644 0.00153492 -0.14495491] [ 0.04268703 -0.00383093 0.99908115 -0.08369565] [ 0. 0. 0. 1. ]] SLAMing on 43.73327356 meters Centerline goodness [0,1] 0.7667101363366924 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99764982 -0.05348066 -0.04283298 0.39866514] [ 0.05359973 0.99856116 0.00163546 -0.14481551] [ 0.04268389 -0.00392745 0.99908091 -0.08403833] [ 0. 0. 0. 1. ]] SLAMing on 43.763273559999995 meters Centerline goodness [0,1] 0.7593924290969503 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.997648 -0.05347518 -0.042882 0.39897656] [ 0.05359722 0.99856119 0.00170048 -0.1447468 ] [ 0.04272937 -0.00399483 0.9990787 -0.08430028] [ 0. 0. 0. 1. ]] SLAMing on 43.793273559999996 meters Centerline goodness [0,1] 0.7709734934030666 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99764108 -0.0535179 -0.04298969 0.39920053] [ 0.05364219 0.9985587 0.00174204 -0.14495927] [ 0.0428345 -0.00404399 0.999074 -0.08435856] [ 0. 0. 0. 1. ]] SLAMing on 43.82327356 meters Centerline goodness [0,1] 0.7678063353566009 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99764057 -0.05351392 -0.04300632 0.3994215 ] [ 0.05364375 0.99855839 0.00186965 -0.14526826] [ 0.04284427 -0.00417226 0.99907305 -0.08459907] [ 0. 0. 0. 1. ]] SLAMing on 43.85327356 meters Centerline goodness [0,1] 0.7630997886939386 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.08 [[ 0.99763837 -0.05362409 -0.0429201 0.39924625] [ 0.05375251 0.99855259 0.00184275 -0.14541146] [ 0.04275916 -0.00414546 0.99907681 -0.08460306] [ 0. 0. 0. 1. ]] SLAMing on 43.88327356 meters Centerline goodness [0,1] 0.7606859970029257 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99763935 -0.05362181 -0.04290011 0.39906639] [ 0.05374457 0.99855325 0.00171251 -0.14494622] [ 0.04274622 -0.00401412 0.9990779 -0.08432241] [ 0. 0. 0. 1. ]] SLAMing on 43.91327356 meters Centerline goodness [0,1] 0.7696659931059076 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99763998 -0.05357985 -0.04293799 0.39916448] [ 0.05370026 0.99855573 0.00165495 -0.14467116] [ 0.0427873 -0.00395682 0.99907637 -0.08428318] [ 0. 0. 0. 1. ]] SLAMing on 43.94327356 meters Centerline goodness [0,1] 0.7718474238542556 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99764302 -0.05339963 -0.04309165 0.3995797 ] [ 0.05352557 0.9985649 0.00177343 -0.14457343] [ 0.04293511 -0.00407575 0.99906955 -0.0844002 ] [ 0. 0. 0. 1. ]] SLAMing on 43.973273559999996 meters Centerline goodness [0,1] 0.7700769815624406 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99765837 -0.05300482 -0.04322348 0.40019631] [ 0.05313299 0.99858578 0.00182124 -0.14392764] [ 0.04306582 -0.00411357 0.99906377 -0.08465129] [ 0. 0. 0. 1. ]] SLAMing on 44.00327356 meters Centerline goodness [0,1] 0.7738747320790664 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99766268 -0.05282815 -0.04334018 0.4005618 ] [ 0.05295359 0.99859544 0.00175071 -0.14345784] [ 0.04318682 -0.00404164 0.99905884 -0.0846627 ] [ 0. 0. 0. 1. ]] SLAMing on 44.03327356 meters Centerline goodness [0,1] 0.7754128090102128 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99767034 -0.05255336 -0.04349755 0.40118729] [ 0.05268062 0.99860982 0.00178359 -0.14296851] [ 0.04334335 -0.00407091 0.99905194 -0.0848974 ] [ 0. 0. 0. 1. ]] SLAMing on 44.06327356 meters Centerline goodness [0,1] 0.7821166224008805 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.08 [[ 0.99769685 -0.05180158 -0.0437904 0.40216272] [ 0.05193161 0.99864896 0.00183618 -0.14190906] [ 0.04363612 -0.00410606 0.99903905 -0.08496672] [ 0. 0. 0. 1. ]] SLAMing on 44.09327356 meters Centerline goodness [0,1] 0.78257961250866 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.09 [[ 0.99770725 -0.05142686 -0.04399466 0.40288578] [ 0.05156021 0.99866808 0.00190088 -0.14145389] [ 0.0438383 -0.00416489 0.99902996 -0.08514057] [ 0. 0. 0. 1. ]] SLAMing on 44.12327356 meters Centerline goodness [0,1] 0.7811453449430676 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:-0.09 [[ 0.99772168 -0.05099682 -0.04416749 0.40353315] [ 0.05113423 0.99868981 0.00198624 -0.14098359] [ 0.04400833 -0.00424019 0.99902217 -0.08527612] [ 0. 0. 0. 1. ]] SLAMing on 44.153273559999995 meters Centerline goodness [0,1] 0.7895101222307105 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99776837 -0.04976787 -0.04451335 0.40514298] [ 0.04992408 0.99875012 0.00240389 -0.14046071] [ 0.04433808 -0.00462081 0.9990059 -0.08580953] [ 0. 0. 0. 1. ]] SLAMing on 44.183273559999996 meters Centerline goodness [0,1] 0.7955922865013774 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99777796 -0.04929032 -0.04482871 0.40600403] [ 0.04944872 0.99877371 0.00243057 -0.14000329] [ 0.04465394 -0.00464189 0.99899173 -0.08577096] [ 0. 0. 0. 1. ]] SLAMing on 44.21327356 meters Centerline goodness [0,1] 0.7931978014065237 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99778877 -0.04876734 -0.04515881 0.40696107] [ 0.04892851 0.99879923 0.00246984 -0.13934758] [ 0.04498414 -0.00467394 0.99897677 -0.08585646] [ 0. 0. 0. 1. ]] SLAMing on 44.24327356 meters Centerline goodness [0,1] 0.7948169339135034 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99798315 -0.04450085 -0.04526933 0.40654422] [ 0.04483496 0.99897396 0.00639161 -0.13980129] [ 0.04493845 -0.00840836 0.99895437 -0.08543354] [ 0. 0. 0. 1. ]] SLAMing on 44.27327356 meters Centerline goodness [0,1] 0.7986720360515844 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99800069 -0.04376718 -0.0455966 0.40741396] [ 0.04410452 0.9990063 0.00641831 -0.13911238] [ 0.04527038 -0.0084165 0.99893932 -0.08522513] [ 0. 0. 0. 1. ]] SLAMing on 44.30327356 meters Centerline goodness [0,1] 0.7942961749686868 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99802116 -0.04285778 -0.04601064 0.4086455 ] [ 0.04320403 0.99904475 0.00655702 -0.1384093 ] [ 0.04568566 -0.00853189 0.99891943 -0.08522131] [ 0. 0. 0. 1. ]] SLAMing on 44.333273559999995 meters Centerline goodness [0,1] 0.7995579367176802 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99821212 -0.0377722 -0.04632301 0.40946424] [ 0.03832057 0.99920487 0.01100737 -0.13922765] [ 0.04587041 -0.01276281 0.99886587 -0.08547021] [ 0. 0. 0. 1. ]] SLAMing on 44.363273559999996 meters Centerline goodness [0,1] 0.7994422942859203 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99823136 -0.03667189 -0.04679029 0.41101159] [ 0.03723644 0.99924314 0.01125105 -0.13864227] [ 0.04634228 -0.01297346 0.99884137 -0.0856595 ] [ 0. 0. 0. 1. ]] SLAMing on 44.39327356 meters Centerline goodness [0,1] 0.7989307130987645 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99825661 -0.0353713 -0.04725043 0.41283102] [ 0.0359581 0.99928566 0.01162685 -0.13803487] [ 0.04680542 -0.01330562 0.9988154 -0.08609246] [ 0. 0. 0. 1. ]] SLAMing on 44.42327356 meters Centerline goodness [0,1] 0.8050698670001684 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99841304 -0.03000683 -0.04765498 0.41401647] [ 0.03080888 0.99939423 0.01618575 -0.13877023] [ 0.04714043 -0.01762826 0.99873271 -0.08634937] [ 0. 0. 0. 1. ]] SLAMing on 44.45327356 meters Centerline goodness [0,1] 0.8054434515230133 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.998426 -0.02888134 -0.04807683 0.41547173] [ 0.02970133 0.99942378 0.0164296 -0.1381508 ] [ 0.04757462 -0.01783169 0.99870851 -0.08645536] [ 0. 0. 0. 1. ]] SLAMing on 44.48327356 meters Centerline goodness [0,1] 0.8072831423895254 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99843966 -0.02771375 -0.04847874 0.41696932] [ 0.02855968 0.99945015 0.01684457 -0.13811439] [ 0.04798526 -0.01820282 0.99868217 -0.08669055] [ 0. 0. 0. 1. ]] SLAMing on 44.513273559999995 meters Centerline goodness [0,1] 0.8054041071214123 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99844707 -0.02667332 -0.04890788 0.41841792] [ 0.02754398 0.99947234 0.01721536 -0.13806179] [ 0.04842288 -0.01853575 0.99865492 -0.08690262] [ 0. 0. 0. 1. ]] SLAMing on 44.543273559999996 meters Centerline goodness [0,1] 0.8098187492497899 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99855922 -0.02150637 -0.04916261 0.41927376] [ 0.02261564 0.9994995 0.02211959 -0.14071574] [ 0.04866229 -0.02319956 0.99854582 -0.08726247] [ 0. 0. 0. 1. ]] SLAMing on 44.57327356 meters Centerline goodness [0,1] 0.8114793467819404 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99856673 -0.02051593 -0.04943267 0.42031782] [ 0.02164742 0.99951326 0.02246396 -0.14077629] [ 0.04894774 -0.02350185 0.9985248 -0.08737054] [ 0. 0. 0. 1. ]] SLAMing on 44.60327356 meters Centerline goodness [0,1] 0.8109606798214029 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99856563 -0.01979456 -0.04974802 0.42115758] [ 0.02094216 0.999524 0.02265387 -0.14085183] [ 0.04927592 -0.0236632 0.99850485 -0.08720166] [ 0. 0. 0. 1. ]] SLAMing on 44.63327356 meters Centerline goodness [0,1] 0.8109606798214029 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99856563 -0.01979456 -0.04974802 0.42115758] [ 0.02094216 0.999524 0.02265387 -0.14085183] [ 0.04927592 -0.0236632 0.99850485 -0.08720166] [ 0. 0. 0. 1. ]] SLAMing on 44.66327356 meters Centerline goodness [0,1] 0.8125656951743908 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:-0.09 [[ 0.99863977 -0.01492543 -0.04995842 0.42146072] [ 0.01631201 0.99948972 0.02746301 -0.14438221] [ 0.04952303 -0.02824058 0.99837365 -0.08698681] [ 0. 0. 0. 1. ]] SLAMing on 44.69327356 meters Centerline goodness [0,1] 0.818450395501763 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:-0.09 [[ 0.99863648 -0.01439549 -0.05017909 0.4220302 ] [ 0.01580137 0.99949044 0.02773393 -0.14520285] [ 0.04975428 -0.02848902 0.99835509 -0.08683965] [ 0. 0. 0. 1. ]] SLAMing on 44.723273559999996 meters Centerline goodness [0,1] 0.7819140581173567 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.08 [[ 0.99861883 -0.01372683 -0.050715 0.45860937] [ 0.01463538 0.99973822 0.017587 -0.14168292] [ 0.05046031 -0.01830494 0.9985583 -0.08073389] [ 0. 0. 0. 1. ]] SLAMing on 44.75327356 meters Centerline goodness [0,1] 0.8197200358203327 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.08 [[ 0.99892358 -0.00874244 -0.04555488 0.4098865 ] [ 0.00918837 0.99991181 0.00958879 -0.14858737] [ 0.04546704 -0.00999704 0.99891582 -0.08471911] [ 0. 0. 0. 1. ]] SLAMing on 44.78327356 meters Centerline goodness [0,1] 0.8193051281448942 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.08 [[ 0.99892131 -0.00838413 -0.0456718 0.41021335] [ 0.00886005 0.99990844 0.01022791 -0.15086396] [ 0.04558187 -0.01062153 0.99890414 -0.0848021 ] [ 0. 0. 0. 1. ]] SLAMing on 44.81327356 meters Centerline goodness [0,1] 0.8200479437708008 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.08 [[ 0.99888018 -0.01111296 -0.04598781 0.4113718 ] [ 0.01148024 0.99990422 0.00773004 -0.15432523] [ 0.0458975 -0.00824933 0.99891209 -0.08488648] [ 0. 0. 0. 1. ]] SLAMing on 44.84327356 meters Centerline goodness [0,1] 0.822729694050073 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.09 [[ 0.99882537 -0.01420027 -0.04632754 0.41273214] [ 0.01443038 0.99988513 0.00463633 -0.1556753 ] [ 0.04625638 -0.00529941 0.99891554 -0.08517869] [ 0. 0. 0. 1. ]] SLAMing on 44.87327356 meters Centerline goodness [0,1] 0.821334988277479 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.09 [[ 0.99875927 -0.01737576 -0.04666905 0.41403403] [ 0.01746561 0.99984631 0.00151831 -0.15722189] [ 0.04663549 -0.00233153 0.99890925 -0.08541863] [ 0. 0. 0. 1. ]] SLAMing on 44.903273559999995 meters Centerline goodness [0,1] 0.823534790161836 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.09 [[ 0.99875513 -0.0178184 -0.04659065 0.41333177] [ 0.01792923 0.99983733 0.00196209 -0.16087286] [ 0.04654811 -0.00279498 0.99891214 -0.08501519] [ 0. 0. 0. 1. ]] SLAMing on 44.933273559999996 meters Centerline goodness [0,1] 0.8260711774445981 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.09 [[ 9.98688100e-01 -2.12163062e-02 -4.66041630e-02 4.13489265e-01] [ 2.12356383e-02 9.99774495e-01 -8.03066177e-05 -1.66996536e-01] [ 4.65953573e-02 -9.09467884e-04 9.98913432e-01 -8.50360860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96327356 meters Centerline goodness [0,1] 0.8263118660913957 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.08 [[ 9.98679930e-01 -2.15757618e-02 -4.66142072e-02 4.13060269e-01] [ 2.16230590e-02 9.99766064e-01 5.10585026e-04 -1.70792899e-01] [ 4.65922862e-02 -1.51785277e-03 9.98912837e-01 -8.47353632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99327356 meters Centerline goodness [0,1] 0.8230741540676746 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.08 [[ 0.99867565 -0.02184625 -0.04657985 0.41265634] [ 0.02192298 0.99975902 0.00113712 -0.17452206] [ 0.04654378 -0.00215678 0.99891392 -0.08450494] [ 0. 0. 0. 1. ]] SLAMing on 45.02327356 meters Centerline goodness [0,1] 0.8228905410247223 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.08 [[ 0.99866848 -0.02209339 -0.0466171 0.41239849] [ 0.02220008 0.99975198 0.0017721 -0.17800528] [ 0.04656639 -0.00280464 0.99891126 -0.08432487] [ 0. 0. 0. 1. ]] SLAMing on 45.05327356 meters Centerline goodness [0,1] 0.8248072724031906 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.08 [[ 9.98589613e-01 -2.53097498e-02 -4.66711963e-02 4.12962564e-01] [ 2.53212723e-02 9.99679306e-01 -3.44399436e-04 -1.83252210e-01] [ 4.66649458e-02 -8.37860372e-04 9.98910247e-01 -8.45747519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.083273559999995 meters Centerline goodness [0,1] 0.8218704270320607 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.08 [[ 9.98590222e-01 -2.53860720e-02 -4.66166957e-02 4.12831187e-01] [ 2.54368470e-02 9.99676308e-01 4.96216006e-04 -1.86975756e-01] [ 4.65890093e-02 -1.68129821e-03 9.98912728e-01 -8.47262435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.113273559999996 meters Centerline goodness [0,1] 0.8205851251321818 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.09 [[ 9.98503492e-01 -2.83737578e-02 -4.67515277e-02 4.13787508e-01] [ 2.83398372e-02 9.99597382e-01 -1.38835369e-03 -1.92544761e-01] [ 4.67720975e-02 6.13453236e-05 9.98905585e-01 -8.52066148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14327356 meters Centerline goodness [0,1] 0.8215983005190425 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.20, Z:-0.09 [[ 9.98506351e-01 -2.82728517e-02 -4.67516092e-02 4.13859709e-01] [ 2.82828550e-02 9.99599860e-01 -4.47647275e-04 -1.96206708e-01] [ 4.67455582e-02 -8.75290338e-04 9.98906445e-01 -8.54496540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17327356 meters Centerline goodness [0,1] 0.8187652811735942 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.20, Z:-0.09 [[ 9.98511750e-01 -2.80587322e-02 -4.67652863e-02 4.14011202e-01] [ 2.81168607e-02 9.99604471e-01 5.85512562e-04 -1.99765027e-01] [ 4.67303605e-02 -1.89953421e-03 9.98905734e-01 -8.57720340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20327356 meters Centerline goodness [0,1] 0.8178602430555555 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.09 [[ 0.99851896 -0.0283832 -0.04641425 0.4133469 ] [ 0.02846643 0.99959411 0.00113299 -0.20576106] [ 0.04636325 -0.00245256 0.99892164 -0.08554508] [ 0. 0. 0. 1. ]] SLAMing on 45.23327356 meters Centerline goodness [0,1] 0.8140813367097375 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.09 [[ 0.99852874 -0.02811015 -0.04637007 0.41333208] [ 0.02823425 0.99959929 0.00202343 -0.208813 ] [ 0.04629461 -0.00332968 0.99892228 -0.08566396] [ 0. 0. 0. 1. ]] SLAMing on 45.263273559999995 meters Centerline goodness [0,1] 0.815339742897267 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.09 [[ 0.99853649 -0.02774493 -0.04642292 0.41347916] [ 0.02791168 0.99960605 0.00294759 -0.21202201] [ 0.04632285 -0.00423902 0.99891753 -0.08570033] [ 0. 0. 0. 1. ]] SLAMing on 45.293273559999996 meters Centerline goodness [0,1] 0.8162064671275819 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.22, Z:-0.09 [[ 0.99855274 -0.02726704 -0.04635651 0.41323745] [ 0.0274939 0.99961288 0.00426309 -0.21814266] [ 0.04622233 -0.00553144 0.99891586 -0.08538936] [ 0. 0. 0. 1. ]] SLAMing on 45.32327356 meters Centerline goodness [0,1] 0.8155997940621246 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.22, Z:-0.09 [[ 0.99856192 -0.02678225 -0.04644146 0.41356246] [ 0.02705107 0.99962069 0.00516943 -0.22106769] [ 0.0462854 -0.00641829 0.99890764 -0.08551195] [ 0. 0. 0. 1. ]] SLAMing on 45.35327356 meters Centerline goodness [0,1] 0.8155973546336854 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.22, Z:-0.09 [[ 0.99857138 -0.02624087 -0.04654701 0.41390937] [ 0.02655596 0.99962833 0.00616364 -0.22409573] [ 0.04636797 -0.00739094 0.99889708 -0.08561661] [ 0. 0. 0. 1. ]] SLAMing on 45.38327356 meters Centerline goodness [0,1] 0.8176303479505308 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.23, Z:-0.09 [[ 0.99859481 -0.02490204 -0.04677911 0.41504485] [ 0.02531024 0.99964639 0.00815397 -0.23036042] [ 0.04655952 -0.0093265 0.99887198 -0.0862353 ] [ 0. 0. 0. 1. ]] SLAMing on 45.41327356 meters Centerline goodness [0,1] 0.8142887609298358 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.23, Z:-0.09 [[ 0.99860565 -0.02423898 -0.04689584 0.41557446] [ 0.02469842 0.99965222 0.00924235 -0.23345812] [ 0.04665551 -0.01038772 0.99885703 -0.08655718] [ 0. 0. 0. 1. ]] SLAMing on 45.44327356 meters Centerline goodness [0,1] 0.8137365562772868 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.09 [[ 0.99861309 -0.02362994 -0.04704809 0.41608705] [ 0.02413407 0.99965694 0.01017589 -0.23644108] [ 0.04679149 -0.01129724 0.99884079 -0.08671028] [ 0. 0. 0. 1. ]] SLAMing on 45.473273559999996 meters Centerline goodness [0,1] 0.811763706989875 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.09 [[ 0.99862231 -0.02299889 -0.04716501 0.41655709] [ 0.02354748 0.999661 0.01110874 -0.23915632] [ 0.04689353 -0.01220405 0.99882534 -0.08689789] [ 0. 0. 0. 1. ]] SLAMing on 45.50327356 meters Centerline goodness [0,1] 0.8061921738392327 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.09 [[ 0.99865835 -0.02101626 -0.04732673 0.41735099] [ 0.02168308 0.99967211 0.01362064 -0.24531016] [ 0.04702495 -0.01462855 0.99878659 -0.08723739] [ 0. 0. 0. 1. ]] SLAMing on 45.53327356 meters Centerline goodness [0,1] 0.8088281860209833 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.09 [[ 0.99866507 -0.02019596 -0.04754149 0.4180827 ] [ 0.02091807 0.99967252 0.0147408 -0.24849927] [ 0.04722821 -0.0157156 0.99876049 -0.08744252] [ 0. 0. 0. 1. ]] SLAMing on 45.56327356 meters Centerline goodness [0,1] 0.8062861485202854 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.09 [[ 0.99867379 -0.01952878 -0.04763707 0.41835017] [ 0.02029945 0.99966991 0.01574798 -0.25180061] [ 0.0473138 -0.0166941 0.99874056 -0.08740096] [ 0. 0. 0. 1. ]] SLAMing on 45.59327356 meters Centerline goodness [0,1] 0.7988156951995617 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.09 [[ 0.99869494 -0.01813038 -0.0477462 0.41874147] [ 0.01899952 0.9996608 0.01781278 -0.25934511] [ 0.04740705 -0.01869669 0.99870066 -0.08727805] [ 0. 0. 0. 1. ]] SLAMing on 45.62327356 meters Centerline goodness [0,1] 0.798926202758185 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.09 [[ 0.99870009 -0.01761716 -0.04783059 0.41869048] [ 0.01853496 0.9996512 0.01881318 -0.26294155] [ 0.04748247 -0.01967527 0.99867828 -0.08689863] [ 0. 0. 0. 1. ]] SLAMing on 45.653273559999995 meters Centerline goodness [0,1] 0.7953949713758467 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.09 [[ 0.99865251 -0.01996771 -0.04790049 0.41962362] [ 0.02076721 0.99965225 0.01625152 -0.26490276] [ 0.04755933 -0.01722438 0.9987199 -0.08714038] [ 0. 0. 0. 1. ]] SLAMing on 45.683273559999996 meters Centerline goodness [0,1] 0.7850191498712877 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.27, Z:-0.09 [[ 0.99863087 -0.02112694 -0.04785433 0.41951247] [ 0.02190965 0.99963365 0.01589104 -0.2729485 ] [ 0.04750107 -0.01691776 0.99872791 -0.08648856] [ 0. 0. 0. 1. ]] SLAMing on 45.71327356 meters Centerline goodness [0,1] 0.7984407006396054 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.09 [[ 0.99856298 -0.02390632 -0.04796307 0.4202786 ] [ 0.02457494 0.99960819 0.01339931 -0.27601022] [ 0.04762395 -0.01455875 0.99875923 -0.0866142 ] [ 0. 0. 0. 1. ]] SLAMing on 45.74327356 meters Centerline goodness [0,1] 0.7955872809863724 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.09 [[ 0.99854449 -0.02539839 -0.04757974 0.41968159] [ 0.02601569 0.99958463 0.01239996 -0.28080602] [ 0.04724504 -0.01361973 0.99879047 -0.08626225] [ 0. 0. 0. 1. ]] SLAMing on 45.77327356 meters Centerline goodness [0,1] 0.795661169979309 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.28, Z:-0.09 [[ 0.99846401 -0.02810608 -0.04774584 0.42072038] [ 0.02862379 0.99953827 0.01019416 -0.28466372] [ 0.04743728 -0.01154517 0.9988075 -0.08655008] [ 0. 0. 0. 1. ]] SLAMing on 45.80327356 meters Centerline goodness [0,1] 0.7957152989277817 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.29, Z:-0.09 [[ 0.99837928 -0.03068769 -0.0479279 0.42191177] [ 0.03111152 0.99948292 0.00812208 -0.2885973 ] [ 0.04765387 -0.00960003 0.99881778 -0.08698816] [ 0. 0. 0. 1. ]] SLAMing on 45.833273559999995 meters Centerline goodness [0,1] 0.7979230401032237 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.30, Z:-0.09 [[ 0.99830192 -0.03307639 -0.04795021 0.42280347] [ 0.03346561 0.99941294 0.00733707 -0.29899864] [ 0.04767938 -0.00892929 0.99882278 -0.08739271] [ 0. 0. 0. 1. ]] SLAMing on 45.863273559999996 meters Centerline goodness [0,1] 0.7987955560170283 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.30, Z:-0.09 [[ 0.99819776 -0.0358546 -0.04812153 0.42395995] [ 0.03614857 0.99933262 0.00525248 -0.30325169] [ 0.04790109 -0.00698254 0.99882768 -0.08787228] [ 0. 0. 0. 1. ]] SLAMing on 45.89327356 meters Centerline goodness [0,1] 0.8166569791580172 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.31, Z:-0.09 [[ 0.9980911 -0.03851363 -0.04827884 0.42513162] [ 0.03872041 0.99924445 0.00335482 -0.30789164] [ 0.04811316 -0.0052178 0.99882826 -0.08836214] [ 0. 0. 0. 1. ]] SLAMing on 45.92327356 meters Centerline goodness [0,1] 0.815226583610074 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.32, Z:-0.09 [[ 0.9979858 -0.04122911 -0.04821314 0.42645522] [ 0.04140749 0.99913868 0.00270648 -0.3201387 ] [ 0.04806003 -0.00469741 0.9988334 -0.08936811] [ 0. 0. 0. 1. ]] SLAMing on 45.95327356 meters Centerline goodness [0,1] 0.8088308252025798 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.33, Z:-0.09 [[ 9.97860645e-01 -4.39505671e-02 -4.83991769e-02 4.27480021e-01] [ 4.40427598e-02 9.99029294e-01 8.39533449e-04 -3.25133139e-01] [ 4.83152976e-02 -2.96937071e-03 9.98827720e-01 -8.95977938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98327356 meters Centerline goodness [0,1] 0.815458259398341 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.34, Z:-0.09 [[ 9.97752691e-01 -4.64725852e-02 -4.82686971e-02 4.27784791e-01] [ 4.65641265e-02 9.98915004e-01 7.73168390e-04 -3.37229241e-01] [ 4.81803946e-02 -3.01902056e-03 9.98834088e-01 -8.98654671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.013273559999995 meters Centerline goodness [0,1] 0.8220352859306562 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.34, Z:-0.09 [[ 0.9976149 -0.04909035 -0.04852468 0.42937962] [ 0.04909915 0.9987934 -0.00101136 -0.34195303] [ 0.04851578 -0.00137357 0.99882147 -0.0905679 ] [ 0. 0. 0. 1. ]] SLAMing on 46.043273559999996 meters Centerline goodness [0,1] 0.8216321910054544 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.35, Z:-0.09 [[ 9.97461493e-01 -5.20198390e-02 -4.86261863e-02 4.30236565e-01] [ 5.19289883e-02 9.98645873e-01 -3.13064427e-03 -3.46402885e-01] [ 4.87231958e-02 5.97588446e-04 9.98812141e-01 -9.07392177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07327356 meters Centerline goodness [0,1] 0.8263182761241552 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.09 [[ 9.97313523e-01 -5.45243881e-02 -4.89165499e-02 4.31315455e-01] [ 5.44304805e-02 9.98512271e-01 -3.25076837e-03 -3.57579603e-01] [ 4.90210214e-02 5.79483941e-04 9.98797579e-01 -9.08390436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10327356 meters Centerline goodness [0,1] 0.8259542614397954 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.09 [[ 0.99713816 -0.05758305 -0.04898658 0.4320698 ] [ 0.05738061 0.99833706 -0.00552999 -0.36165008] [ 0.04922356 0.00270329 0.99878413 -0.09094523] [ 0. 0. 0. 1. ]] SLAMing on 46.13327356 meters Centerline goodness [0,1] 0.8188099412189337 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.09 [[ 0.99695809 -0.06053921 -0.04908744 0.43285461] [ 0.06023356 0.99815474 -0.00768353 -0.36591285] [ 0.04946201 0.00470345 0.99876493 -0.09098613] [ 0. 0. 0. 1. ]] SLAMing on 46.16327356 meters Centerline goodness [0,1] 0.8167162953075264 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.09 [[ 9.96945375e-01 -6.46440544e-02 -4.38299696e-02 4.41137578e-01] [ 6.47185606e-02 9.97903517e-01 2.81552627e-04 -3.76842223e-01] [ 4.37198801e-02 -3.11730513e-03 9.99038965e-01 -9.30402328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19327356 meters Centerline goodness [0,1] 0.8190480110303953 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.38, Z:-0.09 [[ 9.96919111e-01 -6.50982759e-02 -4.37549953e-02 4.40851352e-01] [ 6.51989433e-02 9.97871901e-01 8.76067524e-04 -3.82142333e-01] [ 4.36048498e-02 -3.72614791e-03 9.99041907e-01 -9.26362483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.223273559999996 meters Centerline goodness [0,1] 0.8154077244387745 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.09 [[ 0.99693561 -0.0648634 -0.04372791 0.44121993] [ 0.06503072 0.99788034 0.00241327 -0.3874905 ] [ 0.04347869 -0.00524954 0.99904056 -0.09299196] [ 0. 0. 0. 1. ]] SLAMing on 46.25327356 meters Centerline goodness [0,1] 0.8158663539480723 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.09 [[ 0.99694151 -0.06470497 -0.04382796 0.44169836] [ 0.06493195 0.99788256 0.00377387 -0.39234073] [ 0.04349097 -0.00660816 0.99903197 -0.0931918 ] [ 0. 0. 0. 1. ]] SLAMing on 46.28327356 meters Centerline goodness [0,1] 0.8118195636991085 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.40, Z:-0.09 [[ 0.99676381 -0.06730657 -0.04395147 0.443211 ] [ 0.06749083 0.99771619 0.00272041 -0.39954475] [ 0.04366799 -0.00567793 0.99902996 -0.09394652] [ 0. 0. 0. 1. ]] SLAMing on 46.31327356 meters Centerline goodness [0,1] 0.8139936654189461 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.40, Z:-0.09 [[ 0.9967838 -0.06702272 -0.04393185 0.44330139] [ 0.06726688 0.99772659 0.00410149 -0.4039987 ] [ 0.04355708 -0.00704346 0.99902611 -0.09396529] [ 0. 0. 0. 1. ]] SLAMing on 46.34327356 meters Centerline goodness [0,1] 0.8133154694424405 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.41, Z:-0.09 [[ 0.99678834 -0.06700406 -0.0438573 0.443102 ] [ 0.06729431 0.99771975 0.0051739 -0.40814729] [ 0.04341062 -0.00810863 0.99902441 -0.09375785] [ 0. 0. 0. 1. ]] SLAMing on 46.37327356 meters Centerline goodness [0,1] 0.8131181782810804 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.41, Z:-0.09 [[ 0.99659949 -0.06970971 -0.04393202 0.44437731] [ 0.0699348 0.99754505 0.00360597 -0.41391408] [ 0.0435728 -0.00666608 0.99902801 -0.09428473] [ 0. 0. 0. 1. ]] SLAMing on 46.403273559999995 meters Centerline goodness [0,1] 0.8138547762301163 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.42, Z:-0.09 [[ 0.99659677 -0.0697482 -0.04393262 0.44430589] [ 0.0700089 0.99753657 0.00442206 -0.41739674] [ 0.04351596 -0.00748268 0.99902471 -0.09404391] [ 0. 0. 0. 1. ]] SLAMing on 46.433273559999996 meters Centerline goodness [0,1] 0.8134393979673218 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.09 [[ 0.99659121 -0.06962064 -0.04425979 0.4452482 ] [ 0.0699264 0.99753756 0.00539611 -0.42086598] [ 0.04377512 -0.00847264 0.99900548 -0.09433154] [ 0. 0. 0. 1. ]] SLAMing on 46.46327356 meters Centerline goodness [0,1] 0.8144188708556478 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.09 [[ 0.99637401 -0.0727515 -0.04411403 0.44579774] [ 0.07296331 0.99732947 0.00320832 -0.42533485] [ 0.04376281 -0.00641539 0.99902135 -0.09452704] [ 0. 0. 0. 1. ]] SLAMing on 46.49327356 meters Centerline goodness [0,1] 0.8142666529816278 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.09 [[ 0.99638173 -0.07264623 -0.04411324 0.4458973 ] [ 0.07289917 0.99733068 0.0041502 -0.42840774] [ 0.04369399 -0.007351 0.99901792 -0.09455911] [ 0. 0. 0. 1. ]] SLAMing on 46.52327356 meters Centerline goodness [0,1] 0.8142666529816278 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.09 [[ 0.99638173 -0.07264623 -0.04411324 0.4458973 ] [ 0.07289917 0.99733068 0.0041502 -0.42840774] [ 0.04369399 -0.007351 0.99901792 -0.09455911] [ 0. 0. 0. 1. ]] SLAMing on 46.55327356 meters Centerline goodness [0,1] 0.8133182379580074 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.09 [[ 0.99638962 -0.07253431 -0.04411909 0.44599252] [ 0.07282656 0.99733183 0.00505102 -0.43138633] [ 0.043635 -0.00824583 0.99901351 -0.09455406] [ 0. 0. 0. 1. ]] SLAMing on 46.583273559999995 meters Centerline goodness [0,1] 0.8174230675046935 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.99614273 -0.075849 -0.04412024 0.44720245] [ 0.07603445 0.99710196 0.00253803 -0.43465818] [ 0.04379987 -0.0058829 0.999023 -0.0951438 ] [ 0. 0. 0. 1. ]] SLAMing on 46.613273559999996 meters Centerline goodness [0,1] 0.8153704461727385 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99613676 -0.07587334 -0.04421291 0.44758195] [ 0.07609254 0.99709532 0.00329362 -0.43737776] [ 0.04383459 -0.00664517 0.9990167 -0.09530704] [ 0. 0. 0. 1. ]] SLAMing on 46.64327356 meters Centerline goodness [0,1] 0.8151260504201681 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99611636 -0.07619815 -0.04411396 0.44730887] [ 0.07643975 0.99706691 0.00381358 -0.440004 ] [ 0.04369398 -0.00717083 0.99901923 -0.09506103] [ 0. 0. 0. 1. ]] SLAMing on 46.67327356 meters Centerline goodness [0,1] 0.8114933142798816 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99581832 -0.08167237 -0.04093295 0.45477728] [ 0.08216446 0.99656363 0.01048456 -0.44399646] [ 0.03993599 -0.01380395 0.99910689 -0.09516886] [ 0. 0. 0. 1. ]] SLAMing on 46.70327356 meters Centerline goodness [0,1] 0.8087791044162677 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99570164 -0.0833034 -0.04048182 0.45288794] [ 0.0837498 0.99644194 0.0094563 -0.4457252 ] [ 0.03955004 -0.01280599 0.99913553 -0.09366959] [ 0. 0. 0. 1. ]] SLAMing on 46.73327356 meters Centerline goodness [0,1] 0.8106214689265536 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99565741 -0.0838991 -0.04033945 0.45251882] [ 0.0843526 0.99638903 0.00967172 -0.44772752] [ 0.03938233 -0.01303245 0.99913922 -0.09341217] [ 0. 0. 0. 1. ]] SLAMing on 46.763273559999995 meters Centerline goodness [0,1] 0.8136131663626489 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99531849 -0.08798074 -0.04000626 0.45258354] [ 0.08830615 0.99607258 0.00643761 -0.44998402] [ 0.03928276 -0.00994027 0.99917869 -0.09335174] [ 0. 0. 0. 1. ]] SLAMing on 46.793273559999996 meters Centerline goodness [0,1] 0.8134991483510846 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99528832 -0.0883617 -0.03991703 0.45247559] [ 0.08870051 0.99603517 0.00679462 -0.45197895] [ 0.03915838 -0.01030326 0.9991799 -0.09328875] [ 0. 0. 0. 1. ]] SLAMing on 46.82327356 meters Centerline goodness [0,1] 0.8137477732047423 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99527466 -0.0885512 -0.03983767 0.45238207] [ 0.08891006 0.99601272 0.00732501 -0.45408677] [ 0.03903018 -0.01083237 0.99917932 -0.09322521] [ 0. 0. 0. 1. ]] SLAMing on 46.85327356 meters Centerline goodness [0,1] 0.8132457131122292 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99527193 -0.0886406 -0.03970678 0.45219796] [ 0.08901467 0.99600016 0.00775057 -0.45567295] [ 0.03886094 -0.01124841 0.99918132 -0.0932205 ] [ 0. 0. 0. 1. ]] SLAMing on 46.88327356 meters Centerline goodness [0,1] 0.8127858563898517 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99525982 -0.08887392 -0.03948821 0.4516899 ] [ 0.08926109 0.99597493 0.00814868 -0.45752637] [ 0.03860506 -0.01163481 0.99918681 -0.09298893] [ 0. 0. 0. 1. ]] SLAMing on 46.91327356 meters Centerline goodness [0,1] 0.8158886394992072 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99527034 -0.08877124 -0.03945411 0.45145291] [ 0.08916705 0.99598139 0.00838488 -0.45801591] [ 0.03855122 -0.01186323 0.9991862 -0.0927814 ] [ 0. 0. 0. 1. ]] SLAMing on 46.94327356 meters Centerline goodness [0,1] 0.8144616769652576 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99527606 -0.08863792 -0.03960915 0.45181183] [ 0.08904046 0.99599163 0.00851339 -0.45820761] [ 0.03869577 -0.01199999 0.99917898 -0.09279645] [ 0. 0. 0. 1. ]] SLAMing on 46.973273559999996 meters Centerline goodness [0,1] 0.8137675067156068 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.9953121 -0.08821755 -0.03964211 0.45178574] [ 0.08862703 0.99602697 0.00869016 -0.45787785] [ 0.03871799 -0.01216278 0.99917615 -0.09272417] [ 0. 0. 0. 1. ]] SLAMing on 47.00327356 meters Centerline goodness [0,1] 0.8126700906468048 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99533511 -0.08788882 -0.03979412 0.45227983] [ 0.08830509 0.9960544 0.00882317 -0.4575824 ] [ 0.03886165 -0.01229603 0.99916894 -0.09296503] [ 0. 0. 0. 1. ]] SLAMing on 47.03327356 meters Centerline goodness [0,1] 0.8107619634421852 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99535645 -0.08761318 -0.03986821 0.45247392] [ 0.08803008 0.99607876 0.00882088 -0.45698316] [ 0.03893905 -0.01228953 0.99916601 -0.09308923] [ 0. 0. 0. 1. ]] SLAMing on 47.06327356 meters Centerline goodness [0,1] 0.8111797405806054 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99538069 -0.08731271 -0.03992202 0.45272541] [ 0.0877295 0.9961054 0.00880698 -0.45630625] [ 0.03899758 -0.01226864 0.99916399 -0.09332014] [ 0. 0. 0. 1. ]] SLAMing on 47.09327356 meters Centerline goodness [0,1] 0.8101330919712835 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99541538 -0.08689691 -0.03996436 0.45300838] [ 0.08730881 0.99614351 0.00867601 -0.45469496] [ 0.03905632 -0.01212547 0.99916344 -0.09367971] [ 0. 0. 0. 1. ]] SLAMing on 47.12327356 meters Centerline goodness [0,1] 0.8110349063363702 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99542233 -0.08681032 -0.03997943 0.45344498] [ 0.08722118 0.99615145 0.00864653 -0.45401016] [ 0.03907496 -0.012094 0.99916309 -0.09421731] [ 0. 0. 0. 1. ]] SLAMing on 47.153273559999995 meters Centerline goodness [0,1] 0.8109781009968949 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99541732 -0.08686294 -0.03998995 0.4536156 ] [ 0.087266 0.99614927 0.008443 -0.45312607] [ 0.03910258 -0.01189407 0.99916441 -0.09443855] [ 0. 0. 0. 1. ]] SLAMing on 47.183273559999996 meters Centerline goodness [0,1] 0.8102231703314736 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99540734 -0.08707978 -0.03976599 0.45321985] [ 0.08746996 0.9961336 0.00817632 -0.45216676] [ 0.03890025 -0.0116171 0.99917557 -0.09454289] [ 0. 0. 0. 1. ]] SLAMing on 47.21327356 meters Centerline goodness [0,1] 0.8103472975462006 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99539964 -0.08719416 -0.03970813 0.45315985] [ 0.08758086 0.99612447 0.00810206 -0.45184507] [ 0.03884778 -0.01154246 0.99917847 -0.09459246] [ 0. 0. 0. 1. ]] SLAMing on 47.24327356 meters Centerline goodness [0,1] 0.8092558872271212 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99537969 -0.08745913 -0.03962545 0.45287203] [ 0.08783456 0.99610429 0.0078315 -0.45124142] [ 0.03878614 -0.0112758 0.99918391 -0.09444691] [ 0. 0. 0. 1. ]] SLAMing on 47.27327356 meters Centerline goodness [0,1] 0.8058725897998074 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99534065 -0.08799218 -0.03942546 0.45206006] [ 0.0883421 0.99606403 0.00721957 -0.45002888] [ 0.03863502 -0.01066886 0.99919643 -0.09394552] [ 0. 0. 0. 1. ]] SLAMing on 47.30327356 meters Centerline goodness [0,1] 0.8068808562114285 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.9953253 -0.08820927 -0.03932782 0.451779 ] [ 0.0885477 0.99604773 0.0069449 -0.44926612] [ 0.03855978 -0.01039482 0.99920223 -0.09385706] [ 0. 0. 0. 1. ]] SLAMing on 47.333273559999995 meters Centerline goodness [0,1] 0.8069337253460738 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99530442 -0.08845712 -0.03929945 0.45176585] [ 0.0887821 0.99602921 0.00659909 -0.44826025] [ 0.03855966 -0.0100572 0.99920569 -0.09390523] [ 0. 0. 0. 1. ]] SLAMing on 47.363273559999996 meters Centerline goodness [0,1] 0.8061739752632117 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.45, Z:-0.09 [[ 0.99527311 -0.08886523 -0.03917159 0.4513405 ] [ 0.08915948 0.99600032 0.00582657 -0.44588257] [ 0.03849713 -0.00929155 0.99921551 -0.09382197] [ 0. 0. 0. 1. ]] SLAMing on 47.39327356 meters Centerline goodness [0,1] 0.8073262777914513 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.09 [[ 0.99526082 -0.08902232 -0.03912698 0.45125684] [ 0.08930451 0.99598907 0.00552108 -0.44478463] [ 0.03847854 -0.00898913 0.99921899 -0.09390901] [ 0. 0. 0. 1. ]] SLAMing on 47.42327356 meters Centerline goodness [0,1] 0.8040159819690605 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.09 [[ 0.99525123 -0.08912127 -0.03914572 0.45155422] [ 0.0893956 0.99598204 0.00531107 -0.44383449] [ 0.03851511 -0.0087853 0.9992194 -0.09426195] [ 0. 0. 0. 1. ]] SLAMing on 47.45327356 meters Centerline goodness [0,1] 0.8057648214870619 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.09 [[ 0.99522159 -0.08945528 -0.03913746 0.45193506] [ 0.08971202 0.99595594 0.0048501 -0.44221173] [ 0.03854532 -0.00833802 0.99922207 -0.09484217] [ 0. 0. 0. 1. ]] SLAMing on 47.48327356 meters Centerline goodness [0,1] 0.8041966648206265 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99519741 -0.08972494 -0.03913508 0.45220775] [ 0.08997229 0.99593364 0.00460222 -0.44147019] [ 0.038563 -0.00810119 0.99922333 -0.09522428] [ 0. 0. 0. 1. ]] SLAMing on 47.513273559999995 meters Centerline goodness [0,1] 0.8022259572025908 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99518261 -0.08986291 -0.03919478 0.45263315] [ 0.0901048 0.99592237 0.00444567 -0.44094865] [ 0.03863545 -0.00795589 0.9992217 -0.09562877] [ 0. 0. 0. 1. ]] SLAMing on 47.543273559999996 meters Centerline goodness [0,1] 0.8039617766476643 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99513525 -0.09043749 -0.03907558 0.45265821] [ 0.09065823 0.99587438 0.00391105 -0.43955428] [ 0.03856066 -0.00743454 0.9992286 -0.09600994] [ 0. 0. 0. 1. ]] SLAMing on 47.57327356 meters Centerline goodness [0,1] 0.802716064578333 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99510779 -0.0907537 -0.03904155 0.45246149] [ 0.09096498 0.99584734 0.00366595 -0.43892587] [ 0.03854672 -0.00719943 0.99923086 -0.09586981] [ 0. 0. 0. 1. ]] SLAMing on 47.60327356 meters Centerline goodness [0,1] 0.8021613655900773 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99509006 -0.09097051 -0.03898884 0.45223186] [ 0.0911751 0.99582873 0.00349819 -0.43825571] [ 0.03850797 -0.00703582 0.99923352 -0.09575292] [ 0. 0. 0. 1. ]] SLAMing on 47.63327356 meters Centerline goodness [0,1] 0.8036562544983445 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99506805 -0.09124555 -0.03890791 0.45181587] [ 0.09143821 0.99580562 0.00319768 -0.4374416 ] [ 0.03845294 -0.00673958 0.99923768 -0.09547399] [ 0. 0. 0. 1. ]] SLAMing on 47.66327356 meters Centerline goodness [0,1] 0.8024812676575359 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.44, Z:-0.10 [[ 0.99500103 -0.09201226 -0.03881605 0.45134099] [ 0.09217289 0.99574021 0.00236534 -0.43529295] [ 0.03843306 -0.0059313 0.99924357 -0.09517435] [ 0. 0. 0. 1. ]] SLAMing on 47.69327356 meters Centerline goodness [0,1] 0.8012048192771084 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.09 [[ 0.99497028 -0.09232838 -0.03885364 0.45125812] [ 0.0924762 0.99571284 0.00202077 -0.43459312] [ 0.03850049 -0.00560364 0.99924287 -0.09497031] [ 0. 0. 0. 1. ]] SLAMing on 47.723273559999996 meters Centerline goodness [0,1] 0.8024172035950261 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.99493885 -0.09265934 -0.03887069 0.45132142] [ 0.09279436 0.99568388 0.00168 -0.43383263] [ 0.03854726 -0.00527848 0.99924284 -0.09500925] [ 0. 0. 0. 1. ]] SLAMing on 47.75327356 meters Centerline goodness [0,1] 0.8000737810751543 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.9949195 -0.09284894 -0.03891345 0.45156999] [ 0.09297666 0.99566719 0.00148158 -0.43330546] [ 0.03860728 -0.00509209 0.99924149 -0.09520959] [ 0. 0. 0. 1. ]] SLAMing on 47.78327356 meters Centerline goodness [0,1] 0.7985624769627718 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 9.94877821e-01 -9.33070405e-02 -3.88833818e-02 4.51887250e-01] [ 9.34099738e-02 9.95627380e-01 8.34982617e-04 -4.31351874e-01] [ 3.86354498e-02 -4.46280136e-03 9.99243406e-01 -9.57339883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81327356 meters Centerline goodness [0,1] 0.7999753487129974 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 9.94848989e-01 -9.36172920e-02 -3.88753466e-02 4.51940855e-01] [ 9.36974479e-02 9.95600688e-01 2.41050697e-04 -4.29620457e-01] [ 3.86817553e-02 -3.88232980e-03 9.99244039e-01 -9.58491004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84327356 meters Centerline goodness [0,1] 0.8003695719125347 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.9950887 -0.09098603 -0.03898742 0.45165207] [ 0.09118585 0.99582817 0.00337441 -0.42988768] [ 0.03851774 -0.00691294 0.999234 -0.09596305] [ 0. 0. 0. 1. ]] SLAMing on 47.87327356 meters Centerline goodness [0,1] 0.7983332991235452 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.99505917 -0.09130589 -0.03899344 0.45216929] [ 0.09147331 0.99580432 0.00252732 -0.42665257] [ 0.03859908 -0.00608169 0.99923627 -0.09672712] [ 0. 0. 0. 1. ]] SLAMing on 47.903273559999995 meters Centerline goodness [0,1] 0.7995976763758031 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.43, Z:-0.10 [[ 0.99504982 -0.09136726 -0.03908823 0.45254531] [ 0.09152387 0.99580038 0.0022324 -0.42536309] [ 0.03872011 -0.00579885 0.99923327 -0.09703335] [ 0. 0. 0. 1. ]] SLAMing on 47.933273559999996 meters Centerline goodness [0,1] 0.7979876477565544 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 0.99504061 -0.09141489 -0.03921098 0.4530705 ] [ 0.09156276 0.99579732 0.00198838 -0.42423975] [ 0.03886442 -0.00556878 0.99922898 -0.09744309] [ 0. 0. 0. 1. ]] SLAMing on 47.96327356 meters Centerline goodness [0,1] 0.7965643619090519 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 0.99499946 -0.0918983 -0.03912506 0.45275609] [ 0.09201351 0.99575709 0.00115053 -0.42193837] [ 0.03885333 -0.00474481 0.99923366 -0.09731351] [ 0. 0. 0. 1. ]] SLAMing on 47.99327356 meters Centerline goodness [0,1] 0.7960441450480149 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 9.94989435e-01 -9.20051826e-02 -3.91288954e-02 4.52621754e-01] [ 9.21092640e-02 9.95748533e-01 8.61739066e-04 -4.20856689e-01] [ 3.88832558e-02 -4.46155502e-03 9.99233800e-01 -9.71875494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02327356 meters Centerline goodness [0,1] 0.7940935528794953 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 9.94976382e-01 -9.21465034e-02 -3.91282746e-02 4.52422754e-01] [ 9.22385366e-02 9.95736788e-01 5.49529428e-04 -4.19753815e-01] [ 3.89108253e-02 -4.15590360e-03 9.99234045e-01 -9.69704981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05327356 meters Centerline goodness [0,1] 0.7944994770196272 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 9.94961377e-01 -9.22898485e-02 -3.91719663e-02 4.52177370e-01] [ 9.23656836e-02 9.95725145e-01 1.26745825e-04 -4.18344622e-01] [ 3.89928144e-02 -3.74425264e-03 9.99232476e-01 -9.65951421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.083273559999995 meters Centerline goodness [0,1] 0.7938560537748995 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 0.99525812 -0.08900943 -0.03922484 0.45129095] [ 0.08921072 0.99600694 0.00340796 -0.41720265] [ 0.03876487 -0.00689108 0.9992246 -0.09629959] [ 0. 0. 0. 1. ]] SLAMing on 48.113273559999996 meters Centerline goodness [0,1] 0.7935770427378418 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 0.99553547 -0.08574589 -0.03945605 0.45121442] [ 0.08608403 0.99626364 0.00694931 -0.41750416] [ 0.03871275 -0.01031482 0.99919714 -0.09644292] [ 0. 0. 0. 1. ]] SLAMing on 48.14327356 meters Centerline goodness [0,1] 0.7944969905417025 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.42, Z:-0.10 [[ 0.99556056 -0.08538459 -0.03960616 0.45172207] [ 0.08571465 0.99629714 0.00670858 -0.41572221] [ 0.0388867 -0.01007363 0.99919285 -0.096742 ] [ 0. 0. 0. 1. ]] SLAMing on 48.17327356 meters Centerline goodness [0,1] 0.7929809429932644 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99588361 -0.0813821 -0.03990971 0.45180297] [ 0.08184313 0.99659451 0.01005449 -0.4138198 ] [ 0.03895554 -0.01327943 0.9991527 -0.09699787] [ 0. 0. 0. 1. ]] SLAMing on 48.20327356 meters Centerline goodness [0,1] 0.7927324151500246 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99592241 -0.08086441 -0.0399938 0.45200841] [ 0.08131549 0.99664042 0.00978115 -0.41153579] [ 0.03906849 -0.01299338 0.99915205 -0.09710021] [ 0. 0. 0. 1. ]] SLAMing on 48.23327356 meters Centerline goodness [0,1] 0.7949973368295981 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99620261 -0.07719277 -0.04026967 0.45157213] [ 0.07778071 0.99688256 0.0132413 -0.4110953 ] [ 0.039122 -0.01632322 0.99910111 -0.09667121] [ 0. 0. 0. 1. ]] SLAMing on 48.263273559999995 meters Centerline goodness [0,1] 0.7968016401845208 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99655791 -0.07241655 -0.04035075 0.4509247 ] [ 0.07313105 0.99718551 0.01652001 -0.40759318] [ 0.03904086 -0.01941404 0.999049 -0.09642206] [ 0. 0. 0. 1. ]] SLAMing on 48.293273559999996 meters Centerline goodness [0,1] 0.7971537546651355 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99681767 -0.06862672 -0.04055735 0.4505833 ] [ 0.06947328 0.99738642 0.01984419 -0.4063452 ] [ 0.03908951 -0.02259869 0.99898013 -0.09624966] [ 0. 0. 0. 1. ]] SLAMing on 48.32327356 meters Centerline goodness [0,1] 0.7968759621502904 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.41, Z:-0.10 [[ 0.99706618 -0.06474999 -0.04082254 0.45028126] [ 0.06573381 0.99756663 0.02323529 -0.40519302] [ 0.03921872 -0.02585054 0.99889621 -0.09594734] [ 0. 0. 0. 1. ]] SLAMing on 48.35327356 meters Centerline goodness [0,1] 0.8007621232918809 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99737312 -0.05980899 -0.04086249 0.44975552] [ 0.06090988 0.99779807 0.02624861 -0.40073624] [ 0.03920261 -0.02866858 0.99881994 -0.09579067] [ 0. 0. 0. 1. ]] SLAMing on 48.38327356 meters Centerline goodness [0,1] 0.8016556019998361 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.9975872 -0.05596254 -0.04108501 0.44945817] [ 0.05719822 0.99792565 0.0295424 -0.3993626 ] [ 0.03934652 -0.03182111 0.99871881 -0.09551433] [ 0. 0. 0. 1. ]] SLAMing on 48.41327356 meters Centerline goodness [0,1] 0.8024701489475196 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99764601 -0.05498798 -0.04097273 0.44914531] [ 0.05620891 0.99798998 0.02926685 -0.39642738] [ 0.03928105 -0.03150099 0.99873154 -0.09534646] [ 0. 0. 0. 1. ]] SLAMing on 48.44327356 meters Centerline goodness [0,1] 0.8061111111111111 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99787673 -0.05060536 -0.04100153 0.44832829] [ 0.05194981 0.99812344 0.0324163 -0.39364399] [ 0.03928415 -0.0344775 0.99863309 -0.09479198] [ 0. 0. 0. 1. ]] SLAMing on 48.473273559999996 meters Centerline goodness [0,1] 0.8061111111111111 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99787673 -0.05060536 -0.04100153 0.44832829] [ 0.05194981 0.99812344 0.0324163 -0.39364399] [ 0.03928415 -0.0344775 0.99863309 -0.09479198] [ 0. 0. 0. 1. ]] SLAMing on 48.50327356 meters Centerline goodness [0,1] 0.8080957669998766 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99788421 -0.05041694 -0.0410516 0.44830497] [ 0.05174294 0.99815065 0.0319052 -0.39178018] [ 0.03936712 -0.03396183 0.9986475 -0.09465399] [ 0. 0. 0. 1. ]] SLAMing on 48.53327356 meters Centerline goodness [0,1] 0.8106655131928567 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99789363 -0.05020869 -0.04107795 0.44821355] [ 0.05152487 0.99817053 0.03163499 -0.39071246] [ 0.03941445 -0.03368489 0.99865501 -0.09445664] [ 0. 0. 0. 1. ]] SLAMing on 48.56327356 meters Centerline goodness [0,1] 0.8100353996871655 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99789283 -0.05016652 -0.04114868 0.44838608] [ 0.05147353 0.99818239 0.03134312 -0.38987598] [ 0.03950151 -0.03339514 0.9986613 -0.09446676] [ 0. 0. 0. 1. ]] SLAMing on 48.59327356 meters Centerline goodness [0,1] 0.8123826230523166 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99789794 -0.05011657 -0.0410857 0.44839989] [ 0.05141337 0.99819189 0.03113851 -0.38929194] [ 0.03945086 -0.03318541 0.9986703 -0.09461896] [ 0. 0. 0. 1. ]] SLAMing on 48.62327356 meters Centerline goodness [0,1] 0.8163311514552715 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.09 [[ 0.99788469 -0.05023713 -0.04125979 0.44893649] [ 0.05153315 0.9981909 0.03097206 -0.38908419] [ 0.0396292 -0.03303279 0.99866829 -0.09484066] [ 0. 0. 0. 1. ]] SLAMing on 48.653273559999995 meters Centerline goodness [0,1] 0.8136422506835516 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99788233 -0.05017514 -0.04139222 0.44950051] [ 0.05148273 0.99818787 0.03115294 -0.38961891] [ 0.03975411 -0.03321795 0.99865719 -0.09519193] [ 0. 0. 0. 1. ]] SLAMing on 48.683273559999996 meters Centerline goodness [0,1] 0.8151893551688844 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99769749 -0.05382024 -0.04126858 0.45018275] [ 0.05497116 0.99811522 0.0272795 -0.3890613 ] [ 0.03972261 -0.02948527 0.99877562 -0.0956741 ] [ 0. 0. 0. 1. ]] SLAMing on 48.71327356 meters Centerline goodness [0,1] 0.8124525280725884 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99768602 -0.05401729 -0.04128854 0.45012638] [ 0.05517238 0.99810171 0.02736749 -0.39016097] [ 0.03973184 -0.02958215 0.99877238 -0.09549956] [ 0. 0. 0. 1. ]] SLAMing on 48.74327356 meters Centerline goodness [0,1] 0.8118395403713963 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.9975213 -0.05708205 -0.04114478 0.45068631] [ 0.05809646 0.99802497 0.02389479 -0.38951779] [ 0.03969955 -0.02622593 0.99886743 -0.09590064] [ 0. 0. 0. 1. ]] SLAMing on 48.77327356 meters Centerline goodness [0,1] 0.8132665009552373 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99733879 -0.06020401 -0.04111942 0.45146808] [ 0.06109259 0.99791733 0.02070516 -0.39016554] [ 0.03978725 -0.02316215 0.99893968 -0.09620433] [ 0. 0. 0. 1. ]] SLAMing on 48.80327356 meters Centerline goodness [0,1] 0.8102149323589185 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.9973328 -0.06025971 -0.04118323 0.45156626] [ 0.06115697 0.99790964 0.02088484 -0.39126774] [ 0.03983863 -0.02334777 0.99893331 -0.09612023] [ 0. 0. 0. 1. ]] SLAMing on 48.833273559999995 meters Centerline goodness [0,1] 0.8114945830597505 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99734083 -0.06009366 -0.04123133 0.45162017] [ 0.06101728 0.99790471 0.02151947 -0.39389423] [ 0.03985175 -0.02397807 0.99891786 -0.09592799] [ 0. 0. 0. 1. ]] SLAMing on 48.863273559999996 meters Centerline goodness [0,1] 0.8122415557830092 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.10 [[ 0.99733752 -0.06006808 -0.04134844 0.45179141] [ 0.06100069 0.99790237 0.02167422 -0.39479617] [ 0.03995978 -0.0241388 0.99890967 -0.09579576] [ 0. 0. 0. 1. ]] SLAMing on 48.89327356 meters Centerline goodness [0,1] 0.8140489085836206 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99735071 -0.05978672 -0.04143813 0.4520367 ] [ 0.06073609 0.99791045 0.0220422 -0.39572266] [ 0.04003371 -0.02450059 0.9988979 -0.0958067 ] [ 0. 0. 0. 1. ]] SLAMing on 48.92327356 meters Centerline goodness [0,1] 0.8152773803196925 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99738659 -0.05908375 -0.04158241 0.45295241] [ 0.06006908 0.99793246 0.02285832 -0.39765358] [ 0.04014588 -0.0252964 0.99887357 -0.09645413] [ 0. 0. 0. 1. ]] SLAMing on 48.95327356 meters Centerline goodness [0,1] 0.8150025654181632 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99740943 -0.05865522 -0.04164126 0.45341977] [ 0.05966279 0.99794475 0.02337988 -0.39889317] [ 0.04018432 -0.02580374 0.99885904 -0.09681465] [ 0. 0. 0. 1. ]] SLAMing on 48.98327356 meters Centerline goodness [0,1] 0.81872839935377 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99741438 -0.05842558 -0.04184498 0.45405248] [ 0.0594482 0.9979518 0.02362469 -0.39982878] [ 0.04037898 -0.02605122 0.99884477 -0.09698775] [ 0. 0. 0. 1. ]] SLAMing on 49.013273559999995 meters Centerline goodness [0,1] 0.8133642920253971 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.99743516 -0.05803074 -0.04189906 0.45445843] [ 0.05907167 0.99796406 0.02404743 -0.40085102] [ 0.04041827 -0.0264608 0.99883241 -0.09729109] [ 0. 0. 0. 1. ]] SLAMing on 49.043273559999996 meters Centerline goodness [0,1] 0.8208752266358992 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.10 [[ 0.9974953 -0.05692755 -0.04198074 0.45481048] [ 0.05801287 0.99800017 0.02510332 -0.40268722] [ 0.04046772 -0.02747587 0.998803 -0.09737151] [ 0. 0. 0. 1. ]] SLAMing on 49.07327356 meters Centerline goodness [0,1] 0.819413881748072 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.10 [[ 0.99751449 -0.05650522 -0.04209516 0.45513431] [ 0.05760633 0.99801571 0.02541965 -0.40335574] [ 0.04057528 -0.02778142 0.99879019 -0.0974153 ] [ 0. 0. 0. 1. ]] SLAMing on 49.10327356 meters Centerline goodness [0,1] 0.8218936849864854 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.10 [[ 0.99753216 -0.05604504 -0.04229126 0.45562799] [ 0.05716829 0.99803025 0.0258342 -0.40416852] [ 0.04076007 -0.02818816 0.99877127 -0.09746899] [ 0. 0. 0. 1. ]] SLAMing on 49.13327356 meters Centerline goodness [0,1] 0.8240367910066428 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.10 [[ 0.99758106 -0.05511565 -0.04235917 0.45571606] [ 0.05627497 0.99805874 0.02668113 -0.406329 ] [ 0.0408064 -0.02900035 0.99874612 -0.09720292] [ 0. 0. 0. 1. ]] SLAMing on 49.16327356 meters Centerline goodness [0,1] 0.8257465813625493 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.10 [[ 0.99759836 -0.0547338 -0.04244675 0.45591585] [ 0.05591406 0.99806678 0.02713508 -0.40756752] [ 0.04087949 -0.02944328 0.99873017 -0.09712542] [ 0. 0. 0. 1. ]] SLAMing on 49.19327356 meters Centerline goodness [0,1] 0.8273917751128725 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.10 [[ 0.99761001 -0.0544277 -0.04256631 0.45593094] [ 0.0556255 0.99807348 0.0274797 -0.40880311] [ 0.04098865 -0.0297818 0.99871566 -0.09674065] [ 0. 0. 0. 1. ]] SLAMing on 49.223273559999996 meters Centerline goodness [0,1] 0.832213527797124 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.10 [[ 0.99765102 -0.053565 -0.04269938 0.45611598] [ 0.05481243 0.99808703 0.02859863 -0.41171134] [ 0.04108582 -0.03087191 0.99867857 -0.09649366] [ 0. 0. 0. 1. ]] SLAMing on 49.25327356 meters Centerline goodness [0,1] 0.8294616519174041 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.10 [[ 0.99765881 -0.05329356 -0.04285662 0.45639691] [ 0.05456519 0.99808696 0.02906999 -0.41330428] [ 0.04122539 -0.03134041 0.99865822 -0.09634245] [ 0. 0. 0. 1. ]] SLAMing on 49.28327356 meters Centerline goodness [0,1] 0.828427956548473 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.42, Z:-0.10 [[ 0.99767377 -0.05286419 -0.04303991 0.45683741] [ 0.0541712 0.99808722 0.02978889 -0.41543386] [ 0.04138282 -0.03205112 0.99862915 -0.09632026] [ 0. 0. 0. 1. ]] SLAMing on 49.31327356 meters Centerline goodness [0,1] 0.7601310781380392 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.42, Z:-0.10 [[ 0.99754771 -0.05493615 -0.04336578 0.45871598] [ 0.05617084 0.99803448 0.02778499 -0.41904832] [ 0.04175415 -0.03015275 0.99867282 -0.09704398] [ 0. 0. 0. 1. ]] SLAMing on 49.34327356 meters Centerline goodness [0,1] 0.7629564792574197 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.42, Z:-0.10 [[ 0.99745962 -0.05676197 -0.04303943 0.45800205] [ 0.05790902 0.99798613 0.02588895 -0.42117913] [ 0.04148324 -0.02831555 0.99873789 -0.0964316 ] [ 0. 0. 0. 1. ]] SLAMing on 49.37327356 meters Centerline goodness [0,1] 0.7614991134932442 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.42, Z:-0.10 [[ 0.99746849 -0.05652178 -0.04314977 0.45815326] [ 0.05770828 0.99797466 0.02676456 -0.42436145] [ 0.04154959 -0.0291869 0.99871005 -0.0961771 ] [ 0. 0. 0. 1. ]] SLAMing on 49.403273559999995 meters Centerline goodness [0,1] 0.764351804778851 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.43, Z:-0.10 [[ 0.99733491 -0.05900624 -0.04291091 0.45821149] [ 0.06011143 0.99788013 0.02493715 -0.4291637 ] [ 0.0413485 -0.02745013 0.99876764 -0.0959926 ] [ 0. 0. 0. 1. ]] SLAMing on 49.433273559999996 meters Centerline goodness [0,1] 0.7563929738562092 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.43, Z:-0.10 [[ 0.99734792 -0.0587282 -0.04298988 0.45825251] [ 0.05987501 0.99787002 0.02589219 -0.43252769] [ 0.04137771 -0.02839754 0.99873994 -0.09566772] [ 0. 0. 0. 1. ]] SLAMing on 49.46327356 meters Centerline goodness [0,1] 0.7505764247383133 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.43, Z:-0.10 [[ 0.9972299 -0.06094266 -0.04264418 0.45780729] [ 0.06198989 0.99779581 0.02368065 -0.43467038] [ 0.04110702 -0.02625856 0.99880964 -0.09530625] [ 0. 0. 0. 1. ]] SLAMing on 49.49327356 meters Centerline goodness [0,1] 0.7468077716713997 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.44, Z:-0.09 [[ 0.99709129 -0.06313556 -0.04269491 0.45831851] [ 0.06412723 0.99769323 0.02226936 -0.44050469] [ 0.04119043 -0.02494249 0.99883994 -0.09497304] [ 0. 0. 0. 1. ]] SLAMing on 49.52327356 meters Centerline goodness [0,1] 0.8242415551959359 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.44, Z:-0.09 [[ 0.99701613 -0.06460681 -0.0422469 0.4573451 ] [ 0.06553435 0.99763036 0.02095019 -0.44370796] [ 0.04079327 -0.0236563 0.99888753 -0.09427236] [ 0. 0. 0. 1. ]] SLAMing on 49.55327356 meters Centerline goodness [0,1] 0.8228467332569183 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.45, Z:-0.09 [[ 0.99685621 -0.0671148 -0.04211055 0.4579707 ] [ 0.06794137 0.99751754 0.01851294 -0.4461077 ] [ 0.04076352 -0.02131579 0.99894143 -0.09457822] [ 0. 0. 0. 1. ]] SLAMing on 49.583273559999995 meters Centerline goodness [0,1] 0.8195488721804511 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.45, Z:-0.09 [[ 0.99675801 -0.06882414 -0.04167373 0.45719205] [ 0.06958007 0.99743207 0.0169673 -0.44923934] [ 0.04039896 -0.01981195 0.99898719 -0.09402129] [ 0. 0. 0. 1. ]] SLAMing on 49.613273559999996 meters Centerline goodness [0,1] 0.824841416001637 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.46, Z:-0.09 [[ 0.9966298 -0.07071036 -0.04158235 0.45738006] [ 0.07143084 0.99731558 0.01610202 -0.45626109] [ 0.04033215 -0.01901802 0.99900532 -0.09355329] [ 0. 0. 0. 1. ]] SLAMing on 49.64327356 meters Centerline goodness [0,1] 0.8194342094489478 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.46, Z:-0.09 [[ 0.99655473 -0.07198786 -0.04118753 0.45581621] [ 0.07266457 0.997241 0.01517378 -0.45989095] [ 0.03998156 -0.01811438 0.99903621 -0.0921025 ] [ 0. 0. 0. 1. ]] SLAMing on 49.67327356 meters Centerline goodness [0,1] 0.8228825360419397 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.46, Z:-0.09 [[ 0.99648432 -0.07314529 -0.04085052 0.45441505] [ 0.07378927 0.99716868 0.01448331 -0.46408155] [ 0.03967548 -0.01744673 0.99906029 -0.0906613 ] [ 0. 0. 0. 1. ]] SLAMing on 49.70327356 meters Centerline goodness [0,1] 0.8178565553544991 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.47, Z:-0.09 [[ 0.99632165 -0.07534057 -0.04082855 0.45417917] [ 0.07595401 0.99701739 0.01368583 -0.47222624] [ 0.03967568 -0.01673658 0.99907243 -0.08942224] [ 0. 0. 0. 1. ]] SLAMing on 49.73327356 meters Centerline goodness [0,1] 0.8233252556783177 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.48, Z:-0.09 [[ 0.99624721 -0.07650875 -0.04047115 0.45327773] [ 0.07709069 0.99693911 0.01301712 -0.47668432] [ 0.03935135 -0.01608821 0.99909591 -0.08853796] [ 0. 0. 0. 1. ]] SLAMing on 49.763273559999995 meters Centerline goodness [0,1] 0.8191943757536122 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.48, Z:-0.09 [[ 0.99622082 -0.07675174 -0.04066019 0.45489185] [ 0.07735357 0.99691315 0.01343862 -0.48106802] [ 0.03950325 -0.01653304 0.99908266 -0.08947303] [ 0. 0. 0. 1. ]] SLAMing on 49.793273559999996 meters Centerline goodness [0,1] 0.8162876068989562 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.49, Z:-0.09 [[ 0.99606774 -0.07873329 -0.04062183 0.45613002] [ 0.07931078 0.99676771 0.01280378 -0.48875713] [ 0.03948245 -0.01597518 0.99909255 -0.09000188] [ 0. 0. 0. 1. ]] SLAMing on 49.82327356 meters Centerline goodness [0,1] 0.8182525862951961 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.49, Z:-0.09 [[ 0.99608736 -0.07840406 -0.04077719 0.4569493 ] [ 0.07903331 0.99677292 0.01405299 -0.49321542] [ 0.03954378 -0.01722076 0.99906943 -0.09032613] [ 0. 0. 0. 1. ]] SLAMing on 49.85327356 meters Centerline goodness [0,1] 0.8239215605833726 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.50, Z:-0.09 [[ 0.99596444 -0.08013436 -0.0404143 0.45631272] [ 0.08070882 0.99665571 0.01278626 -0.49707754] [ 0.03925453 -0.01599645 0.99910119 -0.08975714] [ 0. 0. 0. 1. ]] SLAMing on 49.88327356 meters Centerline goodness [0,1] 0.8196882287958758 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.51, Z:-0.09 [[ 0.99579434 -0.08220903 -0.04043888 0.45751626] [ 0.0827596 0.99649569 0.01213182 -0.50539319] [ 0.03929982 -0.01542751 0.99910836 -0.08995875] [ 0. 0. 0. 1. ]] SLAMing on 49.91327356 meters Centerline goodness [0,1] 0.8201286990736946 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.51, Z:-0.09 [[ 0.99554891 -0.08522618 -0.04023512 0.45778494] [ 0.08567117 0.99627851 0.00946514 -0.50810567] [ 0.03927871 -0.01287 0.99914541 -0.08989826] [ 0. 0. 0. 1. ]] SLAMing on 49.94327356 meters Centerline goodness [0,1] 0.8116434848515885 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.51, Z:-0.09 [[ 0.99549346 -0.08597216 -0.04001951 0.45682796] [ 0.08641396 0.99621459 0.00944061 -0.51239743] [ 0.03905639 -0.01285631 0.9991543 -0.08875573] [ 0. 0. 0. 1. ]] SLAMing on 49.973273559999996 meters Centerline goodness [0,1] 0.8240676300814672 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.52, Z:-0.09 [[ 0.9952889 -0.08833153 -0.03996935 0.45695158] [ 0.08873994 0.99601806 0.00855834 -0.51993768] [ 0.03905422 -0.0120649 0.99916425 -0.08793851] [ 0. 0. 0. 1. ]] SLAMing on 50.00327356 meters Centerline goodness [0,1] 0.8233765170585948 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.52, Z:-0.09 [[ 0.99501289 -0.09149015 -0.03973537 0.45705105] [ 0.09179151 0.99576122 0.00582346 -0.52255065] [ 0.03903415 -0.00944179 0.99919327 -0.08767538] [ 0. 0. 0. 1. ]] SLAMing on 50.03327356 meters Centerline goodness [0,1] 0.8218597798060001 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.53, Z:-0.09 [[ 0.99498531 -0.09178719 -0.03974106 0.45691654] [ 0.0921182 0.99572637 0.0065758 -0.52725766] [ 0.03896764 -0.0102037 0.99918837 -0.0870349 ] [ 0. 0. 0. 1. ]] SLAMing on 50.06327356 meters Centerline goodness [0,1] 0.8253415538395362 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.53, Z:-0.09 [[ 0.99498074 -0.09176559 -0.03990493 0.45738433] [ 0.09214459 0.99571539 0.00776058 -0.53206951] [ 0.0390218 -0.01139865 0.99917334 -0.08683155] [ 0. 0. 0. 1. ]] SLAMing on 50.09327356 meters Centerline goodness [0,1] 0.820961861455901 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.54, Z:-0.09 [[ 0.99473735 -0.0944022 -0.03982247 0.45850098] [ 0.09474025 0.99547958 0.00668464 -0.53958497] [ 0.03901141 -0.01042225 0.99918441 -0.08707739] [ 0. 0. 0. 1. ]] SLAMing on 50.12327356 meters Centerline goodness [0,1] 0.8220430877508849 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.54, Z:-0.09 [[ 0.99475985 -0.09411653 -0.0399364 0.45917171] [ 0.09450917 0.99549139 0.00805621 -0.54402351] [ 0.03899812 -0.01178835 0.99916975 -0.08726294] [ 0. 0. 0. 1. ]] SLAMing on 50.153273559999995 meters Centerline goodness [0,1] 0.8237988141484359 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.55, Z:-0.09 [[ 0.99452021 -0.09660423 -0.03996463 0.46049268] [ 0.09694673 0.9952669 0.00671835 -0.55005663] [ 0.03912645 -0.01055597 0.99917851 -0.08761354] [ 0. 0. 0. 1. ]] SLAMing on 50.183273559999996 meters Centerline goodness [0,1] 0.8250438972599943 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.55, Z:-0.09 [[ 0.9945545 -0.09619784 -0.04009132 0.46078704] [ 0.09659083 0.99529219 0.00797898 -0.5538386 ] [ 0.03913502 -0.01180799 0.99916416 -0.08739988] [ 0. 0. 0. 1. ]] SLAMing on 50.21327356 meters Centerline goodness [0,1] 0.8225684279484922 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.09 [[ 0.99431094 -0.09876041 -0.03990161 0.46049059] [ 0.09908837 0.99505856 0.00632194 -0.5589742 ] [ 0.03908008 -0.01023976 0.99918361 -0.08644245] [ 0. 0. 0. 1. ]] SLAMing on 50.24327356 meters Centerline goodness [0,1] 0.8242264243614932 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.09 [[ 0.99434751 -0.09829552 -0.04013745 0.46076228] [ 0.0986729 0.99509145 0.00752733 -0.56246601] [ 0.03920053 -0.01144526 0.99916581 -0.08597788] [ 0. 0. 0. 1. ]] SLAMing on 50.27327356 meters Centerline goodness [0,1] 0.8239178883232126 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.09 [[ 0.99437665 -0.09792536 -0.04032007 0.461053 ] [ 0.09834436 0.99511581 0.00853828 -0.56553302] [ 0.03928702 -0.01245551 0.99915033 -0.08567837] [ 0. 0. 0. 1. ]] SLAMing on 50.30327356 meters Centerline goodness [0,1] 0.8250750904149895 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.09 [[ 0.99440708 -0.09755526 -0.04046641 0.46134652] [ 0.09801532 0.99513917 0.00954051 -0.56853822] [ 0.03933898 -0.01345348 0.99913535 -0.08544432] [ 0. 0. 0. 1. ]] SLAMing on 50.333273559999995 meters Centerline goodness [0,1] 0.8250750904149895 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.09 [[ 0.99440708 -0.09755526 -0.04046641 0.46134652] [ 0.09801532 0.99513917 0.00954051 -0.56853822] [ 0.03933898 -0.01345348 0.99913535 -0.08544432] [ 0. 0. 0. 1. ]] SLAMing on 50.363273559999996 meters Centerline goodness [0,1] 0.8226854413904774 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.09 [[ 0.99411798 -0.10057822 -0.04016801 0.461649 ] [ 0.10094128 0.99486698 0.00711008 -0.57181854] [ 0.0392467 -0.01112286 0.99916764 -0.0855072 ] [ 0. 0. 0. 1. ]] SLAMing on 50.39327356 meters Centerline goodness [0,1] 0.8217538115215389 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.09 [[ 0.99414025 -0.10029857 -0.0403157 0.46210624] [ 0.10069961 0.9948844 0.00803801 -0.57458639] [ 0.03930326 -0.01205068 0.99915466 -0.08547731] [ 0. 0. 0. 1. ]] SLAMing on 50.42327356 meters Centerline goodness [0,1] 0.8237751925282648 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.09 [[ 0.99414543 -0.10019058 -0.04045626 0.46259465] [ 0.10062402 0.99488544 0.00881827 -0.57715074] [ 0.03936583 -0.01283752 0.9991424 -0.08554254] [ 0. 0. 0. 1. ]] SLAMing on 50.45327356 meters Centerline goodness [0,1] 0.826166925529306 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.09 [[ 0.99414722 -0.10014851 -0.04051645 0.46296858] [ 0.10061252 0.99487961 0.00957495 -0.57984395] [ 0.03935008 -0.01359537 0.99913299 -0.08560358] [ 0. 0. 0. 1. ]] SLAMing on 50.48327356 meters Centerline goodness [0,1] 0.8210915059499384 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.09 [[ 0.99379663 -0.10366417 -0.04027414 0.46350403] [ 0.10402277 0.99455093 0.00690723 -0.58319452] [ 0.03933865 -0.01105381 0.99916479 -0.08570414] [ 0. 0. 0. 1. ]] SLAMing on 50.513273559999995 meters Centerline goodness [0,1] 0.8238122519130826 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.09 [[ 0.99377248 -0.10387678 -0.04032216 0.46384645] [ 0.10425795 0.99452229 0.00746261 -0.58555919] [ 0.0393261 -0.01162004 0.99915886 -0.08571532] [ 0. 0. 0. 1. ]] SLAMing on 50.543273559999996 meters Centerline goodness [0,1] 0.825491960888598 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99338318 -0.10764591 -0.0400276 0.46361818] [ 0.1079105 0.99415041 0.00450319 -0.58821575] [ 0.03930871 -0.00879279 0.99918843 -0.08499463] [ 0. 0. 0. 1. ]] SLAMing on 50.57327356 meters Centerline goodness [0,1] 0.8231453152912671 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99334564 -0.10798433 -0.04004774 0.46372439] [ 0.10826563 0.99410984 0.00491681 -0.59052549] [ 0.03928092 -0.00921988 0.99918567 -0.08478977] [ 0. 0. 0. 1. ]] SLAMing on 50.60327356 meters Centerline goodness [0,1] 0.8244859506840337 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99332848 -0.10812798 -0.04008586 0.46374566] [ 0.10843723 0.99408743 0.00561599 -0.59310165] [ 0.0392416 -0.00992532 0.99918046 -0.08442326] [ 0. 0. 0. 1. ]] SLAMing on 50.63327356 meters Centerline goodness [0,1] 0.8261172183668039 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.9928965 -0.11215556 -0.03971979 0.46370231] [ 0.11233808 0.99366718 0.00238657 -0.59550653] [ 0.03920059 -0.00683167 0.99920801 -0.08398088] [ 0. 0. 0. 1. ]] SLAMing on 50.66327356 meters Centerline goodness [0,1] 0.8233790141133156 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99287149 -0.11235303 -0.03978701 0.46389144] [ 0.11255853 0.9936407 0.00295613 -0.59773344] [ 0.03920186 -0.00741343 0.99920381 -0.08381489] [ 0. 0. 0. 1. ]] SLAMing on 50.693273559999994 meters Centerline goodness [0,1] 0.8274317275237804 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99284372 -0.1125738 -0.03985585 0.46415675] [ 0.11279513 0.99361265 0.00334156 -0.5995109 ] [ 0.0392251 -0.0078132 0.99919985 -0.08375535] [ 0. 0. 0. 1. ]] SLAMing on 50.723273559999996 meters Centerline goodness [0,1] 0.827481009807334 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.9927454 -0.11341876 -0.0399093 0.46478334] [ 0.11364885 0.99351468 0.00353725 -0.60171543] [ 0.03924928 -0.00804724 0.99919705 -0.0839693 ] [ 0. 0. 0. 1. ]] SLAMing on 50.75327356 meters Centerline goodness [0,1] 0.8268577277379734 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.60, Z:-0.08 [[ 0.99272156 -0.11358662 -0.04002484 0.46525819] [ 0.11382584 0.99349367 0.00374202 -0.6026811 ] [ 0.03933938 -0.00827065 0.99919168 -0.08415827] [ 0. 0. 0. 1. ]] SLAMing on 50.78327356 meters Centerline goodness [0,1] 0.829675279472585 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.60, Z:-0.08 [[ 0.9927056 -0.11369845 -0.04010301 0.46566834] [ 0.11394487 0.9934794 0.00390604 -0.60343857] [ 0.03939741 -0.00844708 0.99918792 -0.08437888] [ 0. 0. 0. 1. ]] SLAMing on 50.81327356 meters Centerline goodness [0,1] 0.8301419238567245 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.60, Z:-0.08 [[ 0.99267337 -0.1139765 -0.04011156 0.46580645] [ 0.1142233 0.99344741 0.00390841 -0.60372493] [ 0.03940326 -0.00846145 0.99918756 -0.08445747] [ 0. 0. 0. 1. ]] SLAMing on 50.84327356 meters Centerline goodness [0,1] 0.8296500920810312 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.60, Z:-0.08 [[ 0.9926733 -0.11395468 -0.04017525 0.46560462] [ 0.11420472 0.99344928 0.00397706 -0.60371387] [ 0.03945886 -0.00853613 0.99918473 -0.08408208] [ 0. 0. 0. 1. ]] SLAMing on 50.87327356 meters Centerline goodness [0,1] 0.8293851477242481 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.60, Z:-0.08 [[ 0.99267436 -0.11394257 -0.04018348 0.46535787] [ 0.11419154 0.99345091 0.00394848 -0.60345188] [ 0.03947042 -0.00850817 0.99918452 -0.08377612] [ 0. 0. 0. 1. ]] SLAMing on 50.903273559999995 meters Centerline goodness [0,1] 0.829616596423749 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99267848 -0.11392049 -0.04014429 0.46498881] [ 0.1141698 0.99345333 0.00396603 -0.60306029] [ 0.03942966 -0.00852026 0.99918602 -0.08346632] [ 0. 0. 0. 1. ]] SLAMing on 50.933273559999996 meters Centerline goodness [0,1] 0.8285334424217632 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99268413 -0.11391577 -0.04001759 0.46428664] [ 0.11414635 0.99345772 0.00351785 -0.60115925] [ 0.03935505 -0.00805997 0.99919278 -0.08309606] [ 0. 0. 0. 1. ]] SLAMing on 50.96327356 meters Centerline goodness [0,1] 0.8287661420706874 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99270135 -0.11376416 -0.0400219 0.46407677] [ 0.11399187 0.9934757 0.00344693 -0.60026767] [ 0.03936864 -0.00798394 0.99919286 -0.08298261] [ 0. 0. 0. 1. ]] SLAMing on 50.99327356 meters Centerline goodness [0,1] 0.8293541193559606 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99270102 -0.11375685 -0.04005085 0.46410226] [ 0.11397241 0.99347898 0.00313301 -0.59897784] [ 0.03943327 -0.00767483 0.99919273 -0.08309508] [ 0. 0. 0. 1. ]] SLAMing on 51.02327356 meters Centerline goodness [0,1] 0.8277332458639989 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99291544 -0.11193867 -0.03985804 0.46238719] [ 0.11221719 0.99367204 0.00481359 -0.59713398] [ 0.039067 -0.00925225 0.99919376 -0.08223948] [ 0. 0. 0. 1. ]] SLAMing on 51.05327356 meters Centerline goodness [0,1] 0.8258257642548131 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.60, Z:-0.08 [[ 0.99291484 -0.11192043 -0.03992413 0.46234927] [ 0.11218185 0.99367812 0.00436191 -0.59524428] [ 0.03918355 -0.00880976 0.99919319 -0.08223782] [ 0. 0. 0. 1. ]] SLAMing on 51.083273559999995 meters Centerline goodness [0,1] 0.82782419922995 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99291911 -0.11188867 -0.03990709 0.4622324 ] [ 0.11213389 0.99368524 0.00395317 -0.59342667] [ 0.03921278 -0.00840012 0.99919557 -0.08234892] [ 0. 0. 0. 1. ]] SLAMing on 51.113273559999996 meters Centerline goodness [0,1] 0.8294457959400617 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99291652 -0.11189517 -0.03995318 0.46207981] [ 0.11212346 0.99368808 0.00351261 -0.59148949] [ 0.03930795 -0.00796741 0.99919538 -0.08225937] [ 0. 0. 0. 1. ]] SLAMing on 51.14327356 meters Centerline goodness [0,1] 0.8291462418300654 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99315925 -0.1097863 -0.03977017 0.46086827] [ 0.11009272 0.99390559 0.00559155 -0.5894121 ] [ 0.03891392 -0.00993171 0.99919321 -0.08199684] [ 0. 0. 0. 1. ]] SLAMing on 51.17327356 meters Centerline goodness [0,1] 0.829383498619773 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.59, Z:-0.08 [[ 0.99314554 -0.10990117 -0.03979537 0.4607808 ] [ 0.11018956 0.9938974 0.00512066 -0.58775323] [ 0.03898975 -0.0094706 0.99919473 -0.08197003] [ 0. 0. 0. 1. ]] SLAMing on 51.20327356 meters Centerline goodness [0,1] 0.8295501359479278 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99320949 -0.1094109 -0.03954948 0.45876024] [ 0.10969484 0.99395235 0.00507559 -0.58477991] [ 0.03875497 -0.00937949 0.99920472 -0.08065953] [ 0. 0. 0. 1. ]] SLAMing on 51.23327356 meters Centerline goodness [0,1] 0.8308035805731375 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99318932 -0.10956447 -0.03963086 0.45881163] [ 0.10982915 0.99394003 0.00455776 -0.58279401] [ 0.03889133 -0.00887934 0.99920399 -0.08067422] [ 0. 0. 0. 1. ]] SLAMing on 51.263273559999995 meters Centerline goodness [0,1] 0.8304423688802217 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99316748 -0.10977367 -0.03959923 0.45844406] [ 0.11001654 0.99392171 0.00400045 -0.5807981 ] [ 0.03891939 -0.00832968 0.99920763 -0.08046913] [ 0. 0. 0. 1. ]] SLAMing on 51.293273559999996 meters Centerline goodness [0,1] 0.8295959512837393 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99327485 -0.10887351 -0.03939084 0.45620203] [ 0.10913652 0.99401621 0.00458293 -0.57861609] [ 0.03865617 -0.00885109 0.99921337 -0.07882522] [ 0. 0. 0. 1. ]] SLAMing on 51.32327356 meters Centerline goodness [0,1] 0.8320993209523031 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99325936 -0.10897416 -0.03950291 0.45653285] [ 0.10922321 0.99400839 0.00419597 -0.5772198 ] [ 0.03880897 -0.00848232 0.99921065 -0.07908474] [ 0. 0. 0. 1. ]] SLAMing on 51.35327356 meters Centerline goodness [0,1] 0.8303098939565531 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.58, Z:-0.08 [[ 0.99324836 -0.10905556 -0.03955467 0.45652438] [ 0.10929369 0.99400184 0.00390219 -0.57602864] [ 0.03889186 -0.00819892 0.99920979 -0.07904206] [ 0. 0. 0. 1. ]] SLAMing on 51.38327356 meters Centerline goodness [0,1] 0.8305737704918033 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99342331 -0.10728382 -0.04000378 0.45842529] [ 0.107594 0.99417871 0.00567694 -0.57451778] [ 0.03916186 -0.00994377 0.9991834 -0.08071175] [ 0. 0. 0. 1. ]] SLAMing on 51.41327356 meters Centerline goodness [0,1] 0.8320194428559758 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99342246 -0.10725973 -0.04008953 0.45866611] [ 0.10755807 0.99418439 0.00535424 -0.57303404] [ 0.03928209 -0.00963098 0.99918175 -0.08093442] [ 0. 0. 0. 1. ]] SLAMing on 51.443273559999994 meters Centerline goodness [0,1] 0.8321394117284837 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99340709 -0.10738583 -0.04013278 0.45870352] [ 0.10766672 0.99417498 0.00489819 -0.57140254] [ 0.03937301 -0.00918686 0.99918235 -0.08102192] [ 0. 0. 0. 1. ]] SLAMing on 51.473273559999996 meters Centerline goodness [0,1] 0.8291373906630887 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.9936594 -0.10500528 -0.04018565 0.45762684] [ 0.10537712 0.99440595 0.00724365 -0.57015727] [ 0.03920023 -0.01143237 0.99916597 -0.08034939] [ 0. 0. 0. 1. ]] SLAMing on 51.50327356 meters Centerline goodness [0,1] 0.8305251305148941 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99366575 -0.10495826 -0.04015149 0.45740559] [ 0.10532027 0.99441369 0.00700402 -0.56907469] [ 0.03919206 -0.01118842 0.99916906 -0.08026683] [ 0. 0. 0. 1. ]] SLAMing on 51.53327356 meters Centerline goodness [0,1] 0.8293504901960784 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.9936688 -0.10494039 -0.04012265 0.45659162] [ 0.10528521 0.99442034 0.00657407 -0.56708593] [ 0.0392089 -0.01075677 0.99917314 -0.07950414] [ 0. 0. 0. 1. ]] SLAMing on 51.56327356 meters Centerline goodness [0,1] 0.8326109180126764 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99367385 -0.10488307 -0.04014749 0.45636475] [ 0.1052229 0.9944278 0.00644122 -0.56629673] [ 0.03924821 -0.0106249 0.999173 -0.07925321] [ 0. 0. 0. 1. ]] SLAMing on 51.59327356 meters Centerline goodness [0,1] 0.8304243983097557 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.57, Z:-0.08 [[ 0.99367446 -0.10486899 -0.04016924 0.45607915] [ 0.10520255 0.99443101 0.0062762 -0.56547097] [ 0.03928736 -0.0104624 0.99917318 -0.07894453] [ 0. 0. 0. 1. ]] SLAMing on 51.62327356 meters Centerline goodness [0,1] 0.8326394841026896 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99367802 -0.10483345 -0.04017388 0.4558567 ] [ 0.10516358 0.99443568 0.00618848 -0.56475578] [ 0.03930158 -0.01037419 0.99917354 -0.07874968] [ 0. 0. 0. 1. ]] SLAMing on 51.653273559999995 meters Centerline goodness [0,1] 0.8316841783127614 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99369512 -0.1046521 -0.04022363 0.45590123] [ 0.10497479 0.99445684 0.00599003 -0.56346578] [ 0.03937379 -0.01017473 0.99917275 -0.0788143 ] [ 0. 0. 0. 1. ]] SLAMing on 51.683273559999996 meters Centerline goodness [0,1] 0.8322610951126361 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99369521 -0.10461535 -0.0403171 0.45627399] [ 0.10493414 0.99446186 0.00586791 -0.5627989 ] [ 0.03947994 -0.01006155 0.9991697 -0.07910495] [ 0. 0. 0. 1. ]] SLAMing on 51.71327356 meters Centerline goodness [0,1] 0.8324152759291492 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99369889 -0.10454872 -0.04039894 0.45658264] [ 0.10486391 0.99446991 0.00575743 -0.56210995] [ 0.0395736 -0.00995755 0.99916704 -0.07935725] [ 0. 0. 0. 1. ]] SLAMing on 51.74327356 meters Centerline goodness [0,1] 0.8298615365763999 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99372016 -0.10433163 -0.04043699 0.45675599] [ 0.10463954 0.99449462 0.00556856 -0.56057831] [ 0.03963339 -0.0097649 0.99916657 -0.07966134] [ 0. 0. 0. 1. ]] SLAMing on 51.77327356 meters Centerline goodness [0,1] 0.8310899004731604 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99372633 -0.10428923 -0.04039486 0.45636083] [ 0.10459207 0.99450026 0.00545188 -0.55986813] [ 0.03960413 -0.00964266 0.99916892 -0.07935778] [ 0. 0. 0. 1. ]] SLAMing on 51.80327356 meters Centerline goodness [0,1] 0.8304141430676052 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99374445 -0.10413345 -0.04035085 0.45547402] [ 0.10443842 0.99451604 0.00551958 -0.55954479] [ 0.0395548 -0.00969923 0.99917033 -0.0784485 ] [ 0. 0. 0. 1. ]] SLAMing on 51.833273559999995 meters Centerline goodness [0,1] 0.8322276038910823 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99374917 -0.10405649 -0.04043316 0.45547315] [ 0.10436385 0.99452364 0.00556095 -0.5593552 ] [ 0.03963308 -0.00974595 0.99916677 -0.07826767] [ 0. 0. 0. 1. ]] SLAMing on 51.863273559999996 meters Centerline goodness [0,1] 0.8306788751351021 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99375793 -0.10394032 -0.04051653 0.45536893] [ 0.10424885 0.99453563 0.00557221 -0.55902929] [ 0.03971596 -0.00976123 0.99916333 -0.07800114] [ 0. 0. 0. 1. ]] SLAMing on 51.89327356 meters Centerline goodness [0,1] 0.8297064467398849 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99378181 -0.1036776 -0.04060379 0.45531221] [ 0.10398508 0.99456349 0.00552954 -0.55807418] [ 0.03980976 -0.00971734 0.99916003 -0.07787389] [ 0. 0. 0. 1. ]] SLAMing on 51.92327356 meters Centerline goodness [0,1] 0.83046035701156 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99379767 -0.10350081 -0.0406666 0.45560492] [ 0.10381094 0.99458137 0.00558434 -0.55758781] [ 0.03986826 -0.00977135 0.99915717 -0.07814805] [ 0. 0. 0. 1. ]] SLAMing on 51.95327356 meters Centerline goodness [0,1] 0.8308760289961912 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99381893 -0.10325884 -0.04076206 0.45583031] [ 0.10357077 0.99460626 0.0056108 -0.5570003 ] [ 0.03996284 -0.00979788 0.99915313 -0.07829378] [ 0. 0. 0. 1. ]] SLAMing on 51.98327356 meters Centerline goodness [0,1] 0.831876480679683 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99416638 -0.09967654 -0.04120426 0.45643407] [ 0.10013578 0.99493096 0.0092308 -0.55721265] [ 0.0400753 -0.01330298 0.9991081 -0.07875369] [ 0. 0. 0. 1. ]] SLAMing on 52.013273559999995 meters Centerline goodness [0,1] 0.83098562754278 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99419789 -0.09935957 -0.04120963 0.45637245] [ 0.09981657 0.99496351 0.00917917 -0.55624357] [ 0.04009004 -0.01323932 0.99910836 -0.07879549] [ 0. 0. 0. 1. ]] SLAMing on 52.043273559999996 meters Centerline goodness [0,1] 0.8304918635277784 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.56, Z:-0.08 [[ 0.99423904 -0.09892375 -0.04126516 0.45622139] [ 0.0993799 0.99500751 0.00914818 -0.55508558] [ 0.04015417 -0.0131964 0.99910635 -0.07864051] [ 0. 0. 0. 1. ]] SLAMing on 52.07327356 meters Centerline goodness [0,1] 0.8305213309005924 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.9943927 -0.09744842 -0.04107262 0.45433902] [ 0.09794498 0.99513903 0.01025125 -0.554726 ] [ 0.039874 -0.01421663 0.99910357 -0.0772483 ] [ 0. 0. 0. 1. ]] SLAMing on 52.10327356 meters Centerline goodness [0,1] 0.8316540893330614 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.99442268 -0.097044 -0.04130362 0.45459102] [ 0.09753669 0.99518088 0.01008044 -0.55333913] [ 0.04012632 -0.01405283 0.99909579 -0.07717449] [ 0. 0. 0. 1. ]] SLAMing on 52.13327356 meters Centerline goodness [0,1] 0.8320505997461825 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.99470304 -0.09414138 -0.04127065 0.45227643] [ 0.0947328 0.99542284 0.01261238 -0.55248643] [ 0.0398944 -0.01645526 0.9990684 -0.07532355] [ 0. 0. 0. 1. ]] SLAMing on 52.16327356 meters Centerline goodness [0,1] 0.8316829653320212 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99473083 -0.09386484 -0.04123062 0.45183947] [ 0.09445664 0.99544868 0.01264354 -0.55191042] [ 0.03985618 -0.01647143 0.99906966 -0.07494784] [ 0. 0. 0. 1. ]] SLAMing on 52.193273559999994 meters Centerline goodness [0,1] 0.8306122867034025 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99477117 -0.09349881 -0.04108876 0.45118349] [ 0.09409043 0.99548259 0.01270444 -0.55139159] [ 0.0397153 -0.01650407 0.99907473 -0.07457072] [ 0. 0. 0. 1. ]] SLAMing on 52.223273559999996 meters Centerline goodness [0,1] 0.8319105273958547 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99478806 -0.09327724 -0.04118332 0.45128897] [ 0.09387545 0.99550122 0.01283457 -0.55125114] [ 0.03980087 -0.01663378 0.99906917 -0.07453355] [ 0. 0. 0. 1. ]] SLAMing on 52.25327356 meters Centerline goodness [0,1] 0.8319105273958547 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99478806 -0.09327724 -0.04118332 0.45128897] [ 0.09387545 0.99550122 0.01283457 -0.55125114] [ 0.03980087 -0.01663378 0.99906917 -0.07453355] [ 0. 0. 0. 1. ]] SLAMing on 52.28327356 meters Centerline goodness [0,1] 0.8354877575609059 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99478519 -0.0932585 -0.04129503 0.45186817] [ 0.09385433 0.99550457 0.0127286 -0.55074136] [ 0.03992234 -0.01653794 0.99906592 -0.07499731] [ 0. 0. 0. 1. ]] SLAMing on 52.31327356 meters Centerline goodness [0,1] 0.8351468876957312 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.99479958 -0.09309802 -0.04131045 0.45211589] [ 0.09369876 0.99551769 0.012848 -0.55056506] [ 0.03992916 -0.01665192 0.99906375 -0.07531386] [ 0. 0. 0. 1. ]] SLAMing on 52.34327356 meters Centerline goodness [0,1] 0.8328544454478286 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.99484164 -0.0926735 -0.0412522 0.45207831] [ 0.09327945 0.99555495 0.01301068 -0.55006445] [ 0.03986309 -0.01679155 0.99906405 -0.0755092 ] [ 0. 0. 0. 1. ]] SLAMing on 52.37327356 meters Centerline goodness [0,1] 0.8341348613527064 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.08 [[ 0.99485952 -0.09247061 -0.04127608 0.45192061] [ 0.09308005 0.99557255 0.01309171 -0.55001848] [ 0.03988274 -0.01686639 0.99906201 -0.07528281] [ 0. 0. 0. 1. ]] SLAMing on 52.403273559999995 meters Centerline goodness [0,1] 0.8299468968486663 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99490433 -0.09196256 -0.04133124 0.45151764] [ 0.09258513 0.99561452 0.01340613 -0.55020903] [ 0.03991712 -0.01716448 0.99905556 -0.07471962] [ 0. 0. 0. 1. ]] SLAMing on 52.433273559999996 meters Centerline goodness [0,1] 0.8310261842565357 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99492553 -0.09169951 -0.04140513 0.45138498] [ 0.09233441 0.99563398 0.01368702 -0.55069395] [ 0.03996926 -0.01744068 0.99904869 -0.07437765] [ 0. 0. 0. 1. ]] SLAMing on 52.46327356 meters Centerline goodness [0,1] 0.8337015670389919 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99492665 -0.09158742 -0.04162573 0.45193258] [ 0.09223131 0.99564174 0.01381669 -0.5511239 ] [ 0.04017887 -0.01758579 0.99903774 -0.07449415] [ 0. 0. 0. 1. ]] SLAMing on 52.49327356 meters Centerline goodness [0,1] 0.8303073770491803 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99494949 -0.09131097 -0.04168706 0.45207893] [ 0.09197714 0.99565774 0.01434831 -0.55257494] [ 0.04019589 -0.0181101 0.99902768 -0.07439863] [ 0. 0. 0. 1. ]] SLAMing on 52.52327356 meters Centerline goodness [0,1] 0.8287878787878789 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99495573 -0.09122899 -0.0417177 0.45217035] [ 0.09190644 0.99566037 0.01461602 -0.55343977] [ 0.04020326 -0.01837642 0.99902252 -0.07433736] [ 0. 0. 0. 1. ]] SLAMing on 52.55327356 meters Centerline goodness [0,1] 0.8309479021836919 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99495028 -0.09126911 -0.04175985 0.45233741] [ 0.09195615 0.99565255 0.01483444 -0.55429841] [ 0.04022438 -0.01859961 0.99901754 -0.07434245] [ 0. 0. 0. 1. ]] SLAMing on 52.583273559999995 meters Centerline goodness [0,1] 0.8293740920344567 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99495114 -0.09124126 -0.04180029 0.45245915] [ 0.09194056 0.99564969 0.01512022 -0.55545496] [ 0.04023885 -0.01888703 0.99901157 -0.07429096] [ 0. 0. 0. 1. ]] SLAMing on 52.613273559999996 meters Centerline goodness [0,1] 0.8309334860508877 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99476796 -0.09348974 -0.041187 0.45098857] [ 0.09409303 0.99547909 0.01295667 -0.55682266] [ 0.03978949 -0.01676429 0.99906744 -0.07340622] [ 0. 0. 0. 1. ]] SLAMing on 52.64327356 meters Centerline goodness [0,1] 0.8308644750015324 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99477242 -0.09347539 -0.04111178 0.45081651] [ 0.09409225 0.99547423 0.01333035 -0.55820991] [ 0.03967966 -0.01712897 0.99906563 -0.07321802] [ 0. 0. 0. 1. ]] SLAMing on 52.67327356 meters Centerline goodness [0,1] 0.8297994386741236 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99462081 -0.09527949 -0.04063571 0.4485068 ] [ 0.0958316 0.99532692 0.0118582 -0.55979025] [ 0.03931597 -0.01568859 0.99910366 -0.07113244] [ 0. 0. 0. 1. ]] SLAMing on 52.70327356 meters Centerline goodness [0,1] 0.8300358056265984 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99461776 -0.09531415 -0.04062919 0.44845038] [ 0.09588024 0.99531792 0.01221566 -0.56119091] [ 0.03927463 -0.01604545 0.99909962 -0.07090992] [ 0. 0. 0. 1. ]] SLAMing on 52.73327356 meters Centerline goodness [0,1] 0.8282978810272322 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99460183 -0.09546133 -0.0406734 0.44860483] [ 0.09603929 0.9952991 0.01249661 -0.5626233 ] [ 0.03928926 -0.0163354 0.99909434 -0.07083777] [ 0. 0. 0. 1. ]] SLAMing on 52.763273559999995 meters Centerline goodness [0,1] 0.8286275071047413 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99424941 -0.09918714 -0.04037356 0.44859183] [ 0.09962614 0.99498418 0.00900578 -0.56324147] [ 0.0392778 -0.01297625 0.99914407 -0.07065099] [ 0. 0. 0. 1. ]] SLAMing on 52.793273559999996 meters Centerline goodness [0,1] 0.8318291338261118 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99422762 -0.0993577 -0.04049059 0.44898401] [ 0.0998117 0.99496246 0.00934456 -0.56479371] [ 0.03935816 -0.01333205 0.99913622 -0.07066057] [ 0. 0. 0. 1. ]] SLAMing on 52.82327356 meters Centerline goodness [0,1] 0.8300116753036604 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99383069 -0.10334585 -0.04025166 0.44972243] [ 0.10366037 0.99459583 0.00580134 -0.56590563] [ 0.03943459 -0.00993805 0.99917273 -0.07110042] [ 0. 0. 0. 1. ]] SLAMing on 52.85327356 meters Centerline goodness [0,1] 0.8312176774800188 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99379342 -0.10367451 -0.0403265 0.45029056] [ 0.10400225 0.99455829 0.00611018 -0.56769389] [ 0.03947358 -0.0102663 0.99916787 -0.07138005] [ 0. 0. 0. 1. ]] SLAMing on 52.88327356 meters Centerline goodness [0,1] 0.8324798230161006 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99375162 -0.10403027 -0.04044027 0.45068162] [ 0.10437014 0.99451806 0.00638006 -0.56928919] [ 0.03955486 -0.01056095 0.99916159 -0.07139291] [ 0. 0. 0. 1. ]] SLAMing on 52.91327356 meters Centerline goodness [0,1] 0.8305421341413479 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99371632 -0.10436358 -0.04044898 0.45079968] [ 0.10471227 0.9944807 0.00659418 -0.57056951] [ 0.03953754 -0.01078825 0.99915985 -0.07131749] [ 0. 0. 0. 1. ]] SLAMing on 52.943273559999994 meters Centerline goodness [0,1] 0.8319501226492232 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99361945 -0.10534676 -0.04027974 0.45070106] [ 0.10569602 0.99437635 0.00663592 -0.5722082 ] [ 0.03935415 -0.01085099 0.99916641 -0.07122572] [ 0. 0. 0. 1. ]] SLAMing on 52.973273559999996 meters Centerline goodness [0,1] 0.8345231033565833 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.9935968 -0.10552455 -0.04037285 0.45072666] [ 0.10588467 0.9943546 0.0068818 -0.57322687] [ 0.03941873 -0.0111126 0.99916098 -0.07091857] [ 0. 0. 0. 1. ]] SLAMing on 53.00327356 meters Centerline goodness [0,1] 0.8340356762949022 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99357019 -0.10575899 -0.04041429 0.45062079] [ 0.10612486 0.99432809 0.00701158 -0.57406513] [ 0.03944352 -0.01125546 0.99915841 -0.07059701] [ 0. 0. 0. 1. ]] SLAMing on 53.03327356 meters Centerline goodness [0,1] 0.8356887207280908 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99347432 -0.10667923 -0.04035238 0.45066957] [ 0.10704615 0.99422914 0.0070381 -0.57613197] [ 0.0393687 -0.01131174 0.99916072 -0.07036006] [ 0. 0. 0. 1. ]] SLAMing on 53.06327356 meters Centerline goodness [0,1] 0.8353337415799142 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99345379 -0.10685008 -0.0404057 0.45084924] [ 0.10722647 0.99420812 0.00725977 -0.57719807] [ 0.03939597 -0.0115448 0.99915698 -0.0703199 ] [ 0. 0. 0. 1. ]] SLAMing on 53.09327356 meters Centerline goodness [0,1] 0.8341258454601352 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.9933584 -0.10774111 -0.04038488 0.4510797 ] [ 0.10810783 0.9941145 0.00700337 -0.57813202] [ 0.03939265 -0.01132278 0.99915965 -0.07040383] [ 0. 0. 0. 1. ]] SLAMing on 53.12327356 meters Centerline goodness [0,1] 0.8351650592337336 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99334775 -0.10778357 -0.04053331 0.45168463] [ 0.10815701 0.99410826 0.00712964 -0.57845822] [ 0.03952604 -0.01146617 0.99915275 -0.07070308] [ 0. 0. 0. 1. ]] SLAMing on 53.153273559999995 meters Centerline goodness [0,1] 0.8375173483549677 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99334833 -0.10775349 -0.04059897 0.45179985] [ 0.10813266 0.99411 0.00725573 -0.5785765 ] [ 0.03957801 -0.01159754 0.99914918 -0.07068113] [ 0. 0. 0. 1. ]] SLAMing on 53.183273559999996 meters Centerline goodness [0,1] 0.8343626027565335 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99334203 -0.10781323 -0.04059451 0.4517307 ] [ 0.10819053 0.99410404 0.00720864 -0.5782645 ] [ 0.03957798 -0.01155258 0.9991497 -0.07062952] [ 0. 0. 0. 1. ]] SLAMing on 53.21327356 meters Centerline goodness [0,1] 0.8342273255695376 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.99333796 -0.10786877 -0.04054647 0.45149571] [ 0.10823225 0.99410188 0.00687261 -0.57685077] [ 0.03956598 -0.01121526 0.99915402 -0.07060169] [ 0. 0. 0. 1. ]] SLAMing on 53.24327356 meters Centerline goodness [0,1] 0.8339766762657517 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.58, Z:-0.07 [[ 0.9933531 -0.10774564 -0.04050291 0.4512858 ] [ 0.10810198 0.99411719 0.00670662 -0.57585525] [ 0.03954203 -0.01104049 0.99915691 -0.07056696] [ 0. 0. 0. 1. ]] SLAMing on 53.27327356 meters Centerline goodness [0,1] 0.833486322746466 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99337279 -0.10755604 -0.04052393 0.45120435] [ 0.10790919 0.99413869 0.00662385 -0.57497275] [ 0.03957397 -0.01095285 0.99915661 -0.07054169] [ 0. 0. 0. 1. ]] SLAMing on 53.30327356 meters Centerline goodness [0,1] 0.8346395624132582 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99354278 -0.10604118 -0.04034873 0.44948048] [ 0.1064287 0.99429149 0.00757452 -0.57293783] [ 0.03931519 -0.01181987 0.99915695 -0.06953956] [ 0. 0. 0. 1. ]] SLAMing on 53.333273559999995 meters Centerline goodness [0,1] 0.8307535016869441 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99356697 -0.10584639 -0.04026443 0.44941269] [ 0.10622178 0.9943157 0.00729485 -0.57132884] [ 0.03926342 -0.01152488 0.99916243 -0.06984533] [ 0. 0. 0. 1. ]] SLAMing on 53.363273559999996 meters Centerline goodness [0,1] 0.8304029079621802 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.9935922 -0.10559324 -0.04030645 0.44934138] [ 0.10595843 0.99434572 0.00702829 -0.5695232 ] [ 0.0393364 -0.01125407 0.99916265 -0.06986691] [ 0. 0. 0. 1. ]] SLAMing on 53.39327356 meters Centerline goodness [0,1] 0.8295085317257587 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99397516 -0.10181991 -0.040572 0.44892121] [ 0.10231198 0.99469968 0.01023707 -0.56764849] [ 0.03931462 -0.0143264 0.99912417 -0.06977539] [ 0. 0. 0. 1. ]] SLAMing on 53.42327356 meters Centerline goodness [0,1] 0.8291593588122528 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.57, Z:-0.07 [[ 0.99402047 -0.10140677 -0.04049657 0.44843674] [ 0.10188764 0.99474578 0.00998708 -0.56575768] [ 0.03927103 -0.01405346 0.99912976 -0.06957221] [ 0. 0. 0. 1. ]] SLAMing on 53.45327356 meters Centerline goodness [0,1] 0.8258143822987093 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99417575 -0.09994106 -0.04032822 0.44661668] [ 0.10045703 0.9948809 0.01097224 -0.56467101] [ 0.0390252 -0.01495959 0.99912624 -0.06831269] [ 0. 0. 0. 1. ]] SLAMing on 53.48327356 meters Centerline goodness [0,1] 0.826247425623458 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99451455 -0.09634197 -0.04073134 0.44648899] [ 0.09697917 0.99518845 0.01396415 -0.5624464 ] [ 0.03919003 -0.01783764 0.99907255 -0.06817048] [ 0. 0. 0. 1. ]] SLAMing on 53.513273559999995 meters Centerline goodness [0,1] 0.8250743818610855 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99453064 -0.09618695 -0.04070484 0.44616204] [ 0.09680858 0.99521034 0.01358195 -0.56057895] [ 0.03920347 -0.01744825 0.9990789 -0.06800685] [ 0. 0. 0. 1. ]] SLAMing on 53.543273559999996 meters Centerline goodness [0,1] 0.8269258341355509 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99455986 -0.09592596 -0.0406067 0.44547056] [ 0.09652145 0.99524649 0.01296291 -0.55753851] [ 0.0391702 -0.0168118 0.99909112 -0.06769057] [ 0. 0. 0. 1. ]] SLAMing on 53.57327356 meters Centerline goodness [0,1] 0.8253627631310034 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99454926 -0.0960427 -0.04059021 0.44542312] [ 0.0966203 0.99524267 0.01251175 -0.55609363] [ 0.03919545 -0.01636539 0.99909754 -0.06774378] [ 0. 0. 0. 1. ]] SLAMing on 53.60327356 meters Centerline goodness [0,1] 0.8267053582376263 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.56, Z:-0.07 [[ 0.99453372 -0.09624863 -0.040483 0.44516242] [ 0.09681079 0.99522854 0.01215834 -0.55503636] [ 0.03911962 -0.01601107 0.99910625 -0.06772875] [ 0. 0. 0. 1. ]] SLAMing on 53.63327356 meters Centerline goodness [0,1] 0.8269277895768665 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99450785 -0.09653227 -0.04044322 0.4449618 ] [ 0.09707983 0.99520669 0.01179642 -0.55409854] [ 0.03911063 -0.01565785 0.9991122 -0.06757776] [ 0. 0. 0. 1. ]] SLAMing on 53.66327356 meters Centerline goodness [0,1] 0.8259129973258211 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99440847 -0.0976016 -0.04032037 0.444785 ] [ 0.09811001 0.99511671 0.01082439 -0.55232441] [ 0.03906699 -0.0147197 0.99912817 -0.06765868] [ 0. 0. 0. 1. ]] SLAMing on 53.693273559999994 meters Centerline goodness [0,1] 0.8258808141911224 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99435311 -0.09816889 -0.04030847 0.44487771] [ 0.09866157 0.99506653 0.01041626 -0.55177746] [ 0.03908705 -0.01433434 0.99913299 -0.06774206] [ 0. 0. 0. 1. ]] SLAMing on 53.723273559999996 meters Centerline goodness [0,1] 0.8278522873415396 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99429172 -0.09878596 -0.04031515 0.4450952 ] [ 0.09926377 0.99501068 0.01002248 -0.55142231] [ 0.03912393 -0.0139671 0.99913675 -0.06791448] [ 0. 0. 0. 1. ]] SLAMing on 53.75327356 meters Centerline goodness [0,1] 0.8253877199811518 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99381955 -0.10359897 -0.03987431 0.4449647 ] [ 0.10388292 0.9945764 0.0051105 -0.5488284 ] [ 0.03912861 -0.00922117 0.99919163 -0.06794953] [ 0. 0. 0. 1. ]] SLAMing on 53.78327356 meters Centerline goodness [0,1] 0.8267173078493834 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.55, Z:-0.07 [[ 0.99375278 -0.10421554 -0.03993163 0.44521831] [ 0.10448643 0.99451496 0.00475243 -0.54857616] [ 0.03921733 -0.00889505 0.99919111 -0.06803755] [ 0. 0. 0. 1. ]] SLAMing on 53.81327356 meters Centerline goodness [0,1] 0.8286336731338375 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99350427 -0.10681113 -0.03925117 0.4434196 ] [ 0.10699374 0.99425636 0.00257553 -0.54650352] [ 0.03875063 -0.00675843 0.99922606 -0.06718317] [ 0. 0. 0. 1. ]] SLAMing on 53.84327356 meters Centerline goodness [0,1] 0.828310913031034 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99343417 -0.1074363 -0.03931901 0.44378227] [ 0.10760197 0.9941918 0.00211561 -0.54574104] [ 0.03886334 -0.00633252 0.99922447 -0.067413 ] [ 0. 0. 0. 1. ]] SLAMing on 53.87327356 meters Centerline goodness [0,1] 0.8318520934404174 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.55, Z:-0.07 [[ 0.99338071 -0.1079201 -0.03934477 0.44395974] [ 0.1080728 0.99414141 0.00176892 -0.5450403 ] [ 0.03892336 -0.00600931 0.99922413 -0.06753701] [ 0. 0. 0. 1. ]] SLAMing on 53.903273559999995 meters Centerline goodness [0,1] 0.8296580442675747 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.54, Z:-0.07 [[ 0.99331108 -0.10860123 -0.03922845 0.44380439] [ 0.10873234 0.99407032 0.00121803 -0.54422302] [ 0.03886356 -0.00547529 0.99922953 -0.06758014] [ 0. 0. 0. 1. ]] SLAMing on 53.933273559999996 meters Centerline goodness [0,1] 0.7833190376996283 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.54, Z:-0.07 [[ 9.93157886e-01 -1.10028670e-01 -3.91293465e-02 4.44193705e-01] [ 1.10118215e-01 9.93918488e-01 1.34029166e-04 -5.42569199e-01] [ 3.88766338e-02 -4.44196591e-03 9.99234145e-01 -6.81498587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96327356 meters Centerline goodness [0,1] 0.7745818989224094 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.54, Z:-0.07 [[ 9.93096226e-01 -1.10588337e-01 -3.91165760e-02 4.44300689e-01] [ 1.10657207e-01 9.93858550e-01 -4.06711641e-04 -5.41309248e-01] [ 3.89213210e-02 -3.92462725e-03 9.99234571e-01 -6.83067035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99327356 meters Centerline goodness [0,1] 0.7785494612924907 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.54, Z:-0.07 [[ 0.99303538 -0.11113644 -0.03910785 0.44431043] [ 0.11118191 0.99379955 -0.00101707 -0.53985862] [ 0.0389784 -0.0033381 0.99923448 -0.06836461] [ 0. 0. 0. 1. ]] SLAMing on 54.02327356 meters Centerline goodness [0,1] 0.8216198536326097 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.54, Z:-0.07 [[ 0.99292361 -0.11219604 -0.03891983 0.44388743] [ 0.11218799 0.99368411 -0.00239767 -0.53612326] [ 0.03894302 -0.00198564 0.99923946 -0.0684138 ] [ 0. 0. 0. 1. ]] SLAMing on 54.05327356 meters Centerline goodness [0,1] 0.8208930799599076 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.53, Z:-0.07 [[ 0.99287158 -0.11266854 -0.03888231 0.44389361] [ 0.11263334 0.99363178 -0.00310153 -0.53414922] [ 0.03898414 -0.00130002 0.99923898 -0.0685852 ] [ 0. 0. 0. 1. ]] SLAMing on 54.083273559999995 meters Centerline goodness [0,1] 0.8103511637403021 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.53, Z:-0.07 [[ 9.93091877e-01 -1.10650682e-01 -3.90506158e-02 4.44125921e-01] [ 1.10703164e-01 9.93853175e-01 -8.22488362e-04 -5.31968984e-01] [ 3.89015874e-02 -3.50622021e-03 9.99236895e-01 -6.92561502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.113273559999996 meters Centerline goodness [0,1] 0.8119036430133012 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.53, Z:-0.07 [[ 0.99304614 -0.11105001 -0.03908006 0.44423121] [ 0.11107532 0.99381081 -0.00152972 -0.52992743] [ 0.03900806 -0.00282175 0.99923491 -0.06940788] [ 0. 0. 0. 1. ]] SLAMing on 54.14327356 meters Centerline goodness [0,1] 0.8119036430133012 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.53, Z:-0.07 [[ 0.99304614 -0.11105001 -0.03908006 0.44423121] [ 0.11107532 0.99381081 -0.00152972 -0.52992743] [ 0.03900806 -0.00282175 0.99923491 -0.06940788] [ 0. 0. 0. 1. ]] SLAMing on 54.17327356 meters Centerline goodness [0,1] 0.808797017126936 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.53, Z:-0.07 [[ 9.93271022e-01 -1.09085095e-01 -3.88988240e-02 4.42978453e-01] [ 1.09185495e-01 9.94021286e-01 4.59693408e-04 -5.27097556e-01] [ 3.86161133e-02 -4.70378750e-03 9.99243049e-01 -6.91841471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20327356 meters Centerline goodness [0,1] 0.8014995083579155 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.52, Z:-0.07 [[ 9.93234530e-01 -1.09431197e-01 -3.88584804e-02 4.42927206e-01] [ 1.09501750e-01 9.93986553e-01 -3.14429927e-04 -5.24502812e-01] [ 3.86592154e-02 -3.94276896e-03 9.99244675e-01 -6.93403210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23327356 meters Centerline goodness [0,1] 0.8121801432958035 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.52, Z:-0.07 [[ 0.99353073 -0.10665058 -0.03901709 0.44273268] [ 0.10683596 0.99427302 0.0026916 -0.52362503] [ 0.03850658 -0.00684262 0.99923492 -0.0695256 ] [ 0. 0. 0. 1. ]] SLAMing on 54.263273559999995 meters Centerline goodness [0,1] 0.8077576501893358 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.52, Z:-0.07 [[ 0.99369472 -0.10516927 -0.03886168 0.44121535] [ 0.10540835 0.99442036 0.00414958 -0.52159139] [ 0.03820844 -0.00821976 0.99923598 -0.06875527] [ 0. 0. 0. 1. ]] SLAMing on 54.293273559999996 meters Centerline goodness [0,1] 0.817418785528125 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.52, Z:-0.07 [[ 0.99390789 -0.10321053 -0.03866128 0.43933531] [ 0.10349733 0.9946146 0.00548643 -0.51677068] [ 0.03788681 -0.00945435 0.99923731 -0.06795817] [ 0. 0. 0. 1. ]] SLAMing on 54.32327356 meters Centerline goodness [0,1] 0.8050769135979955 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.51, Z:-0.07 [[ 0.99388339 -0.10348517 -0.03855669 0.43894217] [ 0.10373533 0.99459458 0.00453968 -0.51367914] [ 0.03787849 -0.0085116 0.9992461 -0.06784669] [ 0. 0. 0. 1. ]] SLAMing on 54.35327356 meters Centerline goodness [0,1] 0.809333086860969 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.51, Z:-0.07 [[ 0.99383836 -0.1039331 -0.03851258 0.43861105] [ 0.10414042 0.99455675 0.00341136 -0.51027997] [ 0.03794839 -0.00740106 0.99925229 -0.06766499] [ 0. 0. 0. 1. ]] SLAMing on 54.38327356 meters Centerline goodness [0,1] 0.8004984983757942 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.50, Z:-0.07 [[ 0.99403075 -0.1020171 -0.03867012 0.43808701] [ 0.10226642 0.99474678 0.00451987 -0.50448258] [ 0.03800587 -0.00844755 0.99924181 -0.06755388] [ 0. 0. 0. 1. ]] SLAMing on 54.41327356 meters Centerline goodness [0,1] 0.8082562598691632 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.50, Z:-0.07 [[ 0.99420265 -0.10043759 -0.03838461 0.43581013] [ 0.10073267 0.99489646 0.00582746 -0.50190364] [ 0.03760341 -0.00966026 0.99924605 -0.0661887 ] [ 0. 0. 0. 1. ]] SLAMing on 54.443273559999994 meters Centerline goodness [0,1] 0.8091040786762156 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.50, Z:-0.07 [[ 0.9941713 -0.10071057 -0.03848135 0.43594172] [ 0.10096682 0.99487836 0.00476974 -0.49811983] [ 0.0378039 -0.00862728 0.99924793 -0.06624055] [ 0. 0. 0. 1. ]] SLAMing on 54.473273559999996 meters Centerline goodness [0,1] 0.8022011805213969 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.49, Z:-0.07 [[ 0.9944084 -0.09833455 -0.03850005 0.43434716] [ 0.09864724 0.9951025 0.00630373 -0.49282973] [ 0.03769163 -0.01006641 0.99923871 -0.06531642] [ 0. 0. 0. 1. ]] SLAMing on 54.50327356 meters Centerline goodness [0,1] 0.8150712997869202 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.49, Z:-0.07 [[ 0.99437869 -0.09862761 -0.0385178 0.434251 ] [ 0.09890087 0.99508344 0.00525005 -0.48945381] [ 0.03781062 -0.00902998 0.99924412 -0.06529412] [ 0. 0. 0. 1. ]] SLAMing on 54.53327356 meters Centerline goodness [0,1] 0.8114036889454874 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.49, Z:-0.07 [[ 0.99435136 -0.09888078 -0.03857419 0.43434435] [ 0.09912028 0.99506599 0.00434175 -0.48633983] [ 0.03795455 -0.00814071 0.99924631 -0.06541457] [ 0. 0. 0. 1. ]] SLAMing on 54.56327356 meters Centerline goodness [0,1] 0.7946549252508703 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.48, Z:-0.07 [[ 0.99459953 -0.09633914 -0.03860757 0.43446336] [ 0.09664597 0.99529978 0.00615694 -0.48147373] [ 0.03783295 -0.00985496 0.99923548 -0.06636047] [ 0. 0. 0. 1. ]] SLAMing on 54.59327356 meters Centerline goodness [0,1] 0.810879658161798 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.48, Z:-0.07 [[ 0.99479816 -0.09431071 -0.03849809 0.43295162] [ 0.09468512 0.99547499 0.00801667 -0.4791551 ] [ 0.03756783 -0.01162017 0.99922652 -0.06559125] [ 0. 0. 0. 1. ]] SLAMing on 54.62327356 meters Centerline goodness [0,1] 0.8101935749588138 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.48, Z:-0.07 [[ 0.99507378 -0.09126141 -0.03872369 0.43264928] [ 0.09174378 0.99572338 0.01086447 -0.4773203 ] [ 0.03756657 -0.01436361 0.99919089 -0.06554462] [ 0. 0. 0. 1. ]] SLAMing on 54.653273559999995 meters Centerline goodness [0,1] 0.8106294512370837 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.47, Z:-0.07 [[ 0.99532157 -0.08848126 -0.03880762 0.43222623] [ 0.08902724 0.99594987 0.01257046 -0.47160464] [ 0.0375382 -0.01596659 0.99916763 -0.06580634] [ 0. 0. 0. 1. ]] SLAMing on 54.683273559999996 meters Centerline goodness [0,1] 0.8107315672927089 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.47, Z:-0.07 [[ 0.99530838 -0.08861358 -0.0388441 0.43221985] [ 0.08912089 0.99595413 0.01152588 -0.46795727] [ 0.03766559 -0.01493363 0.99917881 -0.06581541] [ 0. 0. 0. 1. ]] SLAMing on 54.71327356 meters Centerline goodness [0,1] 0.8128698073418914 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.07 [[ 0.99553104 -0.08599402 -0.03902538 0.43145727] [ 0.08656406 0.9961594 0.01315713 -0.46276537] [ 0.03774406 -0.01647653 0.9991516 -0.06537667] [ 0. 0. 0. 1. ]] SLAMing on 54.74327356 meters Centerline goodness [0,1] 0.8117832246458286 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.07 [[ 0.99552071 -0.08615325 -0.03893756 0.43100868] [ 0.08668445 0.99616156 0.01216324 -0.45924294] [ 0.0377402 -0.01548404 0.99916761 -0.06514754] [ 0. 0. 0. 1. ]] SLAMing on 54.77327356 meters Centerline goodness [0,1] 0.8101763657592331 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.06 [[ 0.9955088 -0.0862636 -0.03899766 0.43079653] [ 0.08675988 0.99616613 0.01121451 -0.45566833] [ 0.03788074 -0.01454758 0.99917637 -0.06486255] [ 0. 0. 0. 1. ]] SLAMing on 54.80327356 meters Centerline goodness [0,1] 0.8121764043794126 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.45, Z:-0.06 [[ 0.99574015 -0.08351195 -0.03908076 0.42971388] [ 0.08406933 0.99637718 0.01284013 -0.45020234] [ 0.03786687 -0.01607093 0.99915355 -0.06427226] [ 0. 0. 0. 1. ]] SLAMing on 54.833273559999995 meters Centerline goodness [0,1] 0.8134708663351139 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.45, Z:-0.06 [[ 0.99573257 -0.08358183 -0.03912459 0.42966613] [ 0.0841051 0.99638556 0.01192231 -0.44671654] [ 0.03798668 -0.01516201 0.99916321 -0.06420154] [ 0. 0. 0. 1. ]] SLAMing on 54.863273559999996 meters Centerline goodness [0,1] 0.8107654523127302 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.44, Z:-0.06 [[ 0.99572883 -0.0836156 -0.03914761 0.42973036] [ 0.08410454 0.99639609 0.0110113 -0.44325788] [ 0.03808581 -0.01425676 0.99917277 -0.06431194] [ 0. 0. 0. 1. ]] SLAMing on 54.89327356 meters Centerline goodness [0,1] 0.8104007341694708 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.44, Z:-0.06 [[ 0.99573475 -0.08350663 -0.03922955 0.43002767] [ 0.0839717 0.9964143 0.010358 -0.44008264] [ 0.03822393 -0.013608 0.99917654 -0.06457473] [ 0. 0. 0. 1. ]] SLAMing on 54.92327356 meters Centerline goodness [0,1] 0.8097439253865664 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.44, Z:-0.06 [[ 0.99599634 -0.08023796 -0.03941023 0.42964166] [ 0.0807892 0.9966516 0.01259718 -0.43534959] [ 0.0382675 -0.01573067 0.99914371 -0.06459167] [ 0. 0. 0. 1. ]] SLAMing on 54.95327356 meters Centerline goodness [0,1] 0.810415171706817 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.43, Z:-0.06 [[ 0.99600189 -0.08012652 -0.03949661 0.42993152] [ 0.08064619 0.99667362 0.01174214 -0.43173806] [ 0.03842437 -0.01488044 0.99915071 -0.06483962] [ 0. 0. 0. 1. ]] SLAMing on 54.98327356 meters Centerline goodness [0,1] 0.8090287725616994 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.43, Z:-0.07 [[ 0.99624791 -0.07688405 -0.03973605 0.43028655] [ 0.07748023 0.99689995 0.01368557 -0.42636269] [ 0.03856066 -0.01671298 0.99911649 -0.06551001] [ 0. 0. 0. 1. ]] SLAMing on 55.013273559999995 meters Centerline goodness [0,1] 0.8101503759398496 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.42, Z:-0.07 [[ 0.99627261 -0.07655929 -0.03974369 0.43034639] [ 0.07713139 0.99693534 0.01306421 -0.42300771] [ 0.0386217 -0.016081 0.9991245 -0.06564409] [ 0. 0. 0. 1. ]] SLAMing on 55.043273559999996 meters Centerline goodness [0,1] 0.8042110010865777 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.42, Z:-0.07 [[ 0.99653238 -0.07309156 -0.03975979 0.42932777] [ 0.07374908 0.99715903 0.01532782 -0.41817576] [ 0.0385265 -0.01820692 0.9990917 -0.06517506] [ 0. 0. 0. 1. ]] SLAMing on 55.07327356 meters Centerline goodness [0,1] 0.8056454586423041 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.41, Z:-0.06 [[ 0.99656011 -0.07266429 -0.03984779 0.42925857] [ 0.07330279 0.99719989 0.01480154 -0.41492395] [ 0.03866067 -0.01767157 0.99909613 -0.06498683] [ 0. 0. 0. 1. ]] SLAMing on 55.10327356 meters Centerline goodness [0,1] 0.8040741119868973 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.41, Z:-0.06 [[ 0.99658644 -0.07235293 -0.03975573 0.42874431] [ 0.07296173 0.99723535 0.01408009 -0.41147393] [ 0.03862709 -0.01693267 0.99911022 -0.06461558] [ 0. 0. 0. 1. ]] SLAMing on 55.13327356 meters Centerline goodness [0,1] 0.8025313344802163 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.41, Z:-0.06 [[ 0.99661156 -0.0719939 -0.03977794 0.42844609] [ 0.07258166 0.99727066 0.01353298 -0.40832719] [ 0.03869508 -0.01637427 0.9991169 -0.06428734] [ 0. 0. 0. 1. ]] SLAMing on 55.16327356 meters Centerline goodness [0,1] 0.8043112642546558 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.40, Z:-0.06 [[ 0.99681703 -0.06902688 -0.03988864 0.42690765] [ 0.06969762 0.99744501 0.01567492 -0.4046661 ] [ 0.03870473 -0.01840517 0.99908117 -0.06291028] [ 0. 0. 0. 1. ]] SLAMing on 55.193273559999994 meters Centerline goodness [0,1] 0.8036671714484509 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.40, Z:-0.06 [[ 0.99681268 -0.06909573 -0.03987801 0.42676187] [ 0.06974174 0.99745168 0.01504083 -0.40245988] [ 0.03873713 -0.01777406 0.99909135 -0.06277488] [ 0. 0. 0. 1. ]] SLAMing on 55.223273559999996 meters Centerline goodness [0,1] 0.806509203587039 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.40, Z:-0.06 [[ 0.99680559 -0.06919546 -0.03988237 0.42648076] [ 0.06982058 0.9974542 0.0144986 -0.4005687 ] [ 0.0387776 -0.01723689 0.99909919 -0.06244423] [ 0. 0. 0. 1. ]] SLAMing on 55.25327356 meters Centerline goodness [0,1] 0.8055089084579152 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.40, Z:-0.06 [[ 0.99679529 -0.06937598 -0.03982614 0.42631409] [ 0.06996426 0.99745719 0.01357074 -0.39734198] [ 0.03878339 -0.01631365 0.99911446 -0.06241913] [ 0. 0. 0. 1. ]] SLAMing on 55.28327356 meters Centerline goodness [0,1] 0.8030753459764224 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.40, Z:-0.06 [[ 0.99678767 -0.06947291 -0.03984796 0.42650476] [ 0.07005009 0.99745515 0.01327441 -0.39629218] [ 0.03882434 -0.01602312 0.99911758 -0.062619 ] [ 0. 0. 0. 1. ]] SLAMing on 55.31327356 meters Centerline goodness [0,1] 0.8046450607793698 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99675367 -0.06995828 -0.03984932 0.42707343] [ 0.07051247 0.99743038 0.01267399 -0.39456325] [ 0.03886027 -0.01544272 0.99912532 -0.06340231] [ 0. 0. 0. 1. ]] SLAMing on 55.34327356 meters Centerline goodness [0,1] 0.8034570537033996 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99674064 -0.07015161 -0.03983534 0.42727574] [ 0.07070329 0.99741766 0.01261147 -0.39430627] [ 0.03884776 -0.01538685 0.99912667 -0.0637315 ] [ 0. 0. 0. 1. ]] SLAMing on 55.37327356 meters Centerline goodness [0,1] 0.8025886648479006 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99672189 -0.07046095 -0.03975837 0.42716643] [ 0.07100317 0.9973991 0.01239308 -0.39404399] [ 0.03878174 -0.01517542 0.99913247 -0.0637749 ] [ 0. 0. 0. 1. ]] SLAMing on 55.403273559999995 meters Centerline goodness [0,1] 0.8043692105910321 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99669591 -0.07087841 -0.03966754 0.42703314] [ 0.07140977 0.99737317 0.01214084 -0.39391078] [ 0.03870282 -0.01493337 0.99913917 -0.06381827] [ 0. 0. 0. 1. ]] SLAMing on 55.433273559999996 meters Centerline goodness [0,1] 0.8045795256186467 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99662741 -0.07196415 -0.03943319 0.4259455 ] [ 0.07246438 0.99730579 0.0114048 -0.39352676] [ 0.03850622 -0.01422384 0.99915712 -0.0630174 ] [ 0. 0. 0. 1. ]] SLAMing on 55.46327356 meters Centerline goodness [0,1] 0.8032810417307495 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99660468 -0.07226134 -0.03946395 0.42588431] [ 0.0727545 0.99728694 0.01120487 -0.39329351] [ 0.03854721 -0.01403801 0.99915817 -0.06284644] [ 0. 0. 0. 1. ]] SLAMing on 55.49327356 meters Centerline goodness [0,1] 0.8063534840040015 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99657279 -0.07269529 -0.03947243 0.42593676] [ 0.07317211 0.99726117 0.01077079 -0.39234186] [ 0.03858133 -0.01362215 0.99916261 -0.06287591] [ 0. 0. 0. 1. ]] SLAMing on 55.52327356 meters Centerline goodness [0,1] 0.8045635327401698 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.9965737 -0.07267485 -0.03948695 0.42593895] [ 0.07314909 0.99726363 0.01069889 -0.39186186] [ 0.03860136 -0.01355066 0.99916281 -0.06285416] [ 0. 0. 0. 1. ]] SLAMing on 55.55327356 meters Centerline goodness [0,1] 0.8063629464010995 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99657656 -0.07256848 -0.03961024 0.42625346] [ 0.07304327 0.99727167 0.01067195 -0.39142111] [ 0.03872773 -0.01352868 0.99915821 -0.06293476] [ 0. 0. 0. 1. ]] SLAMing on 55.583273559999995 meters Centerline goodness [0,1] 0.8054412248929865 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99658943 -0.07231673 -0.03974663 0.42664052] [ 0.0727885 0.99729158 0.01055148 -0.39020779] [ 0.03887593 -0.0134086 0.99915408 -0.06313531] [ 0. 0. 0. 1. ]] SLAMing on 55.613273559999996 meters Centerline goodness [0,1] 0.8054974358974358 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99659324 -0.07223257 -0.03980413 0.42680525] [ 0.07270294 0.9972984 0.010497 -0.38972196] [ 0.03893837 -0.01335512 0.99915236 -0.06321403] [ 0. 0. 0. 1. ]] SLAMing on 55.64327356 meters Centerline goodness [0,1] 0.8067392240054111 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99659236 -0.07222215 -0.03984516 0.42674534] [ 0.07268848 0.99730068 0.01037975 -0.38915191] [ 0.03898795 -0.01324066 0.99915195 -0.06302694] [ 0. 0. 0. 1. ]] SLAMing on 55.67327356 meters Centerline goodness [0,1] 0.8058938935665823 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99658205 -0.07236885 -0.03983669 0.42651046] [ 0.07282602 0.99729306 0.01014524 -0.38826187] [ 0.03899465 -0.01301171 0.9991547 -0.06275011] [ 0. 0. 0. 1. ]] SLAMing on 55.70327356 meters Centerline goodness [0,1] 0.8053173770896305 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99657201 -0.07252018 -0.0398127 0.42642112] [ 0.07297433 0.99728295 0.01007306 -0.38821637] [ 0.03897403 -0.01294383 0.99915639 -0.06270493] [ 0. 0. 0. 1. ]] SLAMing on 55.73327356 meters Centerline goodness [0,1] 0.8063268605103231 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99642661 -0.07438738 -0.04000657 0.42835751] [ 0.0747817 0.99716413 0.00844972 -0.38752891] [ 0.03926456 -0.01141128 0.99916369 -0.06420493] [ 0. 0. 0. 1. ]] SLAMing on 55.763273559999995 meters Centerline goodness [0,1] 0.8052795158058316 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99639927 -0.07484994 -0.03982446 0.42798898] [ 0.07523896 0.9971305 0.00835884 -0.38797117] [ 0.03908453 -0.01132509 0.99917173 -0.06415764] [ 0. 0. 0. 1. ]] SLAMing on 55.793273559999996 meters Centerline goodness [0,1] 0.807206210696655 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99632387 -0.07598361 -0.03956301 0.42765247] [ 0.07636243 0.9970468 0.0081516 -0.38911716] [ 0.03882679 -0.01114277 0.99918383 -0.06435795] [ 0. 0. 0. 1. ]] SLAMing on 55.82327356 meters Centerline goodness [0,1] 0.8090469754679117 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99629881 -0.07639888 -0.03939406 0.42752706] [ 0.07677587 0.99701511 0.00814505 -0.38968324] [ 0.0386542 -0.01113941 0.99919056 -0.06461414] [ 0. 0. 0. 1. ]] SLAMing on 55.85327356 meters Centerline goodness [0,1] 0.8082144100243648 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99627059 -0.07679262 -0.0393421 0.42766609] [ 0.07717177 0.99698402 0.00820857 -0.39032471] [ 0.03859309 -0.01121406 0.99919208 -0.06486766] [ 0. 0. 0. 1. ]] SLAMing on 55.88327356 meters Centerline goodness [0,1] 0.808230671632628 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99617231 -0.07811153 -0.03923411 0.42754765] [ 0.07847102 0.99688662 0.00770543 -0.39070726] [ 0.03851008 -0.01075468 0.99920034 -0.0649895 ] [ 0. 0. 0. 1. ]] SLAMing on 55.91327356 meters Centerline goodness [0,1] 0.8068135287855213 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99614642 -0.07847204 -0.03917208 0.42746553] [ 0.07883196 0.99685797 0.00772732 -0.39138691] [ 0.03844262 -0.01078555 0.9992026 -0.06502593] [ 0. 0. 0. 1. ]] SLAMing on 55.943273559999994 meters Centerline goodness [0,1] 0.8051214922686738 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99612032 -0.0788154 -0.03914647 0.42751112] [ 0.07917496 0.99683085 0.00771889 -0.39181692] [ 0.03841404 -0.01078836 0.99920367 -0.0651102 ] [ 0. 0. 0. 1. ]] SLAMing on 55.973273559999996 meters Centerline goodness [0,1] 0.8037647637795275 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.06 [[ 0.99604472 -0.07990847 -0.03885304 0.42679388] [ 0.08024483 0.99674937 0.0071737 -0.39167116] [ 0.0381535 -0.01026308 0.99921918 -0.06494651] [ 0. 0. 0. 1. ]] SLAMing on 56.00327356 meters Centerline goodness [0,1] 0.8006471696567543 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99602198 -0.08018534 -0.03886545 0.42699078] [ 0.08051697 0.99672837 0.00704146 -0.39127563] [ 0.03817367 -0.01014278 0.99921964 -0.06515581] [ 0. 0. 0. 1. ]] SLAMing on 56.03327356 meters Centerline goodness [0,1] 0.8017992289018991 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99600418 -0.08039281 -0.03889301 0.42725195] [ 0.08071943 0.99671298 0.00689922 -0.39073222] [ 0.03821052 -0.01001108 0.99921956 -0.06541079] [ 0. 0. 0. 1. ]] SLAMing on 56.06327356 meters Centerline goodness [0,1] 0.8017992289018991 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99600418 -0.08039281 -0.03889301 0.42725195] [ 0.08071943 0.99671298 0.00689922 -0.39073222] [ 0.03821052 -0.01001108 0.99921956 -0.06541079] [ 0. 0. 0. 1. ]] SLAMing on 56.09327356 meters Centerline goodness [0,1] 0.7998731042387277 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99595667 -0.08103766 -0.03877134 0.42671539] [ 0.08133757 0.99666721 0.00621886 -0.38927835] [ 0.03813816 -0.00934728 0.99922876 -0.06510072] [ 0. 0. 0. 1. ]] SLAMing on 56.12327356 meters Centerline goodness [0,1] 0.7914263508814987 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99593533 -0.08132422 -0.03871937 0.42663325] [ 0.08161087 0.99664693 0.00587856 -0.38839065] [ 0.03811147 -0.00901458 0.99923283 -0.06512675] [ 0. 0. 0. 1. ]] SLAMing on 56.153273559999995 meters Centerline goodness [0,1] 0.7884859659905756 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99592218 -0.08152408 -0.03863736 0.42652535] [ 0.08180343 0.99663217 0.00570264 -0.38765616] [ 0.03804233 -0.00884005 0.99923703 -0.06524662] [ 0. 0. 0. 1. ]] SLAMing on 56.183273559999996 meters Centerline goodness [0,1] 0.7811618494746739 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.07 [[ 0.99586882 -0.08226187 -0.03844825 0.42605064] [ 0.08250342 0.99657953 0.00473578 -0.38502043] [ 0.03792717 -0.00788832 0.99924937 -0.06515301] [ 0. 0. 0. 1. ]] SLAMing on 56.21327356 meters Centerline goodness [0,1] 0.7720015536521045 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.07 [[ 0.9958444 -0.08254624 -0.03847138 0.42619391] [ 0.08277453 0.99655869 0.00437682 -0.38380869] [ 0.03797769 -0.00754308 0.99925012 -0.06529927] [ 0. 0. 0. 1. ]] SLAMing on 56.24327356 meters Centerline goodness [0,1] 0.7891416985807614 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.07 [[ 0.99578109 -0.08339512 -0.03827901 0.42564151] [ 0.08358283 0.99649528 0.00332712 -0.38099121] [ 0.03786739 -0.00651255 0.99926155 -0.06515293] [ 0. 0. 0. 1. ]] SLAMing on 56.27327356 meters Centerline goodness [0,1] 0.7485831622176591 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.07 [[ 0.99575702 -0.083684 -0.03827459 0.42567289] [ 0.08385714 0.99647346 0.00293787 -0.37973435] [ 0.03789376 -0.006135 0.99926294 -0.06522946] [ 0. 0. 0. 1. ]] SLAMing on 56.30327356 meters Centerline goodness [0,1] 0.78611782044459 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.07 [[ 0.99573206 -0.08392635 -0.03839325 0.42617306] [ 0.0840876 0.99645497 0.00260187 -0.37847963] [ 0.03803878 -0.00581916 0.99925932 -0.06557341] [ 0. 0. 0. 1. ]] SLAMing on 56.333273559999995 meters Centerline goodness [0,1] 0.7754884692581822 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.07 [[ 0.99570567 -0.08428129 -0.03830004 0.42622061] [ 0.08442754 0.99642716 0.0022144 -0.37717819] [ 0.03797657 -0.00543847 0.99926383 -0.06591912] [ 0. 0. 0. 1. ]] SLAMing on 56.363273559999996 meters Centerline goodness [0,1] 0.764335907889615 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.07 [[ 0.99563354 -0.08518295 -0.03817998 0.42629957] [ 0.08528595 0.99635594 0.00107415 -0.37385406] [ 0.03794935 -0.00432567 0.9992703 -0.06639244] [ 0. 0. 0. 1. ]] SLAMing on 56.39327356 meters Centerline goodness [0,1] 0.7086366238652163 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.07 [[ 9.95599271e-01 -8.55719977e-02 -3.82037374e-02 4.26637821e-01] [ 8.56525376e-02 9.96324956e-01 4.73436573e-04 -3.71987188e-01] [ 3.80228241e-02 -3.74360016e-03 9.99269859e-01 -6.67969896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42327356 meters Centerline goodness [0,1] 0.7631363058369909 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.07 [[ 0.99551776 -0.08658476 -0.03804554 0.42637526] [ 0.08660752 0.99624195 -0.00105268 -0.36776039] [ 0.03799371 -0.00224707 0.99927545 -0.06695368] [ 0. 0. 0. 1. ]] SLAMing on 56.45327356 meters Centerline goodness [0,1] 0.7539277740224093 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.07 [[ 0.9954853 -0.08690097 -0.03817391 0.42676639] [ 0.08690159 0.99621554 -0.00164607 -0.36565427] [ 0.03817249 -0.00167873 0.99926975 -0.06715156] [ 0. 0. 0. 1. ]] SLAMing on 56.48327356 meters Centerline goodness [0,1] 0.7267558391622694 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.07 [[ 0.99545632 -0.08722648 -0.0381872 0.42709053] [ 0.08720178 0.99618798 -0.0023152 -0.36329993] [ 0.03824358 -0.00102531 0.99926792 -0.06754854] [ 0. 0. 0. 1. ]] SLAMing on 56.513273559999995 meters Centerline goodness [0,1] 0.7158722338547441 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.36, Z:-0.07 [[ 9.95622909e-01 -8.54204607e-02 -3.79258230e-02 4.25436792e-01] [ 8.54617602e-02 9.96341308e-01 -5.33866097e-04 -3.59716819e-01] [ 3.78326672e-02 -2.70967827e-03 9.99280415e-01 -6.71224072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543273559999996 meters Centerline goodness [0,1] 0.7457306672694766 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.07 [[ 0.99576774 -0.08367496 -0.03801451 0.42457636] [ 0.08379399 0.9964819 0.00154584 -0.35836282] [ 0.03775142 -0.00472469 0.99927599 -0.06669393] [ 0. 0. 0. 1. ]] SLAMing on 56.57327356 meters Centerline goodness [0,1] 0.73556237260917 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.07 [[ 0.99588283 -0.08240832 -0.03776575 0.42266263] [ 0.08257229 0.99658114 0.00280002 -0.35426729] [ 0.03740589 -0.0059069 0.9992827 -0.0658561 ] [ 0. 0. 0. 1. ]] SLAMing on 56.60327356 meters Centerline goodness [0,1] 0.7306459566074951 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.07 [[ 0.99584536 -0.08284403 -0.03780062 0.4226638 ] [ 0.08298033 0.99654908 0.0020486 -0.35177077] [ 0.03750046 -0.0051768 0.9992832 -0.06582373] [ 0. 0. 0. 1. ]] SLAMing on 56.63327356 meters Centerline goodness [0,1] 0.729191548947737 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.07 [[ 9.95744426e-01 -8.41619807e-02 -3.75472857e-02 4.21825818e-01] [ 8.42256623e-02 9.96446699e-01 1.14679748e-04 -3.46446190e-01] [ 3.74042172e-02 -3.27663672e-03 9.99294845e-01 -6.55048248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66327356 meters Centerline goodness [0,1] 0.7288728024819028 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.07 [[ 9.95694018e-01 -8.47856301e-02 -3.74809141e-02 4.21535345e-01] [ 8.48148559e-02 9.96396397e-01 -8.12458730e-04 -3.43831329e-01] [ 3.74147325e-02 -2.36997803e-03 9.99297013e-01 -6.53625355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.693273559999994 meters Centerline goodness [0,1] 0.6965717701869756 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.07 [[ 0.99565265 -0.0852579 -0.0375086 0.4217306 ] [ 0.08525977 0.99635755 -0.00155253 -0.34150388] [ 0.03750434 -0.0016522 0.9992951 -0.06558923] [ 0. 0. 0. 1. ]] SLAMing on 56.723273559999996 meters Centerline goodness [0,1] 0.7085896512704455 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.07 [[ 9.95614294e-01 -8.57093188e-02 -3.74978714e-02 4.21992582e-01] [ 8.56832339e-02 9.96319763e-01 -2.30508269e-03 -3.38860817e-01] [ 3.75574374e-02 -9.17965610e-04 9.99294049e-01 -6.60111284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75327356 meters Centerline goodness [0,1] 0.6984300538444081 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.33, Z:-0.07 [[ 9.95529541e-01 -8.67064417e-02 -3.74556401e-02 4.22260431e-01] [ 8.66173293e-02 9.96233633e-01 -3.99841660e-03 -3.32839284e-01] [ 3.76612569e-02 7.36234330e-04 9.99290292e-01 -6.66502186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78327356 meters Centerline goodness [0,1] 0.695802244590042 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.33, Z:-0.07 [[ 0.99574137 -0.08427125 -0.03738278 0.42129508] [ 0.08428326 0.99644104 -0.00125731 -0.33155898] [ 0.0373557 -0.00189878 0.99930023 -0.06661383] [ 0. 0. 0. 1. ]] SLAMing on 56.81327356 meters Centerline goodness [0,1] 0.6854116235284382 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.33, Z:-0.07 [[ 9.95875313e-01 -8.27407017e-02 -3.72335476e-02 4.20797520e-01] [ 8.27934991e-02 9.96566717e-01 -1.24286606e-04 -3.25781778e-01] [ 3.71159979e-02 -2.95892173e-03 9.99306583e-01 -6.72314170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84327356 meters Centerline goodness [0,1] 0.7058141460990558 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.07 [[ 0.99608109 -0.08019604 -0.03729676 0.41997808] [ 0.08034504 0.99676395 0.00251101 -0.32389951] [ 0.03697469 -0.00549778 0.99930108 -0.0670346 ] [ 0. 0. 0. 1. ]] SLAMing on 56.87327356 meters Centerline goodness [0,1] 0.7051183634515239 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.07 [[ 0.996039 -0.08070089 -0.03733185 0.41966898] [ 0.08080472 0.99672913 0.0012784 -0.31988443] [ 0.03710657 -0.00428993 0.99930211 -0.06659011] [ 0. 0. 0. 1. ]] SLAMing on 56.903273559999995 meters Centerline goodness [0,1] 0.6758789793034661 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.31, Z:-0.07 [[ 0.99618306 -0.07905878 -0.03700014 0.4172766 ] [ 0.07919278 0.99685696 0.00216771 -0.31340579] [ 0.03671247 -0.00508958 0.99931291 -0.06538104] [ 0. 0. 0. 1. ]] SLAMing on 56.933273559999996 meters Centerline goodness [0,1] 0.6999875513506785 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.31, Z:-0.07 [[ 0.99615354 -0.07938619 -0.03709377 0.41735292] [ 0.07947882 0.99683603 0.00102698 -0.30932382] [ 0.03689488 -0.0039712 0.99931126 -0.06524295] [ 0. 0. 0. 1. ]] SLAMing on 56.96327356 meters Centerline goodness [0,1] 0.6914083628042438 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.31, Z:-0.06 [[ 0.99634687 -0.07695654 -0.03702178 0.41601328] [ 0.07713083 0.99701552 0.00330053 -0.30673363] [ 0.03665729 -0.00614399 0.99930901 -0.06466299] [ 0. 0. 0. 1. ]] SLAMing on 56.99327356 meters Centerline goodness [0,1] 0.7002401085708321 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.30, Z:-0.06 [[ 0.99653748 -0.07457579 -0.03676271 0.41485948] [ 0.07478879 0.99718946 0.00445112 -0.29946014] [ 0.03632744 -0.00718515 0.99931411 -0.06467244] [ 0. 0. 0. 1. ]] SLAMing on 57.02327356 meters Centerline goodness [0,1] 0.7100409836065573 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.30, Z:-0.06 [[ 0.9967414 -0.07175065 -0.03685692 0.41425477] [ 0.07205044 0.99737733 0.00686961 -0.29640137] [ 0.03626736 -0.00950278 0.99929694 -0.06456963] [ 0. 0. 0. 1. ]] SLAMing on 57.05327356 meters Centerline goodness [0,1] 0.7139228815516048 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.29, Z:-0.06 [[ 0.99694236 -0.06890461 -0.03685215 0.41406542] [ 0.06924616 0.99756695 0.00807204 -0.28843551] [ 0.03620629 -0.01059923 0.99928813 -0.06499865] [ 0. 0. 0. 1. ]] SLAMing on 57.083273559999995 meters Centerline goodness [0,1] 0.7151760148223008 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.29, Z:-0.06 [[ 0.99713865 -0.06598353 -0.03688742 0.41344947] [ 0.06641 0.99773762 0.01045707 -0.28507693] [ 0.03611398 -0.01287685 0.99926471 -0.06493531] [ 0. 0. 0. 1. ]] SLAMing on 57.113273559999996 meters Centerline goodness [0,1] 0.7143278799122955 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.28, Z:-0.06 [[ 0.99732645 -0.06298101 -0.03705863 0.41294958] [ 0.06349626 0.99789878 0.01289375 -0.28176621] [ 0.0361687 -0.01521236 0.99922991 -0.06464512] [ 0. 0. 0. 1. ]] SLAMing on 57.14327356 meters Centerline goodness [0,1] 0.7194165288555315 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.06 [[ 0.99749179 -0.06036946 -0.0369547 0.41176242] [ 0.06091233 0.99804849 0.01374386 -0.27300061] [ 0.03605287 -0.01596039 0.99922243 -0.06404592] [ 0. 0. 0. 1. ]] SLAMing on 57.17327356 meters Centerline goodness [0,1] 0.7154468094136621 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.27, Z:-0.06 [[ 0.99748439 -0.06045604 -0.03701283 0.411817 ] [ 0.06095686 0.99806145 0.01255439 -0.26816438] [ 0.03618209 -0.01477899 0.99923593 -0.06388699] [ 0. 0. 0. 1. ]] SLAMing on 57.20327356 meters Centerline goodness [0,1] 0.7146377211801942 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.06 [[ 0.99746665 -0.06070169 -0.03708881 0.41192586] [ 0.06115431 0.99806557 0.01119269 -0.26346188] [ 0.03633765 -0.01343247 0.99924929 -0.06369343] [ 0. 0. 0. 1. ]] SLAMing on 57.23327356 meters Centerline goodness [0,1] 0.716187342421264 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.06 [[ 0.99759341 -0.05863495 -0.03700438 0.41059148] [ 0.0591146 0.99817904 0.01200288 -0.25620867] [ 0.03623321 -0.01416149 0.99924302 -0.06288662] [ 0. 0. 0. 1. ]] SLAMing on 57.263273559999995 meters Centerline goodness [0,1] 0.7210919392222508 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.06 [[ 0.99756161 -0.05912006 -0.03708985 0.4106608 ] [ 0.05955232 0.99816828 0.01065879 -0.25188053] [ 0.03639176 -0.01284159 0.99925509 -0.06275961] [ 0. 0. 0. 1. ]] SLAMing on 57.293273559999996 meters Centerline goodness [0,1] 0.7202776101388051 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.06 [[ 0.99767856 -0.05717088 -0.0369998 0.40993548] [ 0.05763482 0.99827039 0.01159551 -0.24507125] [ 0.03627288 -0.01370107 0.999248 -0.06268275] [ 0. 0. 0. 1. ]] SLAMing on 57.32327356 meters Centerline goodness [0,1] 0.717274770880166 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.06 [[ 0.99765321 -0.05752308 -0.03713728 0.41032833] [ 0.05794541 0.99826561 0.01039682 -0.24086764] [ 0.03647481 -0.01252435 0.99925609 -0.06275388] [ 0. 0. 0. 1. ]] SLAMing on 57.35327356 meters Centerline goodness [0,1] 0.7434341683279881 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.24, Z:-0.06 [[ 0.99763174 -0.05785273 -0.03720166 0.41057531] [ 0.05823377 0.9982602 0.00924077 -0.23679273] [ 0.03660234 -0.01138528 0.99926505 -0.06282862] [ 0. 0. 0. 1. ]] SLAMing on 57.38327356 meters Centerline goodness [0,1] 0.7155945334261838 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.06 [[ 0.9976612 -0.05733621 -0.03721146 0.41052763] [ 0.05769651 0.99829642 0.00868108 -0.22928611] [ 0.03665032 -0.01080775 0.99926971 -0.0630587 ] [ 0. 0. 0. 1. ]] SLAMing on 57.41327356 meters Centerline goodness [0,1] 0.7163695299837926 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.06 [[ 0.99763971 -0.05774503 -0.03715532 0.41033838] [ 0.05806102 0.998285 0.00748165 -0.22537713] [ 0.03665957 -0.00962126 0.9992815 -0.06287009] [ 0. 0. 0. 1. ]] SLAMing on 57.443273559999994 meters Centerline goodness [0,1] 0.7118513632365875 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.22, Z:-0.06 [[ 0.99762784 -0.05789587 -0.0372393 0.41080772] [ 0.05816216 0.99828847 0.00610669 -0.21850043] [ 0.03682202 -0.00825812 0.99928772 -0.06319248] [ 0. 0. 0. 1. ]] SLAMing on 57.473273559999996 meters Centerline goodness [0,1] 0.7265311521672031 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.06 [[ 0.9976009 -0.05833876 -0.03726969 0.41081207] [ 0.0585617 0.99827168 0.00491734 -0.21470246] [ 0.0369184 -0.00708812 0.99929315 -0.06299861] [ 0. 0. 0. 1. ]] SLAMing on 57.50327356 meters Centerline goodness [0,1] 0.7182613305062284 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.06 [[ 0.997574 -0.05860374 -0.03757278 0.41186405] [ 0.05877257 0.9982656 0.00340381 -0.20776957] [ 0.03730814 -0.0056038 0.9992881 -0.06342132] [ 0. 0. 0. 1. ]] SLAMing on 57.53327356 meters Centerline goodness [0,1] 0.7230909333214872 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.20, Z:-0.06 [[ 0.99754162 -0.0591336 -0.0376024 0.41175081] [ 0.05925787 0.99824029 0.00219782 -0.2039944 ] [ 0.03740627 -0.00442065 0.99929036 -0.06313917] [ 0. 0. 0. 1. ]] SLAMing on 57.56327356 meters Centerline goodness [0,1] 0.7220357817535281 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.20, Z:-0.06 [[ 0.9975215 -0.05939187 -0.03772893 0.41208069] [ 0.05948515 0.99822827 0.00135359 -0.20073879] [ 0.03758169 -0.00359455 0.99928709 -0.06316223] [ 0. 0. 0. 1. ]] SLAMing on 57.59327356 meters Centerline goodness [0,1] 0.7281910833744893 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.20, Z:-0.06 [[ 0.99766328 -0.05741827 -0.03702879 0.40960993] [ 0.05756945 0.99833691 0.00302862 -0.19568859] [ 0.03679331 -0.00515327 0.99930961 -0.06279275] [ 0. 0. 0. 1. ]] SLAMing on 57.623273559999994 meters Centerline goodness [0,1] 0.7182477150961235 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.06 [[ 0.99764768 -0.05768427 -0.03703555 0.4098923 ] [ 0.05780852 0.99832506 0.00229199 -0.19281255] [ 0.03684131 -0.00442757 0.99931132 -0.06307691] [ 0. 0. 0. 1. ]] SLAMing on 57.653273559999995 meters Centerline goodness [0,1] 0.711389613896139 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.06 [[ 0.99762839 -0.05797508 -0.03710113 0.41016337] [ 0.05807379 0.99831103 0.00158744 -0.19007186] [ 0.03694644 -0.00373828 0.99931026 -0.06325894] [ 0. 0. 0. 1. ]] SLAMing on 57.683273559999996 meters Centerline goodness [0,1] 0.7172901967012274 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.06 [[ 9.97602546e-01 -5.84416019e-02 -3.70639989e-02 4.10488213e-01] [ 5.84920279e-02 9.98287837e-01 2.76698131e-04 -1.84826533e-01] [ 3.69843686e-02 -2.44398322e-03 9.99312856e-01 -6.36823268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71327356 meters Centerline goodness [0,1] 0.722054863298188 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.06 [[ 9.97576505e-01 -5.88920944e-02 -3.70518253e-02 4.10446211e-01] [ 5.89124213e-02 9.98263007e-01 -5.43884344e-04 -1.82122755e-01] [ 3.70194971e-02 -1.64024650e-03 9.99313197e-01 -6.36725735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74327356 meters Centerline goodness [0,1] 0.7146955690149825 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.06 [[ 0.99755744 -0.05910625 -0.03722382 0.41097426] [ 0.05910547 0.99825111 -0.00112251 -0.17985072] [ 0.03722507 -0.00108036 0.99930632 -0.06387508] [ 0. 0. 0. 1. ]] SLAMing on 57.77327356 meters Centerline goodness [0,1] 0.6891607110133773 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.06 [[ 9.97656172e-01 -5.76375440e-02 -3.68792077e-02 4.09794671e-01] [ 5.76929919e-02 9.98334275e-01 4.40185658e-04 -1.75761740e-01] [ 3.67924059e-02 -2.56682577e-03 9.99319634e-01 -6.41159392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80327356 meters Centerline goodness [0,1] 0.7167568812622366 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.06 [[ 9.97636792e-01 -5.79555263e-02 -3.69051232e-02 4.09775244e-01] [ 5.79839599e-02 9.98317470e-01 -3.00300226e-04 -1.73082229e-01] [ 3.68604332e-02 -1.84031463e-03 9.99318729e-01 -6.39776914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.833273559999995 meters Centerline goodness [0,1] 0.7132455245339022 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.06 [[ 9.97607756e-01 -5.84514904e-02 -3.69078396e-02 4.09560988e-01] [ 5.84470035e-02 9.98289790e-01 -1.20142451e-03 -1.70110369e-01] [ 3.69149445e-02 -9.58602220e-04 9.99317951e-01 -6.37046600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.863273559999996 meters Centerline goodness [0,1] 0.7039210207693024 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.06 [[ 9.97585609e-01 -5.88247544e-02 -3.69134311e-02 4.09976488e-01] [ 5.87799214e-02 9.98268317e-01 -2.29956606e-03 -1.64810941e-01] [ 3.69847801e-02 1.24245430e-04 9.99315821e-01 -6.42234274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89327356 meters Centerline goodness [0,1] 0.7100991673683226 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.06 [[ 9.97575758e-01 -5.89592441e-02 -3.69650459e-02 4.10433693e-01] [ 5.88966314e-02 9.98260212e-01 -2.78143350e-03 -1.62451499e-01] [ 3.70647258e-02 5.97573948e-04 9.99312688e-01 -6.46698739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92327356 meters Centerline goodness [0,1] 0.7034163316169382 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.07 [[ 0.99755441 -0.05925617 -0.03706626 0.41123955] [ 0.05915575 0.99824153 -0.0038013 -0.15756752] [ 0.03722633 0.00159932 0.99930558 -0.06540494] [ 0. 0. 0. 1. ]] SLAMing on 57.95327356 meters Centerline goodness [0,1] 0.7034163316169382 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.07 [[ 0.99755441 -0.05925617 -0.03706626 0.41123955] [ 0.05915575 0.99824153 -0.0038013 -0.15756752] [ 0.03722633 0.00159932 0.99930558 -0.06540494] [ 0. 0. 0. 1. ]] SLAMing on 57.98327356 meters Centerline goodness [0,1] 0.7065641632170314 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:-0.07 [[ 0.99753694 -0.05954862 -0.03706757 0.41139193] [ 0.05942462 0.99822293 -0.00443924 -0.15508564] [ 0.03726605 0.00222558 0.9993029 -0.06558083] [ 0. 0. 0. 1. ]] SLAMing on 58.013273559999995 meters Centerline goodness [0,1] 0.7091483849499679 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.07 [[ 0.99752845 -0.05964077 -0.03714803 0.4119779 ] [ 0.0595003 0.99821638 -0.00487643 -0.15262447] [ 0.03737261 0.00265406 0.99929788 -0.06609935] [ 0. 0. 0. 1. ]] SLAMing on 58.043273559999996 meters Centerline goodness [0,1] 0.7021175350939806 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.07 [[ 0.99751653 -0.05978836 -0.03723062 0.41247722] [ 0.05963088 0.99820628 -0.00532699 -0.15013299] [ 0.03748233 0.00309367 0.9992925 -0.06654374] [ 0. 0. 0. 1. ]] SLAMing on 58.07327356 meters Centerline goodness [0,1] 0.7016417874570322 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:-0.07 [[ 9.97676762e-01 -5.75875444e-02 -3.63971666e-02 4.09914608e-01] [ 5.75265837e-02 9.98340267e-01 -2.72078169e-03 -1.46865782e-01] [ 3.64934402e-02 6.20656009e-04 9.99333700e-01 -6.67943112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10327356 meters Centerline goodness [0,1] 0.6998798943069902 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.07 [[ 0.99766067 -0.05782015 -0.03646935 0.41009363] [ 0.0577391 0.99832634 -0.0032725 -0.1446454 ] [ 0.03659753 0.00115914 0.99932941 -0.06679827] [ 0. 0. 0. 1. ]] SLAMing on 58.13327356 meters Centerline goodness [0,1] 0.6840510869301796 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.07 [[ 9.97790858e-01 -5.59788674e-02 -3.57738855e-02 4.07112299e-01] [ 5.59805176e-02 9.98431403e-01 -9.56295733e-04 -1.41589892e-01] [ 3.57713031e-02 -1.04845749e-03 9.99359452e-01 -6.62365251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16327356 meters Centerline goodness [0,1] 0.6866937149243215 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.07 [[ 9.97773151e-01 -5.62216893e-02 -3.58867725e-02 4.07426501e-01] [ 5.62035587e-02 9.98418182e-01 -1.51462432e-03 -1.39298185e-01] [ 3.59151609e-02 -5.05712844e-04 9.99354715e-01 -6.63151681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.193273559999994 meters Centerline goodness [0,1] 0.6884178172415476 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.07 [[ 9.97755699e-01 -5.65763594e-02 -3.58145305e-02 4.07327846e-01] [ 5.65355437e-02 9.98398267e-01 -2.15215095e-03 -1.36945396e-01] [ 3.58789261e-02 1.22526919e-04 9.99356137e-01 -6.63887751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.223273559999996 meters Centerline goodness [0,1] 0.6779961142126362 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:-0.07 [[ 9.97858500e-01 -5.51370161e-02 -3.51898134e-02 4.05941078e-01] [ 5.51528486e-02 9.98477787e-01 -5.21372294e-04 -1.33407142e-01] [ 3.51649939e-02 -1.42056267e-03 9.99380511e-01 -6.70424709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25327356 meters Centerline goodness [0,1] 0.6765344385237813 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:-0.07 [[ 9.97847628e-01 -5.53211916e-02 -3.52090614e-02 4.06276408e-01] [ 5.53224467e-02 9.98468099e-01 -9.39325952e-04 -1.31183190e-01] [ 3.52070892e-02 -1.01054725e-03 9.99379527e-01 -6.74593670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28327356 meters Centerline goodness [0,1] 0.67489498393872 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:-0.07 [[ 9.97843198e-01 -5.53665904e-02 -3.52631942e-02 4.06876940e-01] [ 5.53612835e-02 9.98465751e-01 -1.12763875e-03 -1.29448942e-01] [ 3.52715252e-02 -8.27009039e-04 9.99377424e-01 -6.81366948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31327356 meters Centerline goodness [0,1] 0.6780100793373585 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:-0.07 [[ 9.97807677e-01 -5.61712287e-02 -3.49947560e-02 4.06351290e-01] [ 5.61312329e-02 9.98421138e-01 -2.12508742e-03 -1.25684934e-01] [ 3.50588729e-02 1.56129744e-04 9.99385237e-01 -6.83844941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34327356 meters Centerline goodness [0,1] 0.671610116595511 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.07 [[ 9.97790992e-01 -5.65436029e-02 -3.48705685e-02 4.06218986e-01] [ 5.64894251e-02 9.98399972e-01 -2.53772821e-03 -1.23911019e-01] [ 3.49582670e-02 5.62303982e-04 9.99388615e-01 -6.86463999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.373273559999994 meters Centerline goodness [0,1] 0.663307260328921 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.07 [[ 9.97773465e-01 -5.69572370e-02 -3.46985085e-02 4.05817888e-01] [ 5.68903476e-02 9.98376184e-01 -2.91279736e-03 -1.22453308e-01] [ 3.48080694e-02 9.32301701e-04 9.99393581e-01 -6.87592068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.403273559999995 meters Centerline goodness [0,1] 0.6730754787833271 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.08 [[ 0.99814676 -0.05693493 -0.02148168 0.40721274] [ 0.05698502 0.99837354 0.00172643 -0.12208697] [ 0.02134844 -0.00294737 0.99976775 -0.07749914] [ 0. 0. 0. 1. ]] SLAMing on 58.433273559999996 meters Centerline goodness [0,1] 0.6794391818889922 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.08 [[ 0.99811998 -0.05749833 -0.02122364 0.40652198] [ 0.05753488 0.99834287 0.00111513 -0.12045783] [ 0.02112435 -0.00233413 0.99977413 -0.07738777] [ 0. 0. 0. 1. ]] SLAMing on 58.46327356 meters Centerline goodness [0,1] 0.6796902677260994 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.08 [[ 9.98068436e-01 -5.85716490e-02 -2.07064948e-02 4.05126575e-01] [ 5.85843269e-02 9.98282463e-01 5.67393146e-06 -1.17227608e-01] [ 2.06705983e-02 -1.21873903e-03 9.99785598e-01 -7.72468291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49327356 meters Centerline goodness [0,1] 0.674484503478811 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:-0.08 [[ 9.98045857e-01 -5.90062368e-02 -2.05604328e-02 4.04652849e-01] [ 5.90078055e-02 9.98257380e-01 -5.30902385e-04 -1.15667183e-01] [ 2.05559303e-02 -6.83361092e-04 9.99788471e-01 -7.70734870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52327356 meters Centerline goodness [0,1] 0.6692297963829519 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.08 [[ 9.98031682e-01 -5.92885853e-02 -2.04358725e-02 4.04424291e-01] [ 5.92826686e-02 9.98240834e-01 -8.95747889e-04 -1.14139896e-01] [ 2.04530301e-02 -3.17508286e-04 9.99790764e-01 -7.71673431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55327356 meters Centerline goodness [0,1] 0.6628833184883574 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.08 [[ 9.97988016e-01 -6.01341759e-02 -2.00948073e-02 4.03307030e-01] [ 6.01067189e-02 9.98190016e-01 -1.96811765e-03 -1.10990562e-01] [ 2.01767871e-02 7.56324894e-04 9.99796142e-01 -7.67513923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.583273559999995 meters Centerline goodness [0,1] 0.6596189117587121 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.08 [[ 0.9979756 -0.06031541 -0.02016816 0.40346275] [ 0.06028208 0.99817883 -0.00225717 -0.10982687] [ 0.02026757 0.00103682 0.99979405 -0.07677669] [ 0. 0. 0. 1. ]] SLAMing on 58.613273559999996 meters Centerline goodness [0,1] 0.653984353100074 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.08 [[ 0.99796334 -0.06050725 -0.02020015 0.403487 ] [ 0.06046564 0.99816672 -0.00266488 -0.10834756] [ 0.02032436 0.00143804 0.9997924 -0.07666942] [ 0. 0. 0. 1. ]] SLAMing on 58.64327356 meters Centerline goodness [0,1] 0.6600188963509614 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.08 [[ 0.99797003 -0.06034798 -0.02034535 0.40429975] [ 0.06029869 0.99817579 -0.00302762 -0.10555895] [ 0.02049095 0.00179468 0.99978843 -0.07715466] [ 0. 0. 0. 1. ]] SLAMing on 58.67327356 meters Centerline goodness [0,1] 0.6605304931128066 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.08 [[ 0.99797508 -0.0602068 -0.02051537 0.40488254] [ 0.06015221 0.99818387 -0.00326819 -0.10389493] [ 0.02067488 0.00202752 0.9997842 -0.07729505] [ 0. 0. 0. 1. ]] SLAMing on 58.70327356 meters Centerline goodness [0,1] 0.6563487374450924 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.08 [[ 9.98185460e-01 -5.67213428e-02 -2.02107961e-02 4.04052643e-01] [ 5.67394594e-02 9.98388967e-01 3.23616256e-04 -1.02179643e-01] [ 2.01598799e-02 -1.46977869e-03 9.99795689e-01 -7.80732430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73327356 meters Centerline goodness [0,1] 0.6543971503058774 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.08 [[ 9.98200833e-01 -5.63506900e-02 -2.04864955e-02 4.05008106e-01] [ 5.63650038e-02 9.98410222e-01 1.21487201e-04 -1.00571341e-01] [ 2.04470806e-02 -1.27599002e-03 9.99790122e-01 -7.82893536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.763273559999995 meters Centerline goodness [0,1] 0.6612341731349441 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.08 [[ 9.98221551e-01 -5.58536830e-02 -2.08350873e-02 4.06252628e-01] [ 5.58659529e-02 9.98438278e-01 6.86981082e-06 -9.90846628e-02] [ 2.08021650e-02 -1.17082960e-03 9.99782926e-01 -7.85669237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.793273559999996 meters Centerline goodness [0,1] 0.6645198003155635 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.08 [[ 9.98234827e-01 -5.55080581e-02 -2.11207403e-02 4.07176220e-01] [ 5.55164966e-02 9.98457753e-01 -1.87045606e-04 -9.74900046e-02] [ 2.10985494e-02 -9.85834067e-04 9.99776915e-01 -7.87354219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82327356 meters Centerline goodness [0,1] 0.6690445925964357 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.08 [[ 0.99843517 -0.05182949 -0.02099817 0.40650804] [ 0.05191324 0.9986456 0.00346244 -0.09637347] [ 0.02079028 -0.0045471 0.99977352 -0.07902476] [ 0. 0. 0. 1. ]] SLAMing on 58.85327356 meters Centerline goodness [0,1] 0.6688326878590181 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99844267 -0.05159221 -0.0212247 0.40698414] [ 0.05166981 0.99865934 0.00312363 -0.09460628] [ 0.02103509 -0.00421544 0.99976985 -0.07872062] [ 0. 0. 0. 1. ]] SLAMing on 58.88327356 meters Centerline goodness [0,1] 0.6789650590166497 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99845603 -0.05122745 -0.02147819 0.40767885] [ 0.05130006 0.99867924 0.00284323 -0.09294689] [ 0.02130417 -0.00394067 0.99976527 -0.07854708] [ 0. 0. 0. 1. ]] SLAMing on 58.91327356 meters Centerline goodness [0,1] 0.6809857681038092 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99864886 -0.04727725 -0.02157097 0.40761842] [ 0.04742694 0.99885368 0.00648125 -0.09157788] [ 0.02123982 -0.00749554 0.99974631 -0.07878226] [ 0. 0. 0. 1. ]] SLAMing on 58.943273559999994 meters Centerline goodness [0,1] 0.679930613961312 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99882298 -0.04348724 -0.02148282 0.40714009] [ 0.04371987 0.99898886 0.01048015 -0.09210552] [ 0.02100535 -0.01140705 0.99971429 -0.07912647] [ 0. 0. 0. 1. ]] SLAMing on 58.973273559999996 meters Centerline goodness [0,1] 0.7005112258880574 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99901182 -0.03870492 -0.02184728 0.40875215] [ 0.03902576 0.99913364 0.01445558 -0.09047938] [ 0.02126885 -0.0152939 0.99965681 -0.08023916] [ 0. 0. 0. 1. ]] SLAMing on 59.00327356 meters Centerline goodness [0,1] 0.6979929661263453 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99915815 -0.03472249 -0.02184824 0.40868799] [ 0.03512823 0.99921213 0.01846962 -0.09046802] [ 0.02118972 -0.01922156 0.99959068 -0.08073862] [ 0. 0. 0. 1. ]] SLAMing on 59.03327356 meters Centerline goodness [0,1] 0.7036261464242167 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99919194 -0.03342692 -0.02231834 0.41082468] [ 0.03384345 0.99925491 0.01855365 -0.08845058] [ 0.02168152 -0.01929399 0.99957874 -0.08127554] [ 0. 0. 0. 1. ]] SLAMing on 59.06327356 meters Centerline goodness [0,1] 0.7272193925171337 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.08 [[ 0.99935294 -0.02809368 -0.02246003 0.41220974] [ 0.02860186 0.99933459 0.02263409 -0.08634858] [ 0.02180921 -0.02326184 0.99949149 -0.08212344] [ 0. 0. 0. 1. ]] SLAMing on 59.09327356 meters Centerline goodness [0,1] 0.7376818145558008 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.08 [[ 0.99937365 -0.02689595 -0.02299804 0.41435046] [ 0.02740876 0.99937596 0.02228132 -0.08417293] [ 0.02238441 -0.02289771 0.99948718 -0.08214417] [ 0. 0. 0. 1. ]] SLAMing on 59.123273559999994 meters Centerline goodness [0,1] 0.7410984189829057 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.08 [[ 0.99947567 -0.02273897 -0.02305069 0.41447269] [ 0.02334409 0.99938066 0.02633165 -0.08455056] [ 0.02243766 -0.02685594 0.99938747 -0.08245298] [ 0. 0. 0. 1. ]] SLAMing on 59.153273559999995 meters Centerline goodness [0,1] 0.7617414601473543 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.99957587 -0.01756499 -0.02322835 0.4157526 ] [ 0.01826584 0.99937358 0.03031196 -0.08278137] [ 0.02268137 -0.03072339 0.99927055 -0.08300066] [ 0. 0. 0. 1. ]] SLAMing on 59.183273559999996 meters Centerline goodness [0,1] 0.7752361473667214 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.99958432 -0.01653252 -0.02361908 0.41722061] [ 0.01724211 0.99939629 0.03016216 -0.08076476] [ 0.02310616 -0.03055687 0.99926592 -0.08293934] [ 0. 0. 0. 1. ]] SLAMing on 59.21327356 meters Centerline goodness [0,1] 0.7891084831794373 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.9996474 -0.01173281 -0.0238204 0.41803067] [ 0.01254187 0.99933957 0.03410467 -0.0796295 ] [ 0.02340453 -0.0343914 0.99913436 -0.08303703] [ 0. 0. 0. 1. ]] SLAMing on 59.24327356 meters Centerline goodness [0,1] 0.7994638650456256 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.99964552 -0.01106436 -0.02421611 0.4192517 ] [ 0.01188201 0.9993551 0.03388514 -0.07828734] [ 0.02382558 -0.03416087 0.99913231 -0.08285307] [ 0. 0. 0. 1. ]] SLAMing on 59.27327356 meters Centerline goodness [0,1] 0.8097596622279961 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.99964019 -0.01047556 -0.02469316 0.4205243 ] [ 0.01130266 0.99937155 0.03359701 -0.07709976] [ 0.0243257 -0.03386402 0.99913037 -0.08254432] [ 0. 0. 0. 1. ]] SLAMing on 59.30327356 meters Centerline goodness [0,1] 0.8248351469430952 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.08 [[ 0.99963322 -0.00979067 -0.02524992 0.42205189] [ 0.01063387 0.99938285 0.03347901 -0.07611578] [ 0.02490656 -0.03373523 0.99912041 -0.08242062] [ 0. 0. 0. 1. ]] SLAMing on 59.333273559999995 meters Centerline goodness [0,1] 0.8383718097918753 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.08 [[ 0.99963381 -0.00831409 -0.02575112 0.42413197] [ 0.00917578 0.9993957 0.03352661 -0.07492399] [ 0.02545681 -0.03375062 0.99910602 -0.08237903] [ 0. 0. 0. 1. ]] SLAMing on 59.363273559999996 meters Centerline goodness [0,1] 0.8417635921017042 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.9996262 -0.00779563 -0.02620459 0.42540961] [ 0.00866844 0.99940578 0.03336096 -0.07420223] [ 0.02592895 -0.03357564 0.99909978 -0.08225333] [ 0. 0. 0. 1. ]] SLAMing on 59.39327356 meters Centerline goodness [0,1] 0.8425638673824489 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99962654 -0.00624373 -0.02660442 0.42757737] [ 0.00714357 0.99940095 0.03386322 -0.07416193] [ 0.02637705 -0.03404063 0.99907231 -0.08282208] [ 0. 0. 0. 1. ]] SLAMing on 59.42327356 meters Centerline goodness [0,1] 0.8417950797512841 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99962141 -0.00581907 -0.02689199 0.42850585] [ 0.0067287 0.99940395 0.03385947 -0.07415117] [ 0.02667893 -0.0340276 0.99906474 -0.08284085] [ 0. 0. 0. 1. ]] SLAMing on 59.45327356 meters Centerline goodness [0,1] 0.8409746368022425 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99959833 -0.00772074 -0.02726844 0.43075173] [ 0.00854515 0.99950592 0.03024722 -0.07236929] [ 0.02702143 -0.03046808 0.99917042 -0.08266807] [ 0. 0. 0. 1. ]] SLAMing on 59.48327356 meters Centerline goodness [0,1] 0.8363508620223747 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99959877 -0.00735208 -0.02735424 0.43090754] [ 0.00818452 0.99950292 0.03044533 -0.07318893] [ 0.0271168 -0.030657 0.99916206 -0.08233761] [ 0. 0. 0. 1. ]] SLAMing on 59.513273559999995 meters Centerline goodness [0,1] 0.8362749589070626 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99956327 -0.01011964 -0.02776439 0.43235718] [ 0.01085157 0.99959416 0.02633937 -0.07175829] [ 0.02748657 -0.02662915 0.99926742 -0.08151464] [ 0. 0. 0. 1. ]] SLAMing on 59.543273559999996 meters Centerline goodness [0,1] 0.8354815273255658 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.08 [[ 0.99956225 -0.01049401 -0.02766184 0.43134976] [ 0.01122334 0.99958994 0.02634371 -0.07393274] [ 0.02737404 -0.02664263 0.99927015 -0.0805638 ] [ 0. 0. 0. 1. ]] SLAMing on 59.57327356 meters Centerline goodness [0,1] 0.8432010759919301 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.99956261 -0.01075043 -0.02755019 0.43089288] [ 0.01147525 0.99958856 0.02628757 -0.07508151] [ 0.02725625 -0.02659222 0.99927471 -0.08029949] [ 0. 0. 0. 1. ]] SLAMing on 59.60327356 meters Centerline goodness [0,1] 0.8418519613905843 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.9995595 -0.0108922 -0.02760722 0.43065028] [ 0.01161959 0.99958588 0.0263259 -0.07640957] [ 0.02730904 -0.02663509 0.99927213 -0.07981711] [ 0. 0. 0. 1. ]] SLAMing on 59.63327356 meters Centerline goodness [0,1] 0.8348380528839714 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.99950547 -0.01393324 -0.02818992 0.43237338] [ 0.01457058 0.99963996 0.02253097 -0.07664786] [ 0.02786584 -0.02293057 0.99934863 -0.07928848] [ 0. 0. 0. 1. ]] SLAMing on 59.66327356 meters Centerline goodness [0,1] 0.8339099418027731 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.99950526 -0.013884 -0.0282219 0.43256249] [ 0.01452796 0.99963579 0.02274257 -0.07783765] [ 0.02789586 -0.02314132 0.99934293 -0.07941418] [ 0. 0. 0. 1. ]] SLAMing on 59.693273559999994 meters Centerline goodness [0,1] 0.8331594854101474 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.99950258 -0.01329074 -0.02859992 0.43356769] [ 0.01395995 0.99963039 0.02332802 -0.08015595] [ 0.02827931 -0.02371567 0.99931869 -0.07937262] [ 0. 0. 0. 1. ]] SLAMing on 59.723273559999996 meters Centerline goodness [0,1] 0.8345218064791817 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.08 [[ 0.9994967 -0.01291401 -0.02897528 0.43435268] [ 0.01359332 0.99963444 0.02337124 -0.08070557] [ 0.02866287 -0.02375334 0.99930687 -0.0789807 ] [ 0. 0. 0. 1. ]] SLAMing on 59.75327356 meters Centerline goodness [0,1] 0.8307356774296505 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.08 [[ 0.9994917 -0.01232828 -0.02940003 0.43545378] [ 0.01301962 0.99964045 0.02344045 -0.08117664] [ 0.02910048 -0.02381131 0.99929284 -0.07865235] [ 0. 0. 0. 1. ]] SLAMing on 59.78327356 meters Centerline goodness [0,1] 0.8297860976847278 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.08 [[ 0.99948722 -0.011534 -0.0298708 0.43676144] [ 0.01224455 0.99964378 0.02371467 -0.08142023] [ 0.02958663 -0.02406827 0.99927241 -0.07852152] [ 0. 0. 0. 1. ]] SLAMing on 59.81327356 meters Centerline goodness [0,1] 0.8256281137836824 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.08 [[ 0.99952251 -0.00609811 -0.03029143 0.43822899] [ 0.00696788 0.99956403 0.0286913 -0.08400494] [ 0.03010327 -0.02888867 0.99912924 -0.07874985] [ 0. 0. 0. 1. ]] SLAMing on 59.84327356 meters Centerline goodness [0,1] 0.8275843599357258 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.08 [[ 0.99951336 -0.0048578 -0.03081318 0.43997389] [ 0.00575329 0.99956169 0.02904006 -0.08416558] [ 0.0306586 -0.0292032 0.99910321 -0.07869757] [ 0. 0. 0. 1. ]] SLAMing on 59.873273559999994 meters Centerline goodness [0,1] 0.8275843599357258 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.08 [[ 0.99951336 -0.0048578 -0.03081318 0.43997389] [ 0.00575329 0.99956169 0.02904006 -0.08416558] [ 0.0306586 -0.0292032 0.99910321 -0.07869757] [ 0. 0. 0. 1. ]] SLAMing on 59.903273559999995 meters Centerline goodness [0,1] 0.822336109331625 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 9.99513724e-01 7.96863805e-04 -3.11717996e-02 4.41470135e-01] [ 2.68494410e-04 9.99416413e-01 3.41578807e-02 -8.75830361e-02] [ 3.11808274e-02 -3.41496400e-02 9.98930207e-01 -7.88976187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.933273559999996 meters Centerline goodness [0,1] 0.8214723926380368 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 9.99498734e-01 1.71634386e-03 -3.16122567e-02 4.42583386e-01] [-6.27567518e-04 9.99407281e-01 3.44193591e-02 -8.84009037e-02] [ 3.16525950e-02 -3.43822670e-02 9.98907390e-01 -7.84099972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96327356 meters Centerline goodness [0,1] 0.8173906100287448 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 0.99948839 0.00243625 -0.03189089 0.44340447] [-0.00133074 0.99939894 0.03464083 -0.08929569] [ 0.03195611 -0.03458067 0.99889088 -0.07807964] [ 0. 0. 0. 1. ]] SLAMing on 59.99327356 meters Centerline goodness [0,1] 0.8177684412061905 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 0.9994703 0.00373881 -0.03232858 0.44463031] [-0.00258268 0.99935814 0.03573006 -0.09306333] [ 0.03244141 -0.03562764 0.99883844 -0.07774896] [ 0. 0. 0. 1. ]] SLAMing on 60.02327356 meters Centerline goodness [0,1] 0.8154323278375656 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 9.99452215e-01 1.22137006e-03 -3.30723126e-02 4.46704358e-01] [-1.57457806e-04 9.99482953e-01 3.21527865e-02 -9.33147023e-02] [ 3.30944831e-02 -3.21299662e-02 9.98935644e-01 -7.71850165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05327356 meters Centerline goodness [0,1] 0.8178298656834343 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.99942718 -0.00148186 -0.03380991 0.4485839 ] [ 0.00247545 0.9995657 0.02936468 -0.09721735] [ 0.03375172 -0.02943155 0.9989968 -0.07679597] [ 0. 0. 0. 1. ]] SLAMing on 60.083273559999995 meters Centerline goodness [0,1] 0.8170709273907445 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.99939446 -0.00471857 -0.03447381 0.45009824] [ 0.00560628 0.999654 0.02569927 -0.09822511] [ 0.03434062 -0.02587698 0.99907512 -0.07620647] [ 0. 0. 0. 1. ]] SLAMing on 60.113273559999996 meters Centerline goodness [0,1] 0.8149017766298818 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.99934953 -0.0081109 -0.03513886 0.45156747] [ 0.00888455 0.99972032 0.02191701 -0.09930187] [ 0.03495126 -0.02221495 0.99914208 -0.07554189] [ 0. 0. 0. 1. ]] SLAMing on 60.14327356 meters Centerline goodness [0,1] 0.8154520830646201 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.07 [[ 0.99930279 -0.01201414 -0.03534955 0.45144627] [ 0.01268981 0.99973986 0.01895221 -0.10516067] [ 0.03511266 -0.01938758 0.99919529 -0.07456584] [ 0. 0. 0. 1. ]] SLAMing on 60.17327356 meters Centerline goodness [0,1] 0.8127556237218814 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.07 [[ 0.9992391 -0.01556153 -0.03576384 0.45222212] [ 0.01611969 0.9997519 0.01537205 -0.1072238 ] [ 0.03551575 -0.01593685 0.99924204 -0.07382808] [ 0. 0. 0. 1. ]] SLAMing on 60.20327356 meters Centerline goodness [0,1] 0.811118194568405 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.07 [[ 0.99916596 -0.01919676 -0.03603981 0.4528045 ] [ 0.01963823 0.9997359 0.01193585 -0.10937475] [ 0.03580117 -0.01263365 0.99927907 -0.07335455] [ 0. 0. 0. 1. ]] SLAMing on 60.23327356 meters Centerline goodness [0,1] 0.8081744416811114 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.07 [[ 0.99905359 -0.02429874 -0.03607634 0.45153076] [ 0.02459969 0.99966599 0.00792184 -0.11594339] [ 0.0358718 -0.00880181 0.99931764 -0.07132321] [ 0. 0. 0. 1. ]] SLAMing on 60.263273559999995 meters Centerline goodness [0,1] 0.8096410103420844 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.07 [[ 0.99894923 -0.02802265 -0.03626535 0.45189384] [ 0.02820445 0.999592 0.00451094 -0.11837054] [ 0.03612415 -0.00552904 0.99933201 -0.07075385] [ 0. 0. 0. 1. ]] SLAMing on 60.293273559999996 meters Centerline goodness [0,1] 0.8066184581443805 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.07 [[ 9.98792015e-01 -3.33115781e-02 -3.61226974e-02 4.50135978e-01] [ 3.33579536e-02 9.99443236e-01 6.81737577e-04 -1.24832356e-01] [ 3.60798758e-02 -1.88589331e-03 9.99347130e-01 -6.88199937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32327356 meters Centerline goodness [0,1] 0.8092691622103387 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.07 [[ 0.99865349 -0.0369772 -0.03638533 0.45086701] [ 0.03690957 0.99931541 -0.00252892 -0.12732515] [ 0.03645393 0.00118255 0.99933463 -0.06860214] [ 0. 0. 0. 1. ]] SLAMing on 60.35327356 meters Centerline goodness [0,1] 0.804981168752278 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.07 [[ 0.99861518 -0.03803281 -0.03634881 0.45033713] [ 0.03796732 0.99927588 -0.00249052 -0.13196046] [ 0.03641721 0.001107 0.99933606 -0.06830497] [ 0. 0. 0. 1. ]] SLAMing on 60.38327356 meters Centerline goodness [0,1] 0.8032853717026379 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.07 [[ 0.99843702 -0.04240599 -0.03640393 0.45004226] [ 0.0422489 0.99909423 -0.00507383 -0.13843457] [ 0.03658611 0.00352787 0.99932428 -0.06791352] [ 0. 0. 0. 1. ]] SLAMing on 60.41327356 meters Centerline goodness [0,1] 0.8033428844317096 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.07 [[ 0.99841191 -0.04307402 -0.03630825 0.44919334] [ 0.04293956 0.99906765 -0.00447517 -0.14236803] [ 0.03646716 0.002909 0.99933062 -0.06762127] [ 0. 0. 0. 1. ]] SLAMing on 60.443273559999994 meters Centerline goodness [0,1] 0.7979795601186832 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.15, Z:-0.07 [[ 0.99823359 -0.04709659 -0.03621626 0.44878399] [ 0.04686083 0.99887452 -0.00733172 -0.1473341 ] [ 0.0365208 0.00562165 0.99931708 -0.06697664] [ 0. 0. 0. 1. ]] SLAMing on 60.473273559999996 meters Centerline goodness [0,1] 0.7972231342933533 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.15, Z:-0.07 [[ 0.9982301 -0.04731201 -0.03603103 0.44820284] [ 0.0471078 0.99886869 -0.00649622 -0.15080572] [ 0.03629762 0.00478738 0.99932956 -0.06703622] [ 0. 0. 0. 1. ]] SLAMing on 60.50327356 meters Centerline goodness [0,1] 0.7971629881946712 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.15, Z:-0.07 [[ 0.99823384 -0.04735272 -0.03587355 0.44796048] [ 0.04717858 0.99887029 -0.00568593 -0.15371166] [ 0.03610227 0.00398343 0.99934016 -0.06737559] [ 0. 0. 0. 1. ]] SLAMing on 60.53327356 meters Centerline goodness [0,1] 0.7951896392229417 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 0.99822702 -0.04761859 -0.03571119 0.44747869] [ 0.04747922 0.99886097 -0.00474103 -0.1586908 ] [ 0.03589628 0.00303709 0.99935091 -0.06746639] [ 0. 0. 0. 1. ]] SLAMing on 60.56327356 meters Centerline goodness [0,1] 0.7938626827131461 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 0.99823221 -0.04751762 -0.03570064 0.44748646] [ 0.04740108 0.99886751 -0.00410426 -0.16098855] [ 0.03585523 0.00240476 0.9993541 -0.0676296 ] [ 0. 0. 0. 1. ]] SLAMing on 60.59327356 meters Centerline goodness [0,1] 0.7949568679495687 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 0.99823468 -0.0475702 -0.03556127 0.44712086] [ 0.04748332 0.99886663 -0.00328417 -0.16489009] [ 0.03567719 0.0015898 0.9993621 -0.06769217] [ 0. 0. 0. 1. ]] SLAMing on 60.623273559999994 meters Centerline goodness [0,1] 0.7937532916580797 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99823938 -0.04751674 -0.0355006 0.44697881] [ 0.04744517 0.99886976 -0.00285621 -0.16651418] [ 0.0355962 0.00116685 0.99936557 -0.06774577] [ 0. 0. 0. 1. ]] SLAMing on 60.653273559999995 meters Centerline goodness [0,1] 0.7907369767282527 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98244999e-01 -4.73423196e-02 -3.55756458e-02 4.47340036e-01] [ 4.72891279e-02 9.98878513e-01 -2.33559671e-03 -1.68117439e-01] [ 3.56463207e-02 6.49156466e-04 9.99364257e-01 -6.80711140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.683273559999996 meters Centerline goodness [0,1] 0.7923473677035286 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98247945e-01 -4.72429870e-02 -3.56249858e-02 4.47468923e-01] [ 4.72132462e-02 9.98883427e-01 -1.67609087e-03 -1.70362893e-01] [ 3.56643914e-02 -8.81695322e-06 9.99363823e-01 -6.82170039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71327356 meters Centerline goodness [0,1] 0.7906960919957359 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98252259e-01 -4.71966890e-02 -3.55654290e-02 4.47483520e-01] [ 4.71768572e-02 9.98885575e-01 -1.39707507e-03 -1.71312763e-01] [ 3.55917314e-02 -2.83231823e-04 9.99366373e-01 -6.83911080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74327356 meters Centerline goodness [0,1] 0.790630671506352 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98253903e-01 -4.71022262e-02 -3.56444405e-02 4.47708284e-01] [ 4.70932469e-02 9.98889901e-01 -1.09191285e-03 -1.72220837e-01] [ 3.56563032e-02 -5.88606176e-04 9.99363939e-01 -6.85090127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77327356 meters Centerline goodness [0,1] 0.7901198281709247 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98250613e-01 -4.72723790e-02 -3.55110548e-02 4.47490293e-01] [ 4.72725838e-02 9.98881678e-01 -8.34316256e-04 -1.73560032e-01] [ 3.55107821e-02 -8.45842602e-04 9.99368935e-01 -6.86434409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80327356 meters Centerline goodness [0,1] 0.7905794645882751 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 9.98254074e-01 -4.72267194e-02 -3.54745039e-02 4.47689840e-01] [ 4.72390299e-02 9.98883493e-01 -4.91520429e-04 -1.74374613e-01] [ 3.54581093e-02 -1.18511888e-03 9.99370461e-01 -6.90932770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.833273559999995 meters Centerline goodness [0,1] 0.7943992773261066 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98249837e-01 -4.73249216e-02 -3.54628755e-02 4.47951584e-01] [ 4.73451721e-02 9.98878552e-01 -2.68982783e-04 -1.75151073e-01] [ 3.54358353e-02 -1.41048392e-03 9.99370958e-01 -6.95560925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.863273559999996 meters Centerline goodness [0,1] 0.7854548735647741 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98249398e-01 -4.72585381e-02 -3.55636053e-02 4.48474591e-01] [ 4.72851186e-02 9.98881429e-01 -9.37749146e-05 -1.75381944e-01] [ 3.55282565e-02 -1.58801854e-03 9.99367411e-01 -6.99832479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89327356 meters Centerline goodness [0,1] 0.7927775139633222 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98252692e-01 -4.71567066e-02 -3.56062882e-02 4.48754634e-01] [ 4.71920375e-02 9.98885824e-01 1.52015964e-04 -1.75794047e-01] [ 3.55594480e-02 -1.83208363e-03 9.99365884e-01 -7.02797515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92327356 meters Centerline goodness [0,1] 0.7905248175677202 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98252629e-01 -4.72106909e-02 -3.55364412e-02 4.48777033e-01] [ 4.72514624e-02 9.98882978e-01 3.07883116e-04 -1.76129792e-01] [ 3.54822109e-02 -1.98649395e-03 9.99368334e-01 -7.05597132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95327356 meters Centerline goodness [0,1] 0.7903396907798217 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98234746e-01 -4.77240796e-02 -3.53525749e-02 4.47927696e-01] [ 4.77592263e-02 9.98858866e-01 1.49893117e-04 -1.76529521e-01] [ 3.53050794e-02 -1.83804014e-03 9.99374891e-01 -7.01066476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98327356 meters Centerline goodness [0,1] 0.7864235789092718 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98209809e-01 -4.83926957e-02 -3.51471744e-02 4.46797162e-01] [ 4.84122075e-02 9.98827398e-01 -2.96180502e-04 -1.76306451e-01] [ 3.51202937e-02 -1.40590202e-03 9.99382103e-01 -6.92869274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.013273559999995 meters Centerline goodness [0,1] 0.7862828456424404 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98208013e-01 -4.84605028e-02 -3.51047363e-02 4.46827510e-01] [ 4.84831183e-02 9.98823981e-01 -2.07240777e-04 -1.76066267e-01] [ 3.50734954e-02 -1.49511768e-03 9.99383617e-01 -6.95477618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.043273559999996 meters Centerline goodness [0,1] 0.7829921972181386 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98203466e-01 -4.85581102e-02 -3.50991649e-02 4.46891463e-01] [ 4.85842349e-02 9.98819083e-01 -1.08703138e-04 -1.76056488e-01] [ 3.50629942e-02 -1.59675823e-03 9.99383829e-01 -6.97656591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07327356 meters Centerline goodness [0,1] 0.7827648520442738 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98197424e-01 -4.87468566e-02 -3.50092345e-02 4.46825304e-01] [ 4.87730847e-02 9.98809879e-01 -1.04955834e-04 -1.76024961e-01] [ 3.49726855e-02 -1.60274172e-03 9.99386983e-01 -6.99823030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10327356 meters Centerline goodness [0,1] 0.7730885049924152 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.07 [[ 9.98169946e-01 -4.94895390e-02 -3.47497347e-02 4.46341618e-01] [ 4.95061891e-02 9.98773744e-01 -3.81645407e-04 -1.75910151e-01] [ 3.47260100e-02 -1.33937996e-03 9.99395973e-01 -7.03100522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13327356 meters Centerline goodness [0,1] 0.7736057551360982 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99796773 -0.0532569 -0.0349874 0.44800052] [ 0.05313962 0.99857795 -0.00427421 -0.17442166] [ 0.03516528 0.0024063 0.99937861 -0.07118832] [ 0. 0. 0. 1. ]] SLAMing on 61.16327356 meters Centerline goodness [0,1] 0.7630120563686127 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99795243 -0.05362725 -0.03485791 0.44797935] [ 0.05351261 0.99855828 -0.00421419 -0.17458468] [ 0.03503365 0.00234023 0.99938339 -0.07172509] [ 0. 0. 0. 1. ]] SLAMing on 61.193273559999994 meters Centerline goodness [0,1] 0.7616351489072586 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99793895 -0.0538765 -0.03485926 0.44830073] [ 0.05376792 0.99854526 -0.00404563 -0.1747725 ] [ 0.03502652 0.00216298 0.99938404 -0.07239738] [ 0. 0. 0. 1. ]] SLAMing on 61.223273559999996 meters Centerline goodness [0,1] 0.7552129321469809 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99792347 -0.05423182 -0.03475126 0.44818893] [ 0.05412128 0.99852589 -0.00411424 -0.17457149] [ 0.03492315 0.00222491 0.99938752 -0.07269531] [ 0. 0. 0. 1. ]] SLAMing on 61.25327356 meters Centerline goodness [0,1] 0.7458754113241801 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99787881 -0.05526124 -0.0344105 0.44731159] [ 0.05513109 0.99846797 -0.00472052 -0.17345478] [ 0.03461864 0.00281342 0.99939664 -0.07276922] [ 0. 0. 0. 1. ]] SLAMing on 61.28327356 meters Centerline goodness [0,1] 0.7210404045005239 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99785967 -0.05567732 -0.03429463 0.44688046] [ 0.05553558 0.99844382 -0.00507254 -0.17259945] [ 0.03452368 0.00315711 0.99939889 -0.07264048] [ 0. 0. 0. 1. ]] SLAMing on 61.31327356 meters Centerline goodness [0,1] 0.728625806304561 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99781923 -0.05655237 -0.03403852 0.44590646] [ 0.05638049 0.99839139 -0.00598909 -0.17031246] [ 0.03432246 0.00405692 0.99940258 -0.07220242] [ 0. 0. 0. 1. ]] SLAMing on 61.34327356 meters Centerline goodness [0,1] 0.7203432151450493 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.07 [[ 0.99780356 -0.05680779 -0.03407236 0.44594874] [ 0.05662585 0.99837571 -0.00628197 -0.16918336] [ 0.03437388 0.0043388 0.99939963 -0.07222375] [ 0. 0. 0. 1. ]] SLAMing on 61.373273559999994 meters Centerline goodness [0,1] 0.70782354151897 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.07 [[ 0.99793502 -0.05469124 -0.03368316 0.44391863] [ 0.05460755 0.9985021 -0.00340028 -0.16846841] [ 0.03381867 0.00155391 0.99942678 -0.07196247] [ 0. 0. 0. 1. ]] SLAMing on 61.403273559999995 meters Centerline goodness [0,1] 0.7151598487452733 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.07 [[ 0.9979232 -0.05494625 -0.03361835 0.44376916] [ 0.05485139 0.99848753 -0.00373822 -0.16716989] [ 0.0337729 0.00188644 0.99942775 -0.07199362] [ 0. 0. 0. 1. ]] SLAMing on 61.433273559999996 meters Centerline goodness [0,1] 0.7021183814922769 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.07 [[ 0.99791937 -0.05497057 -0.03369215 0.44399317] [ 0.05486959 0.99848585 -0.00391515 -0.16598813] [ 0.03385636 0.00205833 0.99942459 -0.07207077] [ 0. 0. 0. 1. ]] SLAMing on 61.46327356 meters Centerline goodness [0,1] 0.6978622546425202 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.07 [[ 0.99790804 -0.05508854 -0.03383486 0.44469261] [ 0.05497117 0.99847829 -0.00439006 -0.16345267] [ 0.03402521 0.00252093 0.9994178 -0.07257254] [ 0. 0. 0. 1. ]] SLAMing on 61.49327356 meters Centerline goodness [0,1] 0.7148274028346165 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 0.99790555 -0.05507353 -0.03393249 0.44529918] [ 0.05495139 0.99847879 -0.00452249 -0.16213838] [ 0.03412994 0.00264838 0.99941389 -0.07314348] [ 0. 0. 0. 1. ]] SLAMing on 61.52327356 meters Centerline goodness [0,1] 0.7208728255047623 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.07 [[ 9.98066210e-01 -5.21606175e-02 -3.38099062e-02 4.44745002e-01] [ 5.21411580e-02 9.98638661e-01 -1.45759696e-03 -1.60427176e-01] [ 3.38399086e-02 -3.08109386e-04 9.99427219e-01 -7.37479064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55327356 meters Centerline goodness [0,1] 0.700179407721522 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 9.98079196e-01 -5.17311537e-02 -3.40852671e-02 4.46109938e-01] [ 5.17127890e-02 9.98660988e-01 -1.42073564e-03 -1.58539321e-01] [ 3.41131228e-02 -3.44637545e-04 9.99417919e-01 -7.46749989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.583273559999995 meters Centerline goodness [0,1] 0.7194534138237634 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.08 [[ 9.98085038e-01 -5.13350161e-02 -3.45104892e-02 4.47492093e-01] [ 5.13126470e-02 9.98681460e-01 -1.53413222e-03 -1.56464690e-01] [ 3.45437405e-02 -2.39630140e-04 9.99403158e-01 -7.52132028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.613273559999996 meters Centerline goodness [0,1] 0.7184646521698201 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.15, Z:-0.08 [[ 0.99825261 -0.04802417 -0.03442975 0.44669346] [ 0.04810118 0.99884147 0.00141156 -0.153536 ] [ 0.03432207 -0.0030652 0.99940612 -0.07513027] [ 0. 0. 0. 1. ]] SLAMing on 61.64327356 meters Centerline goodness [0,1] 0.7189953276569504 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.07 [[ 0.9983981 -0.0451756 -0.03406449 0.44473237] [ 0.04535293 0.99896111 0.0044506 -0.15278954] [ 0.03382804 -0.00598839 0.99940973 -0.07443006] [ 0. 0. 0. 1. ]] SLAMing on 61.67327356 meters Centerline goodness [0,1] 0.721422120823233 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.15, Z:-0.07 [[ 0.99839805 -0.04496561 -0.03434266 0.44547383] [ 0.04512986 0.99897303 0.00402216 -0.15050156] [ 0.03412653 -0.0055656 0.99940202 -0.07438496] [ 0. 0. 0. 1. ]] SLAMing on 61.70327356 meters Centerline goodness [0,1] 0.7188411340058325 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.07 [[ 0.99853444 -0.04200066 -0.03413098 0.4441864 ] [ 0.04225198 0.99908468 0.00667555 -0.14746578] [ 0.03381936 -0.00810787 0.99939507 -0.0739594 ] [ 0. 0. 0. 1. ]] SLAMing on 61.73327356 meters Centerline goodness [0,1] 0.7186032019940563 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.07 [[ 0.9985272 -0.04206733 -0.03426038 0.44454357] [ 0.04230259 0.99908579 0.00617058 -0.14531017] [ 0.03396948 -0.00761079 0.99939389 -0.07396313] [ 0. 0. 0. 1. ]] SLAMing on 61.763273559999995 meters Centerline goodness [0,1] 0.7186032019940563 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.07 [[ 0.9985272 -0.04206733 -0.03426038 0.44454357] [ 0.04230259 0.99908579 0.00617058 -0.14531017] [ 0.03396948 -0.00761079 0.99939389 -0.07396313] [ 0. 0. 0. 1. ]] SLAMing on 61.793273559999996 meters Centerline goodness [0,1] 0.7170080185489325 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.07 [[ 0.99851703 -0.04222747 -0.03435972 0.44526108] [ 0.0424396 0.99908407 0.00546771 -0.14185736] [ 0.03409736 -0.00691782 0.99939457 -0.07457649] [ 0. 0. 0. 1. ]] SLAMing on 61.82327356 meters Centerline goodness [0,1] 0.7146805003393775 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.07 [[ 0.99850605 -0.04247774 -0.03437004 0.44550853] [ 0.04267892 0.99907561 0.00514067 -0.1405723 ] [ 0.0341199 -0.00659986 0.99939595 -0.07493795] [ 0. 0. 0. 1. ]] SLAMing on 61.85327356 meters Centerline goodness [0,1] 0.7101790306147203 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.08 [[ 0.99849566 -0.04272451 -0.03436615 0.4458217 ] [ 0.04291559 0.99906697 0.00484138 -0.13941094] [ 0.03412724 -0.00630894 0.99939758 -0.07543608] [ 0. 0. 0. 1. ]] SLAMing on 61.88327356 meters Centerline goodness [0,1] 0.7033888011660392 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.08 [[ 0.99847993 -0.04317229 -0.03426351 0.44620569] [ 0.0433484 0.99905027 0.00441342 -0.13735353] [ 0.03404043 -0.00589197 0.99940309 -0.07638275] [ 0. 0. 0. 1. ]] SLAMing on 61.91327356 meters Centerline goodness [0,1] 0.7025246981339188 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.08 [[ 0.99846327 -0.04371957 -0.03405447 0.44557054] [ 0.04387692 0.99902938 0.00388663 -0.13610272] [ 0.0338515 -0.00537486 0.99941242 -0.07621572] [ 0. 0. 0. 1. ]] SLAMing on 61.943273559999994 meters Centerline goodness [0,1] 0.6986981843096951 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.99843106 -0.04469122 -0.03373596 0.4444696 ] [ 0.04481626 0.99899087 0.00295879 -0.13389148] [ 0.03356968 -0.00446607 0.9994264 -0.07583811] [ 0. 0. 0. 1. ]] SLAMing on 61.973273559999996 meters Centerline goodness [0,1] 0.7001250398411258 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.99841955 -0.04516515 -0.03344406 0.44379374] [ 0.04528009 0.99897072 0.00268694 -0.13336507] [ 0.03328828 -0.00419705 0.99943698 -0.07588877] [ 0. 0. 0. 1. ]] SLAMing on 62.00327356 meters Centerline goodness [0,1] 0.6986331569664903 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.99839879 -0.04575012 -0.03326833 0.44316864] [ 0.04585215 0.99894557 0.00231003 -0.13276663] [ 0.03312757 -0.00383176 0.99944379 -0.07573581] [ 0. 0. 0. 1. ]] SLAMing on 62.03327356 meters Centerline goodness [0,1] 0.7098513194170933 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.9983597 -0.04708021 -0.03257862 0.44130287] [ 0.04716144 0.99888578 0.00172905 -0.13185476] [ 0.03246092 -0.00326266 0.99946768 -0.07579331] [ 0. 0. 0. 1. ]] SLAMing on 62.06327356 meters Centerline goodness [0,1] 0.7024608501118568 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.99834204 -0.0476092 -0.03235031 0.44069404] [ 0.0476863 0.99886105 0.00161558 -0.13170554] [ 0.03223655 -0.00315556 0.99947529 -0.07594199] [ 0. 0. 0. 1. ]] SLAMing on 62.09327356 meters Centerline goodness [0,1] 0.6628303599911658 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 0.99832736 -0.04811776 -0.03204955 0.44011388] [ 0.04818979 0.9988371 0.00147858 -0.13150604] [ 0.03194113 -0.00302057 0.99948519 -0.07619911] [ 0. 0. 0. 1. ]] SLAMing on 62.123273559999994 meters Centerline goodness [0,1] 0.6683401008982404 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98277284e-01 -4.94890280e-02 -3.15166833e-02 4.38416101e-01] [ 4.95361551e-02 9.98772075e-01 7.15784447e-04 -1.30205382e-01] [ 3.14425596e-02 -2.27576666e-03 9.99502970e-01 -7.60215763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.153273559999995 meters Centerline goodness [0,1] 0.6907206342171996 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98264174e-01 -4.98647112e-02 -3.13392708e-02 4.38276901e-01] [ 4.99085874e-02 9.98753598e-01 6.18874872e-04 -1.29690581e-01] [ 3.12693495e-02 -2.18189935e-03 9.99508613e-01 -7.65125934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.183273559999996 meters Centerline goodness [0,1] 0.6825165497480485 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98236497e-01 -5.07081085e-02 -3.08639635e-02 4.37665587e-01] [ 5.07432331e-02 9.98711669e-01 3.55350945e-04 -1.28759890e-01] [ 3.08061813e-02 -1.92086158e-03 9.99523531e-01 -7.74615824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21327356 meters Centerline goodness [0,1] 0.6890069169960474 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98229290e-01 -5.09325582e-02 -3.07271872e-02 4.37804134e-01] [ 5.09683309e-02 9.98700197e-01 3.81577113e-04 -1.28465514e-01] [ 3.06678132e-02 -1.94701489e-03 9.99527736e-01 -7.81692927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24327356 meters Centerline goodness [0,1] 0.6804029530135058 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98219773e-01 -5.11740933e-02 -3.06348877e-02 4.37808346e-01] [ 5.12075378e-02 9.98687986e-01 3.07642818e-04 -1.27754797e-01] [ 3.05789509e-02 -1.87583231e-03 9.99530594e-01 -7.85865623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27327356 meters Centerline goodness [0,1] 0.6671033766747416 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.08 [[ 9.98193191e-01 -5.17460543e-02 -3.05401305e-02 4.37507478e-01] [ 5.17611033e-02 9.98659451e-01 -2.98145398e-04 -1.25715354e-01] [ 3.05146178e-02 -1.28318414e-03 9.99533497e-01 -7.86006288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30327356 meters Centerline goodness [0,1] 0.6727313288550678 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.08 [[ 9.98181826e-01 -5.19830879e-02 -3.05090263e-02 4.37219180e-01] [ 5.19854648e-02 9.98647585e-01 -7.15819742e-04 -1.24466615e-01] [ 3.05049759e-02 -8.71507653e-04 9.99534235e-01 -7.82565474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.333273559999995 meters Centerline goodness [0,1] 0.6812791771725292 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.08 [[ 0.99830788 -0.04979654 -0.03002816 0.43454329] [ 0.0498779 0.99875339 0.0019663 -0.12317612] [ 0.02989281 -0.00346072 0.99954712 -0.07735719] [ 0. 0. 0. 1. ]] SLAMing on 62.363273559999996 meters Centerline goodness [0,1] 0.6740718577804373 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.08 [[ 0.99830259 -0.04988043 -0.03006447 0.43446111] [ 0.04995064 0.99875042 0.0015884 -0.12184252] [ 0.02994767 -0.00308744 0.9995467 -0.07706228] [ 0. 0. 0. 1. ]] SLAMing on 62.39327356 meters Centerline goodness [0,1] 0.6787324649298597 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.08 [[ 0.99829948 -0.04986075 -0.0302003 0.43468698] [ 0.04991385 0.99875302 0.00100675 -0.11960098] [ 0.03011244 -0.00251246 0.99954336 -0.07666926] [ 0. 0. 0. 1. ]] SLAMing on 62.42327356 meters Centerline goodness [0,1] 0.668896907733173 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.08 [[ 9.98301729e-01 -4.97411940e-02 -3.03227924e-02 4.35233420e-01] [ 4.97938149e-02 9.98759036e-01 9.82248964e-04 -1.18735807e-01] [ 3.02363047e-02 -2.49046835e-03 9.99539676e-01 -7.70114953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45327356 meters Centerline goodness [0,1] 0.6727961467061362 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.08 [[ 9.98302209e-01 -4.96212140e-02 -3.05030296e-02 4.35896938e-01] [ 4.96709668e-02 9.98765252e-01 8.75044195e-04 -1.17935198e-01] [ 3.04219453e-02 -2.38867352e-03 9.99534291e-01 -7.72585792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48327356 meters Centerline goodness [0,1] 0.667227566114976 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.08 [[ 9.98312391e-01 -4.92805451e-02 -3.07213054e-02 4.37101120e-01] [ 4.93307901e-02 9.98782108e-01 8.79267870e-04 -1.16296878e-01] [ 3.06405594e-02 -2.39329028e-03 9.99527603e-01 -7.80575635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.513273559999995 meters Centerline goodness [0,1] 0.662932918100309 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:-0.08 [[ 9.98312099e-01 -4.92491910e-02 -3.07810024e-02 4.37586096e-01] [ 4.92986279e-02 9.98783723e-01 8.48782000e-04 -1.15627407e-01] [ 3.07017623e-02 -2.36481052e-03 9.99525792e-01 -7.85012662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.543273559999996 meters Centerline goodness [0,1] 0.6626512084098282 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98309241e-01 -4.93026146e-02 -3.07881721e-02 4.37756070e-01] [ 4.93483980e-02 9.98781360e-01 7.28502406e-04 -1.14875259e-01] [ 3.07147354e-02 -2.24661766e-03 9.99525666e-01 -7.86914206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57327356 meters Centerline goodness [0,1] 0.6590696380239294 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98293438e-01 -4.97232321e-02 -3.06237043e-02 4.37269442e-01] [ 4.97533155e-02 9.98761513e-01 2.20674671e-04 -1.13322717e-01] [ 3.05748045e-02 -1.74392890e-03 9.99530960e-01 -7.85205748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60327356 meters Centerline goodness [0,1] 0.6618963337547408 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98284703e-01 -4.99638268e-02 -3.05166703e-02 4.36871373e-01] [ 4.99855163e-02 9.98749941e-01 -5.21935385e-05 -1.12543713e-01] [ 3.04811305e-02 -1.47328751e-03 9.99534257e-01 -7.83055366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63327356 meters Centerline goodness [0,1] 0.6676560874749473 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98271643e-01 -5.03007522e-02 -3.03901333e-02 4.36446953e-01] [ 5.03085702e-02 9.98733593e-01 -5.07793485e-04 -1.11072449e-01] [ 3.03771895e-02 -1.02196832e-03 9.99537984e-01 -7.80627925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66327356 meters Centerline goodness [0,1] 0.658939305552033 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98262064e-01 -5.05183360e-02 -3.03438647e-02 4.36364111e-01] [ 5.05183994e-02 9.98722837e-01 -7.65038802e-04 -1.09976430e-01] [ 3.03437591e-02 -7.69214261e-04 9.99539226e-01 -7.81346831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.693273559999994 meters Centerline goodness [0,1] 0.6650991357397051 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98255592e-01 -5.06201336e-02 -3.03870760e-02 4.36437996e-01] [ 5.06125773e-02 9.98717843e-01 -1.01827195e-03 -1.08965172e-01] [ 3.03996600e-02 -5.21472565e-04 9.99537688e-01 -7.80690456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.723273559999996 meters Centerline goodness [0,1] 0.6667940779247254 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98243239e-01 -5.08505967e-02 -3.04081041e-02 4.36550881e-01] [ 5.08262809e-02 9.98706271e-01 -1.57255853e-03 -1.06535540e-01] [ 3.04487298e-02 2.42650820e-05 9.99536330e-01 -7.81087374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75327356 meters Centerline goodness [0,1] 0.6686289933771474 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98247303e-01 -5.06344696e-02 -3.06345153e-02 4.37409289e-01] [ 5.06115457e-02 9.98717252e-01 -1.52375174e-03 -1.05754827e-01] [ 3.06723733e-02 -2.93791028e-05 9.99529492e-01 -7.85157386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78327356 meters Centerline goodness [0,1] 0.6693492580157367 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98240492e-01 -5.07612997e-02 -3.06465298e-02 4.37347868e-01] [ 5.07265131e-02 9.98710751e-01 -1.91200534e-03 -1.04284031e-01] [ 3.07040747e-02 3.54049553e-04 9.99528456e-01 -7.83064963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81327356 meters Centerline goodness [0,1] 0.6783507269417164 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98239719e-01 -5.07863915e-02 -3.06301387e-02 4.37617738e-01] [ 5.07351130e-02 9.98709141e-01 -2.44949996e-03 -1.01460435e-01] [ 3.07150008e-02 8.91164607e-04 9.99527786e-01 -7.85076011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84327356 meters Centerline goodness [0,1] 0.6669583569259279 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.9982397 -0.05072605 -0.03073071 0.43790051] [ 0.05066964 0.99871205 -0.00261201 -0.10031299] [ 0.03082363 0.0010503 0.99952429 -0.07851001] [ 0. 0. 0. 1. ]] SLAMing on 62.873273559999994 meters Centerline goodness [0,1] 0.6678252362194588 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99823903 -0.05071871 -0.03076436 0.43844325] [ 0.05065368 0.9987121 -0.00289009 -0.09849551] [ 0.03087132 0.00132667 0.99952249 -0.07902302] [ 0. 0. 0. 1. ]] SLAMing on 62.903273559999995 meters Centerline goodness [0,1] 0.6669760726072607 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99824349 -0.05064296 -0.03074453 0.43886615] [ 0.05058137 0.99871608 -0.00277826 -0.09799554] [ 0.03084576 0.00121828 0.99952341 -0.07963283] [ 0. 0. 0. 1. ]] SLAMing on 62.933273559999996 meters Centerline goodness [0,1] 0.6673548919916381 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99824345 -0.05063828 -0.03075345 0.43917047] [ 0.05057603 0.99871629 -0.00279904 -0.09741145] [ 0.03085571 0.00123874 0.99952308 -0.0799876 ] [ 0. 0. 0. 1. ]] SLAMing on 62.96327356 meters Centerline goodness [0,1] 0.6616440129449839 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99822921 -0.05096428 -0.03067727 0.438945 ] [ 0.05089264 0.99869928 -0.00311203 -0.09611205] [ 0.03079597 0.00154528 0.9995245 -0.08001445] [ 0. 0. 0. 1. ]] SLAMing on 62.99327356 meters Centerline goodness [0,1] 0.6592926078294393 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99822514 -0.05114022 -0.03051632 0.43865296] [ 0.05107026 0.99869035 -0.00306797 -0.09571977] [ 0.03063325 0.00150404 0.99952956 -0.08027547] [ 0. 0. 0. 1. ]] SLAMing on 63.02327356 meters Centerline goodness [0,1] 0.6568645231494676 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99821789 -0.0514166 -0.03028824 0.43809527] [ 0.05134242 0.99867591 -0.00322235 -0.09522563] [ 0.03041381 0.00166154 0.99953601 -0.08026664] [ 0. 0. 0. 1. ]] SLAMing on 63.05327356 meters Centerline goodness [0,1] 0.6529738426406477 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 0.99819352 -0.05208015 -0.02995582 0.43700554] [ 0.05199741 0.99864096 -0.00353502 -0.09454904] [ 0.03009922 0.001971 0.99954497 -0.08012192] [ 0. 0. 0. 1. ]] SLAMing on 63.083273559999995 meters Centerline goodness [0,1] 0.6530564629024731 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 0.99817775 -0.05248888 -0.02976748 0.43648612] [ 0.05240255 0.99861929 -0.00367333 -0.09457688] [ 0.02991918 0.00210674 0.9995501 -0.0801368 ] [ 0. 0. 0. 1. ]] SLAMing on 63.113273559999996 meters Centerline goodness [0,1] 0.6551088733746853 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.08 [[ 0.99815778 -0.05301763 -0.0294988 0.43576223] [ 0.05292964 0.99859118 -0.00375603 -0.09474562] [ 0.02965638 0.00218775 0.99955776 -0.08028095] [ 0. 0. 0. 1. ]] SLAMing on 63.14327356 meters Centerline goodness [0,1] 0.6553285049146405 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 0.99812535 -0.05374759 -0.02927441 0.4353959 ] [ 0.0536706 0.99855287 -0.00341011 -0.09604375] [ 0.02941534 0.00183254 0.9995656 -0.08127868] [ 0. 0. 0. 1. ]] SLAMing on 63.17327356 meters Centerline goodness [0,1] 0.6573671122163507 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99811098 -0.05414773 -0.02902568 0.43486904] [ 0.05407231 0.99853131 -0.00337772 -0.09653235] [ 0.02916594 0.00180185 0.99957296 -0.08152043] [ 0. 0. 0. 1. ]] SLAMing on 63.20327356 meters Centerline goodness [0,1] 0.6417979970499185 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99807421 -0.05504201 -0.02860488 0.43361958] [ 0.05496317 0.99848212 -0.00353573 -0.09657559] [ 0.02875607 0.0019567 0.99958454 -0.08164688] [ 0. 0. 0. 1. ]] SLAMing on 63.23327356 meters Centerline goodness [0,1] 0.6227809504121553 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99807558 -0.05499243 -0.02865264 0.43394038] [ 0.05492014 0.99848528 -0.0033044 -0.09670495] [ 0.02879096 0.00172444 0.99958397 -0.08204733] [ 0. 0. 0. 1. ]] SLAMing on 63.263273559999995 meters Centerline goodness [0,1] 0.6596589581873393 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99806976 -0.05512824 -0.02859417 0.43375104] [ 0.05505412 0.99847767 -0.0033737 -0.09637017] [ 0.02873663 0.00179296 0.99958541 -0.08203937] [ 0. 0. 0. 1. ]] SLAMing on 63.293273559999996 meters Centerline goodness [0,1] 0.6502252602143856 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99806987 -0.05512846 -0.02858996 0.43374556] [ 0.05505308 0.99847758 -0.00341772 -0.09588886] [ 0.02873485 0.00183716 0.99958538 -0.08194867] [ 0. 0. 0. 1. ]] SLAMing on 63.32327356 meters Centerline goodness [0,1] 0.6532688027330606 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99807108 -0.05510181 -0.02859904 0.43380027] [ 0.05502899 0.99847921 -0.00332767 -0.09578221] [ 0.0287389 0.00174748 0.99958542 -0.08205175] [ 0. 0. 0. 1. ]] SLAMing on 63.35327356 meters Centerline goodness [0,1] 0.6526473320260089 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.9980724 -0.05502186 -0.02870692 0.4342225 ] [ 0.05495515 0.99848399 -0.00310801 -0.09588291] [ 0.0288344 0.00152443 0.99958304 -0.08238617] [ 0. 0. 0. 1. ]] SLAMing on 63.38327356 meters Centerline goodness [0,1] 0.6508522727272728 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 0.99807694 -0.05496231 -0.02866314 0.43431335] [ 0.05490405 0.99848766 -0.00281644 -0.09633067] [ 0.02877459 0.0012373 0.99958516 -0.08273889] [ 0. 0. 0. 1. ]] SLAMing on 63.41327356 meters Centerline goodness [0,1] 0.6441249740502387 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 9.98076106e-01 -5.49849029e-02 -2.86486811e-02 4.34391000e-01] [ 5.49369864e-02 9.98486799e-01 -2.45757122e-03 -9.75075658e-02] [ 2.87404592e-02 8.78970909e-04 9.99586521e-01 -8.30889996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.443273559999994 meters Centerline goodness [0,1] 0.6427885738006902 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 9.98076034e-01 -5.49949994e-02 -2.86318010e-02 4.34341393e-01] [ 5.49534466e-02 9.98486412e-01 -2.23673169e-03 -9.82499842e-02] [ 2.87114733e-02 6.59012152e-04 9.99587523e-01 -8.31690313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.473273559999996 meters Centerline goodness [0,1] 0.6401453224341508 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 9.98076538e-01 -5.49987194e-02 -2.86070882e-02 4.34335739e-01] [ 5.49634145e-02 9.98486327e-01 -2.01959904e-03 -9.89602397e-02] [ 2.86748617e-02 4.43371169e-04 9.99588693e-01 -8.32795975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50327356 meters Centerline goodness [0,1] 0.639123452313112 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 9.98078272e-01 -5.49981928e-02 -2.85475468e-02 4.34123741e-01] [ 5.49692935e-02 9.98486429e-01 -1.79671261e-03 -9.98438451e-02] [ 2.86031540e-02 2.24021336e-04 9.99590821e-01 -8.32258348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53327356 meters Centerline goodness [0,1] 0.6424054716737644 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.10, Z:-0.08 [[ 9.98084816e-01 -5.47814790e-02 -2.87348300e-02 4.34617702e-01] [ 5.47597646e-02 9.98498367e-01 -1.54264838e-03 -1.00399139e-01] [ 2.87761894e-02 -3.38186059e-05 9.99585879e-01 -8.32962802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56327356 meters Centerline goodness [0,1] 0.6538143477362002 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98095319e-01 -5.45217933e-02 -2.88636244e-02 4.35179891e-01] [ 5.45085185e-02 9.98512527e-01 -1.24711850e-03 -1.00881232e-01] [ 2.88886856e-02 -3.28570269e-04 9.99582581e-01 -8.36197013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59327356 meters Centerline goodness [0,1] 0.6329058395479059 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98123154e-01 -5.38511241e-02 -2.91586326e-02 4.36285248e-01] [ 5.38560607e-02 9.98548519e-01 -6.16593691e-04 -1.02339796e-01] [ 2.91495137e-02 -9.54932648e-04 9.99574606e-01 -8.39903615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.623273559999994 meters Centerline goodness [0,1] 0.6503763274564388 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98136242e-01 -5.35478471e-02 -2.92689271e-02 4.36874981e-01] [ 5.35641881e-02 9.98564383e-01 -2.26021355e-04 -1.03135899e-01] [ 2.92390111e-02 -1.34216621e-03 9.99571548e-01 -8.44090421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.653273559999995 meters Centerline goodness [0,1] 0.6463631903741383 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98148228e-01 -5.32265588e-02 -2.94456965e-02 4.37306873e-01] [ 5.32547723e-02 9.98580943e-01 1.74195055e-04 -1.04322296e-01] [ 2.93946396e-02 -1.74199635e-03 9.99566366e-01 -8.44099556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.683273559999996 meters Centerline goodness [0,1] 0.6463631903741383 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98148228e-01 -5.32265588e-02 -2.94456965e-02 4.37306873e-01] [ 5.32547723e-02 9.98580943e-01 1.74195055e-04 -1.04322296e-01] [ 2.93946396e-02 -1.74199635e-03 9.99566366e-01 -8.44099556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71327356 meters Centerline goodness [0,1] 0.6515616537281097 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.08 [[ 9.98160565e-01 -5.28963171e-02 -2.96220620e-02 4.37951218e-01] [ 5.29344837e-02 9.98597860e-01 5.05203552e-04 -1.04918185e-01] [ 2.95538043e-02 -2.07230282e-03 9.99561043e-01 -8.46072692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74327356 meters Centerline goodness [0,1] 0.6474545688877433 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.08 [[ 9.98176394e-01 -5.25051670e-02 -2.97841209e-02 4.38659646e-01] [ 5.25539123e-02 9.98617722e-01 8.55638621e-04 -1.05387139e-01] [ 2.96980255e-02 -2.41935035e-03 9.99555988e-01 -8.48995268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77327356 meters Centerline goodness [0,1] 0.6483993628282205 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.09 [[ 0.99819296 -0.05205178 -0.03002367 0.43953181] [ 0.05211098 0.99864059 0.0011922 -0.10575864] [ 0.0299208 -0.00275461 0.99954848 -0.08517701] [ 0. 0. 0. 1. ]] SLAMing on 63.80327356 meters Centerline goodness [0,1] 0.6520436881923106 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.09 [[ 0.99823352 -0.05094357 -0.03057112 0.44131414] [ 0.05101963 0.99869618 0.00171273 -0.10622656] [ 0.03044401 -0.00326943 0.99953113 -0.08539772] [ 0. 0. 0. 1. ]] SLAMing on 63.833273559999995 meters Centerline goodness [0,1] 0.6507256107008211 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.09 [[ 0.99825447 -0.05026307 -0.03101023 0.44270934] [ 0.05034771 0.99872984 0.00195412 -0.10626843] [ 0.03087262 -0.003512 0.99951716 -0.08558263] [ 0. 0. 0. 1. ]] SLAMing on 63.863273559999996 meters Centerline goodness [0,1] 0.6722025943213761 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.09 [[ 0.99847161 -0.04544889 -0.03144585 0.44383581] [ 0.04567378 0.99893545 0.00647047 -0.10760347] [ 0.0311183 -0.00789683 0.99948451 -0.08614149] [ 0. 0. 0. 1. ]] SLAMing on 63.89327356 meters Centerline goodness [0,1] 0.6618818539209601 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.99850232 -0.04428986 -0.03211749 0.44597778] [ 0.04453025 0.99898484 0.00680794 -0.10710423] [ 0.03178336 -0.00822795 0.99946091 -0.08638727] [ 0. 0. 0. 1. ]] SLAMing on 63.92327356 meters Centerline goodness [0,1] 0.6799018341513821 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.99853691 -0.04303141 -0.03274659 0.4481177 ] [ 0.04328457 0.99903783 0.00706129 -0.10628308] [ 0.03241122 -0.00846838 0.99943874 -0.08658811] [ 0. 0. 0. 1. ]] SLAMing on 63.95327356 meters Centerline goodness [0,1] 0.6922677198087716 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.99875317 -0.03724678 -0.0332383 0.44980032] [ 0.03765325 0.99922252 0.01168751 -0.10608058] [ 0.03277714 -0.01292446 0.99937912 -0.0869424 ] [ 0. 0. 0. 1. ]] SLAMing on 63.98327356 meters Centerline goodness [0,1] 0.7007521536579653 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.99890401 -0.0329178 -0.03327465 0.44985534] [ 0.03345992 0.99931407 0.01586904 -0.106702 ] [ 0.03272946 -0.01696502 0.99932025 -0.08721726] [ 0. 0. 0. 1. ]] SLAMing on 64.01327356 meters Centerline goodness [0,1] 0.7021011025587685 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.99893374 -0.03132818 -0.03391062 0.45218031] [ 0.03188375 0.99936401 0.01596852 -0.10541965] [ 0.03338878 -0.01703269 0.99929729 -0.08714719] [ 0. 0. 0. 1. ]] SLAMing on 64.04327356 meters Centerline goodness [0,1] 0.7174128574410352 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.09 [[ 0.9990962 -0.02482829 -0.03450129 0.45494671] [ 0.0255614 0.99945323 0.02097267 -0.10523306] [ 0.03396171 -0.02183561 0.99918457 -0.08808309] [ 0. 0. 0. 1. ]] SLAMing on 64.07327356 meters Centerline goodness [0,1] 0.7200543634510337 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.09 [[ 0.99917099 -0.02173114 -0.034425 0.45693464] [ 0.02252369 0.99948619 0.02280441 -0.10477808] [ 0.03391175 -0.02356088 0.99914708 -0.08927873] [ 0. 0. 0. 1. ]] SLAMing on 64.10327356 meters Centerline goodness [0,1] 0.7345146661773572 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.09 [[ 0.9992743 -0.0152783 -0.03489195 0.45978673] [ 0.01625197 0.99948154 0.02779415 -0.10458124] [ 0.03444922 -0.02834105 0.99900452 -0.09048449] [ 0. 0. 0. 1. ]] SLAMing on 64.13327356 meters Centerline goodness [0,1] 0.7416058010614262 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.09 [[ 0.99928005 -0.01340188 -0.03549339 0.46260164] [ 0.0144135 0.99949269 0.02840106 -0.10380449] [ 0.03509476 -0.02889219 0.99896627 -0.09123006] [ 0. 0. 0. 1. ]] SLAMing on 64.16327356000001 meters Centerline goodness [0,1] 0.7497361756015196 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99927351 -0.01199115 -0.03617555 0.46505289] [ 0.01303029 0.99950522 0.02862723 -0.10271217] [ 0.03581438 -0.02907781 0.99893534 -0.09149114] [ 0. 0. 0. 1. ]] SLAMing on 64.19327356000001 meters Centerline goodness [0,1] 0.7664691253505477 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.9993096 -0.00663839 -0.0365547 0.46669086] [ 0.00785046 0.99942073 0.03311462 -0.10296216] [ 0.0363137 -0.03337873 0.99878285 -0.09199061] [ 0. 0. 0. 1. ]] SLAMing on 64.22327356000001 meters Centerline goodness [0,1] 0.7741594137721224 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99929382 -0.00583662 -0.03711866 0.46833952] [ 0.00706125 0.99943215 0.03294731 -0.10170431] [ 0.03690528 -0.03318615 0.99876758 -0.09182336] [ 0. 0. 0. 1. ]] SLAMing on 64.25327356000001 meters Centerline goodness [0,1] 0.7819507023588657 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99928102 -0.00525299 -0.0375479 0.46948572] [ 0.00648185 0.9994448 0.03268133 -0.10060689] [ 0.03735538 -0.03290122 0.99876027 -0.09145626] [ 0. 0. 0. 1. ]] SLAMing on 64.28327356 meters Centerline goodness [0,1] 0.8248833262621977 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99926754 -0.00356019 -0.03810127 0.47172809] [ 0.00481734 0.99944525 0.0329543 -0.0994628 ] [ 0.03796281 -0.03311371 0.99873035 -0.09145589] [ 0. 0. 0. 1. ]] SLAMing on 64.31327356 meters Centerline goodness [0,1] 0.8259660460311995 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99925621 -0.00334332 -0.03841677 0.47241878] [ 0.00459664 0.99945848 0.03258239 -0.09856275] [ 0.03828703 -0.03273474 0.99873046 -0.09101938] [ 0. 0. 0. 1. ]] SLAMing on 64.34327356 meters Centerline goodness [0,1] 0.8255615429760443 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99924549 -0.00283788 -0.03873492 0.47324285] [ 0.00409628 0.99946507 0.0324468 -0.09810699] [ 0.03862212 -0.03258098 0.99872259 -0.09063344] [ 0. 0. 0. 1. ]] SLAMing on 64.37327356 meters Centerline goodness [0,1] 0.8266840898181236 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99923912 -0.00288296 -0.03889567 0.47341419] [ 0.00413726 0.9994727 0.0322058 -0.09798187] [ 0.03878231 -0.03234222 0.99872414 -0.09022743] [ 0. 0. 0. 1. ]] SLAMing on 64.40327356 meters Centerline goodness [0,1] 0.8290035207510935 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.09 [[ 0.99923437 -0.00298791 -0.03900947 0.47346487] [ 0.00423639 0.99948014 0.0319611 -0.09820705] [ 0.03889369 -0.03210189 0.99872757 -0.08978921] [ 0. 0. 0. 1. ]] SLAMing on 64.43327356 meters Centerline goodness [0,1] 0.8283188668193194 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.9992034 -0.00592366 -0.03946482 0.47507456] [ 0.00702665 0.99958689 0.02786881 -0.09694759] [ 0.03928343 -0.02812391 0.99883225 -0.08919831] [ 0. 0. 0. 1. ]] SLAMing on 64.46327356 meters Centerline goodness [0,1] 0.830572569906791 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99919709 -0.00611798 -0.03959467 0.47511194] [ 0.00721632 0.99959145 0.02765618 -0.0970814 ] [ 0.03940929 -0.0279197 0.99883302 -0.08883752] [ 0. 0. 0. 1. ]] SLAMing on 64.49327356 meters Centerline goodness [0,1] 0.8329919940420778 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.9991558 -0.00912423 -0.04005553 0.47676228] [ 0.01007415 0.99967125 0.02357754 -0.09571283] [ 0.03982723 -0.02396116 0.99891924 -0.08834437] [ 0. 0. 0. 1. ]] SLAMing on 64.52327356 meters Centerline goodness [0,1] 0.7876712328767124 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.09, Z:-0.08 [[ 0.99900259 -0.01152974 -0.04313792 0.50912584] [ 0.01216998 0.99981922 0.01460865 -0.09243896] [ 0.04296169 -0.01511907 0.99896231 -0.08087537] [ 0. 0. 0. 1. ]] SLAMing on 64.55327356000001 meters Centerline goodness [0,1] 0.8300769843376692 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99905245 -0.01034947 -0.04227404 0.46041482] [ 0.01082812 0.99987966 0.01110926 -0.09127604] [ 0.04215398 -0.01155648 0.99904429 -0.08202142] [ 0. 0. 0. 1. ]] SLAMing on 64.58327356000001 meters Centerline goodness [0,1] 0.8295590304510579 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99904504 -0.0104506 -0.04242402 0.46057592] [ 0.01092305 0.99988071 0.0109199 -0.09142163] [ 0.04230484 -0.01137287 0.99904002 -0.08170795] [ 0. 0. 0. 1. ]] SLAMing on 64.61327356000001 meters Centerline goodness [0,1] 0.8266071143723082 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99904386 -0.01065527 -0.04240077 0.460317 ] [ 0.01112274 0.99987977 0.01080447 -0.09206099] [ 0.04228055 -0.01126576 0.99904226 -0.0814646 ] [ 0. 0. 0. 1. ]] SLAMing on 64.64327356000001 meters Centerline goodness [0,1] 0.8266900510204082 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.9990398 -0.01073475 -0.04247634 0.46028781] [ 0.01119034 0.99988223 0.01050267 -0.09193995] [ 0.04235859 -0.01096791 0.99904227 -0.08096122] [ 0. 0. 0. 1. ]] SLAMing on 64.67327356 meters Centerline goodness [0,1] 0.8262497013459343 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99903322 -0.01053501 -0.04268059 0.46063858] [ 0.01097681 0.99988844 0.01013016 -0.09123501] [ 0.04256911 -0.01058887 0.99903741 -0.08035427] [ 0. 0. 0. 1. ]] SLAMing on 64.70327356 meters Centerline goodness [0,1] 0.8269644422019811 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99902471 -0.01038756 -0.04291529 0.4613091 ] [ 0.01082106 0.99989262 0.0098815 -0.09043045] [ 0.04280804 -0.01033625 0.99902985 -0.08027139] [ 0. 0. 0. 1. ]] SLAMing on 64.73327356 meters Centerline goodness [0,1] 0.8289438680500133 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99901343 -0.0100615 -0.04325429 0.46221022] [ 0.0104945 0.99989695 0.00979526 -0.08982743] [ 0.04315128 -0.01023953 0.99901608 -0.0802006 ] [ 0. 0. 0. 1. ]] SLAMing on 64.76327356 meters Centerline goodness [0,1] 0.8275569011765331 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99899963 -0.00921553 -0.04375857 0.46414555] [ 0.00965745 0.99990437 0.00989852 -0.08937366] [ 0.04366316 -0.01031122 0.9989931 -0.08059052] [ 0. 0. 0. 1. ]] SLAMing on 64.79327356 meters Centerline goodness [0,1] 0.8264943199915065 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99898874 -0.00905082 -0.04404072 0.46478183] [ 0.00948645 0.99990803 0.0096926 -0.08894999] [ 0.04394894 -0.01010058 0.99898272 -0.08032546] [ 0. 0. 0. 1. ]] SLAMing on 64.82327356 meters Centerline goodness [0,1] 0.8237624288828628 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 0.99898126 -0.00867706 -0.04428487 0.46545286] [ 0.0091004 0.99991472 0.00936669 -0.08778702] [ 0.04419982 -0.00976016 0.99897503 -0.07993291] [ 0. 0. 0. 1. ]] SLAMing on 64.85327356 meters Centerline goodness [0,1] 0.8262938252571702 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 0.99897019 -0.00857966 -0.04455279 0.46600771] [ 0.00899249 0.9999184 0.00907398 -0.0870349 ] [ 0.0444713 -0.00946527 0.99896582 -0.07961683] [ 0. 0. 0. 1. ]] SLAMing on 64.88327356 meters Centerline goodness [0,1] 0.8287107345535929 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 0.99897188 -0.00873065 -0.04448557 0.46568841] [ 0.00912744 0.99992029 0.00872422 -0.08653316] [ 0.04440586 -0.00912129 0.99897193 -0.07916392] [ 0. 0. 0. 1. ]] SLAMing on 64.91327356000001 meters Centerline goodness [0,1] 0.8327744957155783 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 0.99896859 -0.00897718 -0.04451027 0.46559007] [ 0.0093615 0.99992061 0.00843365 -0.08656237] [ 0.04443102 -0.00884164 0.99897333 -0.07888786] [ 0. 0. 0. 1. ]] SLAMing on 64.94327356000001 meters Centerline goodness [0,1] 0.8282473238536507 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99896815 -0.0094244 -0.04442774 0.4649303 ] [ 0.00979338 0.99991928 0.00809479 -0.08690017] [ 0.04434787 -0.00852153 0.9989798 -0.07833093] [ 0. 0. 0. 1. ]] SLAMing on 64.97327356000001 meters Centerline goodness [0,1] 0.8212208526759511 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99896741 -0.01061472 -0.04417516 0.46320695] [ 0.01095755 0.99991164 0.0075257 -0.08804148] [ 0.04409138 -0.00800198 0.99899545 -0.07734537] [ 0. 0. 0. 1. ]] SLAMing on 65.00327356000001 meters Centerline goodness [0,1] 0.8224904092071611 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99896765 -0.01116888 -0.04403277 0.46256132] [ 0.01150341 0.99990681 0.00735128 -0.08873241] [ 0.04394656 -0.00785022 0.99900304 -0.07712991] [ 0. 0. 0. 1. ]] SLAMing on 65.03327356 meters Centerline goodness [0,1] 0.8206484188147755 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99889706 -0.01524218 -0.04441098 0.46344273] [ 0.01540226 0.99987605 0.00326453 -0.08798783] [ 0.04435571 -0.00394496 0.99900801 -0.07681186] [ 0. 0. 0. 1. ]] SLAMing on 65.06327356 meters Centerline goodness [0,1] 0.817754527590419 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99889846 -0.01589876 -0.0441485 0.46256507] [ 0.01605718 0.99986584 0.00323617 -0.08887036] [ 0.04409112 -0.00394151 0.99901974 -0.07681642] [ 0. 0. 0. 1. ]] SLAMing on 65.09327356 meters Centerline goodness [0,1] 0.8128255554374402 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 0.99889712 -0.01645484 -0.04397473 0.46181057] [ 0.01661526 0.99985656 0.00328493 -0.09002742] [ 0.04391437 -0.00401196 0.99902724 -0.07672712] [ 0. 0. 0. 1. ]] SLAMing on 65.12327356 meters Centerline goodness [0,1] 0.7820536540240518 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98811822e-01 -2.05463537e-02 -4.41904102e-02 4.62516891e-01] [ 2.05463511e-02 9.99788798e-01 -4.54306047e-04 -9.05407388e-02] [ 4.41904115e-02 -4.54185432e-04 9.99023023e-01 -7.68411714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15327356 meters Centerline goodness [0,1] 0.7957772597223693 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98813002e-01 -2.11726537e-02 -4.38669131e-02 4.61453370e-01] [ 2.11762786e-02 9.99775684e-01 -3.82109159e-04 -9.15969605e-02] [ 4.38651633e-02 -5.47282378e-04 9.99037311e-01 -7.68576459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18327356 meters Centerline goodness [0,1] 0.7676959619952494 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98806765e-01 -2.14841380e-02 -4.38574683e-02 4.61282341e-01] [ 2.15022547e-02 9.99768798e-01 -5.86774120e-05 -9.28989774e-02] [ 4.38485890e-02 -8.84427056e-04 9.99037797e-01 -7.71017387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21327356 meters Centerline goodness [0,1] 0.7618683808419833 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98786089e-01 -2.25950735e-02 -4.37699760e-02 4.60092831e-01] [ 2.26060123e-02 9.99744421e-01 -2.45101066e-04 -9.39084577e-02] [ 4.37643274e-02 -7.44661082e-04 9.99041605e-01 -7.65960382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24327356 meters Centerline goodness [0,1] 0.7600390480713419 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98784777e-01 -2.30982289e-02 -4.35366677e-02 4.59295097e-01] [ 2.31041851e-02 9.99732996e-01 -3.66430695e-04 -9.41353777e-02] [ 4.35335071e-02 -6.39893830e-04 9.99051763e-01 -7.64864946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27327356 meters Centerline goodness [0,1] 0.7526898692552548 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.08 [[ 9.98771106e-01 -2.36089686e-02 -4.35763101e-02 4.59322251e-01] [ 2.36226806e-02 9.99720925e-01 -2.00318095e-04 -9.51501973e-02] [ 4.35688784e-02 -8.29317330e-04 9.99050081e-01 -7.69318573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30327356000001 meters Centerline goodness [0,1] 0.7480377179581731 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.08 [[ 9.98771062e-01 -2.39592934e-02 -4.33856773e-02 4.58962487e-01] [ 2.39780539e-02 9.99712481e-01 -8.80100334e-05 -9.56154247e-02] [ 4.33753117e-02 -9.52402232e-04 9.99058394e-01 -7.73346964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33327356000001 meters Centerline goodness [0,1] 0.7438003516414307 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.08 [[ 9.98765189e-01 -2.40651129e-02 -4.34622583e-02 4.59436116e-01] [ 2.40927287e-02 9.99709722e-01 1.11622782e-04 -9.58993128e-02] [ 4.34469559e-02 -1.15860935e-03 9.99055063e-01 -7.79356797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36327356000001 meters Centerline goodness [0,1] 0.7393786336253387 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.08 [[ 9.98762288e-01 -2.49489115e-02 -4.30284017e-02 4.58383927e-01] [ 2.49669501e-02 9.99688270e-01 -1.18200064e-04 -9.55874363e-02] [ 4.30179374e-02 -9.56234190e-04 9.99073842e-01 -7.83309397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39327356000001 meters Centerline goodness [0,1] 0.7332440382393108 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.08 [[ 9.98761585e-01 -2.52241962e-02 -4.28839782e-02 4.58286421e-01] [ 2.52427927e-02 9.99681344e-01 -1.07889058e-04 -9.52336139e-02] [ 4.28730344e-02 -9.74755926e-04 9.99080053e-01 -7.88356786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42327356 meters Centerline goodness [0,1] 0.7318616979191392 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98750746e-01 -2.61421482e-02 -4.25856228e-02 4.56951728e-01] [ 2.61307422e-02 9.99658194e-01 -8.24558889e-04 -9.41968159e-02] [ 4.25926225e-02 -2.89265126e-04 9.99092481e-01 -7.82618377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45327356 meters Centerline goodness [0,1] 0.7341113722176749 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98747186e-01 -2.65335131e-02 -4.24267770e-02 4.56536497e-01] [ 2.65153964e-02 9.99647915e-01 -9.89789463e-04 -9.37196690e-02] [ 4.24381017e-02 -1.36413367e-04 9.99099089e-01 -7.83787667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48327356 meters Centerline goodness [0,1] 0.725391322617922 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98740994e-01 -2.66134139e-02 -4.25223772e-02 4.56831734e-01] [ 2.65963516e-02 9.99645787e-01 -9.67031119e-04 -9.36999936e-02] [ 4.25330513e-02 -1.65126473e-04 9.99095047e-01 -7.85514551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51327356 meters Centerline goodness [0,1] 0.7219676620845842 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.08 [[ 9.98727308e-01 -2.78436414e-02 -4.20534811e-02 4.55040054e-01] [ 2.77962534e-02 9.99612145e-01 -1.71126783e-03 -9.27040775e-02] [ 4.20848183e-02 5.40160698e-04 9.99113896e-01 -7.80771864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54327356 meters Centerline goodness [0,1] 0.7199968355264893 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 9.98718036e-01 -2.84741520e-02 -4.18510007e-02 4.54235105e-01] [ 2.84126301e-02 9.99594148e-01 -2.06421821e-03 -9.21546125e-02] [ 4.18927922e-02 8.72474955e-04 9.99121731e-01 -7.79061866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57327356 meters Centerline goodness [0,1] 0.7235281716122912 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99870152 -0.02942276 -0.04158805 0.45328611] [ 0.02934467 0.99956626 -0.0024871 -0.09133236] [ 0.04164319 0.00126348 0.99913175 -0.07801132] [ 0. 0. 0. 1. ]] SLAMing on 65.60327356 meters Centerline goodness [0,1] 0.7235281716122912 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99870152 -0.02942276 -0.04158805 0.45328611] [ 0.02934467 0.99956626 -0.0024871 -0.09133236] [ 0.04164319 0.00126348 0.99913175 -0.07801132] [ 0. 0. 0. 1. ]] SLAMing on 65.63327356 meters Centerline goodness [0,1] 0.723848267117498 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.9986936 -0.0299768 -0.04138219 0.45253226] [ 0.0298833 0.99954926 -0.00287637 -0.09056857] [ 0.04144976 0.00163598 0.99913925 -0.07778811] [ 0. 0. 0. 1. ]] SLAMing on 65.66327356000001 meters Centerline goodness [0,1] 0.7219317701732151 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99868794 -0.03017002 -0.04137824 0.45273936] [ 0.03007331 0.99954332 -0.00295779 -0.08984257] [ 0.04144857 0.00170952 0.99913918 -0.07817564] [ 0. 0. 0. 1. ]] SLAMing on 65.69327356000001 meters Centerline goodness [0,1] 0.7166429061724484 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99868202 -0.03053951 -0.04124997 0.45281591] [ 0.03042682 0.99953136 -0.00335723 -0.08744647] [ 0.04133317 0.0020977 0.99914322 -0.07873607] [ 0. 0. 0. 1. ]] SLAMing on 65.72327356000001 meters Centerline goodness [0,1] 0.7196776929601357 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.9986757 -0.03068791 -0.04129295 0.45296269] [ 0.03055937 0.99952595 -0.00374067 -0.08596456] [ 0.04138817 0.00247383 0.99914008 -0.07872069] [ 0. 0. 0. 1. ]] SLAMing on 65.75327356000001 meters Centerline goodness [0,1] 0.7141077628475259 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.99867004 -0.03083155 -0.04132261 0.45330923] [ 0.03067805 0.99951988 -0.00434375 -0.08309847] [ 0.04143669 0.00307027 0.99913641 -0.07887404] [ 0. 0. 0. 1. ]] SLAMing on 65.78327356 meters Centerline goodness [0,1] 0.7181709741550696 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.9986694 -0.03082914 -0.04133999 0.45354906] [ 0.03066886 0.99951944 -0.00450569 -0.08186239] [ 0.04145903 0.00323184 0.99913498 -0.079064 ] [ 0. 0. 0. 1. ]] SLAMing on 65.81327356 meters Centerline goodness [0,1] 0.7114560315220575 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.99866089 -0.03096654 -0.04144273 0.45363205] [ 0.03078865 0.99951379 -0.00492401 -0.08040926] [ 0.04157506 0.00364145 0.99912875 -0.07877526] [ 0. 0. 0. 1. ]] SLAMing on 65.84327356 meters Centerline goodness [0,1] 0.7087741797584696 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98746854e-01 -2.88529963e-02 -4.08928717e-02 4.51263924e-01] [ 2.87978449e-02 9.99583379e-01 -1.93722281e-03 -7.96056095e-02] [ 4.09317296e-02 7.57168608e-04 9.99161659e-01 -7.87102244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87327356 meters Centerline goodness [0,1] 0.7095992544268406 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98739681e-01 -2.89331405e-02 -4.10112646e-02 4.51616942e-01] [ 2.88736329e-02 9.99580983e-01 -2.04271107e-03 -7.88700896e-02] [ 4.10531822e-02 8.55992404e-04 9.99156596e-01 -7.88880052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90327356 meters Centerline goodness [0,1] 0.7175647903488402 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.99873643 -0.02920817 -0.04089521 0.45137896] [ 0.02913863 0.99957274 -0.00229577 -0.07808571] [ 0.0409448 0.00110124 0.9991608 -0.07895909] [ 0. 0. 0. 1. ]] SLAMing on 65.93327356 meters Centerline goodness [0,1] 0.6979880079946702 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.99872722 -0.02952519 -0.0408925 0.45158898] [ 0.02945105 0.99956331 -0.00241446 -0.07720972] [ 0.04094593 0.00120706 0.99916063 -0.0794888 ] [ 0. 0. 0. 1. ]] SLAMing on 65.96327356 meters Centerline goodness [0,1] 0.6970078150090997 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 0.99872222 -0.0298115 -0.04080687 0.45147394] [ 0.02972976 0.99955457 -0.00260863 -0.07656186] [ 0.04086646 0.00139212 0.99916365 -0.07969968] [ 0. 0. 0. 1. ]] SLAMing on 65.99327356 meters Centerline goodness [0,1] 0.6941812536802099 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99871671 -0.03020391 -0.04065299 0.45130113] [ 0.03010967 0.99954231 -0.00292837 -0.07499822] [ 0.04072283 0.00170056 0.99916903 -0.08008571] [ 0. 0. 0. 1. ]] SLAMing on 66.02327356 meters Centerline goodness [0,1] 0.6854674796747968 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99871182 -0.03040801 -0.04062084 0.45123578] [ 0.03030699 0.99953583 -0.0031007 -0.07422317] [ 0.04069628 0.00186561 0.99916982 -0.08016211] [ 0. 0. 0. 1. ]] SLAMing on 66.05327356000001 meters Centerline goodness [0,1] 0.6955765474056036 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.9987052 -0.03045643 -0.04074707 0.45153069] [ 0.03035276 0.99953425 -0.00316062 -0.07364696] [ 0.04082435 0.00191974 0.99916449 -0.08023576] [ 0. 0. 0. 1. ]] SLAMing on 66.08327356000001 meters Centerline goodness [0,1] 0.6848575953614474 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869569 -0.03090865 -0.04063959 0.4508232 ] [ 0.03078211 0.99951914 -0.00373609 -0.07217148] [ 0.04073552 0.00248024 0.99916689 -0.07965842] [ 0. 0. 0. 1. ]] SLAMing on 66.11327356000001 meters Centerline goodness [0,1] 0.6884339870683873 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869108 -0.03093975 -0.04072919 0.45099862] [ 0.03081209 0.99951813 -0.00375858 -0.07184939] [ 0.04082585 0.00249871 0.99916315 -0.07969484] [ 0. 0. 0. 1. ]] SLAMing on 66.14327356000001 meters Centerline goodness [0,1] 0.6961943841016976 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869294 -0.03116277 -0.04051292 0.4505248 ] [ 0.03103481 0.99951114 -0.00378371 -0.07158464] [ 0.04061102 0.00252146 0.99917185 -0.07985663] [ 0. 0. 0. 1. ]] SLAMing on 66.17327356 meters Centerline goodness [0,1] 0.6819145225766641 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869253 -0.03127898 -0.04043343 0.45034146] [ 0.03115192 0.99950756 -0.00376876 -0.0716309 ] [ 0.0405314 0.00250425 0.99917513 -0.07990546] [ 0. 0. 0. 1. ]] SLAMing on 66.20327356 meters Centerline goodness [0,1] 0.6759982871212933 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869231 -0.0312793 -0.04043854 0.45054182] [ 0.03115949 0.99950798 -0.00358984 -0.07201206] [ 0.04053093 0.0023251 0.99917558 -0.08025345] [ 0. 0. 0. 1. ]] SLAMing on 66.23327356 meters Centerline goodness [0,1] 0.6735781831819765 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869266 -0.03127895 -0.04043023 0.45077526] [ 0.03116988 0.99950857 -0.00332542 -0.07252937] [ 0.04051438 0.00206087 0.99917683 -0.08071524] [ 0. 0. 0. 1. ]] SLAMing on 66.26327356 meters Centerline goodness [0,1] 0.6692938716422712 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869378 -0.03116722 -0.04048878 0.45125154] [ 0.03106662 0.99951247 -0.00311164 -0.07259072] [ 0.04056602 0.00184973 0.99917515 -0.08120192] [ 0. 0. 0. 1. ]] SLAMing on 66.29327356 meters Centerline goodness [0,1] 0.6967452842845261 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869304 -0.03093899 -0.0406816 0.45203693] [ 0.03085053 0.99952009 -0.00280064 -0.07248612] [ 0.04074872 0.00154193 0.99916824 -0.08174595] [ 0. 0. 0. 1. ]] SLAMing on 66.32327356 meters Centerline goodness [0,1] 0.6918837540661882 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869178 -0.03085722 -0.04077458 0.4523485 ] [ 0.0307701 0.99952267 -0.00276256 -0.07235601] [ 0.04084036 0.0015043 0.99916455 -0.08184013] [ 0. 0. 0. 1. ]] SLAMing on 66.35327356 meters Centerline goodness [0,1] 0.690916420317119 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869525 -0.03065031 -0.0408455 0.45282706] [ 0.03057442 0.99952941 -0.00248142 -0.07249973] [ 0.04090234 0.00122936 0.99916239 -0.08230353] [ 0. 0. 0. 1. ]] SLAMing on 66.38327356 meters Centerline goodness [0,1] 0.690717775272454 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869899 -0.03037881 -0.04095683 0.45327295] [ 0.03030141 0.99953766 -0.00250945 -0.07210928] [ 0.04101413 0.00126514 0.99915777 -0.08228425] [ 0. 0. 0. 1. ]] SLAMing on 66.41327356000001 meters Centerline goodness [0,1] 0.6949461874983225 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869647 -0.03017059 -0.04117162 0.45387668] [ 0.03009328 0.99954398 -0.00249639 -0.0717174 ] [ 0.04122816 0.00125415 0.99914897 -0.08230897] [ 0. 0. 0. 1. ]] SLAMing on 66.44327356000001 meters Centerline goodness [0,1] 0.6913062190660642 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869454 -0.02995181 -0.04137767 0.45422761] [ 0.0298675 0.99955034 -0.00265439 -0.07109383] [ 0.04143857 0.00141507 0.99914005 -0.08187535] [ 0. 0. 0. 1. ]] SLAMing on 66.47327356000001 meters Centerline goodness [0,1] 0.7009561667382896 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869375 -0.02980962 -0.04149925 0.45460455] [ 0.02972821 0.9995547 -0.00257761 -0.07089423] [ 0.0415576 0.00134055 0.99913521 -0.08195399] [ 0. 0. 0. 1. ]] SLAMing on 66.50327356000001 meters Centerline goodness [0,1] 0.6889444265290766 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869189 -0.02981563 -0.04153966 0.45460031] [ 0.02973303 0.99955448 -0.00260517 -0.07068715] [ 0.04159883 0.00136666 0.99913346 -0.08183723] [ 0. 0. 0. 1. ]] SLAMing on 66.53327356 meters Centerline goodness [0,1] 0.6939214053560396 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.08 [[ 0.99869054 -0.02971901 -0.04164106 0.45482475] [ 0.02963472 0.99955731 -0.00264027 -0.07073757] [ 0.04170109 0.0014028 0.99912915 -0.08166611] [ 0. 0. 0. 1. ]] SLAMing on 66.56327356 meters Centerline goodness [0,1] 0.7026700008066468 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 0.99869287 -0.02958874 -0.04167812 0.45516715] [ 0.02951584 0.99956152 -0.00236371 -0.07118933] [ 0.04172978 0.00113046 0.99912829 -0.08207315] [ 0. 0. 0. 1. ]] SLAMing on 66.59327356 meters Centerline goodness [0,1] 0.6927841686107312 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 9.98691935e-01 -2.94720870e-02 -4.17829506e-02 4.55640942e-01] [ 2.94143693e-02 9.99565312e-01 -1.99560890e-03 -7.20884579e-02] [ 4.18236028e-02 7.63979375e-04 9.99124718e-01 -8.25076151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62327356 meters Centerline goodness [0,1] 0.6497521768251842 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 9.98690659e-01 -2.95186917e-02 -4.17805498e-02 4.55678591e-01] [ 2.94654676e-02 9.99564013e-01 -1.88926852e-03 -7.24774309e-02] [ 4.18181028e-02 6.55711387e-04 9.99125025e-01 -8.26470327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65327356 meters Centerline goodness [0,1] 0.6930038287504351 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 9.98691278e-01 -2.94925631e-02 -4.17842073e-02 4.55778416e-01] [ 2.94485181e-02 9.99564904e-01 -1.66936000e-03 -7.30363735e-02] [ 4.18152609e-02 4.36692286e-04 9.99125264e-01 -8.28613433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68327356 meters Centerline goodness [0,1] 0.6908856405846948 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 9.98689178e-01 -2.97010326e-02 -4.16866147e-02 4.55381315e-01] [ 2.96607904e-02 9.99558767e-01 -1.58365488e-03 -7.38751376e-02] [ 4.17152574e-02 3.45121046e-04 9.99129480e-01 -8.27889089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71327356 meters Centerline goodness [0,1] 0.6859013929520384 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.08 [[ 9.98690186e-01 -2.97224888e-02 -4.16471497e-02 4.55401698e-01] [ 2.96947618e-02 9.99558188e-01 -1.28435774e-03 -7.46082296e-02] [ 4.16669238e-02 4.59732879e-05 9.99131556e-01 -8.31058426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74327356 meters Centerline goodness [0,1] 0.6794827170740849 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98685642e-01 -3.01537023e-02 -4.14456599e-02 4.54900240e-01] [ 3.01399118e-02 9.99545231e-01 -9.57691598e-04 -7.59490574e-02] [ 4.14556896e-02 -2.92735686e-04 9.99140301e-01 -8.35078940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77327356 meters Centerline goodness [0,1] 0.6757161981258366 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98684186e-01 -3.04011196e-02 -4.12997482e-02 4.54564602e-01] [ 3.03951791e-02 9.99537662e-01 -7.71900268e-04 -7.67570642e-02] [ 4.13041204e-02 -4.84428654e-04 9.99146503e-01 -8.37778991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80327356000001 meters Centerline goodness [0,1] 0.6629843099583734 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98674749e-01 -3.12943883e-02 -4.08583825e-02 4.53009372e-01] [ 3.12947389e-02 9.99510000e-01 -6.31168203e-04 -7.82953419e-02] [ 4.08581140e-02 -6.48320667e-04 9.99164748e-01 -8.38398236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83327356000001 meters Centerline goodness [0,1] 0.6636938933539825 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98672756e-01 -3.16828761e-02 -4.06069148e-02 4.52162215e-01] [ 3.16840227e-02 9.99497746e-01 -6.15483233e-04 -7.91134543e-02] [ 4.06060201e-02 -6.71924077e-04 9.99175010e-01 -8.37288825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86327356000001 meters Centerline goodness [0,1] 0.6730579744880296 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98662300e-01 -3.25120892e-02 -4.02066569e-02 4.50865762e-01] [ 3.25218262e-02 9.99470941e-01 -4.12037642e-04 -8.06232942e-02] [ 4.01987814e-02 -8.96107451e-04 9.99191300e-01 -8.40001790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89327356000001 meters Centerline goodness [0,1] 0.6687801369315609 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98665144e-01 -3.27682767e-02 -3.99270504e-02 4.50265991e-01] [ 3.27879274e-02 9.99462318e-01 -1.62735141e-04 -8.16267210e-02] [ 3.99109149e-02 -1.14660732e-03 9.99202584e-01 -8.42869018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92327356 meters Centerline goodness [0,1] 0.6492436125807566 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98664295e-01 -3.29606427e-02 -3.97897209e-02 4.49966726e-01] [ 3.29883985e-02 9.99455734e-01 4.10254598e-05 -8.25703328e-02] [ 3.97667125e-02 -1.35356983e-03 9.99208075e-01 -8.45200943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95327356 meters Centerline goodness [0,1] 0.6575539185703269 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98652312e-01 -3.37379888e-02 -3.94373879e-02 4.48552244e-01] [ 3.37724157e-02 9.99429528e-01 2.06878931e-04 -8.40957963e-02] [ 3.94079103e-02 -1.53849598e-03 9.99222022e-01 -8.43933898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98327356 meters Centerline goodness [0,1] 0.658664188022839 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.08 [[ 9.98651409e-01 -3.39970999e-02 -3.92372337e-02 4.47953219e-01] [ 3.40365664e-02 9.99420531e-01 3.38078719e-04 -8.48094051e-02] [ 3.92030033e-02 -1.67312350e-03 9.99229866e-01 -8.44071074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01327356 meters Centerline goodness [0,1] 0.6509043653529942 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 9.98647673e-01 -3.42313413e-02 -3.91285214e-02 4.47558602e-01] [ 3.42849963e-02 9.99411851e-01 7.00861632e-04 -8.64293791e-02] [ 3.90815166e-02 -2.04143505e-03 9.99233940e-01 -8.45492225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04327356 meters Centerline goodness [0,1] 0.6536072623029145 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 9.98649084e-01 -3.42877641e-02 -3.90430085e-02 4.47433942e-01] [ 3.43487634e-02 9.99409509e-01 8.92442158e-04 -8.70941221e-02] [ 3.89893541e-02 -2.23231560e-03 9.99237133e-01 -8.47221261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07327356 meters Centerline goodness [0,1] 0.6510001324678765 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864879 -0.03450768 -0.03885641 0.44690581] [ 0.03457515 0.99940153 0.00106568 -0.08830244] [ 0.03879639 -0.00240771 0.99924424 -0.08474398] [ 0. 0. 0. 1. ]] SLAMing on 67.10327356 meters Centerline goodness [0,1] 0.6486844897093147 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864784 -0.03448718 -0.03889902 0.44700306] [ 0.03456101 0.99940184 0.00122696 -0.08897126] [ 0.03883344 -0.00256969 0.99924239 -0.08476714] [ 0. 0. 0. 1. ]] SLAMing on 67.13327356 meters Centerline goodness [0,1] 0.6526817640047675 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99865024 -0.0344275 -0.03889014 0.44712964] [ 0.03450799 0.99940344 0.00139991 -0.0895175 ] [ 0.03881875 -0.00274004 0.99924251 -0.08494607] [ 0. 0. 0. 1. ]] SLAMing on 67.16327356000001 meters Centerline goodness [0,1] 0.650337209919813 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864434 -0.03437777 -0.03908511 0.44708432] [ 0.03445897 0.99940512 0.00140566 -0.09002185] [ 0.03901354 -0.00275058 0.9992349 -0.08427923] [ 0. 0. 0. 1. ]] SLAMing on 67.19327356000001 meters Centerline goodness [0,1] 0.6503875763909098 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864293 -0.03419106 -0.03928435 0.44752499] [ 0.03427791 0.99941115 0.00153921 -0.09037567] [ 0.03920859 -0.00288371 0.99922689 -0.08418342] [ 0. 0. 0. 1. ]] SLAMing on 67.22327356000001 meters Centerline goodness [0,1] 0.6450979872179056 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864509 -0.03398996 -0.03940392 0.44748205] [ 0.03408457 0.99941745 0.00173152 -0.09148748] [ 0.03932211 -0.00307224 0.99922186 -0.08363565] [ 0. 0. 0. 1. ]] SLAMing on 67.25327356000001 meters Centerline goodness [0,1] 0.64682256572863 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864663 -0.03377875 -0.03954618 0.44794729] [ 0.03388515 0.99942369 0.00202322 -0.09243531] [ 0.03945505 -0.00336051 0.9992157 -0.08376668] [ 0. 0. 0. 1. ]] SLAMing on 67.28327356 meters Centerline goodness [0,1] 0.6421010849431066 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.08 [[ 0.99864612 -0.03368043 -0.03964277 0.44791056] [ 0.03380213 0.99942565 0.00240352 -0.09455435] [ 0.03953905 -0.00374028 0.99921103 -0.08345025] [ 0. 0. 0. 1. ]] SLAMing on 67.31327356 meters Centerline goodness [0,1] 0.6415024565481536 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.99864787 -0.03350333 -0.0397487 0.4481939 ] [ 0.03364231 0.99942992 0.00283272 -0.09599655] [ 0.03963114 -0.00416613 0.99920569 -0.08357976] [ 0. 0. 0. 1. ]] SLAMing on 67.34327356 meters Centerline goodness [0,1] 0.6358932389978615 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.9986549 -0.0332121 -0.03981634 0.44852488] [ 0.03337736 0.99943672 0.0034926 -0.09838409] [ 0.03967792 -0.00481687 0.99920091 -0.08383699] [ 0. 0. 0. 1. ]] SLAMing on 67.37327356 meters Centerline goodness [0,1] 0.6363708232317908 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.9986557 -0.03303046 -0.03994727 0.44876993] [ 0.03320835 0.99944124 0.00379748 -0.09971827] [ 0.03979951 -0.00511896 0.99919457 -0.08371757] [ 0. 0. 0. 1. ]] SLAMing on 67.40327356 meters Centerline goodness [0,1] 0.6318891450125734 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.99865657 -0.0328056 -0.04011033 0.44916633] [ 0.03300104 0.99944641 0.00422018 -0.10136432] [ 0.03994968 -0.0055382 0.99918634 -0.08374698] [ 0. 0. 0. 1. ]] SLAMing on 67.43327356 meters Centerline goodness [0,1] 0.6262993899086172 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.10, Z:-0.08 [[ 0.9986559 -0.03289839 -0.04005109 0.44842138] [ 0.03310954 0.99944105 0.00461977 -0.10445063] [ 0.03987672 -0.00593964 0.99918695 -0.08305222] [ 0. 0. 0. 1. ]] SLAMing on 67.46327356 meters Centerline goodness [0,1] 0.6549247963233757 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.08 [[ 0.998654 -0.03304864 -0.03997479 0.44782086] [ 0.03327941 0.99943297 0.00512128 -0.1082258 ] [ 0.03978287 -0.00644473 0.99918756 -0.08269529] [ 0. 0. 0. 1. ]] SLAMing on 67.49327356 meters Centerline goodness [0,1] 0.6603459487579659 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.08 [[ 0.99866103 -0.03279422 -0.04000861 0.44809614] [ 0.03304761 0.99943759 0.00568832 -0.11040957] [ 0.03979956 -0.00700289 0.99918314 -0.08293696] [ 0. 0. 0. 1. ]] SLAMing on 67.52327356 meters Centerline goodness [0,1] 0.6603459487579659 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.08 [[ 0.99866103 -0.03279422 -0.04000861 0.44809614] [ 0.03304761 0.99943759 0.00568832 -0.11040957] [ 0.03979956 -0.00700289 0.99918314 -0.08293696] [ 0. 0. 0. 1. ]] SLAMing on 67.55327356000001 meters Centerline goodness [0,1] 0.6217902068822123 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.08 [[ 0.99866576 -0.03251926 -0.0401148 0.44846828] [ 0.03279492 0.99944267 0.00623287 -0.11238171] [ 0.03988976 -0.00754011 0.99917564 -0.08309195] [ 0. 0. 0. 1. ]] SLAMing on 67.58327356000001 meters Centerline goodness [0,1] 0.6407975937354147 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99867348 -0.03218291 -0.04019388 0.44869144] [ 0.03248951 0.99944758 0.00699799 -0.11519856] [ 0.03994646 -0.00829458 0.99916739 -0.08321557] [ 0. 0. 0. 1. ]] SLAMing on 67.61327356000001 meters Centerline goodness [0,1] 0.6605473706014862 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99867372 -0.03189115 -0.0404197 0.4491075 ] [ 0.03221416 0.99945385 0.00736517 -0.11666161] [ 0.04016274 -0.00865749 0.99915564 -0.08305191] [ 0. 0. 0. 1. ]] SLAMing on 67.64327356000001 meters Centerline goodness [0,1] 0.6343029552839239 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99868114 -0.03110597 -0.04084604 0.4501234 ] [ 0.03146429 0.99947158 0.00815882 -0.11947955] [ 0.04057066 -0.00943325 0.99913214 -0.08288461] [ 0. 0. 0. 1. ]] SLAMing on 67.67327356 meters Centerline goodness [0,1] 0.6635624919386044 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99868489 -0.03075221 -0.04102177 0.4506194 ] [ 0.03112539 0.99947943 0.00848952 -0.12058114] [ 0.04073934 -0.00975518 0.99912219 -0.08288107] [ 0. 0. 0. 1. ]] SLAMing on 67.70327356 meters Centerline goodness [0,1] 0.6635393576988504 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99869168 -0.03035592 -0.04115156 0.45110839] [ 0.03074716 0.9994875 0.00890784 -0.12175447] [ 0.04086006 -0.01016148 0.99911321 -0.08301521] [ 0. 0. 0. 1. ]] SLAMing on 67.73327356 meters Centerline goodness [0,1] 0.6736012404703451 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99869948 -0.02943549 -0.04162817 0.45251278] [ 0.02986201 0.99950734 0.00966139 -0.12365311] [ 0.04132327 -0.01089192 0.99908646 -0.08316851] [ 0. 0. 0. 1. ]] SLAMing on 67.76327356 meters Centerline goodness [0,1] 0.6779342481270756 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.12, Z:-0.08 [[ 0.99870126 -0.02918313 -0.04176287 0.45295791] [ 0.02961835 0.99951284 0.00984047 -0.12447563] [ 0.04145535 -0.01106464 0.99907909 -0.08315634] [ 0. 0. 0. 1. ]] SLAMing on 67.79327356 meters Centerline goodness [0,1] 0.6682695996930554 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.08 [[ 0.99870783 -0.02829733 -0.04221292 0.45440733] [ 0.02876511 0.99953089 0.0105154 -0.12634768] [ 0.04189556 -0.01171608 0.9990533 -0.08338578] [ 0. 0. 0. 1. ]] SLAMing on 67.82327356 meters Centerline goodness [0,1] 0.6943156492558342 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99870861 -0.02779559 -0.04252673 0.45536052] [ 0.0282811 0.99954104 0.01085781 -0.12713833] [ 0.04220542 -0.01204649 0.99903633 -0.0835275 ] [ 0. 0. 0. 1. ]] SLAMing on 67.85327356 meters Centerline goodness [0,1] 0.6825010254306809 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99872242 -0.0265927 -0.04296928 0.45684278] [ 0.02710889 0.99956662 0.0114752 -0.12808624] [ 0.0426455 -0.01262539 0.99901049 -0.08361955] [ 0. 0. 0. 1. ]] SLAMing on 67.88327356 meters Centerline goodness [0,1] 0.6831146241015016 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99871657 -0.02615073 -0.04337456 0.45765204] [ 0.0266733 0.9995779 0.01151313 -0.12789918] [ 0.04305518 -0.01265529 0.99899254 -0.08324543] [ 0. 0. 0. 1. ]] SLAMing on 67.91327356000001 meters Centerline goodness [0,1] 0.7028779375208221 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.9987183 -0.02515994 -0.04391736 0.45884797] [ 0.02569809 0.9996009 0.01173237 -0.12781471] [ 0.04360465 -0.01284593 0.99896627 -0.08262658] [ 0. 0. 0. 1. ]] SLAMing on 67.94327356000001 meters Centerline goodness [0,1] 0.7017548354041245 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99871317 -0.02474011 -0.044271 0.45970567] [ 0.02528748 0.99961002 0.01184701 -0.12778951] [ 0.04396064 -0.01295127 0.99894931 -0.08250095] [ 0. 0. 0. 1. ]] SLAMing on 67.97327356000001 meters Centerline goodness [0,1] 0.7125191619826265 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99872144 -0.02368451 -0.04466015 0.46110766] [ 0.02425557 0.99963026 0.01228866 -0.12835598] [ 0.04435259 -0.0133562 0.99892665 -0.08258307] [ 0. 0. 0. 1. ]] SLAMing on 68.00327356000001 meters Centerline goodness [0,1] 0.7075218867250312 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99871522 -0.0233029 -0.04499866 0.46191706] [ 0.02387924 0.99963902 0.0123132 -0.1284118 ] [ 0.04469548 -0.01337191 0.99891116 -0.0823968 ] [ 0. 0. 0. 1. ]] SLAMing on 68.03327356 meters Centerline goodness [0,1] 0.7097715866024787 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99871104 -0.0229881 -0.04525261 0.46262699] [ 0.02356646 0.99964674 0.01228883 -0.1280375 ] [ 0.04495413 -0.01333943 0.99889999 -0.08234933] [ 0. 0. 0. 1. ]] SLAMing on 68.06327356 meters Centerline goodness [0,1] 0.715383241021976 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:-0.08 [[ 0.99870392 -0.02189263 -0.04594773 0.46441285] [ 0.02246781 0.99967508 0.01203908 -0.12678666] [ 0.04566923 -0.01305582 0.9988713 -0.08164648] [ 0. 0. 0. 1. ]] SLAMing on 68.09327356 meters Centerline goodness [0,1] 0.721768515911011 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.08 [[ 0.99870402 -0.02136698 -0.0461923 0.46526139] [ 0.02193996 0.99968807 0.01193302 -0.12580296] [ 0.04592292 -0.01293101 0.99886129 -0.08157909] [ 0. 0. 0. 1. ]] SLAMing on 68.12327356 meters Centerline goodness [0,1] 0.7299489259040628 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99872525 -0.01920017 -0.04668228 0.46794333] [ 0.01981308 0.99972301 0.01270228 -0.12489713] [ 0.04642547 -0.01361101 0.99882902 -0.08231538] [ 0. 0. 0. 1. ]] SLAMing on 68.15327356 meters Centerline goodness [0,1] 0.7324073836358502 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99872132 -0.0185089 -0.04704417 0.46922717] [ 0.019125 0.99973669 0.01267997 -0.123906 ] [ 0.04679709 -0.01356348 0.99881233 -0.08239717] [ 0. 0. 0. 1. ]] SLAMing on 68.18327356 meters Centerline goodness [0,1] 0.7253033152159913 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99878987 -0.01438629 -0.04703008 0.4687713 ] [ 0.01517667 0.9997488 0.01649233 -0.12410227] [ 0.046781 -0.01718613 0.99875732 -0.08195674] [ 0. 0. 0. 1. ]] SLAMing on 68.21327356 meters Centerline goodness [0,1] 0.7399456873141084 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99877655 -0.01399506 -0.04742941 0.46964292] [ 0.01477797 0.99975961 0.01619651 -0.12285085] [ 0.04719134 -0.0168776 0.99874327 -0.08151782] [ 0. 0. 0. 1. ]] SLAMing on 68.24327356 meters Centerline goodness [0,1] 0.7385678424471416 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99877228 -0.01277842 -0.04786076 0.47120489] [ 0.01357621 0.99977365 0.01638122 -0.12188806] [ 0.0476406 -0.01701088 0.99871968 -0.08140713] [ 0. 0. 0. 1. ]] SLAMing on 68.27327356 meters Centerline goodness [0,1] 0.7578582155248303 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99876299 -0.01256739 -0.04810974 0.47185675] [ 0.01336232 0.99977887 0.01623752 -0.12170277] [ 0.04789503 -0.01686029 0.99871007 -0.08123716] [ 0. 0. 0. 1. ]] SLAMing on 68.30327356000001 meters Centerline goodness [0,1] 0.7568967750291413 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99875849 -0.01235166 -0.04825875 0.47241407] [ 0.01315228 0.99978051 0.01630795 -0.12232185] [ 0.04804673 -0.01692242 0.99870173 -0.08131849] [ 0. 0. 0. 1. ]] SLAMing on 68.33327356000001 meters Centerline goodness [0,1] 0.7545809319515158 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99875396 -0.01235808 -0.04835093 0.47250061] [ 0.0131565 0.99978173 0.01622979 -0.12282385] [ 0.04813981 -0.0168457 0.99869854 -0.0810076 ] [ 0. 0. 0. 1. ]] SLAMing on 68.36327356000001 meters Centerline goodness [0,1] 0.7482385245052325 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.998756 -0.01263625 -0.04823658 0.47185681] [ 0.01342307 0.99978152 0.01602272 -0.12317698] [ 0.04802358 -0.01665027 0.99870742 -0.08048213] [ 0. 0. 0. 1. ]] SLAMing on 68.39327356000001 meters Centerline goodness [0,1] 0.7477300866694181 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99868674 -0.0158035 -0.04873434 0.47320042] [ 0.01639805 0.99979563 0.01182422 -0.1216971 ] [ 0.04853751 -0.01260784 0.99874178 -0.07951737] [ 0. 0. 0. 1. ]] SLAMing on 68.42327356 meters Centerline goodness [0,1] 0.7430270130541554 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99868791 -0.01594968 -0.04866279 0.47270751] [ 0.01654055 0.99979399 0.01176377 -0.12239764] [ 0.04846514 -0.01255324 0.99874599 -0.07904871] [ 0. 0. 0. 1. ]] SLAMing on 68.45327356 meters Centerline goodness [0,1] 0.7425019986074219 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99868745 -0.01594836 -0.04867266 0.47288365] [ 0.01653867 0.99979419 0.01174952 -0.12282962] [ 0.04847525 -0.01253908 0.99874567 -0.0791032 ] [ 0. 0. 0. 1. ]] SLAMing on 68.48327356 meters Centerline goodness [0,1] 0.7414671814671815 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99868378 -0.01590217 -0.04876295 0.47317412] [ 0.01649104 0.99979558 0.01169779 -0.12314378] [ 0.04856696 -0.01248655 0.99874188 -0.07903673] [ 0. 0. 0. 1. ]] SLAMing on 68.51327356 meters Centerline goodness [0,1] 0.7397518251941284 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.9986831 -0.01558965 -0.04887773 0.47392877] [ 0.01619535 0.99979659 0.01202077 -0.12366733] [ 0.04868039 -0.01279653 0.99873243 -0.07958179] [ 0. 0. 0. 1. ]] SLAMing on 68.54327356 meters Centerline goodness [0,1] 0.7380179344465059 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99867584 -0.01533235 -0.0491068 0.47469308] [ 0.01594187 0.99980037 0.01204441 -0.12367288] [ 0.04891232 -0.01281131 0.99872091 -0.07968058] [ 0. 0. 0. 1. ]] SLAMing on 68.57327356 meters Centerline goodness [0,1] 0.7400365819099879 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99867059 -0.01472277 -0.04939929 0.47572191] [ 0.0153343 0.99981013 0.01202335 -0.1229729 ] [ 0.0492129 -0.01276487 0.99870674 -0.07964552] [ 0. 0. 0. 1. ]] SLAMing on 68.60327356 meters Centerline goodness [0,1] 0.7424933632310111 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99866075 -0.01439546 -0.04969375 0.47643879] [ 0.01500239 0.99981709 0.01186211 -0.12236589] [ 0.0495139 -0.01259175 0.99869406 -0.07941614] [ 0. 0. 0. 1. ]] SLAMing on 68.63327356 meters Centerline goodness [0,1] 0.7637628319499392 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99865895 -0.01329299 -0.05003604 0.47775023] [ 0.01390196 0.99983323 0.01184238 -0.12127892] [ 0.04987027 -0.0125221 0.9986772 -0.07919956] [ 0. 0. 0. 1. ]] SLAMing on 68.66327356000001 meters Centerline goodness [0,1] 0.7824847778209613 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99865118 -0.01306774 -0.05024986 0.47799583] [ 0.01366327 0.99984022 0.01152619 -0.12034322] [ 0.05009121 -0.01219722 0.99867016 -0.07860937] [ 0. 0. 0. 1. ]] SLAMing on 68.69327356000001 meters Centerline goodness [0,1] 0.8016865594187856 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99864915 -0.01243188 -0.05045115 0.47819652] [ 0.01300839 0.99985361 0.01111497 -0.11914971] [ 0.05030558 -0.01175624 0.99866468 -0.07743447] [ 0. 0. 0. 1. ]] SLAMing on 68.72327356000001 meters Centerline goodness [0,1] 0.7628796517051933 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99863909 -0.01238682 -0.05066102 0.47821585] [ 0.01294838 0.99985815 0.01077162 -0.11879474] [ 0.05052041 -0.01141293 0.99865782 -0.0766011 ] [ 0. 0. 0. 1. ]] SLAMing on 68.75327356000001 meters Centerline goodness [0,1] 0.811622778570502 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99863687 -0.01238647 -0.0507048 0.47809132] [ 0.01294344 0.99985929 0.01067098 -0.11883229] [ 0.05056549 -0.01131273 0.99865667 -0.07621722] [ 0. 0. 0. 1. ]] SLAMing on 68.78327356 meters Centerline goodness [0,1] 0.7942871914178622 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99862769 -0.01272089 -0.05080264 0.47757498] [ 0.0132711 0.99985672 0.01050767 -0.12012506] [ 0.0506617 -0.01116746 0.99865343 -0.07534823] [ 0. 0. 0. 1. ]] SLAMing on 68.81327356 meters Centerline goodness [0,1] 0.79654406446947 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99862578 -0.01303012 -0.05076189 0.47729798] [ 0.01358863 0.99985071 0.0106729 -0.12160574] [ 0.05061524 -0.01134801 0.99865375 -0.07535008] [ 0. 0. 0. 1. ]] SLAMing on 68.84327356 meters Centerline goodness [0,1] 0.7843384014793507 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99855374 -0.0170496 -0.05098758 0.47810165] [ 0.01743528 0.99982258 0.00712907 -0.12334296] [ 0.05085699 -0.00800775 0.99867384 -0.07554895] [ 0. 0. 0. 1. ]] SLAMing on 68.87327356 meters Centerline goodness [0,1] 0.7626541788218435 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.08 [[ 0.99846031 -0.02068935 -0.05146801 0.47967689] [ 0.0208858 0.99977648 0.00328206 -0.12309648] [ 0.0513886 -0.00435196 0.99866925 -0.07561352] [ 0. 0. 0. 1. ]] SLAMing on 68.90327356 meters Centerline goodness [0,1] 0.7530163599182004 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.08 [[ 0.99845598 -0.02134598 -0.05128351 0.47907685] [ 0.02155257 0.99976166 0.00347863 -0.12500809] [ 0.05119704 -0.00457855 0.99867808 -0.07582969] [ 0. 0. 0. 1. ]] SLAMing on 68.93327356 meters Centerline goodness [0,1] 0.748638468977452 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.08 [[ 9.98352610e-01 -2.60724065e-02 -5.11106241e-02 4.78528444e-01] [ 2.60843316e-02 9.99659652e-01 -4.33809264e-04 -1.26319571e-01] [ 5.11045391e-02 -9.00091858e-04 9.98692904e-01 -7.55628412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96327356 meters Centerline goodness [0,1] 0.7343066062798876 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99848003 -0.03164608 -0.04512367 0.48737029] [ 0.03197013 0.99946783 0.00647785 -0.1309424 ] [ 0.04489466 -0.00791061 0.99896041 -0.0793153 ] [ 0. 0. 0. 1. ]] SLAMing on 68.99327356 meters Centerline goodness [0,1] 0.7208272161190705 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99845721 -0.03291008 -0.04472279 0.48546194] [ 0.03321108 0.99943033 0.00600376 -0.13216425] [ 0.04449973 -0.00747979 0.99898139 -0.07848545] [ 0. 0. 0. 1. ]] SLAMing on 69.02327356 meters Centerline goodness [0,1] 0.7250018866500642 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99831184 -0.03660967 -0.0450911 0.48663676] [ 0.03674083 0.99932266 0.00208319 -0.13180946] [ 0.04498429 -0.00373636 0.99898071 -0.07819351] [ 0. 0. 0. 1. ]] SLAMing on 69.05327356000001 meters Centerline goodness [0,1] 0.7132180871140635 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.08 [[ 0.998292 -0.03758883 -0.04472317 0.48496291] [ 0.03770584 0.99928731 0.00177513 -0.13284376] [ 0.04462457 -0.00345842 0.99899784 -0.07745397] [ 0. 0. 0. 1. ]] SLAMing on 69.08327356000001 meters Centerline goodness [0,1] 0.7143000753958281 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.08 [[ 0.99824681 -0.03932271 -0.04423837 0.48233455] [ 0.03941253 0.99922235 0.00115953 -0.13428614] [ 0.04415837 -0.00290104 0.99902033 -0.07618724] [ 0. 0. 0. 1. ]] SLAMing on 69.11327356000001 meters Centerline goodness [0,1] 0.6916497353701057 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823001 -0.04000861 -0.0440018 0.48123658] [ 0.0400985 0.99919506 0.0011619 -0.1354398 ] [ 0.0439199 -0.00292425 0.99903078 -0.0757933 ] [ 0. 0. 0. 1. ]] SLAMing on 69.14327356000001 meters Centerline goodness [0,1] 0.6866302933226549 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99822599 -0.04012409 -0.0439879 0.48120499] [ 0.04021722 0.9991902 0.00123405 -0.1359906 ] [ 0.04390277 -0.00300093 0.9990313 -0.07584215] [ 0. 0. 0. 1. ]] SLAMing on 69.17327356 meters Centerline goodness [0,1] 0.6898745272859326 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823299 -0.04003799 -0.04390735 0.48143202] [ 0.0401443 0.9991927 0.00154169 -0.13663377] [ 0.04381018 -0.0033016 0.99903442 -0.07636813] [ 0. 0. 0. 1. ]] SLAMing on 69.20327356 meters Centerline goodness [0,1] 0.6963971659715592 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823022 -0.03984812 -0.04414245 0.48216138] [ 0.03996162 0.99919978 0.00169143 -0.13686812] [ 0.04403972 -0.00345244 0.99902382 -0.0766011 ] [ 0. 0. 0. 1. ]] SLAMing on 69.23327356 meters Centerline goodness [0,1] 0.6803059464593696 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823404 -0.03960472 -0.04427481 0.48282555] [ 0.03972479 0.99920897 0.00183501 -0.13684085] [ 0.04416712 -0.00359057 0.9990177 -0.07696165] [ 0. 0. 0. 1. ]] SLAMing on 69.26327356 meters Centerline goodness [0,1] 0.6977181073566616 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823246 -0.03935486 -0.04453264 0.48357799] [ 0.03948033 0.99921846 0.00194109 -0.13650435] [ 0.04442145 -0.00369582 0.99900604 -0.07715871] [ 0. 0. 0. 1. ]] SLAMing on 69.29327356 meters Centerline goodness [0,1] 0.71628444399789 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.9982342 -0.03894052 -0.04485666 0.48460827] [ 0.03906885 0.99923454 0.00198735 -0.13580566] [ 0.04474494 -0.00373634 0.99899146 -0.07737409] [ 0. 0. 0. 1. ]] SLAMing on 69.32327356 meters Centerline goodness [0,1] 0.7093166453039785 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.14, Z:-0.08 [[ 0.99823602 -0.03878928 -0.044947 0.48495568] [ 0.03891605 0.99924058 0.0019487 -0.13542149] [ 0.04483728 -0.00369442 0.99898747 -0.07740845] [ 0. 0. 0. 1. ]] SLAMing on 69.35327356 meters Centerline goodness [0,1] 0.7187962382445141 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.08 [[ 0.9982456 -0.038213 -0.04522712 0.48583386] [ 0.0383463 0.99926234 0.00208305 -0.13503929] [ 0.04511415 -0.00381369 0.99897456 -0.07741092] [ 0. 0. 0. 1. ]] SLAMing on 69.38327356 meters Centerline goodness [0,1] 0.7211849327084534 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99824727 -0.03801006 -0.04536111 0.48607633] [ 0.03814103 0.99927031 0.00202493 -0.13461056] [ 0.04525105 -0.0037515 0.9989686 -0.07718273] [ 0. 0. 0. 1. ]] SLAMing on 69.41327356000001 meters Centerline goodness [0,1] 0.7211849327084534 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99824727 -0.03801006 -0.04536111 0.48607633] [ 0.03814103 0.99927031 0.00202493 -0.13461056] [ 0.04525105 -0.0037515 0.9989686 -0.07718273] [ 0. 0. 0. 1. ]] SLAMing on 69.44327356000001 meters Centerline goodness [0,1] 0.7141636724540817 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99824302 -0.03793826 -0.04551434 0.48624572] [ 0.0380566 0.99927408 0.00173618 -0.13370508] [ 0.04541544 -0.00346525 0.99896218 -0.07679861] [ 0. 0. 0. 1. ]] SLAMing on 69.47327356000001 meters Centerline goodness [0,1] 0.7176307847082495 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99824481 -0.03770317 -0.04567031 0.48634523] [ 0.03779971 0.99928455 0.00125166 -0.13196361] [ 0.04559044 -0.00297578 0.99895578 -0.07606013] [ 0. 0. 0. 1. ]] SLAMing on 69.50327356000001 meters Centerline goodness [0,1] 0.7294511918560702 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99824278 -0.03753657 -0.04585158 0.48673461] [ 0.03762322 0.99929147 0.00102797 -0.13110048] [ 0.04578051 -0.00275125 0.99894773 -0.07583747] [ 0. 0. 0. 1. ]] SLAMing on 69.53327356 meters Centerline goodness [0,1] 0.7193124163869047 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 9.98262916e-01 -3.68390989e-02 -4.59785928e-02 4.87763644e-01] [ 3.69228407e-02 9.99317646e-01 9.73084788e-04 -1.29652791e-01] [ 4.59113715e-02 -2.66905472e-03 9.98941951e-01 -7.62328094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56327356 meters Centerline goodness [0,1] 0.7232038884107134 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 9.98264847e-01 -3.66196676e-02 -4.61117640e-02 4.88310079e-01] [ 3.66961112e-02 9.99326141e-01 8.12087531e-04 -1.28704630e-01] [ 4.60509528e-02 -2.50280086e-03 9.98935957e-01 -7.63325891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59327356 meters Centerline goodness [0,1] 0.7279581630321648 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 9.98262631e-01 -3.63475546e-02 -4.63742965e-02 4.89107357e-01] [ 3.64145312e-02 9.99336591e-01 5.99996289e-04 -1.27436750e-01] [ 4.63217230e-02 -2.28765214e-03 9.98923953e-01 -7.63780243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62327356 meters Centerline goodness [0,1] 0.7305235295614771 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.08 [[ 0.99839635 -0.0325408 -0.04632301 0.48891316] [ 0.03277753 0.99945316 0.00435976 -0.12652509] [ 0.04615581 -0.00587112 0.998917 -0.07691446] [ 0. 0. 0. 1. ]] SLAMing on 69.65327356 meters Centerline goodness [0,1] 0.737904255862668 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.08 [[ 0.99839375 -0.03218739 -0.04662507 0.48981833] [ 0.0324076 0.99946683 0.00397458 -0.12463551] [ 0.04647228 -0.0054792 0.99890455 -0.07679778] [ 0. 0. 0. 1. ]] SLAMing on 69.68327356 meters Centerline goodness [0,1] 0.7469978026470439 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.08 [[ 0.99850678 -0.02837184 -0.04668236 0.48980424] [ 0.02874842 0.99955917 0.00741527 -0.12283709] [ 0.04645139 -0.00874625 0.99888226 -0.07705879] [ 0. 0. 0. 1. ]] SLAMing on 69.71327356 meters Centerline goodness [0,1] 0.7449731645309571 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.08 [[ 0.99850493 -0.02800546 -0.04694249 0.4906757 ] [ 0.02836606 0.99957286 0.0070332 -0.12087654] [ 0.04672547 -0.00835426 0.99887283 -0.07700924] [ 0. 0. 0. 1. ]] SLAMing on 69.74327356 meters Centerline goodness [0,1] 0.7467812266171272 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.08 [[ 0.99861129 -0.02437682 -0.04670409 0.48973897] [ 0.02487014 0.99964057 0.01001075 -0.11819806] [ 0.04644327 -0.01115839 0.99885861 -0.07670894] [ 0. 0. 0. 1. ]] SLAMing on 69.77327356 meters Centerline goodness [0,1] 0.771549048013245 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.08 [[ 0.99860656 -0.02415094 -0.04692207 0.49023445] [ 0.02461624 0.99965312 0.00936412 -0.11578686] [ 0.04667964 -0.01050611 0.99885466 -0.07626547] [ 0. 0. 0. 1. ]] SLAMing on 69.80327356000001 meters Centerline goodness [0,1] 0.7847314345168422 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.08 [[ 0.99869937 -0.02084417 -0.04653043 0.48861075] [ 0.02142835 0.99969726 0.01209163 -0.1130764 ] [ 0.0462643 -0.01307298 0.99884369 -0.07552329] [ 0. 0. 0. 1. ]] SLAMing on 69.83327356000001 meters Centerline goodness [0,1] 0.7899188180323162 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.08 [[ 0.99868821 -0.02078534 -0.04679555 0.48907659] [ 0.02134288 0.99970669 0.01144633 -0.11093882] [ 0.04654391 -0.01243007 0.9988389 -0.07503868] [ 0. 0. 0. 1. ]] SLAMing on 69.86327356000001 meters Centerline goodness [0,1] 0.8016613385042712 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.07 [[ 0.99868739 -0.0203867 -0.04698815 0.48993612] [ 0.02091272 0.99972372 0.01073045 -0.10740685] [ 0.04675641 -0.01169901 0.99883781 -0.07493518] [ 0. 0. 0. 1. ]] SLAMing on 69.89327356 meters Centerline goodness [0,1] 0.7993119567215525 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.07 [[ 0.9986812 -0.02047729 -0.04708007 0.49011495] [ 0.02098283 0.9997271 0.01026877 -0.10569101] [ 0.04685695 -0.0112431 0.99883833 -0.07475944] [ 0. 0. 0. 1. ]] SLAMing on 69.92327356 meters Centerline goodness [0,1] 0.7935568704799474 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99867058 -0.02061489 -0.04724505 0.49078642] [ 0.02108833 0.99973206 0.00954446 -0.10275836] [ 0.04703564 -0.01052809 0.99883773 -0.07489279] [ 0. 0. 0. 1. ]] SLAMing on 69.95327356 meters Centerline goodness [0,1] 0.81100724160632 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99866213 -0.02082622 -0.04733085 0.4909983 ] [ 0.02127997 0.99973211 0.00910301 -0.10149024] [ 0.04712859 -0.01009803 0.99883779 -0.07482906] [ 0. 0. 0. 1. ]] SLAMing on 69.98327356 meters Centerline goodness [0,1] 0.8188432540728634 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99865607 -0.02111827 -0.04732938 0.49097184] [ 0.02154873 0.99973078 0.00860337 -0.1001083 ] [ 0.04713495 -0.00961169 0.99884229 -0.07474018] [ 0. 0. 0. 1. ]] SLAMing on 70.01327356 meters Centerline goodness [0,1] 0.8088072524113213 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.9986462 -0.02154981 -0.04734316 0.49099379] [ 0.02194945 0.99972757 0.0079377 -0.09804276] [ 0.0471592 -0.00896611 0.99884714 -0.07472862] [ 0. 0. 0. 1. ]] SLAMing on 70.04327356 meters Centerline goodness [0,1] 0.7834171780756973 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99864026 -0.02184856 -0.04733147 0.49091178] [ 0.02222512 0.99972528 0.0074441 -0.0968954 ] [ 0.04715582 -0.00848592 0.9988515 -0.07456263] [ 0. 0. 0. 1. ]] SLAMing on 70.07327356 meters Centerline goodness [0,1] 0.8069980413953735 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99863535 -0.02203974 -0.04734648 0.49096678] [ 0.0223969 0.99972447 0.00702609 -0.09557091] [ 0.04717858 -0.00807691 0.99885382 -0.07452105] [ 0. 0. 0. 1. ]] SLAMing on 70.10327356 meters Centerline goodness [0,1] 0.7848413350653483 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99862732 -0.02219814 -0.04744179 0.49109787] [ 0.02251358 0.99972778 0.00612488 -0.09272884] [ 0.04729291 -0.00718455 0.99885523 -0.07403412] [ 0. 0. 0. 1. ]] SLAMing on 70.13327356 meters Centerline goodness [0,1] 0.8085773502683744 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99862236 -0.02229401 -0.04750115 0.49114023] [ 0.02258902 0.99972868 0.00568277 -0.09121541] [ 0.04736157 -0.00674794 0.99885502 -0.07378341] [ 0. 0. 0. 1. ]] SLAMing on 70.16327356000001 meters Centerline goodness [0,1] 0.8125948204732374 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99861567 -0.02220754 -0.04768198 0.49139945] [ 0.02246488 0.99973578 0.00486776 -0.08853011] [ 0.04756128 -0.00593219 0.99885071 -0.07301375] [ 0. 0. 0. 1. ]] SLAMing on 70.19327356000001 meters Centerline goodness [0,1] 0.8050220779911688 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99861148 -0.02199991 -0.04786558 0.49205912] [ 0.02225074 0.99974131 0.00471368 -0.08754064] [ 0.04774949 -0.00577218 0.99884266 -0.07307294] [ 0. 0. 0. 1. ]] SLAMing on 70.22327356000001 meters Centerline goodness [0,1] 0.8257636548440592 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99860801 -0.02197499 -0.04794937 0.49222 ] [ 0.02220911 0.99974386 0.00435531 -0.08621385] [ 0.04784138 -0.00541416 0.99884027 -0.07283473] [ 0. 0. 0. 1. ]] SLAMing on 70.25327356000001 meters Centerline goodness [0,1] 0.8361020309736884 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.9986041 -0.02170816 -0.04815194 0.49291991] [ 0.02192993 0.99975118 0.00408201 -0.08469941] [ 0.04805135 -0.00513228 0.99883168 -0.07283112] [ 0. 0. 0. 1. ]] SLAMing on 70.28327356 meters Centerline goodness [0,1] 0.8376031729017044 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99860258 -0.02169646 -0.04818876 0.49326996] [ 0.02191141 0.99975216 0.00393689 -0.08400973] [ 0.0480914 -0.00498728 0.99883049 -0.0730595 ] [ 0. 0. 0. 1. ]] SLAMing on 70.31327356 meters Centerline goodness [0,1] 0.8382376587875864 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859843 -0.0214637 -0.04837864 0.49390841] [ 0.02167367 0.9997578 0.00381972 -0.08337085] [ 0.04828494 -0.00486291 0.99882176 -0.0730675 ] [ 0. 0. 0. 1. ]] SLAMing on 70.34327356 meters Centerline goodness [0,1] 0.8425262366803554 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859615 -0.02129118 -0.0485016 0.49432307] [ 0.02149931 0.99976174 0.00377352 -0.08303196] [ 0.0484097 -0.00481098 0.99881598 -0.07305744] [ 0. 0. 0. 1. ]] SLAMing on 70.37327356 meters Centerline goodness [0,1] 0.8436510067114094 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859156 -0.0212208 -0.04862695 0.49464787] [ 0.02142336 0.99976384 0.00364822 -0.0825476 ] [ 0.04853804 -0.00468483 0.99881035 -0.07297775] [ 0. 0. 0. 1. ]] SLAMing on 70.40327356 meters Centerline goodness [0,1] 0.8320651591469296 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99858587 -0.0210793 -0.04880494 0.49495539] [ 0.02126492 0.99976847 0.00328724 -0.08162861] [ 0.04872435 -0.00432042 0.99880292 -0.07243972] [ 0. 0. 0. 1. ]] SLAMing on 70.43327356 meters Centerline goodness [0,1] 0.8459680017180286 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99858801 -0.02118484 -0.04871538 0.49464898] [ 0.0213601 0.9997671 0.00307983 -0.08148167] [ 0.04863879 -0.00411605 0.99880795 -0.07211281] [ 0. 0. 0. 1. ]] SLAMing on 70.46327356 meters Centerline goodness [0,1] 0.8335840541556976 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859263 -0.0213691 -0.04853989 0.49417771] [ 0.02154153 0.99976336 0.00303204 -0.08185929] [ 0.04846361 -0.0040734 0.99881664 -0.07202508] [ 0. 0. 0. 1. ]] SLAMing on 70.49327356 meters Centerline goodness [0,1] 0.844107997633518 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859305 -0.02177897 -0.04834866 0.49343009] [ 0.02194367 0.99975507 0.00287836 -0.08221631] [ 0.04827413 -0.00393526 0.99882637 -0.07173364] [ 0. 0. 0. 1. ]] SLAMing on 70.52327356 meters Centerline goodness [0,1] 0.8336372901357078 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859331 -0.02285939 -0.04784202 0.49166316] [ 0.02300996 0.99973186 0.00259869 -0.08310264] [ 0.04776978 -0.00369587 0.99885153 -0.07140846] [ 0. 0. 0. 1. ]] SLAMing on 70.55327356000001 meters Centerline goodness [0,1] 0.8286634460547504 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99859638 -0.02338184 -0.04752431 0.49071868] [ 0.02352993 0.99971986 0.00255889 -0.08376268] [ 0.04745117 -0.00367355 0.9988668 -0.07134083] [ 0. 0. 0. 1. ]] SLAMing on 70.58327356000001 meters Centerline goodness [0,1] 0.8149229738780978 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.9985952 -0.02386674 -0.04730748 0.48995584] [ 0.02401775 0.99970808 0.00262618 -0.0846157 ] [ 0.04723099 -0.00375871 0.99887692 -0.07130225] [ 0. 0. 0. 1. ]] SLAMing on 70.61327356000001 meters Centerline goodness [0,1] 0.7924226254002135 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 9.98482755e-01 -2.82415643e-02 -4.72715787e-02 4.89743100e-01] [ 2.81987439e-02 9.99601099e-01 -1.57259774e-03 -8.46136061e-02] [ 4.72971347e-02 2.37212584e-04 9.98880836e-01 -7.06978364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64327356 meters Centerline goodness [0,1] 0.7815137236110001 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 9.98484387e-01 -2.86499518e-02 -4.69905202e-02 4.89137402e-01] [ 2.86212786e-02 9.99589504e-01 -1.28305254e-03 -8.61250732e-02] [ 4.70079901e-02 -6.38208430e-05 9.98894511e-01 -7.10750313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67327356 meters Centerline goodness [0,1] 0.7666834184145793 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99835391 -0.03258658 -0.04719721 0.49004686] [ 0.03238724 0.99946298 -0.00498233 -0.08672228] [ 0.04733422 0.00344554 0.99887317 -0.07119513] [ 0. 0. 0. 1. ]] SLAMing on 70.70327356 meters Centerline goodness [0,1] 0.7594131771286842 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99835295 -0.03288229 -0.04701224 0.48971188] [ 0.03269757 0.99945427 -0.00469285 -0.0877462 ] [ 0.04714089 0.00314794 0.99888329 -0.07162239] [ 0. 0. 0. 1. ]] SLAMing on 70.73327356 meters Centerline goodness [0,1] 0.751030873334743 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99835436 -0.03321825 -0.04674534 0.4890601 ] [ 0.0330439 0.99944378 -0.00449783 -0.08875081] [ 0.04686875 0.00294578 0.99889671 -0.07179942] [ 0. 0. 0. 1. ]] SLAMing on 70.76327356 meters Centerline goodness [0,1] 0.7363408521303259 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99833559 -0.03434667 -0.04632885 0.48728162] [ 0.03416858 0.99940536 -0.00463069 -0.0898931 ] [ 0.04646035 0.00303999 0.99891551 -0.07142298] [ 0. 0. 0. 1. ]] SLAMing on 70.79327356 meters Centerline goodness [0,1] 0.7308908803373748 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99833912 -0.03471206 -0.04597914 0.48655612] [ 0.03454286 0.99939322 -0.0044696 -0.09066489] [ 0.04610639 0.00287393 0.9989324 -0.07171912] [ 0. 0. 0. 1. ]] SLAMing on 70.82327356 meters Centerline goodness [0,1] 0.7227488151658767 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99833102 -0.0353106 -0.04569828 0.48577955] [ 0.03516471 0.99937356 -0.00399252 -0.09261066] [ 0.04581063 0.00237889 0.99894731 -0.07224431] [ 0. 0. 0. 1. ]] SLAMing on 70.85327356 meters Centerline goodness [0,1] 0.7209161511122812 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99833276 -0.03567665 -0.04537476 0.48507091] [ 0.03553699 0.99936083 -0.00388098 -0.09342485] [ 0.04548422 0.00226202 0.9989625 -0.07247437] [ 0. 0. 0. 1. ]] SLAMing on 70.88327356 meters Centerline goodness [0,1] 0.7138382987682914 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.07 [[ 0.99833432 -0.03592068 -0.04514733 0.48465942] [ 0.03579212 0.99935258 -0.00365286 -0.09432737] [ 0.04524932 0.00203086 0.99897366 -0.07283147] [ 0. 0. 0. 1. ]] SLAMing on 70.91327356000001 meters Centerline goodness [0,1] 0.7135523076117136 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99832223 -0.03665447 -0.04482382 0.48383259] [ 0.03653512 0.99932631 -0.00347934 -0.09556585] [ 0.04492115 0.00183586 0.99898885 -0.07330578] [ 0. 0. 0. 1. ]] SLAMing on 70.94327356000001 meters Centerline goodness [0,1] 0.7061954327364254 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99832026 -0.0369065 -0.0446607 0.48343538] [ 0.03678944 0.99931712 -0.00344055 -0.09619173] [ 0.04475718 0.00179173 0.99899629 -0.07339596] [ 0. 0. 0. 1. ]] SLAMing on 70.97327356000001 meters Centerline goodness [0,1] 0.7235848810176841 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99831321 -0.03745024 -0.0443645 0.48272639] [ 0.0373413 0.99929718 -0.003282 -0.0972039 ] [ 0.04445623 0.00161984 0.99901002 -0.07372343] [ 0. 0. 0. 1. ]] SLAMing on 71.00327356000001 meters Centerline goodness [0,1] 0.7164566929133858 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99830779 -0.03783885 -0.04415633 0.48215578] [ 0.03772587 0.99928238 -0.00338955 -0.09729073] [ 0.0442529 0.00171798 0.99901888 -0.07374154] [ 0. 0. 0. 1. ]] SLAMing on 71.03327356 meters Centerline goodness [0,1] 0.7133537687652283 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99831003 -0.03820839 -0.04378585 0.48147688] [ 0.03809635 0.99926832 -0.0033907 -0.09742412] [ 0.04388337 0.00171689 0.99903519 -0.07406744] [ 0. 0. 0. 1. ]] SLAMing on 71.06327356 meters Centerline goodness [0,1] 0.7059316924851249 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99829867 -0.03893353 -0.04340443 0.48061574] [ 0.03882457 0.99924042 -0.00335099 -0.09789451] [ 0.04350193 0.00166013 0.99905196 -0.07456336] [ 0. 0. 0. 1. ]] SLAMing on 71.09327356 meters Centerline goodness [0,1] 0.7013010811801357 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99829759 -0.03929198 -0.04310517 0.48004946] [ 0.03918646 0.9992265 -0.00329066 -0.0983252 ] [ 0.04320113 0.00159592 0.99906512 -0.07486215] [ 0. 0. 0. 1. ]] SLAMing on 71.12327356 meters Centerline goodness [0,1] 0.6948258758419046 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99827928 -0.04027134 -0.04262271 0.47861141] [ 0.04015902 0.99918721 -0.00348866 -0.09878885] [ 0.04272856 0.00177097 0.99908515 -0.07494993] [ 0. 0. 0. 1. ]] SLAMing on 71.15327356 meters Centerline goodness [0,1] 0.6870163145785401 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.9982759 -0.04070988 -0.04228406 0.47777897] [ 0.04059503 0.9991693 -0.00357166 -0.09876148] [ 0.04239434 0.00184898 0.99909924 -0.07506609] [ 0. 0. 0. 1. ]] SLAMing on 71.18327356 meters Centerline goodness [0,1] 0.6829498154401947 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99826405 -0.0413545 -0.04193675 0.47671299] [ 0.04122651 0.99914217 -0.00391263 -0.09824127] [ 0.04206258 0.00217693 0.99911261 -0.07490308] [ 0. 0. 0. 1. ]] SLAMing on 71.21327356 meters Centerline goodness [0,1] 0.7043562490182732 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99825991 -0.04164684 -0.04174556 0.47617642] [ 0.04151307 0.99912969 -0.00406647 -0.09790141] [ 0.04187858 0.00232641 0.99912 -0.07483244] [ 0. 0. 0. 1. ]] SLAMing on 71.24327356 meters Centerline goodness [0,1] 0.6884692836781128 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99826325 -0.04188126 -0.04142991 0.47588207] [ 0.04175553 0.99912026 -0.00389567 -0.09788823] [ 0.04155661 0.00215898 0.99913382 -0.07558269] [ 0. 0. 0. 1. ]] SLAMing on 71.27327356 meters Centerline goodness [0,1] 0.684331797235023 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99826459 -0.04196255 -0.04131527 0.47580663] [ 0.04184188 0.99911709 -0.00378136 -0.09806025] [ 0.04143747 0.00204609 0.999139 -0.07592352] [ 0. 0. 0. 1. ]] SLAMing on 71.30327356000001 meters Centerline goodness [0,1] 0.6923620378365649 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99826719 -0.04198013 -0.0412346 0.47593341] [ 0.041863 0.99911651 -0.00370017 -0.09820836] [ 0.0413535 0.00196756 0.99914264 -0.07631129] [ 0. 0. 0. 1. ]] SLAMing on 71.33327356000001 meters Centerline goodness [0,1] 0.6923620378365649 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99826719 -0.04198013 -0.0412346 0.47593341] [ 0.041863 0.99911651 -0.00370017 -0.09820836] [ 0.0413535 0.00196756 0.99914264 -0.07631129] [ 0. 0. 0. 1. ]] SLAMing on 71.36327356000001 meters Centerline goodness [0,1] 0.6785236483827811 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99826877 -0.04209189 -0.04108212 0.47612591] [ 0.04197763 0.99911192 -0.00364042 -0.09773023] [ 0.04119887 0.00190959 0.99914914 -0.07708374] [ 0. 0. 0. 1. ]] SLAMing on 71.39327356 meters Centerline goodness [0,1] 0.6956829255514224 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99827666 -0.04177205 -0.04121648 0.47705309] [ 0.04166938 0.99912585 -0.0033474 -0.09743709] [ 0.04132028 0.00162416 0.99914463 -0.07783723] [ 0. 0. 0. 1. ]] SLAMing on 71.42327356 meters Centerline goodness [0,1] 0.6806744691435603 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.99827684 -0.04169574 -0.04128952 0.47747078] [ 0.04158215 0.99912858 -0.0036064 -0.09591423] [ 0.04140391 0.00188328 0.99914072 -0.07796542] [ 0. 0. 0. 1. ]] SLAMing on 71.45327356 meters Centerline goodness [0,1] 0.6900893796004206 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.08 [[ 0.9982755 -0.04176084 -0.04125605 0.47735101] [ 0.04163924 0.99912547 -0.00380291 -0.09518842] [ 0.04137879 0.00207848 0.99914137 -0.0778765 ] [ 0. 0. 0. 1. ]] SLAMing on 71.48327356 meters Centerline goodness [0,1] 0.6901693135582098 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99828051 -0.04147652 -0.04142121 0.47819306] [ 0.04135442 0.99913731 -0.00380077 -0.09427573] [ 0.04154312 0.00208129 0.99913454 -0.07828489] [ 0. 0. 0. 1. ]] SLAMing on 71.51327356 meters Centerline goodness [0,1] 0.689615334121045 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99827948 -0.0413455 -0.04157672 0.47886741] [ 0.04121934 0.99914256 -0.00388734 -0.09345508] [ 0.0417018 0.00216689 0.99912775 -0.07856581] [ 0. 0. 0. 1. ]] SLAMing on 71.54327356 meters Centerline goodness [0,1] 0.6873109796186719 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99827996 -0.04126015 -0.04165005 0.47936294] [ 0.04112999 0.99914589 -0.0039775 -0.09252536] [ 0.04177859 0.00225759 0.99912434 -0.07891898] [ 0. 0. 0. 1. ]] SLAMing on 71.57327356 meters Centerline goodness [0,1] 0.6845959993699795 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99828927 -0.04060155 -0.04207197 0.48132953] [ 0.0404762 0.99917317 -0.00382725 -0.09078841] [ 0.04219257 0.00211779 0.99910725 -0.07995337] [ 0. 0. 0. 1. ]] SLAMing on 71.60327356 meters Centerline goodness [0,1] 0.6839838209801965 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99828636 -0.04050183 -0.04223679 0.4818668 ] [ 0.04036499 0.99917664 -0.00408801 -0.08964671] [ 0.04236758 0.00237611 0.99909927 -0.07996165] [ 0. 0. 0. 1. ]] SLAMing on 71.63327356 meters Centerline goodness [0,1] 0.6855876767250475 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 0.99828062 -0.0404542 -0.04241768 0.48225713] [ 0.04030583 0.99917793 -0.00434762 -0.08849448] [ 0.04255869 0.00263046 0.99909051 -0.07983965] [ 0. 0. 0. 1. ]] SLAMing on 71.66327356000001 meters Centerline goodness [0,1] 0.6872240873404003 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 9.98413893e-01 -3.76651102e-02 -4.18454020e-02 4.79923203e-01] [ 3.76521579e-02 9.99290303e-01 -1.09789408e-03 -8.81015223e-02] [ 4.18570567e-02 -4.79416985e-04 9.99123494e-01 -7.95163988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69327356000001 meters Centerline goodness [0,1] 0.6837688044338875 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 9.98413664e-01 -3.76534148e-02 -4.18613996e-02 4.80020701e-01] [ 3.76336944e-02 9.99290808e-01 -1.25931444e-03 -8.71603554e-02] [ 4.18791294e-02 -3.18082377e-04 9.99122634e-01 -7.94990914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72327356000001 meters Centerline goodness [0,1] 0.6824798270133432 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 9.98409946e-01 -3.76254888e-02 -4.19750185e-02 4.80463345e-01] [ 3.75950944e-02 9.99291908e-01 -1.51352904e-03 -8.55536693e-02] [ 4.20022436e-02 -6.69323406e-05 9.99117514e-01 -7.96338358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75327356000001 meters Centerline goodness [0,1] 0.6791315156163225 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98406230e-01 -3.77323298e-02 -4.19674974e-02 4.80519773e-01] [ 3.76944377e-02 9.99287876e-01 -1.69412827e-03 -8.49677947e-02] [ 4.20015348e-02 1.09487007e-04 9.99117540e-01 -7.96929235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78327356 meters Centerline goodness [0,1] 0.6866481407966124 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98399973e-01 -3.78886484e-02 -4.19755162e-02 4.80802477e-01] [ 3.78437387e-02 9.99281930e-01 -1.86427672e-03 -8.41274109e-02] [ 4.20160098e-02 2.72783358e-04 9.99116900e-01 -8.00802993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81327356 meters Centerline goodness [0,1] 0.6841561606102342 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98397725e-01 -3.79917043e-02 -4.19358110e-02 4.80898717e-01] [ 3.79456793e-02 9.99278010e-01 -1.89324478e-03 -8.36707204e-02] [ 4.19774613e-02 2.98928447e-04 9.99118513e-01 -8.03873830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84327356 meters Centerline goodness [0,1] 0.6943412251831405 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98389554e-01 -3.85266378e-02 -4.16412832e-02 4.80185056e-01] [ 3.84720570e-02 9.99257445e-01 -2.11160141e-03 -8.26421206e-02] [ 4.16917152e-02 5.06174970e-04 9.99130394e-01 -8.06306692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87327356 meters Centerline goodness [0,1] 0.6897311942201445 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98384935e-01 -3.88833313e-02 -4.14199012e-02 4.79728941e-01] [ 3.88287875e-02 9.99243628e-01 -2.12082879e-03 -8.23609845e-02] [ 4.14710373e-02 5.09118971e-04 9.99139577e-01 -8.09480020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90327356 meters Centerline goodness [0,1] 0.6854928605552312 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98381344e-01 -3.91445248e-02 -4.12601195e-02 4.79555792e-01] [ 3.90931064e-02 9.99233464e-01 -2.05260966e-03 -8.24240298e-02] [ 4.13088405e-02 4.36300946e-04 9.99146330e-01 -8.13614648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93327356 meters Centerline goodness [0,1] 0.6899675859503693 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98380448e-01 -3.94192198e-02 -4.10195705e-02 4.79210206e-01] [ 3.93710580e-02 9.99222694e-01 -1.98160175e-03 -8.27403666e-02] [ 4.10657990e-02 3.63408550e-04 9.99156378e-01 -8.17886116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96327356 meters Centerline goodness [0,1] 0.6761541315524461 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98360982e-01 -4.05054725e-02 -4.04308860e-02 4.77791281e-01] [ 4.04625613e-02 9.99179288e-01 -1.87942200e-03 -8.38253535e-02] [ 4.04738308e-02 2.40404388e-04 9.99180570e-01 -8.25467489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99327356 meters Centerline goodness [0,1] 0.6710317460317461 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.08 [[ 9.98355618e-01 -4.08714043e-02 -4.01943732e-02 4.77245840e-01] [ 4.08351884e-02 9.99164412e-01 -1.72195466e-03 -8.46591642e-02] [ 4.02311660e-02 7.77783053e-05 9.99190396e-01 -8.28343738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02327356 meters Centerline goodness [0,1] 0.6656953642384106 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.08 [[ 9.98319940e-01 -4.23122469e-02 -3.95849886e-02 4.74817128e-01] [ 4.22548164e-02 9.99104250e-01 -2.28672443e-03 -8.46666385e-02] [ 3.96462868e-02 6.10226170e-04 9.99213591e-01 -8.21832014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05327356000001 meters Centerline goodness [0,1] 0.678881363107207 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.08 [[ 9.98313273e-01 -4.25962287e-02 -3.94483316e-02 4.74398140e-01] [ 4.25404923e-02 9.99092206e-01 -2.25160306e-03 -8.48631223e-02] [ 3.95084304e-02 5.69653772e-04 9.99219075e-01 -8.22250875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08327356000001 meters Centerline goodness [0,1] 0.6594444444444445 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 9.98310616e-01 -4.27829091e-02 -3.93133081e-02 4.74112703e-01] [ 4.27325632e-02 9.99084297e-01 -2.12043174e-03 -8.50550089e-02] [ 3.93680270e-02 4.36891088e-04 9.99224683e-01 -8.24655683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11327356000001 meters Centerline goodness [0,1] 0.671527244819647 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 9.98308213e-01 -4.28833405e-02 -3.92648874e-02 4.74535867e-01] [ 4.28453331e-02 9.99080079e-01 -1.80933480e-03 -8.52330478e-02] [ 3.93063572e-02 1.23956608e-04 9.99227199e-01 -8.34499421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14327356 meters Centerline goodness [0,1] 0.662728618247172 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.08 [[ 9.98309589e-01 -4.28358933e-02 -3.92816751e-02 4.74893201e-01] [ 4.28030832e-02 9.99082122e-01 -1.67627208e-03 -8.53821701e-02] [ 3.93174239e-02 -7.93831751e-06 9.99226771e-01 -8.38686072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17327356 meters Centerline goodness [0,1] 0.6563475683971001 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 9.98310919e-01 -4.27419417e-02 -3.93501647e-02 4.75428645e-01] [ 4.27156552e-02 9.99086130e-01 -1.50891747e-03 -8.52172713e-02] [ 3.93786978e-02 -1.74499281e-04 9.99224343e-01 -8.43850635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20327356 meters Centerline goodness [0,1] 0.6624480393973894 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.08 [[ 9.98314903e-01 -4.26684452e-02 -3.93288563e-02 4.75765388e-01] [ 4.26502852e-02 9.99089215e-01 -1.30103412e-03 -8.51726528e-02] [ 3.93485493e-02 -3.78545188e-04 9.99225474e-01 -8.49580709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23327356 meters Centerline goodness [0,1] 0.6572810913705585 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98314519e-01 -4.26866903e-02 -3.93187827e-02 4.76102443e-01] [ 4.26755606e-02 9.99088352e-01 -1.12270323e-03 -8.50106681e-02] [ 3.93308623e-02 -5.57140159e-04 9.99226087e-01 -8.55457309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26327356 meters Centerline goodness [0,1] 0.6553122680521684 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98310254e-01 -4.27582239e-02 -3.93493532e-02 4.76221116e-01] [ 4.27409121e-02 9.99085368e-01 -1.28147090e-03 -8.46799083e-02] [ 3.93681565e-02 -4.02521705e-04 9.99224693e-01 -8.54952755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29327356 meters Centerline goodness [0,1] 0.6521314504421275 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98313274e-01 -4.26319020e-02 -3.94097349e-02 4.76778266e-01] [ 4.26259551e-02 9.99090609e-01 -9.91533818e-04 -8.47707720e-02] [ 3.94161671e-02 -6.90016221e-04 9.99222643e-01 -8.61217014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32327356 meters Centerline goodness [0,1] 0.652850702731371 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98314577e-01 -4.25782011e-02 -3.94347759e-02 4.77028261e-01] [ 4.25749103e-02 9.99092851e-01 -9.23618644e-04 -8.47230209e-02] [ 3.94383287e-02 -7.56870093e-04 9.99221720e-01 -8.63647384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35327356 meters Centerline goodness [0,1] 0.6529133275146128 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98321432e-01 -4.24544879e-02 -3.93945993e-02 4.77357897e-01] [ 4.24591109e-02 9.99097946e-01 -7.19672013e-04 -8.47325796e-02] [ 3.93896165e-02 -9.54195667e-04 9.99223472e-01 -8.68957193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38327356 meters Centerline goodness [0,1] 0.6508285827919926 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98318758e-01 -4.24648498e-02 -3.94511663e-02 4.77434407e-01] [ 4.24632995e-02 9.99097642e-01 -8.77615358e-04 -8.40742739e-02] [ 3.94528350e-02 -7.99086815e-04 9.99221114e-01 -8.67759033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41327356000001 meters Centerline goodness [0,1] 0.6484742251613418 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98317082e-01 -4.24785177e-02 -3.94788480e-02 4.77414884e-01] [ 4.24729773e-02 9.99097136e-01 -9.79427150e-04 -8.37902411e-02] [ 3.94848086e-02 -6.99005359e-04 9.99219926e-01 -8.65926328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44327356000001 meters Centerline goodness [0,1] 0.6658626447902033 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98319858e-01 -4.22998314e-02 -3.96003200e-02 4.77929741e-01] [ 4.23007120e-02 9.99104591e-01 -8.16027065e-04 -8.39042447e-02] [ 3.95993793e-02 -8.60465705e-04 9.99215266e-01 -8.68148176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47327356000001 meters Centerline goodness [0,1] 0.6554235441086569 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98316363e-01 -4.24256037e-02 -3.95538526e-02 4.77707226e-01] [ 4.24228417e-02 9.99099332e-01 -9.09526447e-04 -8.38591556e-02] [ 3.95568149e-02 -7.69991694e-04 9.99217026e-01 -8.66698724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50327356000001 meters Centerline goodness [0,1] 0.6645702306079664 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.09 [[ 9.98315200e-01 -4.24901562e-02 -3.95139093e-02 4.77560572e-01] [ 4.24910091e-02 9.99096514e-01 -8.18613463e-04 -8.44218907e-02] [ 3.95129920e-02 -8.61751618e-04 9.99218685e-01 -8.66414826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53327356 meters Centerline goodness [0,1] 0.6728313284934555 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98310083e-01 -4.26082342e-02 -3.95160245e-02 4.77623362e-01] [ 4.26155223e-02 9.99091329e-01 -6.58258267e-04 -8.51182633e-02] [ 3.95081646e-02 -1.02685015e-03 9.99218720e-01 -8.68331705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56327356 meters Centerline goodness [0,1] 0.6560296846011131 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98308040e-01 -4.26106719e-02 -3.95649733e-02 4.77886106e-01] [ 4.26264445e-02 9.99090981e-01 -4.45233678e-04 -8.56022192e-02] [ 3.95479797e-02 -1.24203378e-03 9.99216901e-01 -8.71130456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59327356 meters Centerline goodness [0,1] 0.6629519826353962 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98309732e-01 -4.26320241e-02 -3.94992419e-02 4.77938816e-01] [ 4.26558490e-02 9.99089796e-01 -2.39779947e-04 -8.61607598e-02] [ 3.94735119e-02 -1.44549905e-03 9.99219572e-01 -8.74280405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62327356 meters Centerline goodness [0,1] 0.6572608396421198 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98314268e-01 -4.25884646e-02 -3.94315275e-02 4.78088828e-01] [ 4.26272516e-02 9.99091035e-01 1.43038729e-04 -8.70243756e-02] [ 3.93895938e-02 -1.82365525e-03 9.99222265e-01 -8.79647591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65327356 meters Centerline goodness [0,1] 0.6567152380701431 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 9.98317054e-01 -4.24702147e-02 -3.94884902e-02 4.78863476e-01] [ 4.25346759e-02 9.99094676e-01 7.93317916e-04 -8.85176936e-02] [ 3.94190480e-02 -2.47161294e-03 9.99219710e-01 -8.90787248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68327356 meters Centerline goodness [0,1] 0.648399548354909 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99832458 -0.04214903 -0.03964198 0.4797274 ] [ 0.04223214 0.99910703 0.00126114 -0.08939517] [ 0.03955342 -0.00293319 0.99921315 -0.0897172 ] [ 0. 0. 0. 1. ]] SLAMing on 72.71327356 meters Centerline goodness [0,1] 0.6576797385620915 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99832327 -0.04245732 -0.03934494 0.47897249] [ 0.04253986 0.99909397 0.0012628 -0.09006841] [ 0.03925568 -0.00293441 0.99922489 -0.08968551] [ 0. 0. 0. 1. ]] SLAMing on 72.74327356 meters Centerline goodness [0,1] 0.663805851906623 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99832196 -0.04250234 -0.03932948 0.47879404] [ 0.0425858 0.99909199 0.00128634 -0.090598 ] [ 0.0392391 -0.00295906 0.99922547 -0.08950585] [ 0. 0. 0. 1. ]] SLAMing on 72.77327356 meters Centerline goodness [0,1] 0.6554331787521079 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99832662 -0.04250091 -0.03921271 0.47866889] [ 0.04259159 0.99909147 0.00147965 -0.09130116] [ 0.0391142 -0.00314731 0.99922979 -0.08968804] [ 0. 0. 0. 1. ]] SLAMing on 72.80327356000001 meters Centerline goodness [0,1] 0.6522310401009093 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99832354 -0.04283462 -0.03892684 0.4774775 ] [ 0.04292945 0.99907682 0.00160318 -0.09295394] [ 0.03882223 -0.0032716 0.99924078 -0.08914772] [ 0. 0. 0. 1. ]] SLAMing on 72.83327356000001 meters Centerline goodness [0,1] 0.6500184297825286 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.09 [[ 0.99831995 -0.04299971 -0.03883675 0.47694017] [ 0.04309268 0.99906986 0.00155952 -0.09357989] [ 0.03873357 -0.00323048 0.99924435 -0.08870972] [ 0. 0. 0. 1. ]] SLAMing on 72.86327356000001 meters Centerline goodness [0,1] 0.6426735892594924 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99831121 -0.04312873 -0.03891836 0.4766927 ] [ 0.04323367 0.99906326 0.00185843 -0.09548631] [ 0.03880175 -0.00353787 0.99924067 -0.08831249] [ 0. 0. 0. 1. ]] SLAMing on 72.89327356 meters Centerline goodness [0,1] 0.6406987724268178 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99831522 -0.0431116 -0.03883452 0.47650753] [ 0.04322639 0.99906305 0.00212095 -0.09678783] [ 0.03870669 -0.00379605 0.9992434 -0.08831177] [ 0. 0. 0. 1. ]] SLAMing on 72.92327356 meters Centerline goodness [0,1] 0.6475465578572923 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99832327 -0.04289888 -0.03886306 0.47688788] [ 0.04303347 0.99907016 0.00263309 -0.09852506] [ 0.03871397 -0.00430108 0.99924108 -0.08871224] [ 0. 0. 0. 1. ]] SLAMing on 72.95327356 meters Centerline goodness [0,1] 0.6607876488289939 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99833453 -0.04245811 -0.03905737 0.47787038] [ 0.04263249 0.99908418 0.00364222 -0.10174367] [ 0.03886696 -0.00530127 0.99923033 -0.08956148] [ 0. 0. 0. 1. ]] SLAMing on 72.98327356 meters Centerline goodness [0,1] 0.6423596564725598 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.09 [[ 0.99834096 -0.04214592 -0.03923082 0.47852927] [ 0.04233653 0.99909524 0.00404028 -0.10318169] [ 0.03902504 -0.00569447 0.99922201 -0.08978142] [ 0. 0. 0. 1. ]] SLAMing on 73.01327356 meters Centerline goodness [0,1] 0.6585893327079914 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99835876 -0.0416479 -0.03930944 0.47927177] [ 0.04186972 0.99911137 0.00483638 -0.105661 ] [ 0.03907308 -0.00647432 0.99921538 -0.09039899] [ 0. 0. 0. 1. ]] SLAMing on 73.04327356 meters Centerline goodness [0,1] 0.6436805483435455 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99836708 -0.04127573 -0.03949042 0.47996977] [ 0.04151359 0.99912429 0.00522205 -0.10683728] [ 0.03924029 -0.00685292 0.9992063 -0.0905868 ] [ 0. 0. 0. 1. ]] SLAMing on 73.07327356 meters Centerline goodness [0,1] 0.6580114653316387 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99837251 -0.04111665 -0.03951898 0.47991502] [ 0.04136313 0.99912937 0.00543933 -0.10767315] [ 0.03926093 -0.0070651 0.99920401 -0.09037731] [ 0. 0. 0. 1. ]] SLAMing on 73.10327356 meters Centerline goodness [0,1] 0.6573195022893654 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99837952 -0.04072186 -0.03974999 0.480132 ] [ 0.04098703 0.99914238 0.00587863 -0.10971122] [ 0.03947651 -0.00749834 0.99919236 -0.08986759] [ 0. 0. 0. 1. ]] SLAMing on 73.13327356 meters Centerline goodness [0,1] 0.6494895981392945 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99838178 -0.04064255 -0.03977433 0.48013213] [ 0.04091756 0.99914376 0.00612427 -0.11106466] [ 0.03949137 -0.00774183 0.99918992 -0.08974288] [ 0. 0. 0. 1. ]] SLAMing on 73.16327356000001 meters Centerline goodness [0,1] 0.6468074150360453 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.09 [[ 0.99839161 -0.04038342 -0.03979163 0.48023624] [ 0.04068501 0.99914889 0.0067985 -0.11414582] [ 0.03948322 -0.00840649 0.99918487 -0.08976757] [ 0. 0. 0. 1. ]] SLAMing on 73.19327356000001 meters Centerline goodness [0,1] 0.6538402260467506 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99839662 -0.04019558 -0.03985612 0.48043258] [ 0.04050712 0.99915445 0.00703994 -0.11570127] [ 0.03953945 -0.00864311 0.99918063 -0.08963411] [ 0. 0. 0. 1. ]] SLAMing on 73.22327356000001 meters Centerline goodness [0,1] 0.6538402260467506 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99839662 -0.04019558 -0.03985612 0.48043258] [ 0.04050712 0.99915445 0.00703994 -0.11570127] [ 0.03953945 -0.00864311 0.99918063 -0.08963411] [ 0. 0. 0. 1. ]] SLAMing on 73.25327356000001 meters Centerline goodness [0,1] 0.6509431541126652 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99840162 -0.03995064 -0.03997683 0.4807706 ] [ 0.04027498 0.99916167 0.00734055 -0.11693385] [ 0.03965006 -0.00893888 0.99917364 -0.08959828] [ 0. 0. 0. 1. ]] SLAMing on 73.28327356 meters Centerline goodness [0,1] 0.6568869038451666 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99842386 -0.03896258 -0.0403945 0.4822668 ] [ 0.03932615 0.99919241 0.00824511 -0.11916462] [ 0.04004063 -0.00982067 0.99914979 -0.0900121 ] [ 0. 0. 0. 1. ]] SLAMing on 73.31327356 meters Centerline goodness [0,1] 0.6668970106470107 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99842882 -0.03841116 -0.04079789 0.48348895] [ 0.03879541 0.99920958 0.00866838 -0.12023235] [ 0.04043268 -0.01023753 0.99912982 -0.09021903] [ 0. 0. 0. 1. ]] SLAMing on 73.34327356 meters Centerline goodness [0,1] 0.6548197391971362 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.12, Z:-0.09 [[ 0.99843851 -0.03793044 -0.04100998 0.48435197] [ 0.03833216 0.99922404 0.00905374 -0.12108415] [ 0.04063474 -0.0106116 0.99911772 -0.09050257] [ 0. 0. 0. 1. ]] SLAMing on 73.37327356 meters Centerline goodness [0,1] 0.6607967741112217 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.09 [[ 0.99846025 -0.037027 -0.04130526 0.48559024] [ 0.03746217 0.99924988 0.00981151 -0.12282381] [ 0.04091099 -0.01134379 0.9990984 -0.09091283] [ 0. 0. 0. 1. ]] SLAMing on 73.40327356 meters Centerline goodness [0,1] 0.6594780394653087 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.09 [[ 0.99846664 -0.03666539 -0.04147308 0.4862482 ] [ 0.03711328 0.99926021 0.01008126 -0.12362705] [ 0.04107277 -0.01160501 0.99908876 -0.09106402] [ 0. 0. 0. 1. ]] SLAMing on 73.43327356 meters Centerline goodness [0,1] 0.6632385510271619 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.09 [[ 0.99846612 -0.03640571 -0.04171362 0.48672636] [ 0.03686085 0.99926841 0.01019414 -0.12436783] [ 0.04131198 -0.01171611 0.9990776 -0.09077413] [ 0. 0. 0. 1. ]] SLAMing on 73.46327356 meters Centerline goodness [0,1] 0.6686315361552924 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847359 -0.03616575 -0.04174362 0.48664583] [ 0.03663225 0.99927402 0.01046476 -0.1258117 ] [ 0.04133485 -0.01197794 0.99907355 -0.09041613] [ 0. 0. 0. 1. ]] SLAMing on 73.49327356 meters Centerline goodness [0,1] 0.6689875180393448 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847185 -0.0360787 -0.04186034 0.48682558] [ 0.03655092 0.99927588 0.01057064 -0.12663625] [ 0.04144865 -0.01208452 0.99906755 -0.09019189] [ 0. 0. 0. 1. ]] SLAMing on 73.52327356 meters Centerline goodness [0,1] 0.6618263055012567 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847412 -0.03608305 -0.04180237 0.48624677] [ 0.03656288 0.9992733 0.01077124 -0.12845955] [ 0.04138334 -0.01228322 0.99906784 -0.08958115] [ 0. 0. 0. 1. ]] SLAMing on 73.55327356000001 meters Centerline goodness [0,1] 0.6652079328139229 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847056 -0.0360633 -0.04190445 0.48639446] [ 0.03654952 0.99927245 0.01089507 -0.12959848] [ 0.04148105 -0.01240999 0.99906222 -0.08937958] [ 0. 0. 0. 1. ]] SLAMing on 73.58327356000001 meters Centerline goodness [0,1] 0.6584754135738353 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847287 -0.0359344 -0.04196006 0.48640953] [ 0.03643977 0.99927149 0.01134192 -0.13194053] [ 0.04152192 -0.01285361 0.99905491 -0.08923632] [ 0. 0. 0. 1. ]] SLAMing on 73.61327356000001 meters Centerline goodness [0,1] 0.6577422375180302 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847393 -0.0359046 -0.04196043 0.48653634] [ 0.03641506 0.99927099 0.01146468 -0.13292914] [ 0.04151821 -0.01297518 0.99905349 -0.08924783] [ 0. 0. 0. 1. ]] SLAMing on 73.64327356 meters Centerline goodness [0,1] 0.6563077312413008 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.09 [[ 0.99847252 -0.03578712 -0.04209411 0.48697139] [ 0.03630557 0.99927321 0.01161695 -0.13379612] [ 0.04164777 -0.01312746 0.99904611 -0.08930041] [ 0. 0. 0. 1. ]] SLAMing on 73.67327356 meters Centerline goodness [0,1] 0.674520202020202 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99848017 -0.03549282 -0.04216178 0.48737381] [ 0.03603496 0.99927644 0.01216872 -0.13581055] [ 0.04169937 -0.01366952 0.99903669 -0.08951303] [ 0. 0. 0. 1. ]] SLAMing on 73.70327356 meters Centerline goodness [0,1] 0.6704206858239483 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99847977 -0.03542569 -0.04222755 0.48759797] [ 0.03597691 0.99927612 0.01236547 -0.136831 ] [ 0.04175893 -0.01386589 0.9990315 -0.08955636] [ 0. 0. 0. 1. ]] SLAMing on 73.73327356 meters Centerline goodness [0,1] 0.6674393408753054 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99847947 -0.03535439 -0.04229441 0.48792342] [ 0.0359151 0.99927577 0.01257148 -0.13804277] [ 0.04181932 -0.01407137 0.9990261 -0.08965424] [ 0. 0. 0. 1. ]] SLAMing on 73.76327356 meters Centerline goodness [0,1] 0.6754151314793317 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.9984813 -0.03539488 -0.04221727 0.48785647] [ 0.03596472 0.99927089 0.0128154 -0.13915864] [ 0.04173289 -0.01431427 0.99902626 -0.0898153 ] [ 0. 0. 0. 1. ]] SLAMing on 73.79327356 meters Centerline goodness [0,1] 0.6575057099114023 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99847066 -0.03572979 -0.04218685 0.48751719] [ 0.03631099 0.99925478 0.01309151 -0.14160536] [ 0.04168765 -0.01460334 0.99902396 -0.0896799 ] [ 0. 0. 0. 1. ]] SLAMing on 73.82327356 meters Centerline goodness [0,1] 0.6584780107069595 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99845371 -0.03636026 -0.04204899 0.4865245 ] [ 0.03694238 0.99923087 0.01315044 -0.14379306] [ 0.0415385 -0.0146835 0.999029 -0.08911577] [ 0. 0. 0. 1. ]] SLAMing on 73.85327356 meters Centerline goodness [0,1] 0.6587853847113107 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.99844483 -0.03678863 -0.0418869 0.48570527] [ 0.03735949 0.99921826 0.01292808 -0.14469967] [ 0.04137855 -0.01447285 0.99903871 -0.08850069] [ 0. 0. 0. 1. ]] SLAMing on 73.88327356 meters Centerline goodness [0,1] 0.6492948957943342 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99843567 -0.03720277 -0.04173926 0.484839 ] [ 0.03776717 0.99920438 0.01281568 -0.14568984] [ 0.04122928 -0.014372 0.99904634 -0.08787522] [ 0. 0. 0. 1. ]] SLAMing on 73.91327356000001 meters Centerline goodness [0,1] 0.6592302707014308 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99840406 -0.03825984 -0.04153928 0.48323798] [ 0.03880342 0.99917043 0.01235922 -0.14735068] [ 0.04103196 -0.01395136 0.99906043 -0.08672461] [ 0. 0. 0. 1. ]] SLAMing on 73.94327356000001 meters Centerline goodness [0,1] 0.6591941610188427 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99839388 -0.03854035 -0.04152474 0.4828668 ] [ 0.03908223 0.99916008 0.01231744 -0.14847862] [ 0.04101514 -0.01392054 0.99906155 -0.08628706] [ 0. 0. 0. 1. ]] SLAMing on 73.97327356000001 meters Centerline goodness [0,1] 0.6419545488266278 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99838964 -0.03875821 -0.04142385 0.48253217] [ 0.03929909 0.9991515 0.01232349 -0.14955542] [ 0.04091107 -0.01393157 0.99906566 -0.08611306] [ 0. 0. 0. 1. ]] SLAMing on 74.00327356000001 meters Centerline goodness [0,1] 0.6602246081698137 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99838367 -0.03891841 -0.04141736 0.48236298] [ 0.03947206 0.99914079 0.01263472 -0.15163161] [ 0.04089005 -0.01424913 0.99906204 -0.08601754] [ 0. 0. 0. 1. ]] SLAMing on 74.03327356 meters Centerline goodness [0,1] 0.6523824752158618 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99838199 -0.0388331 -0.0415378 0.48272703] [ 0.03939717 0.99914103 0.01284814 -0.15256437] [ 0.04100319 -0.01446382 0.99905432 -0.08611584] [ 0. 0. 0. 1. ]] SLAMing on 74.06327356 meters Centerline goodness [0,1] 0.6402511078286559 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.09 [[ 0.99838562 -0.03883651 -0.04144739 0.48267981] [ 0.03940502 0.9991389 0.0129884 -0.1534039 ] [ 0.04090727 -0.01460066 0.99905626 -0.08621235] [ 0. 0. 0. 1. ]] SLAMing on 74.09327356 meters Centerline goodness [0,1] 0.65197152919735 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99838746 -0.0386958 -0.04153443 0.48276682] [ 0.03927971 0.99913926 0.01333545 -0.15508465] [ 0.04098266 -0.01494541 0.99904808 -0.08605314] [ 0. 0. 0. 1. ]] SLAMing on 74.12327356 meters Centerline goodness [0,1] 0.6522123893805309 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99838518 -0.03855599 -0.04171895 0.48325407] [ 0.0391458 0.99914347 0.01341425 -0.15576474] [ 0.04116601 -0.01502571 0.99903933 -0.08602022] [ 0. 0. 0. 1. ]] SLAMing on 74.15327356 meters Centerline goodness [0,1] 0.646157617355068 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99838302 -0.03849811 -0.04182398 0.48351685] [ 0.03908854 0.99914601 0.01339175 -0.15598674] [ 0.04127271 -0.01500493 0.99903524 -0.08594879] [ 0. 0. 0. 1. ]] SLAMing on 74.18327356 meters Centerline goodness [0,1] 0.6448128918495297 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99839202 -0.03797041 -0.04209061 0.48419399] [ 0.0385698 0.99916443 0.01352064 -0.15622487] [ 0.04154205 -0.01512232 0.99902231 -0.0857194 ] [ 0. 0. 0. 1. ]] SLAMing on 74.21327356 meters Centerline goodness [0,1] 0.6623197677279662 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99839299 -0.03778374 -0.04223539 0.48445576] [ 0.03838495 0.99917162 0.01351527 -0.1562728 ] [ 0.04168974 -0.01511475 0.99901627 -0.08548222] [ 0. 0. 0. 1. ]] SLAMing on 74.24327356 meters Centerline goodness [0,1] 0.6633041258621113 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.09 [[ 0.99839355 -0.03748358 -0.04248891 0.48488123] [ 0.03808995 0.99918241 0.01355249 -0.15674565] [ 0.04194617 -0.01514912 0.99900502 -0.08504381] [ 0. 0. 0. 1. ]] SLAMing on 74.27327356 meters Centerline goodness [0,1] 0.658235294117647 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.08 [[ 0.99839417 -0.03743201 -0.04251966 0.48496401] [ 0.03804052 0.99918374 0.0135931 -0.15739402] [ 0.04197614 -0.01518875 0.99900316 -0.08493825] [ 0. 0. 0. 1. ]] SLAMing on 74.30327356000001 meters Centerline goodness [0,1] 0.6575211474806915 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.08 [[ 0.99839453 -0.03738621 -0.04255161 0.48496765] [ 0.03799976 0.9991838 0.01370243 -0.15820552] [ 0.0420046 -0.01529738 0.9990003 -0.08475677] [ 0. 0. 0. 1. ]] SLAMing on 74.33327356000001 meters Centerline goodness [0,1] 0.6518473356907695 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.16, Z:-0.08 [[ 0.99839352 -0.03734023 -0.04261548 0.48496394] [ 0.03796722 0.99918092 0.01399933 -0.16009708] [ 0.04205784 -0.01559484 0.99899346 -0.08452352] [ 0. 0. 0. 1. ]] SLAMing on 74.36327356000001 meters Centerline goodness [0,1] 0.6528540400712595 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.08 [[ 0.99839231 -0.03730963 -0.04267072 0.48508212] [ 0.03794397 0.99917963 0.01415348 -0.16099523] [ 0.04210766 -0.01574982 0.99898893 -0.08448956] [ 0. 0. 0. 1. ]] SLAMing on 74.39327356 meters Centerline goodness [0,1] 0.6453069249253622 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.08 [[ 0.99839441 -0.03715534 -0.04275598 0.4853576 ] [ 0.03781048 0.99917801 0.01461738 -0.16308949] [ 0.04217773 -0.01621053 0.99897861 -0.08456378] [ 0. 0. 0. 1. ]] SLAMing on 74.42327356 meters Centerline goodness [0,1] 0.661054776575615 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.08 [[ 0.99839065 -0.03719472 -0.04280972 0.48537337] [ 0.03785208 0.99917599 0.01464812 -0.16391611] [ 0.04222961 -0.01624499 0.99897586 -0.08432983] [ 0. 0. 0. 1. ]] SLAMing on 74.45327356 meters Centerline goodness [0,1] 0.6565223707147008 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.08 [[ 0.99838699 -0.03719951 -0.04289082 0.48542973] [ 0.03786082 0.99917474 0.01471024 -0.16475352] [ 0.04230821 -0.01631039 0.99897146 -0.08411979] [ 0. 0. 0. 1. ]] SLAMing on 74.48327356 meters Centerline goodness [0,1] 0.6577475361406397 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99839258 -0.03691978 -0.04300222 0.4854426 ] [ 0.03759613 0.99918002 0.01502711 -0.16624712] [ 0.04241216 -0.01661967 0.99896196 -0.08368359] [ 0. 0. 0. 1. ]] SLAMing on 74.51327356 meters Centerline goodness [0,1] 0.6445317205985109 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99838721 -0.03695247 -0.0430986 0.48536692] [ 0.03762537 0.99918071 0.01490757 -0.16680513] [ 0.04251242 -0.01650513 0.9989596 -0.08315041] [ 0. 0. 0. 1. ]] SLAMing on 74.54327356 meters Centerline goodness [0,1] 0.6663213184271395 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99838579 -0.03686267 -0.04320836 0.48536569] [ 0.03754188 0.99918225 0.01501468 -0.16759733] [ 0.04261954 -0.01661257 0.99895325 -0.08277567] [ 0. 0. 0. 1. ]] SLAMing on 74.57327356 meters Centerline goodness [0,1] 0.6653116205229356 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99838751 -0.0367443 -0.04326927 0.48523776] [ 0.03743624 0.99918202 0.0152909 -0.16940634] [ 0.04267202 -0.01688608 0.99894642 -0.08231243] [ 0. 0. 0. 1. ]] SLAMing on 74.60327356 meters Centerline goodness [0,1] 0.648512596783086 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.9983882 -0.03662558 -0.04335397 0.48556738] [ 0.037328 0.99918278 0.0155047 -0.17054905] [ 0.04275067 -0.01709802 0.99893946 -0.08237987] [ 0. 0. 0. 1. ]] SLAMing on 74.63327356 meters Centerline goodness [0,1] 0.6693312909865492 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99839225 -0.03636511 -0.04347977 0.48586207] [ 0.03709518 0.99918198 0.01610356 -0.17318564] [ 0.04285859 -0.01769056 0.99892451 -0.08237383] [ 0. 0. 0. 1. ]] SLAMing on 74.66327356000001 meters Centerline goodness [0,1] 0.6717998995671823 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.17, Z:-0.08 [[ 0.99839166 -0.03625007 -0.04358937 0.48618729] [ 0.03699138 0.99918228 0.01632188 -0.17441011] [ 0.04296205 -0.01790806 0.99891619 -0.08240151] [ 0. 0. 0. 1. ]] SLAMing on 74.69327356000001 meters Centerline goodness [0,1] 0.67007167178608 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99838994 -0.03609554 -0.0437565 0.48655442] [ 0.03684799 0.99918443 0.01651336 -0.17547594] [ 0.04312475 -0.01809911 0.99890574 -0.08231414] [ 0. 0. 0. 1. ]] SLAMing on 74.72327356000001 meters Centerline goodness [0,1] 0.6703231191129129 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99839119 -0.03600171 -0.04380546 0.4865353 ] [ 0.03675989 0.9991858 0.01662697 -0.17625725] [ 0.04317119 -0.01821051 0.99890171 -0.08201691] [ 0. 0. 0. 1. ]] SLAMing on 74.75327356000001 meters Centerline goodness [0,1] 0.6698113207547169 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.9984028 -0.03538069 -0.04404597 0.48704265] [ 0.03616304 0.9991997 0.0170935 -0.17788829] [ 0.04340594 -0.01865903 0.99888326 -0.08168652] [ 0. 0. 0. 1. ]] SLAMing on 74.78327356 meters Centerline goodness [0,1] 0.6702165424210152 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99840267 -0.0351179 -0.0442589 0.4874982 ] [ 0.03590694 0.99920779 0.01716046 -0.17832978] [ 0.0436212 -0.01872225 0.9988727 -0.08149617] [ 0. 0. 0. 1. ]] SLAMing on 74.81327356 meters Centerline goodness [0,1] 0.668921315895277 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99841798 -0.03409377 -0.04471184 0.4887037 ] [ 0.03491927 0.99923137 0.01781313 -0.17963478] [ 0.04407016 -0.01934626 0.9988411 -0.08139249] [ 0. 0. 0. 1. ]] SLAMing on 74.84327356 meters Centerline goodness [0,1] 0.674877196296996 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99841858 -0.03379513 -0.04492465 0.48927587] [ 0.03462856 0.99923985 0.0179047 -0.17991203] [ 0.04428541 -0.01943206 0.99882991 -0.08133935] [ 0. 0. 0. 1. ]] SLAMing on 74.87327356 meters Centerline goodness [0,1] 0.6734356942380717 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99841917 -0.03354605 -0.04509793 0.48971648] [ 0.03438561 0.99924705 0.01797113 -0.18018518] [ 0.04446112 -0.01949344 0.99882091 -0.08126195] [ 0. 0. 0. 1. ]] SLAMing on 74.90327356 meters Centerline goodness [0,1] 0.6769802566166374 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99843269 -0.03274582 -0.04538583 0.49041299] [ 0.03361607 0.99926274 0.01854557 -0.18137599] [ 0.04474508 -0.0200422 0.99879737 -0.08108312] [ 0. 0. 0. 1. ]] SLAMing on 74.93327356 meters Centerline goodness [0,1] 0.6881654429991265 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99843131 -0.03253775 -0.04556539 0.49086479] [ 0.03341287 0.99926896 0.01857768 -0.18177677] [ 0.04492761 -0.02007101 0.9987886 -0.0809428 ] [ 0. 0. 0. 1. ]] SLAMing on 74.96327356 meters Centerline goodness [0,1] 0.6934413107961768 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99844278 -0.03166567 -0.04592713 0.49206466] [ 0.03257095 0.99928693 0.01909865 -0.18259701] [ 0.04528961 -0.0205648 0.9987622 -0.08114001] [ 0. 0. 0. 1. ]] SLAMing on 74.99327356 meters Centerline goodness [0,1] 0.69428685765401 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99844707 -0.03134182 -0.04605576 0.49259419] [ 0.03225445 0.9992951 0.01920791 -0.18244616] [ 0.04542129 -0.02066359 0.99875419 -0.08127581] [ 0. 0. 0. 1. ]] SLAMing on 75.02327356 meters Centerline goodness [0,1] 0.6988005749699555 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.99844791 -0.03083755 -0.04637695 0.49361136] [ 0.03176024 0.99930932 0.01929189 -0.18210109] [ 0.04575 -0.02073489 0.9987377 -0.08139722] [ 0. 0. 0. 1. ]] SLAMing on 75.05327356000001 meters Centerline goodness [0,1] 0.7006227235342498 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.18, Z:-0.08 [[ 0.9984457 -0.03048353 -0.04665765 0.49429893] [ 0.03140843 0.99932182 0.0192199 -0.18157852] [ 0.04604012 -0.02065547 0.99872602 -0.08126931] [ 0. 0. 0. 1. ]] SLAMing on 75.08327356000001 meters Centerline goodness [0,1] 0.6837866478276228 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.9984636 -0.02936851 -0.04698854 0.49545912] [ 0.03031099 0.99935083 0.01947229 -0.18085641] [ 0.04638616 -0.02086664 0.99870562 -0.08125697] [ 0. 0. 0. 1. ]] SLAMing on 75.11327356000001 meters Centerline goodness [0,1] 0.7022886369528838 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99846209 -0.02918052 -0.04713765 0.49584368] [ 0.03011593 0.99936089 0.01925733 -0.18022463] [ 0.04654558 -0.02064731 0.99870276 -0.08107954] [ 0. 0. 0. 1. ]] SLAMing on 75.14327356 meters Centerline goodness [0,1] 0.7022886369528838 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99846209 -0.02918052 -0.04713765 0.49584368] [ 0.03011593 0.99936089 0.01925733 -0.18022463] [ 0.04654558 -0.02064731 0.99870276 -0.08107954] [ 0. 0. 0. 1. ]] SLAMing on 75.17327356 meters Centerline goodness [0,1] 0.7086145857918338 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99847097 -0.02839963 -0.04742561 0.49678636] [ 0.02934258 0.99938295 0.01930629 -0.17929755] [ 0.04684806 -0.02066836 0.99868818 -0.08104884] [ 0. 0. 0. 1. ]] SLAMing on 75.20327356 meters Centerline goodness [0,1] 0.7076256213338359 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99846726 -0.02823932 -0.04759912 0.49726122] [ 0.02917534 0.99939208 0.01908579 -0.17840487] [ 0.04703121 -0.02044526 0.99868416 -0.08100009] [ 0. 0. 0. 1. ]] SLAMing on 75.23327356 meters Centerline goodness [0,1] 0.7123361930800415 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99846313 -0.02818696 -0.04771667 0.49748787] [ 0.02910893 0.9994006 0.01873811 -0.17741259] [ 0.0471599 -0.02009829 0.99868514 -0.08074634] [ 0. 0. 0. 1. ]] SLAMing on 75.26327356 meters Centerline goodness [0,1] 0.707591133820642 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99847055 -0.02755232 -0.0479315 0.49825817] [ 0.02847463 0.9994202 0.01866693 -0.17596564] [ 0.0473894 -0.02000321 0.99867618 -0.08073308] [ 0. 0. 0. 1. ]] SLAMing on 75.29327356 meters Centerline goodness [0,1] 0.7038140502707432 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.08 [[ 0.99846569 -0.02746413 -0.04808306 0.49855133] [ 0.02837725 0.9994277 0.01841187 -0.17519757] [ 0.04754987 -0.01974809 0.99867363 -0.08048059] [ 0. 0. 0. 1. ]] SLAMing on 75.32327356 meters Centerline goodness [0,1] 0.7030817624937915 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.9984545 -0.02755325 -0.04826417 0.49872189] [ 0.02844998 0.99943328 0.01799216 -0.17441906] [ 0.04774107 -0.01933746 0.99867255 -0.08003554] [ 0. 0. 0. 1. ]] SLAMing on 75.35327356 meters Centerline goodness [0,1] 0.7140897696637185 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.99845072 -0.0275345 -0.04835296 0.49894538] [ 0.02841817 0.99943969 0.01768393 -0.17359952] [ 0.04783895 -0.01903063 0.99867376 -0.07990197] [ 0. 0. 0. 1. ]] SLAMing on 75.38327356 meters Centerline goodness [0,1] 0.7238264580369844 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.9984489 -0.02732715 -0.048508 0.49933959] [ 0.02819064 0.99945446 0.01720681 -0.17168674] [ 0.04801133 -0.01854759 0.99867457 -0.0796644 ] [ 0. 0. 0. 1. ]] SLAMing on 75.41327356000001 meters Centerline goodness [0,1] 0.7208617372508966 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.99844471 -0.02726122 -0.04863106 0.49970778] [ 0.0281143 0.99946108 0.01694497 -0.17057614] [ 0.04814291 -0.01828584 0.99867306 -0.07967953] [ 0. 0. 0. 1. ]] SLAMing on 75.44327356000001 meters Centerline goodness [0,1] 0.7083609978184577 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.99843567 -0.02734639 -0.04876865 0.50001945] [ 0.02817941 0.99946709 0.01647588 -0.16938674] [ 0.04829211 -0.01782437 0.9986742 -0.07948794] [ 0. 0. 0. 1. ]] SLAMing on 75.47327356000001 meters Centerline goodness [0,1] 0.727925392357964 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.99843618 -0.02739686 -0.04872998 0.50001487] [ 0.02819938 0.99947652 0.01585819 -0.16716551] [ 0.04827001 -0.01720754 0.99868609 -0.0793248 ] [ 0. 0. 0. 1. ]] SLAMing on 75.50327356000001 meters Centerline goodness [0,1] 0.7279860713604274 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.08 [[ 0.9984256 -0.02760814 -0.04882731 0.50025184] [ 0.02838886 0.9994788 0.01536859 -0.16598968] [ 0.04837756 -0.01673055 0.99868899 -0.07921365] [ 0. 0. 0. 1. ]] SLAMing on 75.53327356 meters Centerline goodness [0,1] 0.7259725948639326 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.99841199 -0.02816217 -0.04878931 0.4998992 ] [ 0.02889972 0.99947746 0.01447801 -0.16375436] [ 0.04835609 -0.01586502 0.99870416 -0.07881732] [ 0. 0. 0. 1. ]] SLAMing on 75.56327356 meters Centerline goodness [0,1] 0.7196571346250811 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.99839969 -0.02858894 -0.04879277 0.49967901] [ 0.02929926 0.99947396 0.01390534 -0.16274078] [ 0.04836957 -0.01531268 0.99871212 -0.0784971 ] [ 0. 0. 0. 1. ]] SLAMing on 75.59327356 meters Centerline goodness [0,1] 0.7188822624086186 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.998385 -0.02923829 -0.04870847 0.49910436] [ 0.02991105 0.99946618 0.01314065 -0.16140378] [ 0.04829826 -0.01457635 0.99872659 -0.07800651] [ 0. 0. 0. 1. ]] SLAMing on 75.62327356 meters Centerline goodness [0,1] 0.711409880225119 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.9983703 -0.02988833 -0.04861517 0.49883543] [ 0.0305244 0.99945718 0.01239416 -0.15947524] [ 0.04821834 -0.01385791 0.99874068 -0.07800274] [ 0. 0. 0. 1. ]] SLAMing on 75.65327356 meters Centerline goodness [0,1] 0.7107276457101483 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.99835935 -0.03030334 -0.04858301 0.49866564] [ 0.0309122 0.99945209 0.01183018 -0.15833007] [ 0.0481979 -0.01331257 0.99874909 -0.07780437] [ 0. 0. 0. 1. ]] SLAMing on 75.68327356 meters Centerline goodness [0,1] 0.7107411984201982 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.99835108 -0.03053126 -0.04861029 0.49880569] [ 0.03112603 0.99944901 0.01152587 -0.1573344 ] [ 0.04823161 -0.01301991 0.99875132 -0.07790421] [ 0. 0. 0. 1. ]] SLAMing on 75.71327356 meters Centerline goodness [0,1] 0.7055228116131849 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.08 [[ 0.99834084 -0.03078393 -0.04866129 0.49906972] [ 0.03136175 0.99944584 0.01115552 -0.15622592] [ 0.04829092 -0.01266312 0.99875304 -0.0780612 ] [ 0. 0. 0. 1. ]] SLAMing on 75.74327356 meters Centerline goodness [0,1] 0.702094101089515 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.99833291 -0.03109477 -0.04862627 0.49954538] [ 0.03165257 0.99944119 0.01074321 -0.15464794] [ 0.04826504 -0.01226444 0.99875926 -0.07874325] [ 0. 0. 0. 1. ]] SLAMing on 75.77327356 meters Centerline goodness [0,1] 0.7002728114191066 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.99832703 -0.0313188 -0.04860333 0.499549 ] [ 0.03186099 0.99943798 0.01042079 -0.15377753] [ 0.04824964 -0.0119519 0.9987638 -0.07877014] [ 0. 0. 0. 1. ]] SLAMing on 75.80327356000001 meters Centerline goodness [0,1] 0.6957507496526001 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.9983153 -0.0319359 -0.04844226 0.49897375] [ 0.03243365 0.99942851 0.0095238 -0.15161467] [ 0.04811042 -0.01107891 0.99878058 -0.07840241] [ 0. 0. 0. 1. ]] SLAMing on 75.83327356000001 meters Centerline goodness [0,1] 0.693460224499756 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.9983085 -0.03226046 -0.04836726 0.49857266] [ 0.03273293 0.99942354 0.00900832 -0.15045399] [ 0.04804877 -0.01057628 0.998789 -0.07803848] [ 0. 0. 0. 1. ]] SLAMing on 75.86327356000001 meters Centerline goodness [0,1] 0.693032796893697 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.99829991 -0.03244728 -0.04841969 0.49861837] [ 0.0328987 0.99942207 0.00855521 -0.14902178] [ 0.04811411 -0.01013361 0.99879044 -0.07784403] [ 0. 0. 0. 1. ]] SLAMing on 75.89327356 meters Centerline goodness [0,1] 0.709151446898105 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.08 [[ 0.99829582 -0.03238787 -0.04854369 0.4989057 ] [ 0.03280606 0.99943097 0.00784254 -0.14591609] [ 0.04826207 -0.0094217 0.99879027 -0.07752126] [ 0. 0. 0. 1. ]] SLAMing on 75.92327356 meters Centerline goodness [0,1] 0.7126114837473281 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.99829626 -0.03219859 -0.04866037 0.49939937] [ 0.03260541 0.99943948 0.00758983 -0.14434261] [ 0.04838872 -0.00916349 0.99878654 -0.07761486] [ 0. 0. 0. 1. ]] SLAMing on 75.95327356 meters Centerline goodness [0,1] 0.7143841007477372 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.99828882 -0.03192681 -0.04899101 0.50029681] [ 0.03231955 0.99945133 0.00724528 -0.14269495] [ 0.04873281 -0.00881625 0.99877294 -0.07755042] [ 0. 0. 0. 1. ]] SLAMing on 75.98327356 meters Centerline goodness [0,1] 0.7241447547431172 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.99840887 -0.02805461 -0.0489149 0.50000307] [ 0.02860913 0.99953369 0.01067314 -0.14115739] [ 0.04859266 -0.01205558 0.99874592 -0.07770123] [ 0. 0. 0. 1. ]] SLAMing on 76.01327356 meters Centerline goodness [0,1] 0.7105996694541059 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.9984087 -0.02742588 -0.04927354 0.50141499] [ 0.02797219 0.99955426 0.01043207 -0.13922649] [ 0.04896547 -0.01179376 0.99873084 -0.0779184 ] [ 0. 0. 0. 1. ]] SLAMing on 76.04327356 meters Centerline goodness [0,1] 0.7192661004778765 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.99841178 -0.02669329 -0.04961231 0.50267116] [ 0.02723451 0.99957636 0.0102652 -0.13743475] [ 0.04931728 -0.01160006 0.9987158 -0.0780021 ] [ 0. 0. 0. 1. ]] SLAMing on 76.07327356 meters Centerline goodness [0,1] 0.7274565103451718 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:-0.08 [[ 0.99851858 -0.02201768 -0.04975815 0.50329155] [ 0.022742 0.99964281 0.01403768 -0.1354991 ] [ 0.0494313 -0.01514849 0.99866264 -0.07829593] [ 0. 0. 0. 1. ]] SLAMing on 76.10327356 meters Centerline goodness [0,1] 0.7398392307114416 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.08 [[ 0.99852525 -0.02090004 -0.05010502 0.50483005] [ 0.02162811 0.9996676 0.01403287 -0.13349169] [ 0.04979507 -0.01509585 0.99864537 -0.07844311] [ 0. 0. 0. 1. ]] SLAMing on 76.13327356 meters Centerline goodness [0,1] 0.7591779023380296 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.08 [[ 0.99861283 -0.01576241 -0.05023914 0.50571092] [ 0.01668237 0.99969979 0.01794517 -0.13142711] [ 0.0499412 -0.01875838 0.99857599 -0.07871531] [ 0. 0. 0. 1. ]] SLAMing on 76.16327356000001 meters Centerline goodness [0,1] 0.7802703044082354 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.08 [[ 0.99860968 -0.0146776 -0.05062871 0.50724393] [ 0.0155934 0.99972101 0.01774116 -0.12947669] [ 0.05035418 -0.01850597 0.99855996 -0.0786067 ] [ 0. 0. 0. 1. ]] SLAMing on 76.19327356000001 meters Centerline goodness [0,1] 0.7897985622475677 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.08 [[ 0.99861171 -0.01343388 -0.05093319 0.50879847] [ 0.01435942 0.99973757 0.0178495 -0.12793023] [ 0.05068004 -0.01855609 0.99854254 -0.07879518] [ 0. 0. 0. 1. ]] SLAMing on 76.22327356000001 meters Centerline goodness [0,1] 0.8112884689056314 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.08 [[ 0.99865886 -0.00818061 -0.05112293 0.5099237 ] [ 0.00931924 0.99971291 0.02207389 -0.12713152] [ 0.05092768 -0.02252071 0.99844839 -0.0792266 ] [ 0. 0. 0. 1. ]] SLAMing on 76.25327356000001 meters Centerline goodness [0,1] 0.8131025136164881 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.08 [[ 0.99864854 -0.0072106 -0.05146948 0.51130789] [ 0.0083562 0.99972134 0.02207738 -0.12581181] [ 0.05129594 -0.02247763 0.99843051 -0.07927779] [ 0. 0. 0. 1. ]] SLAMing on 76.28327356 meters Centerline goodness [0,1] 0.8184147810265741 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.08 [[ 0.99863803 -0.00664356 -0.05174881 0.51205022] [ 0.00777244 0.99973553 0.02164408 -0.12414358] [ 0.05159133 -0.02201682 0.99842556 -0.07874137] [ 0. 0. 0. 1. ]] SLAMing on 76.31327356 meters Centerline goodness [0,1] 0.817427065929829 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.08 [[ 0.9986605 -0.002276 -0.05169168 0.51190398] [ 0.00359959 0.99966766 0.02552678 -0.1240051 ] [ 0.0516164 -0.02567865 0.99833679 -0.07857463] [ 0. 0. 0. 1. ]] SLAMing on 76.34327356 meters Centerline goodness [0,1] 0.8184643040575244 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.08 [[ 0.99864396 -0.00190522 -0.05202503 0.51266855] [ 0.00322271 0.99967593 0.02525186 -0.12319614] [ 0.05196006 -0.02538528 0.99832647 -0.07815287] [ 0. 0. 0. 1. ]] SLAMing on 76.37327356 meters Centerline goodness [0,1] 0.8204380309077883 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.08 [[ 9.98630537e-01 -9.60303240e-04 -5.23080129e-02 5.14145569e-01] [ 2.29421823e-03 9.99673538e-01 2.54470887e-02 -1.23059949e-01] [ 5.22664994e-02 -2.55322458e-02 9.98306725e-01 -7.85209378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40327356 meters Centerline goodness [0,1] 0.821449586819147 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.08 [[ 9.98614063e-01 -7.36377263e-04 -5.26251966e-02 5.14883306e-01] [ 2.07416393e-03 9.99675954e-01 2.53709384e-02 -1.23358254e-01] [ 5.25894611e-02 -2.54449292e-02 9.98291993e-01 -7.82861345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43327356 meters Centerline goodness [0,1] 0.8178656369076541 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.08 [[ 9.98602501e-01 -5.40931724e-04 -5.28465025e-02 5.15519381e-01] [ 1.88727281e-03 9.99674827e-01 2.54298668e-02 -1.23807092e-01] [ 5.28155624e-02 -2.54940643e-02 9.98278803e-01 -7.83040064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46327356 meters Centerline goodness [0,1] 0.8168686997575603 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.08 [[ 9.98591720e-01 -4.57157021e-04 -5.30506094e-02 5.15854749e-01] [ 1.81253585e-03 9.99673090e-01 2.55034907e-02 -1.24820454e-01] [ 5.30216075e-02 -2.55637308e-02 9.98266099e-01 -7.80707207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49327356 meters Centerline goodness [0,1] 0.8161965191244298 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 9.98593638e-01 -6.22288543e-04 -5.30128257e-02 5.15554975e-01] [ 1.97038828e-03 9.99675903e-01 2.53812228e-02 -1.25347606e-01] [ 5.29798500e-02 -2.54499835e-02 9.98271223e-01 -7.77249343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52327356 meters Centerline goodness [0,1] 0.8165800998064976 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.08 [[ 0.9985761 -0.00351975 -0.05322952 0.51674314] [ 0.00467738 0.99975491 0.02163909 -0.12437241] [ 0.05314031 -0.02185726 0.99834782 -0.07751895] [ 0. 0. 0. 1. ]] SLAMing on 76.55327356000001 meters Centerline goodness [0,1] 0.8140030982553267 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 0.9985768 -0.00434197 -0.05315569 0.51548807] [ 0.00549348 0.99975298 0.02153607 -0.12712432] [ 0.05304905 -0.02179743 0.99835398 -0.07655118] [ 0. 0. 0. 1. ]] SLAMing on 76.58327356000001 meters Centerline goodness [0,1] 0.814500442086649 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 0.99853005 -0.00794179 -0.053616 0.51649197] [ 0.00888912 0.99980816 0.01745353 -0.12676741] [ 0.0534671 -0.01790448 0.99840908 -0.07584042] [ 0. 0. 0. 1. ]] SLAMing on 76.61327356000001 meters Centerline goodness [0,1] 0.8082319453890526 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.99848704 -0.01248103 -0.05355231 0.51548845] [ 0.0132123 0.99982395 0.01332294 -0.12850016] [ 0.0533766 -0.01401033 0.99847616 -0.07451 ] [ 0. 0. 0. 1. ]] SLAMing on 76.64327356 meters Centerline goodness [0,1] 0.8071873188679721 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.9984138 -0.01626417 -0.05390143 0.51623447] [ 0.01680077 0.99981356 0.00951706 -0.12894366] [ 0.0537366 -0.01040755 0.99850091 -0.07398811] [ 0. 0. 0. 1. ]] SLAMing on 76.67327356 meters Centerline goodness [0,1] 0.8044660534823689 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.99833314 -0.02020719 -0.05406109 0.51673718] [ 0.02054579 0.99977258 0.00571475 -0.12951098] [ 0.05393331 -0.00681595 0.99852128 -0.07374389] [ 0. 0. 0. 1. ]] SLAMing on 76.70327356 meters Centerline goodness [0,1] 0.8014505439539827 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.99823364 -0.02402824 -0.05433459 0.51753116] [ 0.02417982 0.99970535 0.00213409 -0.13055147] [ 0.05426731 -0.00344412 0.9985205 -0.07357461] [ 0. 0. 0. 1. ]] SLAMing on 76.73327356 meters Centerline goodness [0,1] 0.7615254826063222 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 9.98101034e-01 -2.93443211e-02 -5.41593596e-02 5.16524641e-01] [ 2.93152075e-02 9.99569329e-01 -1.33207771e-03 -1.34845996e-01] [ 5.41751237e-02 -2.58144723e-04 9.98531416e-01 -7.33870474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76327356 meters Centerline goodness [0,1] 0.747675505485315 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.08 [[ 9.98618426e-01 -2.99292617e-02 -4.31911841e-02 5.18169842e-01] [ 2.99592689e-02 9.99551119e-01 4.74855309e-05 -1.39542481e-01] [ 4.31703752e-02 -1.34139623e-03 9.99066824e-01 -8.10933626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79327356 meters Centerline goodness [0,1] 0.7335942499876926 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.08 [[ 9.98583087e-01 -3.13594367e-02 -4.29930618e-02 5.16809661e-01] [ 3.13813001e-02 9.99507472e-01 -1.66439372e-04 -1.42153742e-01] [ 4.29771060e-02 -1.18297463e-03 9.99075357e-01 -8.06328706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82327356 meters Centerline goodness [0,1] 0.7180643588493418 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.08 [[ 0.99842973 -0.03609464 -0.04283977 0.51634272] [ 0.03596988 0.9993461 -0.00367994 -0.14467664] [ 0.04294458 0.00213322 0.99907518 -0.08053954] [ 0. 0. 0. 1. ]] SLAMing on 76.85327356 meters Centerline goodness [0,1] 0.7106844781857556 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.08 [[ 0.99841286 -0.0369323 -0.04251778 0.51516569] [ 0.03681014 0.9993156 -0.00365286 -0.14631623] [ 0.04262359 0.00208198 0.99908903 -0.08036698] [ 0. 0. 0. 1. ]] SLAMing on 76.88327356 meters Centerline goodness [0,1] 0.6995541771661175 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99836214 -0.03835498 -0.04244913 0.51404331] [ 0.03823123 0.99926198 -0.00372369 -0.1487344 ] [ 0.04256062 0.00209471 0.99909169 -0.08008541] [ 0. 0. 0. 1. ]] SLAMing on 76.91327356000001 meters Centerline goodness [0,1] 0.7361265663554115 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99836255 -0.03856222 -0.04225123 0.51372092] [ 0.03845238 0.99925462 -0.00340958 -0.14981793] [ 0.04235122 0.00177933 0.9991012 -0.08043574] [ 0. 0. 0. 1. ]] SLAMing on 76.94327356000001 meters Centerline goodness [0,1] 0.7223928977478894 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99835995 -0.03884205 -0.04205607 0.51324055] [ 0.03873499 0.99924388 -0.00335793 -0.15030229] [ 0.0421547 0.00172338 0.99910961 -0.08050177] [ 0. 0. 0. 1. ]] SLAMing on 76.97327356000001 meters Centerline goodness [0,1] 0.6879520112231816 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99835743 -0.03890067 -0.04206169 0.51350721] [ 0.03880269 0.99924195 -0.00314345 -0.15069299] [ 0.04215208 0.00150618 0.99911007 -0.08096061] [ 0. 0. 0. 1. ]] SLAMing on 77.00327356000001 meters Centerline goodness [0,1] 0.7141852399776878 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99835017 -0.03934386 -0.04182108 0.51291954] [ 0.03924088 0.99922439 -0.00328081 -0.15034084] [ 0.04191772 0.0016343 0.99911973 -0.0810383 ] [ 0. 0. 0. 1. ]] SLAMing on 77.03327356 meters Centerline goodness [0,1] 0.7141852399776878 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99835017 -0.03934386 -0.04182108 0.51291954] [ 0.03924088 0.99922439 -0.00328081 -0.15034084] [ 0.04191772 0.0016343 0.99911973 -0.0810383 ] [ 0. 0. 0. 1. ]] SLAMing on 77.06327356 meters Centerline goodness [0,1] 0.7266281385071147 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99835367 -0.03929746 -0.04178117 0.51304401] [ 0.03920066 0.99922644 -0.00313393 -0.15006007] [ 0.04187201 0.00149092 0.99912187 -0.08137662] [ 0. 0. 0. 1. ]] SLAMing on 77.09327356 meters Centerline goodness [0,1] 0.7271332554061952 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99834676 -0.03939435 -0.0418548 0.51322023] [ 0.03929039 0.99922237 -0.00330369 -0.14922356] [ 0.0419524 0.00165374 0.99911824 -0.08142858] [ 0. 0. 0. 1. ]] SLAMing on 77.12327356 meters Centerline goodness [0,1] 0.7219757179774733 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99834433 -0.03918573 -0.04210787 0.51424848] [ 0.03906867 0.99923004 -0.00359966 -0.14676488] [ 0.04221651 0.0019486 0.99910659 -0.08191206] [ 0. 0. 0. 1. ]] SLAMing on 77.15327356 meters Centerline goodness [0,1] 0.7203034294355822 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.08 [[ 0.99834377 -0.03905373 -0.04224354 0.51485854] [ 0.03892673 0.99923475 -0.00382519 -0.14512436] [ 0.0423606 0.00217445 0.99910002 -0.08219085] [ 0. 0. 0. 1. ]] SLAMing on 77.18327356 meters Centerline goodness [0,1] 0.7198346500990631 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.08 [[ 0.99834387 -0.03891321 -0.04237075 0.51552705] [ 0.03877611 0.9992397 -0.00405319 -0.14326821] [ 0.04249626 0.0024035 0.99909373 -0.08256435] [ 0. 0. 0. 1. ]] SLAMing on 77.21327356 meters Centerline goodness [0,1] 0.7187793195397758 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.08 [[ 9.98479958e-01 -3.57258453e-02 -4.19694936e-02 5.14382197e-01] [ 3.57293476e-02 9.99361281e-01 -6.66889729e-04 -1.41502132e-01] [ 4.19665121e-02 -8.33666598e-04 9.99118670e-01 -8.30937313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24327356 meters Centerline goodness [0,1] 0.7100648868195552 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.08 [[ 9.98476973e-01 -3.57651141e-02 -4.20070402e-02 5.14670005e-01] [ 3.57521672e-02 9.99360125e-01 -1.05966113e-03 -1.39519212e-01] [ 4.20180598e-02 -4.43795484e-04 9.99116753e-01 -8.32427519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27327356 meters Centerline goodness [0,1] 0.718212717394001 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.08 [[ 9.98477858e-01 -3.57378806e-02 -4.20091881e-02 5.15103884e-01] [ 3.57180419e-02 9.99361159e-01 -1.22296537e-03 -1.38011688e-01] [ 4.20260571e-02 -2.79382100e-04 9.99116476e-01 -8.37464937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30327356000001 meters Centerline goodness [0,1] 0.72562906805656 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 9.98469686e-01 -3.58670891e-02 -4.20932114e-02 5.15812334e-01] [ 3.58161707e-02 9.99356466e-01 -1.96342252e-03 -1.34193602e-01] [ 4.21365452e-02 4.52800220e-04 9.99111759e-01 -8.42568883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33327356000001 meters Centerline goodness [0,1] 0.732555227170265 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 9.98463805e-01 -3.59375870e-02 -4.21725123e-02 5.16216318e-01] [ 3.58701039e-02 9.99353684e-01 -2.35602481e-03 -1.32232451e-01] [ 4.22299253e-02 8.39673100e-04 9.99107566e-01 -8.44629007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36327356000001 meters Centerline goodness [0,1] 0.7148969175340272 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.08 [[ 0.99845415 -0.03598398 -0.042361 0.5168717 ] [ 0.0359 0.99935163 -0.00274172 -0.13026958] [ 0.0424322 0.00121672 0.99909861 -0.08468807] [ 0. 0. 0. 1. ]] SLAMing on 77.39327356 meters Centerline goodness [0,1] 0.7163150989099718 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.09 [[ 9.98560561e-01 -3.36152925e-02 -4.17949481e-02 5.15079046e-01] [ 3.36443311e-02 9.99433869e-01 -8.60649810e-06 -1.27595949e-01] [ 4.17715760e-02 -1.39756896e-03 9.99126209e-01 -8.50285031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42327356 meters Centerline goodness [0,1] 0.7195535533508808 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.09 [[ 9.98551506e-01 -3.38153631e-02 -4.18498643e-02 5.15328416e-01] [ 3.38240642e-02 9.99427677e-01 -5.00347379e-04 -1.25540113e-01] [ 4.18428321e-02 -9.15909871e-04 9.99123785e-01 -8.51230875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45327356 meters Centerline goodness [0,1] 0.7101618385672974 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.09 [[ 9.98543578e-01 -3.38377177e-02 -4.20206073e-02 5.16008769e-01] [ 3.38315437e-02 9.99427181e-01 -8.58248947e-04 -1.23531924e-01] [ 4.20255782e-02 -5.64623034e-04 9.99116376e-01 -8.54056643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48327356 meters Centerline goodness [0,1] 0.7256942668644197 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.09 [[ 0.99863742 -0.03176206 -0.04140619 0.5134644 ] [ 0.03185612 0.99949116 0.00161377 -0.12067483] [ 0.04133386 -0.00293061 0.99914109 -0.08505834] [ 0. 0. 0. 1. ]] SLAMing on 77.51327356 meters Centerline goodness [0,1] 0.729493936447833 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.09 [[ 0.99863248 -0.03196943 -0.04136563 0.5136058 ] [ 0.03204234 0.99948591 0.00110043 -0.11844905] [ 0.04130919 -0.00242438 0.99914347 -0.08528082] [ 0. 0. 0. 1. ]] SLAMing on 77.54327356 meters Centerline goodness [0,1] 0.7195932934500732 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.09 [[ 9.98623775e-01 -3.21693264e-02 -4.14208972e-02 5.13893728e-01] [ 3.22190093e-02 9.99480691e-01 5.32293383e-04 -1.16154606e-01] [ 4.13822634e-02 -1.86610110e-03 9.99141645e-01 -8.53675763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57327356 meters Centerline goodness [0,1] 0.7248591494944818 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.11, Z:-0.09 [[ 9.98612434e-01 -3.24033503e-02 -4.15117999e-02 5.14779718e-01] [ 3.24166151e-02 9.99474381e-01 -3.53720396e-04 -1.11659890e-01] [ 4.15014423e-02 -9.92442455e-04 9.99137951e-01 -8.60595430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60327356 meters Centerline goodness [0,1] 0.73096905937395 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.09 [[ 9.98605732e-01 -3.26154637e-02 -4.15069124e-02 5.15130021e-01] [ 3.26093373e-02 9.99467834e-01 -8.24818701e-04 -1.09488666e-01] [ 4.15117257e-02 -5.29844226e-04 9.99137876e-01 -8.64687081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63327356 meters Centerline goodness [0,1] 0.7217972983484146 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.09 [[ 9.98600367e-01 -3.27448204e-02 -4.15341285e-02 5.15785392e-01] [ 3.27230625e-02 9.99463732e-01 -1.20378616e-03 -1.07137370e-01] [ 4.15512728e-02 -1.57022582e-04 9.99136361e-01 -8.71992652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66327356000001 meters Centerline goodness [0,1] 0.7241857423152387 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.10, Z:-0.09 [[ 9.98590086e-01 -3.31071559e-02 -4.14940506e-02 5.16352623e-01] [ 3.30486899e-02 9.99451548e-01 -2.09437527e-03 -1.02385723e-01] [ 4.15406319e-02 7.20098367e-04 9.99136556e-01 -8.80125588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69327356000001 meters Centerline goodness [0,1] 0.7243099260961534 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.10, Z:-0.09 [[ 0.99857991 -0.03322159 -0.0416471 0.517012 ] [ 0.0331457 0.99944737 -0.0025115 -0.10007156] [ 0.04170753 0.00112752 0.99912923 -0.08837054] [ 0. 0. 0. 1. ]] SLAMing on 77.72327356000001 meters Centerline goodness [0,1] 0.724406342861651 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.10, Z:-0.09 [[ 0.9985694 -0.03369584 -0.04151789 0.51672647] [ 0.03358751 0.99943032 -0.0033042 -0.09723825] [ 0.04160557 0.00190499 0.9991323 -0.0882774 ] [ 0. 0. 0. 1. ]] SLAMing on 77.75327356000001 meters Centerline goodness [0,1] 0.7089137590520078 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.09 [[ 0.99854726 -0.034533 -0.04136236 0.51625512] [ 0.03437222 0.99939855 -0.00459226 -0.09226523] [ 0.04149607 0.00316388 0.99913366 -0.08813201] [ 0. 0. 0. 1. ]] SLAMing on 77.78327356 meters Centerline goodness [0,1] 0.7137235222650679 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.09 [[ 0.99853322 -0.03508793 -0.04123407 0.51581971] [ 0.03489475 0.99937643 -0.00539565 -0.08955001] [ 0.04139768 0.00394888 0.99913495 -0.08790093] [ 0. 0. 0. 1. ]] SLAMing on 77.81327356 meters Centerline goodness [0,1] 0.7062420584498095 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.09 [[ 0.99851877 -0.03546122 -0.04126458 0.51581303] [ 0.03524352 0.99936079 -0.00599161 -0.08717706] [ 0.04145067 0.00452842 0.99913029 -0.08784761] [ 0. 0. 0. 1. ]] SLAMing on 77.84327356 meters Centerline goodness [0,1] 0.7128094782701094 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.09 [[ 0.99849354 -0.03651772 -0.04095242 0.51465788] [ 0.0362433 0.99931542 -0.00742361 -0.08237406] [ 0.04119548 0.00592818 0.99913352 -0.08733004] [ 0. 0. 0. 1. ]] SLAMing on 77.87327356 meters Centerline goodness [0,1] 0.7135279221644675 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.09 [[ 0.99858992 -0.0344551 -0.04038578 0.51214163] [ 0.03430551 0.99940174 -0.00439136 -0.08163339] [ 0.04051292 0.00299971 0.99917451 -0.08729313] [ 0. 0. 0. 1. ]] SLAMing on 77.90327356 meters Centerline goodness [0,1] 0.7102995705177795 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.09 [[ 0.99857415 -0.03472811 -0.04054165 0.51233533] [ 0.03455372 0.99939036 -0.00499451 -0.07942736] [ 0.04069038 0.00358652 0.99916537 -0.08701666] [ 0. 0. 0. 1. ]] SLAMing on 77.93327356 meters Centerline goodness [0,1] 0.7085030004286327 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.09 [[ 0.9985668 -0.03512441 -0.04038093 0.51202579] [ 0.03492815 0.99937438 -0.00555566 -0.07677437] [ 0.0405508 0.00413727 0.99916891 -0.08717421] [ 0. 0. 0. 1. ]] SLAMing on 77.96327356 meters Centerline goodness [0,1] 0.7048040794417606 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:-0.09 [[ 0.99855724 -0.0355098 -0.04028017 0.51237587] [ 0.03528146 0.99935714 -0.00636578 -0.07207217] [ 0.04048033 0.00493546 0.99916815 -0.08792211] [ 0. 0. 0. 1. ]] SLAMing on 77.99327356 meters Centerline goodness [0,1] 0.70212593969768 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:-0.09 [[ 0.99855099 -0.03564255 -0.04031779 0.51289688] [ 0.03539879 0.99935051 -0.00674392 -0.06992839] [ 0.04053197 0.00530695 0.99916415 -0.08843468] [ 0. 0. 0. 1. ]] SLAMing on 78.02327356 meters Centerline goodness [0,1] 0.6990856865442188 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:-0.09 [[ 0.99854845 -0.03570278 -0.04032736 0.51350981] [ 0.03545084 0.99934729 -0.00694552 -0.06796131] [ 0.04054901 0.0055058 0.99916238 -0.08922583] [ 0. 0. 0. 1. ]] SLAMing on 78.05327356000001 meters Centerline goodness [0,1] 0.695504068777204 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.09 [[ 0.99854105 -0.03585658 -0.04037427 0.51443708] [ 0.03557953 0.99933825 -0.00755995 -0.06398178] [ 0.04061863 0.00611242 0.99915603 -0.09019671] [ 0. 0. 0. 1. ]] SLAMing on 78.08327356000001 meters Centerline goodness [0,1] 0.6961382941192433 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.09 [[ 0.99865805 -0.03310532 -0.03982643 0.51282376] [ 0.03297638 0.99944856 -0.00389032 -0.06369767] [ 0.03993325 0.00257177 0.99919904 -0.09105941] [ 0. 0. 0. 1. ]] SLAMing on 78.11327356000001 meters Centerline goodness [0,1] 0.6921176246979283 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.09 [[ 9.98764924e-01 -3.04763557e-02 -3.92405194e-02 5.10894235e-01] [ 3.04601080e-02 9.99535471e-01 -1.01199133e-03 -6.03572300e-02] [ 3.92531329e-02 -1.84529023e-04 9.99229282e-01 -9.13196488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14327356 meters Centerline goodness [0,1] 0.6888381076743111 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.09 [[ 9.98753265e-01 -3.07308469e-02 -3.93386590e-02 5.10964155e-01] [ 3.06847794e-02 9.99527536e-01 -1.77443780e-03 -5.76317957e-02] [ 3.93746029e-02 5.65127469e-04 9.99224360e-01 -9.09158575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17327356 meters Centerline goodness [0,1] 0.7028397013135663 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.09 [[ 0.99874637 -0.0309241 -0.03936239 0.51101612] [ 0.03085195 0.99952099 -0.00243931 -0.05511046] [ 0.03941897 0.00122185 0.99922202 -0.09068157] [ 0. 0. 0. 1. ]] SLAMing on 78.20327356 meters Centerline goodness [0,1] 0.6847009317703636 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99873665 -0.03115511 -0.03942661 0.51151948] [ 0.03104032 0.99951193 -0.00352045 -0.05049957] [ 0.03951705 0.00229219 0.99921627 -0.09067674] [ 0. 0. 0. 1. ]] SLAMing on 78.23327356 meters Centerline goodness [0,1] 0.7011314758499767 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99872881 -0.03121697 -0.03957603 0.51206119] [ 0.0310828 0.9995088 -0.00400114 -0.04836076] [ 0.03968149 0.00276592 0.99920855 -0.09076466] [ 0. 0. 0. 1. ]] SLAMing on 78.26327356 meters Centerline goodness [0,1] 0.6990211400839023 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99872706 -0.03115652 -0.0396677 0.5127128 ] [ 0.03101186 0.99950995 -0.00425687 -0.0463204 ] [ 0.03978089 0.00302128 0.99920386 -0.09122196] [ 0. 0. 0. 1. ]] SLAMing on 78.29327356 meters Centerline goodness [0,1] 0.7053864168618267 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 9.98843355e-01 -2.81441112e-02 -3.89854035e-02 5.11552231e-01] [ 2.81326165e-02 9.99603844e-01 -8.43513186e-04 -4.40600981e-02] [ 3.89936991e-02 -2.54223862e-04 9.99239424e-01 -9.26647559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32327356 meters Centerline goodness [0,1] 0.701320177493592 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 9.98842188e-01 -2.79554385e-02 -3.91506920e-02 5.12496995e-01] [ 2.79375980e-02 9.99609166e-01 -1.00281947e-03 -4.20057523e-02] [ 3.91634248e-02 -9.21178997e-05 9.99232815e-01 -9.32109665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35327356 meters Centerline goodness [0,1] 0.707129627069914 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 9.98835307e-01 -2.80051954e-02 -3.92904361e-02 5.12947314e-01] [ 2.79662091e-02 9.99607680e-01 -1.54163004e-03 -3.96564153e-02] [ 3.93181953e-02 4.41029959e-04 9.99226643e-01 -9.30945696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38327356 meters Centerline goodness [0,1] 0.7130049806308799 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 9.98834088e-01 -2.77950732e-02 -3.94702292e-02 5.13914440e-01] [ 2.77486354e-02 9.99613446e-01 -1.72398141e-03 -3.77951391e-02] [ 3.95028900e-02 6.26726403e-04 9.99219260e-01 -9.35354228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41327356000001 meters Centerline goodness [0,1] 0.6968042351506416 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99883116 -0.02766278 -0.03963687 0.51508517] [ 0.02759869 0.99961674 -0.00216331 -0.03439186] [ 0.03968152 0.00106686 0.99921181 -0.09420704] [ 0. 0. 0. 1. ]] SLAMing on 78.44327356000001 meters Centerline goodness [0,1] 0.7049616311604843 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99882691 -0.02764832 -0.03975395 0.51572751] [ 0.02757649 0.99961692 -0.0023543 -0.03302746] [ 0.03980382 0.00125526 0.99920673 -0.0945759 ] [ 0. 0. 0. 1. ]] SLAMing on 78.47327356000001 meters Centerline goodness [0,1] 0.7043074957647124 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99882518 -0.02785921 -0.03964991 0.51565765] [ 0.02777823 0.99961075 -0.00259177 -0.03154826] [ 0.03970668 0.00148732 0.99921027 -0.09486295] [ 0. 0. 0. 1. ]] SLAMing on 78.50327356000001 meters Centerline goodness [0,1] 0.7047995105945164 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99881187 -0.02826612 -0.03969721 0.51550296] [ 0.02814921 0.9995976 -0.00350098 -0.02872577] [ 0.0397802 0.00237938 0.99920562 -0.09427546] [ 0. 0. 0. 1. ]] SLAMing on 78.53327356 meters Centerline goodness [0,1] 0.7049871551435274 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.09 [[ 9.98914913e-01 -2.51872542e-02 -3.91739532e-02 5.13607210e-01] [ 2.52145548e-02 9.99682042e-01 2.02917447e-04 -2.88553654e-02] [ 3.91563866e-02 -1.19045105e-03 9.99232385e-01 -9.44519057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56327356 meters Centerline goodness [0,1] 0.7070548712206047 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.09 [[ 9.98909012e-01 -2.48887789e-02 -3.95137347e-02 5.14462265e-01] [ 2.48977577e-02 9.99689968e-01 -2.64922069e-04 -2.69323696e-02] [ 3.95080777e-02 -7.19170349e-04 9.99218992e-01 -9.39654102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59327356 meters Centerline goodness [0,1] 0.7101603977639821 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.09 [[ 0.99900612 -0.0216107 -0.0389839 0.51253949] [ 0.02174308 0.99975916 0.00297503 -0.02555001] [ 0.03891022 -0.0038197 0.99923541 -0.09351902] [ 0. 0. 0. 1. ]] SLAMing on 78.62327356 meters Centerline goodness [0,1] 0.7111329772280011 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.09 [[ 0.99900009 -0.02117252 -0.03937705 0.51366863] [ 0.02129887 0.99976925 0.00279203 -0.0243515 ] [ 0.03930885 -0.00362793 0.99922052 -0.09333824] [ 0. 0. 0. 1. ]] SLAMing on 78.65327356 meters Centerline goodness [0,1] 0.7129066756726331 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.09 [[ 0.99899682 -0.02086108 -0.03962528 0.51443253] [ 0.0209834 0.99977625 0.00267333 -0.02351489] [ 0.03956064 -0.00350212 0.99921103 -0.09326741] [ 0. 0. 0. 1. ]] SLAMing on 78.68327356 meters Centerline goodness [0,1] 0.7197806856399966 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.09 [[ 0.99899287 -0.02026277 -0.04003327 0.5158483 ] [ 0.0203871 0.99978852 0.00269992 -0.02267506] [ 0.0399701 -0.00351336 0.9991947 -0.09338875] [ 0. 0. 0. 1. ]] SLAMing on 78.71327356 meters Centerline goodness [0,1] 0.7194970330601864 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.09 [[ 0.99898688 -0.01944672 -0.04058379 0.51758682] [ 0.01957197 0.99980483 0.00269126 -0.02174254] [ 0.04052353 -0.00348284 0.99917251 -0.09326124] [ 0. 0. 0. 1. ]] SLAMing on 78.74327356 meters Centerline goodness [0,1] 0.7274527554599977 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.09 [[ 0.99898278 -0.01894907 -0.04091866 0.5187059 ] [ 0.01908452 0.9998136 0.00292198 -0.02182736] [ 0.04085566 -0.00369992 0.99915821 -0.09341764] [ 0. 0. 0. 1. ]] SLAMing on 78.77327356 meters Centerline goodness [0,1] 0.7195207892882312 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.09 [[ 0.99898457 -0.01858311 -0.04104272 0.51961337] [ 0.01874169 0.9998183 0.00348225 -0.02337013] [ 0.04097055 -0.00424792 0.99915132 -0.09420027] [ 0. 0. 0. 1. ]] SLAMing on 78.80327356000001 meters Centerline goodness [0,1] 0.7223239694570455 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.09 [[ 0.9989916 -0.01860544 -0.04086091 0.519537 ] [ 0.0187752 0.99981661 0.00377466 -0.02456562] [ 0.04078319 -0.00453802 0.99915771 -0.09471747] [ 0. 0. 0. 1. ]] SLAMing on 78.83327356000001 meters Centerline goodness [0,1] 0.7160191441441441 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.10 [[ 0.99899427 -0.01875729 -0.04072608 0.51933524] [ 0.01893514 0.99981277 0.00398564 -0.02569743] [ 0.0406437 -0.00475279 0.9991624 -0.09503127] [ 0. 0. 0. 1. ]] SLAMing on 78.86327356000001 meters Centerline goodness [0,1] 0.7152727068471606 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99898808 -0.01967129 -0.04044572 0.51766839] [ 0.01984295 0.99979571 0.00384707 -0.02740584] [ 0.04036178 -0.00464574 0.99917433 -0.0943695 ] [ 0. 0. 0. 1. ]] SLAMing on 78.89327356 meters Centerline goodness [0,1] 0.7050323447870285 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99898795 -0.02024912 -0.04016287 0.51641825] [ 0.02041399 0.99978477 0.00369929 -0.02832802] [ 0.04007932 -0.00451543 0.9991863 -0.0938849 ] [ 0. 0. 0. 1. ]] SLAMing on 78.92327356 meters Centerline goodness [0,1] 0.7050323447870285 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.99898795 -0.02024912 -0.04016287 0.51641825] [ 0.02041399 0.99978477 0.00369929 -0.02832802] [ 0.04007932 -0.00451543 0.9991863 -0.0938849 ] [ 0. 0. 0. 1. ]] SLAMing on 78.95327356 meters Centerline goodness [0,1] 0.7101867144416762 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.09 [[ 0.9989881 -0.02075635 -0.03989936 0.51509868] [ 0.02091742 0.99977464 0.00362366 -0.02942994] [ 0.03981515 -0.00445459 0.99919713 -0.09325278] [ 0. 0. 0. 1. ]] SLAMing on 78.98327356 meters Centerline goodness [0,1] 0.693665309764122 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.09 [[ 0.99898315 -0.0208672 -0.03996541 0.51497834] [ 0.02104089 0.99977089 0.00393025 -0.03087789] [ 0.03987424 -0.00476716 0.99919333 -0.09313925] [ 0. 0. 0. 1. ]] SLAMing on 79.01327356 meters Centerline goodness [0,1] 0.699827230674915 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.09 [[ 0.99898296 -0.02123872 -0.03977383 0.51408776] [ 0.0214127 0.99976291 0.00395334 -0.03180582] [ 0.03968044 -0.00480098 0.99920089 -0.09282952] [ 0. 0. 0. 1. ]] SLAMing on 79.04327356 meters Centerline goodness [0,1] 0.6929368236570507 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 0.99897783 -0.02153692 -0.03974226 0.51370058] [ 0.02173212 0.99975376 0.00448634 -0.0350129 ] [ 0.03963585 -0.00534544 0.99919989 -0.09294219] [ 0. 0. 0. 1. ]] SLAMing on 79.07327356 meters Centerline goodness [0,1] 0.690925700365408 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 0.99897727 -0.02140078 -0.03982993 0.51429911] [ 0.02161922 0.99975346 0.00506174 -0.03703975] [ 0.03971178 -0.00591766 0.99919365 -0.09364119] [ 0. 0. 0. 1. ]] SLAMing on 79.10327356 meters Centerline goodness [0,1] 0.697758095765292 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 0.99897727 -0.02155981 -0.03974407 0.51406797] [ 0.02180451 0.99974581 0.00573375 -0.04044319] [ 0.03961035 -0.00659448 0.99919344 -0.09409156] [ 0. 0. 0. 1. ]] SLAMing on 79.13327356 meters Centerline goodness [0,1] 0.6967226750956579 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 0.99897913 -0.02158626 -0.03968288 0.51388564] [ 0.02183954 0.99974372 0.0059602 -0.04183283] [ 0.03954405 -0.00682077 0.99919455 -0.09408139] [ 0. 0. 0. 1. ]] SLAMing on 79.16327356000001 meters Centerline goodness [0,1] 0.7001242579041833 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:-0.09 [[ 0.99897751 -0.02124587 -0.03990674 0.5145911 ] [ 0.02152149 0.99974732 0.00648954 -0.04366148] [ 0.03975878 -0.00734176 0.99918233 -0.09429862] [ 0. 0. 0. 1. ]] SLAMing on 79.19327356000001 meters Centerline goodness [0,1] 0.6987911905944693 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99897892 -0.0214463 -0.03976392 0.51336265] [ 0.02172282 0.99974267 0.00653488 -0.04585718] [ 0.03961354 -0.00739199 0.99918773 -0.09314055] [ 0. 0. 0. 1. ]] SLAMing on 79.22327356000001 meters Centerline goodness [0,1] 0.686579107113294 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99897941 -0.0214303 -0.03976033 0.51298533] [ 0.02171002 0.99974241 0.00661688 -0.04702354] [ 0.03960829 -0.00747333 0.99918734 -0.09257984] [ 0. 0. 0. 1. ]] SLAMing on 79.25327356000001 meters Centerline goodness [0,1] 0.6850247696011955 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99897976 -0.0212951 -0.03982401 0.51297257] [ 0.02158253 0.99974394 0.00680135 -0.04831428] [ 0.03966898 -0.00765391 0.99918356 -0.09226722] [ 0. 0. 0. 1. ]] SLAMing on 79.28327356 meters Centerline goodness [0,1] 0.7022850386339263 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.05, Z:-0.09 [[ 0.99897671 -0.02059184 -0.04026788 0.5141494 ] [ 0.02091249 0.99975274 0.00755797 -0.05136078] [ 0.0401023 -0.00839233 0.99916033 -0.09222596] [ 0. 0. 0. 1. ]] SLAMing on 79.31327356 meters Centerline goodness [0,1] 0.7050728028405494 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.09 [[ 0.99897532 -0.02009723 -0.04055131 0.51505626] [ 0.02043697 0.99975929 0.00798087 -0.05267392] [ 0.04038115 -0.00880144 0.99914558 -0.09231741] [ 0. 0. 0. 1. ]] SLAMing on 79.34327356 meters Centerline goodness [0,1] 0.6907332929315189 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:-0.09 [[ 0.99897662 -0.01968297 -0.04072214 0.51572398] [ 0.02003983 0.99976412 0.00837369 -0.05387557] [ 0.04054771 -0.00918118 0.99913542 -0.09245158] [ 0. 0. 0. 1. ]] SLAMing on 79.37327356 meters Centerline goodness [0,1] 0.7101465211534761 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.09 [[ 0.99897427 -0.01859687 -0.04128639 0.51764916] [ 0.01899438 0.99977674 0.00925673 -0.05638816] [ 0.04110503 -0.01003145 0.99910447 -0.09281378] [ 0. 0. 0. 1. ]] SLAMing on 79.40327356 meters Centerline goodness [0,1] 0.7070042658593643 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.09 [[ 0.99897344 -0.01813981 -0.04150929 0.51829108] [ 0.01855684 0.99978091 0.00968353 -0.05764593] [ 0.04132454 -0.01044387 0.99909119 -0.09281909] [ 0. 0. 0. 1. ]] SLAMing on 79.43327356 meters Centerline goodness [0,1] 0.7077447369867531 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.09 [[ 0.99897235 -0.01796177 -0.04161265 0.51837567] [ 0.01838189 0.99978364 0.00973526 -0.05880758] [ 0.04142878 -0.01049017 0.99908639 -0.09236454] [ 0. 0. 0. 1. ]] SLAMing on 79.46327356 meters Centerline goodness [0,1] 0.7088815789473684 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.09 [[ 0.99897138 -0.0176965 -0.04174938 0.51866493] [ 0.01812879 0.99978566 0.00999867 -0.0603046 ] [ 0.04156349 -0.01074525 0.99907808 -0.09210574] [ 0. 0. 0. 1. ]] SLAMing on 79.49327356 meters Centerline goodness [0,1] 0.7092854997679308 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.06, Z:-0.09 [[ 0.99897003 -0.01722077 -0.04198 0.51908685] [ 0.01767847 0.999788 0.0105561 -0.0634866 ] [ 0.04178932 -0.01128737 0.99906268 -0.09172664] [ 0. 0. 0. 1. ]] SLAMing on 79.52327356 meters Centerline goodness [0,1] 0.7136111793444144 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99897256 -0.01693615 -0.0420357 0.51952668] [ 0.01741348 0.9997877 0.01101517 -0.0652782 ] [ 0.04184022 -0.01173584 0.99905539 -0.09204122] [ 0. 0. 0. 1. ]] SLAMing on 79.55327356000001 meters Centerline goodness [0,1] 0.7106159252499387 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.998971 -0.01658915 -0.04221064 0.52011649] [ 0.01708297 0.99978948 0.01136532 -0.0670942 ] [ 0.04201321 -0.0120747 0.99904409 -0.09203576] [ 0. 0. 0. 1. ]] SLAMing on 79.58327356000001 meters Centerline goodness [0,1] 0.7132587206927539 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99896719 -0.01578853 -0.04260606 0.52138802] [ 0.01632553 0.99979125 0.01228531 -0.07044863] [ 0.04240319 -0.01296819 0.99901641 -0.09229442] [ 0. 0. 0. 1. ]] SLAMing on 79.61327356000001 meters Centerline goodness [0,1] 0.7093408683366842 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99896221 -0.01540497 -0.04286243 0.52207158] [ 0.01595237 0.99979513 0.01245841 -0.07173551] [ 0.04266173 -0.01312924 0.9990033 -0.09202554] [ 0. 0. 0. 1. ]] SLAMing on 79.64327356 meters Centerline goodness [0,1] 0.7103500637219013 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99895413 -0.01505174 -0.04317513 0.52267143] [ 0.01560598 0.99979972 0.01252887 -0.0726849 ] [ 0.0429779 -0.01318956 0.99898896 -0.09152788] [ 0. 0. 0. 1. ]] SLAMing on 79.67327356 meters Centerline goodness [0,1] 0.7096467649534359 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99895318 -0.0144004 -0.04341853 0.52297675] [ 0.01497533 0.99980406 0.01294569 -0.07420581] [ 0.0432236 -0.01358235 0.99897309 -0.09083998] [ 0. 0. 0. 1. ]] SLAMing on 79.70327356 meters Centerline goodness [0,1] 0.7098614506927465 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.09 [[ 0.9989487 -0.01407684 -0.04362723 0.52330801] [ 0.01465737 0.99980786 0.01301531 -0.07508032] [ 0.04343563 -0.01364109 0.9989631 -0.09028821] [ 0. 0. 0. 1. ]] SLAMing on 79.73327356 meters Centerline goodness [0,1] 0.7227384790441873 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.09 [[ 0.99894335 -0.01353052 -0.04392151 0.52374435] [ 0.01413027 0.99981073 0.01337331 -0.07737371] [ 0.04373224 -0.0139798 0.99894547 -0.08955861] [ 0. 0. 0. 1. ]] SLAMing on 79.76327356 meters Centerline goodness [0,1] 0.7250614848247345 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.09 [[ 0.99893993 -0.01322843 -0.044091 0.52435329] [ 0.01384441 0.99981037 0.01369477 -0.07882126] [ 0.04390148 -0.01429066 0.99893365 -0.0897047 ] [ 0. 0. 0. 1. ]] SLAMing on 79.79327356 meters Centerline goodness [0,1] 0.7243124729320052 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.09 [[ 0.99893717 -0.01297005 -0.04423018 0.52483009] [ 0.01360016 0.99980985 0.01397521 -0.08028577] [ 0.04404052 -0.0145619 0.99892361 -0.08978262] [ 0. 0. 0. 1. ]] SLAMing on 79.82327356 meters Centerline goodness [0,1] 0.7272727272727273 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.99893269 -0.01217818 -0.04455525 0.52635868] [ 0.01285092 0.99980724 0.01484395 -0.08302783] [ 0.04436589 -0.01540068 0.99889663 -0.09057453] [ 0. 0. 0. 1. ]] SLAMing on 79.85327356 meters Centerline goodness [0,1] 0.7309291151541327 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.9989248 -0.01187243 -0.04481386 0.52717169] [ 0.01255792 0.99980794 0.01504615 -0.08406992] [ 0.04462662 -0.01559274 0.99888204 -0.09064563] [ 0. 0. 0. 1. ]] SLAMing on 79.88327356 meters Centerline goodness [0,1] 0.7294089147286822 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.99891864 -0.01162926 -0.0450145 0.5277867 ] [ 0.01232318 0.99980901 0.01516863 -0.08488737] [ 0.0448295 -0.01570695 0.99887117 -0.09060874] [ 0. 0. 0. 1. ]] SLAMing on 79.91327356000001 meters Centerline goodness [0,1] 0.7310980856098086 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99891544 -0.01132288 -0.04516333 0.52816854] [ 0.0120234 0.99981112 0.01526943 -0.08589863] [ 0.0449819 -0.01579589 0.99886291 -0.09033095] [ 0. 0. 0. 1. ]] SLAMing on 79.94327356000001 meters Centerline goodness [0,1] 0.728173324742268 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99891264 -0.01132866 -0.04522377 0.52817066] [ 0.01202057 0.99981438 0.01505719 -0.08611822] [ 0.0450448 -0.01558443 0.9988634 -0.08985556] [ 0. 0. 0. 1. ]] SLAMing on 79.97327356000001 meters Centerline goodness [0,1] 0.7321725599613671 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99890121 -0.0112153 -0.04550372 0.52855192] [ 0.01190001 0.99981959 0.01480462 -0.0862011 ] [ 0.04532947 -0.01532985 0.99885446 -0.08920611] [ 0. 0. 0. 1. ]] SLAMing on 80.00327356000001 meters Centerline goodness [0,1] 0.730633850122256 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99889403 -0.01108035 -0.04569406 0.52883 ] [ 0.01176201 0.99982312 0.01467615 -0.08617852] [ 0.04552336 -0.01519738 0.99884767 -0.08876723] [ 0. 0. 0. 1. ]] SLAMing on 80.03327356 meters Centerline goodness [0,1] 0.7417277191852507 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99887959 -0.0107816 -0.04607956 0.52945336] [ 0.01145413 0.99983134 0.0143559 -0.08570965] [ 0.04591701 -0.01486761 0.99883461 -0.08794617] [ 0. 0. 0. 1. ]] SLAMing on 80.06327356 meters Centerline goodness [0,1] 0.7479762256945378 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99887516 -0.01071296 -0.04619148 0.52968057] [ 0.01137487 0.99983602 0.01409088 -0.08535859] [ 0.04603295 -0.01460045 0.99883322 -0.08761132] [ 0. 0. 0. 1. ]] SLAMing on 80.09327356 meters Centerline goodness [0,1] 0.7347613416469576 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99887054 -0.0106229 -0.04631188 0.52982349] [ 0.01127181 0.99984161 0.01377328 -0.08519048] [ 0.04615823 -0.01427974 0.99883207 -0.08703565] [ 0. 0. 0. 1. ]] SLAMing on 80.12327356 meters Centerline goodness [0,1] 0.7443445592378908 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99886581 -0.0106569 -0.04640598 0.53007066] [ 0.01129774 0.99984411 0.01356921 -0.08510519] [ 0.04625414 -0.0140781 0.9988305 -0.08693055] [ 0. 0. 0. 1. ]] SLAMing on 80.15327356 meters Centerline goodness [0,1] 0.7489800300622719 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.09 [[ 0.99886477 -0.01073342 -0.04641084 0.52997963] [ 0.01136509 0.99984605 0.0133682 -0.08510318] [ 0.04626021 -0.01388049 0.99883298 -0.08666467] [ 0. 0. 0. 1. ]] SLAMing on 80.18327356 meters Centerline goodness [0,1] 0.7566019469692895 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.99886537 -0.01104407 -0.04632497 0.52956831] [ 0.01165702 0.99984778 0.01298216 -0.08475993] [ 0.04617454 -0.01350744 0.99884206 -0.08630349] [ 0. 0. 0. 1. ]] SLAMing on 80.21327356 meters Centerline goodness [0,1] 0.7462730746461439 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.9988619 -0.01142555 -0.04630729 0.52903187] [ 0.01201759 0.99984932 0.01252681 -0.08450854] [ 0.04615718 -0.01306906 0.99884869 -0.08563202] [ 0. 0. 0. 1. ]] SLAMing on 80.24327356 meters Centerline goodness [0,1] 0.7536274720550301 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.09 [[ 0.99885825 -0.01174498 -0.04630616 0.52875539] [ 0.01232162 0.99984982 0.01218692 -0.08434708] [ 0.04615607 -0.01274358 0.99885295 -0.08529215] [ 0. 0. 0. 1. ]] SLAMing on 80.27327356 meters Centerline goodness [0,1] 0.7523596955925458 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99885609 -0.01229905 -0.04620868 0.52790609] [ 0.01285505 0.99984828 0.01175444 -0.08467648] [ 0.0460571 -0.012335 0.99886265 -0.08459805] [ 0. 0. 0. 1. ]] SLAMing on 80.30327356000001 meters Centerline goodness [0,1] 0.7452738990332975 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99885348 -0.01270178 -0.0461561 0.52744401] [ 0.01324117 0.99984735 0.01139928 -0.08482873] [ 0.04600426 -0.01199737 0.9988692 -0.08416492] [ 0. 0. 0. 1. ]] SLAMing on 80.33327356000001 meters Centerline goodness [0,1] 0.7482128460091373 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.08 [[ 0.99885107 -0.01298871 -0.04612837 0.52709685] [ 0.0135179 0.99984614 0.0111788 -0.08509149] [ 0.04597608 -0.01178952 0.99887297 -0.08380923] [ 0. 0. 0. 1. ]] SLAMing on 80.36327356000001 meters Centerline goodness [0,1] 0.745044319097502 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.08 [[ 0.99885055 -0.01327327 -0.04605865 0.52686302] [ 0.01379323 0.99984448 0.01098962 -0.08535172] [ 0.04590562 -0.01161229 0.99887829 -0.08370349] [ 0. 0. 0. 1. ]] SLAMing on 80.39327356 meters Centerline goodness [0,1] 0.7409441646125817 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.08 [[ 0.99884384 -0.01390782 -0.04601684 0.52610711] [ 0.01441286 0.99983929 0.01066164 -0.08594906] [ 0.04586117 -0.01131255 0.99888377 -0.08310743] [ 0. 0. 0. 1. ]] SLAMing on 80.42327356 meters Centerline goodness [0,1] 0.7392622401073106 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.08 [[ 0.99884329 -0.01426626 -0.04591903 0.52559676] [ 0.01475954 0.99983676 0.01042138 -0.08614224] [ 0.04576286 -0.01108707 0.9988908 -0.08282594] [ 0. 0. 0. 1. ]] SLAMing on 80.45327356 meters Centerline goodness [0,1] 0.7350301406563965 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.08 [[ 0.99883973 -0.0145991 -0.04589186 0.52532892] [ 0.01507991 0.99983479 0.01014816 -0.08616858] [ 0.04573612 -0.01082843 0.99889487 -0.08261745] [ 0. 0. 0. 1. ]] SLAMing on 80.48327356 meters Centerline goodness [0,1] 0.7153778300499853 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99883903 -0.01537212 -0.04565404 0.52422879] [ 0.01583665 0.99982626 0.00983075 -0.08693588] [ 0.04549498 -0.01054234 0.99890894 -0.08221996] [ 0. 0. 0. 1. ]] SLAMing on 80.51327356 meters Centerline goodness [0,1] 0.7270829430184942 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99884412 -0.0159302 -0.04535044 0.523185 ] [ 0.01637961 0.99982018 0.00955554 -0.08743078] [ 0.04519006 -0.01028732 0.99892544 -0.08190073] [ 0. 0. 0. 1. ]] SLAMing on 80.54327356 meters Centerline goodness [0,1] 0.7177124235382109 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.9987638 -0.01994082 -0.04553279 0.52374298] [ 0.02020861 0.99978105 0.00542843 -0.08681286] [ 0.04541457 -0.00634188 0.9989481 -0.08159281] [ 0. 0. 0. 1. ]] SLAMing on 80.57327356 meters Centerline goodness [0,1] 0.71231377155978 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99876524 -0.02052215 -0.04524192 0.52276623] [ 0.02078435 0.99976976 0.00533251 -0.08774988] [ 0.04512207 -0.00626625 0.99896183 -0.08144912] [ 0. 0. 0. 1. ]] SLAMing on 80.60327356 meters Centerline goodness [0,1] 0.709224581124637 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99876121 -0.02083572 -0.04518768 0.52236602] [ 0.02110244 0.99976255 0.00543342 -0.08884732] [ 0.04506374 -0.00638026 0.99896374 -0.08136882] [ 0. 0. 0. 1. ]] SLAMing on 80.63327356 meters Centerline goodness [0,1] 0.7043420528482274 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99875282 -0.02140211 -0.04510814 0.52162374] [ 0.02165874 0.99975186 0.00520813 -0.08947306] [ 0.04498548 -0.00617862 0.99896853 -0.08091193] [ 0. 0. 0. 1. ]] SLAMing on 80.66327356000001 meters Centerline goodness [0,1] 0.7030081171414929 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99874167 -0.02234956 -0.04489517 0.52025833] [ 0.02259143 0.99973283 0.00488736 -0.09038891] [ 0.04477394 -0.00589546 0.99897975 -0.08028306] [ 0. 0. 0. 1. ]] SLAMing on 80.69327356000001 meters Centerline goodness [0,1] 0.6950003986922892 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99873918 -0.02270489 -0.04477213 0.51985263] [ 0.02294341 0.99972514 0.00482087 -0.09077313] [ 0.04465037 -0.00584202 0.99898559 -0.08030313] [ 0. 0. 0. 1. ]] SLAMing on 80.72327356000001 meters Centerline goodness [0,1] 0.7083753248819816 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99873464 -0.02278596 -0.04483219 0.52004198] [ 0.02302915 0.99972271 0.00491545 -0.09138562] [ 0.04470775 -0.00594167 0.99898244 -0.08044399] [ 0. 0. 0. 1. ]] SLAMing on 80.75327356000001 meters Centerline goodness [0,1] 0.7167525636257372 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99873585 -0.02308984 -0.04464932 0.51976087] [ 0.02333651 0.99971511 0.00501118 -0.09222975] [ 0.0445209 -0.0060468 0.99899015 -0.08084003] [ 0. 0. 0. 1. ]] SLAMing on 80.78327356 meters Centerline goodness [0,1] 0.7153398986011201 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99873458 -0.02324894 -0.04459516 0.51963971] [ 0.02348806 0.99971238 0.00484534 -0.09216373] [ 0.04446968 -0.00588666 0.99899339 -0.08078469] [ 0. 0. 0. 1. ]] SLAMing on 80.81327356 meters Centerline goodness [0,1] 0.7153398986011201 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99873458 -0.02324894 -0.04459516 0.51963971] [ 0.02348806 0.99971238 0.00484534 -0.09216373] [ 0.04446968 -0.00588666 0.99899339 -0.08078469] [ 0. 0. 0. 1. ]] SLAMing on 80.84327356 meters Centerline goodness [0,1] 0.7088540703358258 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99872996 -0.02300303 -0.04482549 0.52044654] [ 0.02323876 0.99971868 0.00474476 -0.09183592] [ 0.04470373 -0.00578043 0.99898356 -0.08079769] [ 0. 0. 0. 1. ]] SLAMing on 80.87327356 meters Centerline goodness [0,1] 0.7139630662946725 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99872586 -0.02303503 -0.04490029 0.52044347] [ 0.02325837 0.99971955 0.00445816 -0.09116795] [ 0.044785 -0.00549678 0.99898153 -0.08042428] [ 0. 0. 0. 1. ]] SLAMing on 80.90327356 meters Centerline goodness [0,1] 0.7110286320254506 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99872307 -0.02287342 -0.04504478 0.52093179] [ 0.02309535 0.99972353 0.00441252 -0.09081176] [ 0.0449314 -0.00544721 0.99897522 -0.08044983] [ 0. 0. 0. 1. ]] SLAMing on 80.93327356 meters Centerline goodness [0,1] 0.7139024649383765 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.9987185 -0.02300474 -0.04507931 0.5203927 ] [ 0.02319974 0.9997236 0.00380721 -0.08971905] [ 0.04497927 -0.00484816 0.99897616 -0.07930895] [ 0. 0. 0. 1. ]] SLAMing on 80.96327356 meters Centerline goodness [0,1] 0.7190906673756979 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99871611 -0.02310189 -0.04508247 0.52026783] [ 0.02328578 0.99972252 0.00355802 -0.08928563] [ 0.04498776 -0.00460323 0.99897693 -0.07901272] [ 0. 0. 0. 1. ]] SLAMing on 80.99327356 meters Centerline goodness [0,1] 0.7206359334290424 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99871527 -0.0232059 -0.0450478 0.5200901 ] [ 0.0233806 0.99972101 0.00335487 -0.08863548] [ 0.04495737 -0.0044038 0.9989792 -0.07881905] [ 0. 0. 0. 1. ]] SLAMing on 81.02327356 meters Centerline goodness [0,1] 0.719992533134217 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99870841 -0.0230016 -0.04530387 0.52074325] [ 0.0231765 0.99972581 0.00333904 -0.08840826] [ 0.04521464 -0.00438472 0.99896767 -0.07874977] [ 0. 0. 0. 1. ]] SLAMing on 81.05327356000001 meters Centerline goodness [0,1] 0.7202123686035964 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.9987035 -0.02238398 -0.04571964 0.52236586] [ 0.0225642 0.99973951 0.00342967 -0.08749098] [ 0.04563097 -0.00445685 0.99894842 -0.07924039] [ 0. 0. 0. 1. ]] SLAMing on 81.08327356000001 meters Centerline goodness [0,1] 0.7256717453371402 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99869635 -0.02215452 -0.04598679 0.52329151] [ 0.0223342 0.99974479 0.00339702 -0.08679035] [ 0.04589979 -0.00441967 0.99893627 -0.07951764] [ 0. 0. 0. 1. ]] SLAMing on 81.11327356000001 meters Centerline goodness [0,1] 0.7214012772893674 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.08 [[ 0.99869521 -0.0215699 -0.04628841 0.52472616] [ 0.0217477 0.99975791 0.00334105 -0.08533441] [ 0.04620514 -0.00434336 0.99892253 -0.07999317] [ 0. 0. 0. 1. ]] SLAMing on 81.14327356 meters Centerline goodness [0,1] 0.7235264268354565 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99869111 -0.02121487 -0.04654027 0.52579471] [ 0.02139387 0.99976551 0.00335127 -0.08475021] [ 0.04645826 -0.00434256 0.99891079 -0.08030975] [ 0. 0. 0. 1. ]] SLAMing on 81.17327356 meters Centerline goodness [0,1] 0.7379096829294332 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99868778 -0.02118409 -0.04662568 0.52612093] [ 0.02135149 0.99976724 0.00309513 -0.08381875] [ 0.04654926 -0.0040866 0.99890764 -0.08027191] [ 0. 0. 0. 1. ]] SLAMing on 81.20327356 meters Centerline goodness [0,1] 0.7200598402479096 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99868747 -0.02102644 -0.04670364 0.52648057] [ 0.02117629 0.99977207 0.00271605 -0.08216456] [ 0.04663589 -0.00370149 0.9989051 -0.08010951] [ 0. 0. 0. 1. ]] SLAMing on 81.23327356 meters Centerline goodness [0,1] 0.7294086165373295 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99868545 -0.02127365 -0.04663482 0.52610553] [ 0.021405 0.9997682 0.00231906 -0.08098699] [ 0.04657468 -0.00331423 0.99890931 -0.07979944] [ 0. 0. 0. 1. ]] SLAMing on 81.26327356 meters Centerline goodness [0,1] 0.7251186104484413 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99867834 -0.02159481 -0.04663937 0.52566073] [ 0.02169448 0.99976332 0.00163185 -0.07925491] [ 0.04659309 -0.00264151 0.99891046 -0.07900285] [ 0. 0. 0. 1. ]] SLAMing on 81.29327356 meters Centerline goodness [0,1] 0.7253592878592878 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99867882 -0.02189465 -0.04648904 0.52522205] [ 0.02198182 0.99975744 0.00136473 -0.07841294] [ 0.04644789 -0.00238484 0.99891787 -0.07889445] [ 0. 0. 0. 1. ]] SLAMing on 81.32327356 meters Centerline goodness [0,1] 0.7219454711018265 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.08 [[ 0.99867935 -0.02206692 -0.04639629 0.52503971] [ 0.02214922 0.99975388 0.00126062 -0.07796969] [ 0.04635705 -0.0022866 0.99892232 -0.07895753] [ 0. 0. 0. 1. ]] SLAMing on 81.35327356 meters Centerline goodness [0,1] 0.7189479592654959 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 0.99867518 -0.02231967 -0.04636494 0.52495541] [ 0.02239328 0.99974867 0.00106883 -0.07762309] [ 0.04632943 -0.00210568 0.998924 -0.07897404] [ 0. 0. 0. 1. ]] SLAMing on 81.38327356 meters Centerline goodness [0,1] 0.7159693576900412 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98671617e-01 -2.28048398e-02 -4.62054232e-02 5.24257562e-01] [ 2.28661079e-02 9.99738218e-01 7.97807316e-04 -7.74112489e-02] [ 4.61751335e-02 -1.85328571e-03 9.98931640e-01 -7.87287082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41327356000001 meters Centerline goodness [0,1] 0.7075002672939164 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98661846e-01 -2.37840398e-02 -4.59220649e-02 5.23279198e-01] [ 2.38339927e-02 9.99715784e-01 5.40462191e-04 -7.76191133e-02] [ 4.58961587e-02 -1.63424513e-03 9.98944879e-01 -7.88771112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44327356000001 meters Centerline goodness [0,1] 0.7010218275197946 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98657410e-01 -2.44074193e-02 -4.56908769e-02 5.22532224e-01] [ 2.44490421e-02 9.99701015e-01 3.52262867e-04 -7.76521058e-02] [ 4.56686182e-02 -1.46888810e-03 9.98955564e-01 -7.89766474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47327356000001 meters Centerline goodness [0,1] 0.7087960609060986 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98654218e-01 -2.49038919e-02 -4.54922922e-02 5.21951412e-01] [ 2.49403005e-02 9.99688915e-01 2.32821796e-04 -7.77244040e-02] [ 4.54723421e-02 -1.36709991e-03 9.98964663e-01 -7.90742100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50327356000001 meters Centerline goodness [0,1] 0.7048081800464533 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98649274e-01 -2.53608241e-02 -4.53481765e-02 5.21992000e-01] [ 2.54059855e-02 9.99677128e-01 4.19712335e-04 -7.79223896e-02] [ 4.53228905e-02 -1.57126053e-03 9.98971154e-01 -8.00847357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53327356 meters Centerline goodness [0,1] 0.7046841541755888 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98643854e-01 -2.54738902e-02 -4.54041178e-02 5.22176752e-01] [ 2.55139208e-02 9.99674421e-01 3.02257699e-04 -7.74968179e-02] [ 4.53816355e-02 -1.46028486e-03 9.98968656e-01 -8.01698003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56327356 meters Centerline goodness [0,1] 0.6993196185578057 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.08 [[ 9.98641930e-01 -2.54128315e-02 -4.54805818e-02 5.22444033e-01] [ 2.54335196e-02 9.99676508e-01 -1.23824634e-04 -7.57611330e-02] [ 4.54690159e-02 -1.03307480e-03 9.98965215e-01 -7.99795016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59327356 meters Centerline goodness [0,1] 0.710363319479823 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 9.98634910e-01 -2.52127442e-02 -4.57453123e-02 5.23106439e-01] [ 2.52230347e-02 9.99681787e-01 -3.52346573e-04 -7.46215157e-02] [ 4.57396391e-02 -8.01970012e-04 9.98953073e-01 -7.97807407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62327356 meters Centerline goodness [0,1] 0.7098288534792638 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 9.98629239e-01 -2.49310515e-02 -4.60226678e-02 5.23781038e-01] [ 2.49264613e-02 9.99689060e-01 -6.73720390e-04 -7.32541073e-02] [ 4.60251541e-02 -4.74385366e-04 9.98940168e-01 -7.94027763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65327356 meters Centerline goodness [0,1] 0.7122705001884455 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 0.99872905 -0.02151943 -0.04557628 0.52204261] [ 0.0216591 0.9997621 0.00257291 -0.07196581] [ 0.04551007 -0.00355678 0.99895755 -0.07881979] [ 0. 0. 0. 1. ]] SLAMing on 81.68327356 meters Centerline goodness [0,1] 0.7162896294494445 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 0.9987189 -0.02126229 -0.04591803 0.52271235] [ 0.0213802 0.99976926 0.00207807 -0.0702222 ] [ 0.04586325 -0.00305714 0.99894305 -0.07820498] [ 0. 0. 0. 1. ]] SLAMing on 81.71327356 meters Centerline goodness [0,1] 0.7179887906876482 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 0.99871133 -0.02084736 -0.04627161 0.52392766] [ 0.02095181 0.99977891 0.00177326 -0.06869006] [ 0.04622442 -0.00274045 0.99892732 -0.07815954] [ 0. 0. 0. 1. ]] SLAMing on 81.74327356 meters Centerline goodness [0,1] 0.721339387060159 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.08 [[ 0.99878993 -0.01687079 -0.04619586 0.52396804] [ 0.01714837 0.99983717 0.0056191 -0.06818538] [ 0.04609354 -0.00640448 0.9989166 -0.07877491] [ 0. 0. 0. 1. ]] SLAMing on 81.77327356 meters Centerline goodness [0,1] 0.7200097595358799 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.07, Z:-0.08 [[ 0.99878068 -0.01650527 -0.0465266 0.52516561] [ 0.01677597 0.99984451 0.0054337 -0.06694471] [ 0.04642968 -0.0062076 0.99890227 -0.07896055] [ 0. 0. 0. 1. ]] SLAMing on 81.80327356000001 meters Centerline goodness [0,1] 0.7245122249057013 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.07, Z:-0.08 [[ 0.99876733 -0.0161364 -0.04694088 0.52649857] [ 0.01639866 0.99985197 0.00520712 -0.06562566] [ 0.04684991 -0.00597047 0.9988841 -0.07911525] [ 0. 0. 0. 1. ]] SLAMing on 81.83327356000001 meters Centerline goodness [0,1] 0.7310084467258753 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99876251 -0.01575525 -0.04717223 0.52750513] [ 0.01600912 0.9998593 0.00500885 -0.0642055 ] [ 0.04708668 -0.00575784 0.99887421 -0.07931079] [ 0. 0. 0. 1. ]] SLAMing on 81.86327356000001 meters Centerline goodness [0,1] 0.7482770831630846 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.9988159 -0.01311196 -0.04684949 0.5288016 ] [ 0.01344091 0.99988713 0.00671328 -0.06223406] [ 0.04675618 -0.00733503 0.9988794 -0.08063464] [ 0. 0. 0. 1. ]] SLAMing on 81.89327356 meters Centerline goodness [0,1] 0.7329469703153484 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.9988018 -0.01292755 -0.04720008 0.52956208] [ 0.01323468 0.99989319 0.00620034 -0.06031145] [ 0.04711488 -0.00681759 0.99886621 -0.08015 ] [ 0. 0. 0. 1. ]] SLAMing on 81.92327356 meters Centerline goodness [0,1] 0.7552256726518584 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99878974 -0.01280996 -0.04748648 0.53010945] [ 0.01309162 0.99989848 0.00562506 -0.05835429] [ 0.0474096 -0.00623993 0.99885604 -0.07956148] [ 0. 0. 0. 1. ]] SLAMing on 81.95327356 meters Centerline goodness [0,1] 0.7643371383208781 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99878627 -0.01226724 -0.04770213 0.53074581] [ 0.01251957 0.99990915 0.00499455 -0.05590494] [ 0.04763653 -0.00558569 0.99884912 -0.07875033] [ 0. 0. 0. 1. ]] SLAMing on 81.98327356 meters Centerline goodness [0,1] 0.7549268826021593 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.08 [[ 0.99877868 -0.01231629 -0.04784831 0.53082375] [ 0.01254179 0.9999116 0.00441543 -0.05480044] [ 0.0477897 -0.00501014 0.99884485 -0.07800654] [ 0. 0. 0. 1. ]] SLAMing on 82.01327356 meters Centerline goodness [0,1] 0.7652373911614917 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.08 [[ 0.99877855 -0.01238311 -0.0478337 0.53052213] [ 0.01259122 0.99991252 0.00405193 -0.05415428] [ 0.04777933 -0.00464927 0.9988471 -0.07736561] [ 0. 0. 0. 1. ]] SLAMing on 82.04327356 meters Centerline goodness [0,1] 0.7795312200858792 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.08 [[ 0.99877628 -0.01264401 -0.04781296 0.52997167] [ 0.01281782 0.9999123 0.00333038 -0.05320918] [ 0.04776666 -0.00393916 0.99885075 -0.07625686] [ 0. 0. 0. 1. ]] SLAMing on 82.07327356 meters Centerline goodness [0,1] 0.7554047397515188 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.08 [[ 0.99877403 -0.01275004 -0.04783175 0.52981812] [ 0.0129171 0.9999115 0.00318516 -0.05321803] [ 0.04778691 -0.00379911 0.99885033 -0.0759562 ] [ 0. 0. 0. 1. ]] SLAMing on 82.10327356 meters Centerline goodness [0,1] 0.7661897075319417 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.05, Z:-0.08 [[ 0.99876771 -0.01257464 -0.04800974 0.5307285 ] [ 0.01275984 0.99991228 0.00355302 -0.05432451] [ 0.04796085 -0.00416124 0.99884055 -0.0765869 ] [ 0. 0. 0. 1. ]] SLAMing on 82.13327356 meters Centerline goodness [0,1] 0.7615575762540618 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99876636 -0.01245615 -0.04806871 0.53138178] [ 0.0126604 0.99991206 0.00394707 -0.0552886 ] [ 0.04801531 -0.00455077 0.99883623 -0.0773391 ] [ 0. 0. 0. 1. ]] SLAMing on 82.16327356000001 meters Centerline goodness [0,1] 0.7764172087683814 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.9987647 -0.01247762 -0.04809769 0.53175102] [ 0.01269429 0.99991059 0.00420203 -0.05612324] [ 0.04804096 -0.00480741 0.9988338 -0.07785158] [ 0. 0. 0. 1. ]] SLAMing on 82.19327356000001 meters Centerline goodness [0,1] 0.7529778166320621 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.9987647 -0.01239672 -0.04811863 0.53220985] [ 0.01262896 0.99991001 0.00452555 -0.05714731] [ 0.0480582 -0.00512765 0.99883138 -0.07840753] [ 0. 0. 0. 1. ]] SLAMing on 82.22327356000001 meters Centerline goodness [0,1] 0.7617825350881984 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99876285 -0.01242961 -0.04814844 0.53259521] [ 0.0126735 0.99990834 0.00476354 -0.05841095] [ 0.04808482 -0.00536785 0.99882883 -0.07882777] [ 0. 0. 0. 1. ]] SLAMing on 82.25327356000001 meters Centerline goodness [0,1] 0.7619125504307055 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99876105 -0.0124581 -0.04817847 0.53277489] [ 0.01270062 0.99990815 0.00473085 -0.05876968] [ 0.04811511 -0.00533688 0.99882754 -0.07885367] [ 0. 0. 0. 1. ]] SLAMing on 82.28327356 meters Centerline goodness [0,1] 0.7537443494363052 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99875596 -0.01232918 -0.04831687 0.53314023] [ 0.0125696 0.99991007 0.00467529 -0.05893668] [ 0.04825488 -0.00527679 0.99882112 -0.07863947] [ 0. 0. 0. 1. ]] SLAMing on 82.31327356 meters Centerline goodness [0,1] 0.754592351993886 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99874756 -0.01238815 -0.04847515 0.53271683] [ 0.01260158 0.99991219 0.00409972 -0.05836285] [ 0.04842011 -0.00470544 0.99881598 -0.07722365] [ 0. 0. 0. 1. ]] SLAMing on 82.34327356 meters Centerline goodness [0,1] 0.7698475468404833 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99874076 -0.0123378 -0.04862799 0.53280404] [ 0.01254373 0.99991359 0.00393191 -0.05839381] [ 0.04857528 -0.00453694 0.99880922 -0.07667335] [ 0. 0. 0. 1. ]] SLAMing on 82.37327356 meters Centerline goodness [0,1] 0.7695433964322732 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99874072 -0.01234901 -0.04862594 0.53260325] [ 0.01254652 0.99991422 0.00375874 -0.05839914] [ 0.04857535 -0.00436409 0.99880999 -0.07624562] [ 0. 0. 0. 1. ]] SLAMing on 82.40327356 meters Centerline goodness [0,1] 0.7781862745098039 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99873277 -0.01217733 -0.04883213 0.53300876] [ 0.0123752 0.99991639 0.00375173 -0.05878806] [ 0.04878236 -0.00435128 0.99879995 -0.0759419 ] [ 0. 0. 0. 1. ]] SLAMing on 82.43327356 meters Centerline goodness [0,1] 0.772202136624351 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99872799 -0.01183266 -0.04901414 0.53343124] [ 0.01203441 0.99992028 0.00382308 -0.05953712] [ 0.04896499 -0.00440807 0.99879077 -0.07560354] [ 0. 0. 0. 1. ]] SLAMing on 82.46327356 meters Centerline goodness [0,1] 0.761645476572922 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.06, Z:-0.08 [[ 0.99872547 -0.01145333 -0.04915545 0.53417515] [ 0.01166928 0.99992347 0.0041086 -0.06006989] [ 0.04910463 -0.00467697 0.99878269 -0.07592775] [ 0. 0. 0. 1. ]] SLAMing on 82.49327356 meters Centerline goodness [0,1] 0.7816533246201601 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.08 [[ 0.9987174 -0.01088136 -0.04944855 0.53515259] [ 0.01112192 0.9999276 0.00459215 -0.06125018] [ 0.04939501 -0.00513622 0.99876612 -0.0761373 ] [ 0. 0. 0. 1. ]] SLAMing on 82.52327356 meters Centerline goodness [0,1] 0.7928231616147886 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.08 [[ 0.99871551 -0.01067493 -0.04953149 0.53562433] [ 0.01092594 0.99992879 0.00479968 -0.06201257] [ 0.04947673 -0.00533469 0.99876103 -0.07634834] [ 0. 0. 0. 1. ]] SLAMing on 82.55327356000001 meters Centerline goodness [0,1] 0.7925712577778985 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:-0.08 [[ 0.99871147 -0.01048864 -0.04965277 0.53594505] [ 0.010747 0.99993005 0.00493929 -0.06283267] [ 0.04959749 -0.00546654 0.99875433 -0.0762465 ] [ 0. 0. 0. 1. ]] SLAMing on 82.58327356000001 meters Centerline goodness [0,1] 0.7898957063524312 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870291 -0.00999199 -0.04992658 0.53678752] [ 0.01028591 0.99993123 0.00563357 -0.0651609 ] [ 0.04986685 -0.00613981 0.998737 -0.07648218] [ 0. 0. 0. 1. ]] SLAMing on 82.61327356000001 meters Centerline goodness [0,1] 0.7736017775850856 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870604 -0.00989173 -0.04988387 0.53678317] [ 0.0101969 0.9999308 0.00586671 -0.06643919] [ 0.04982239 -0.00636778 0.99873779 -0.07652683] [ 0. 0. 0. 1. ]] SLAMing on 82.64327356 meters Centerline goodness [0,1] 0.7848834063734242 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870482 -0.00995138 -0.0498965 0.53656307] [ 0.01026328 0.99992934 0.00599856 -0.06792201] [ 0.04983328 -0.0065029 0.99873638 -0.07622363] [ 0. 0. 0. 1. ]] SLAMing on 82.67327356 meters Centerline goodness [0,1] 0.781560475161987 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870528 -0.00994822 -0.04988789 0.53642747] [ 0.01027347 0.99992758 0.00626749 -0.06965256] [ 0.04982193 -0.0067719 0.99873516 -0.07608059] [ 0. 0. 0. 1. ]] SLAMing on 82.70327356 meters Centerline goodness [0,1] 0.7711165048543689 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870612 -0.01042814 -0.04977296 0.53519673] [ 0.01076337 0.99992113 0.00647208 -0.07306303] [ 0.04970155 -0.00699943 0.99873959 -0.07517361] [ 0. 0. 0. 1. ]] SLAMing on 82.73327356 meters Centerline goodness [0,1] 0.7711165048543689 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.08 [[ 0.99870612 -0.01042814 -0.04977296 0.53519673] [ 0.01076337 0.99992113 0.00647208 -0.07306303] [ 0.04970155 -0.00699943 0.99873959 -0.07517361] [ 0. 0. 0. 1. ]] SLAMing on 82.76327356 meters Centerline goodness [0,1] 0.7669223523078994 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.07, Z:-0.07 [[ 0.9987038 -0.01053206 -0.04979763 0.53487279] [ 0.01087778 0.99991855 0.00667659 -0.0749256 ] [ 0.04972326 -0.00720963 0.99873701 -0.0747566 ] [ 0. 0. 0. 1. ]] SLAMing on 82.79327356 meters Centerline goodness [0,1] 0.7815740815178069 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.07 [[ 0.99870418 -0.01119078 -0.04964607 0.53350912] [ 0.01154226 0.99991027 0.0067988 -0.07836809] [ 0.04956554 -0.00736302 0.99874373 -0.07387278] [ 0. 0. 0. 1. ]] SLAMing on 82.82327356 meters Centerline goodness [0,1] 0.7564987163029525 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.07 [[ 0.99870589 -0.01142638 -0.0495579 0.53289407] [ 0.01178585 0.99990627 0.00696741 -0.08028658] [ 0.04947364 -0.00754247 0.99874695 -0.0735072 ] [ 0. 0. 0. 1. ]] SLAMing on 82.85327356 meters Centerline goodness [0,1] 0.7794302192080741 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.07 [[ 0.99870889 -0.01156115 -0.04946598 0.53242061] [ 0.01193537 0.9999023 0.00727636 -0.08249384] [ 0.04937702 -0.00785736 0.9987493 -0.07331943] [ 0. 0. 0. 1. ]] SLAMing on 82.88327356 meters Centerline goodness [0,1] 0.7669228927839987 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.07 [[ 0.99864622 -0.01498148 -0.04981242 0.53344071] [ 0.015202 0.99987624 0.00405107 -0.08506173] [ 0.04974556 -0.00480284 0.99875037 -0.07313748] [ 0. 0. 0. 1. ]] SLAMing on 82.91327356000001 meters Centerline goodness [0,1] 0.7625360535577254 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.07 [[ 0.99864028 -0.01492338 -0.04994885 0.53361536] [ 0.01517514 0.99987397 0.00466508 -0.08797229] [ 0.04987293 -0.00541672 0.99874088 -0.07317552] [ 0. 0. 0. 1. ]] SLAMing on 82.94327356000001 meters Centerline goodness [0,1] 0.748483249802163 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.07 [[ 0.99856275 -0.0184535 -0.05031811 0.53440745] [ 0.01855165 0.9998268 0.00148417 -0.09101246] [ 0.050282 -0.00241552 0.99873214 -0.07271293] [ 0. 0. 0. 1. ]] SLAMing on 82.97327356000001 meters Centerline goodness [0,1] 0.7460359061721924 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.07 [[ 0.99856582 -0.01879428 -0.0501306 0.53362338] [ 0.01891239 0.99981937 0.00188271 -0.09391299] [ 0.05008616 -0.0028281 0.9987409 -0.07257254] [ 0. 0. 0. 1. ]] SLAMing on 83.00327356000001 meters Centerline goodness [0,1] 0.7422567239081 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.07 [[ 0.99856499 -0.01909116 -0.05003491 0.53306739] [ 0.01923026 0.99981244 0.00230007 -0.0968916 ] [ 0.04998162 -0.00325896 0.99874482 -0.07241416] [ 0. 0. 0. 1. ]] SLAMing on 83.03327356 meters Centerline goodness [0,1] 0.7559134765017118 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.07 [[ 0.99855885 -0.01935561 -0.05005585 0.53270926] [ 0.01951857 0.99980566 0.00276882 -0.09996425] [ 0.04999253 -0.00374185 0.99874258 -0.07224711] [ 0. 0. 0. 1. ]] SLAMing on 83.06327356 meters Centerline goodness [0,1] 0.7354594204393111 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.07 [[ 9.98470526e-01 -2.26414378e-02 -5.04378181e-02 5.33622569e-01] [ 2.26615966e-02 9.99743178e-01 -1.72225491e-04 -1.04017914e-01] [ 5.04287640e-02 -9.71039411e-04 9.98727188e-01 -7.18116907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09327356 meters Centerline goodness [0,1] 0.7329254813253476 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.11, Z:-0.07 [[ 9.98476083e-01 -2.27339269e-02 -5.02859914e-02 5.33061347e-01] [ 2.27747814e-02 9.99740592e-01 2.39528606e-04 -1.06776216e-01] [ 5.02675015e-02 -1.38441605e-03 9.98734831e-01 -7.16038012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12327356 meters Centerline goodness [0,1] 0.7316444716567172 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.11, Z:-0.07 [[ 0.99847675 -0.02237007 -0.05043563 0.53350918] [ 0.02244992 0.99974745 0.0010171 -0.10955148] [ 0.05040014 -0.00214783 0.9987268 -0.07182938] [ 0. 0. 0. 1. ]] SLAMing on 83.15327356 meters Centerline goodness [0,1] 0.7398524923702949 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.11, Z:-0.07 [[ 0.99848437 -0.02207765 -0.05041374 0.53294253] [ 0.0221999 0.99975181 0.00186628 -0.11389522] [ 0.05036003 -0.00298263 0.99872668 -0.07119102] [ 0. 0. 0. 1. ]] SLAMing on 83.18327356 meters Centerline goodness [0,1] 0.7502789329546607 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.07 [[ 0.99848981 -0.02184669 -0.0504066 0.5328152 ] [ 0.02199024 0.99975555 0.00229508 -0.11600122] [ 0.05034414 -0.00340006 0.99872614 -0.07096267] [ 0. 0. 0. 1. ]] SLAMing on 83.21327356 meters Centerline goodness [0,1] 0.7475025922460231 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.07 [[ 0.99848997 -0.02143015 -0.05058184 0.53318822] [ 0.02160067 0.99976268 0.00282698 -0.11807259] [ 0.05050926 -0.00391531 0.99871592 -0.07080884] [ 0. 0. 0. 1. ]] SLAMing on 83.24327356 meters Centerline goodness [0,1] 0.7601385264003212 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.07 [[ 0.99849055 -0.02039979 -0.05099486 0.53420137] [ 0.02062766 0.99977944 0.00394613 -0.12204621] [ 0.05090312 -0.00499208 0.99869112 -0.0706448 ] [ 0. 0. 0. 1. ]] SLAMing on 83.27327356 meters Centerline goodness [0,1] 0.7631019918526478 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.07 [[ 0.99849074 -0.01975956 -0.0512426 0.53512934] [ 0.02002213 0.99978888 0.00461583 -0.12390794] [ 0.05114057 -0.00563485 0.99867557 -0.07097404] [ 0. 0. 0. 1. ]] SLAMing on 83.30327356000001 meters Centerline goodness [0,1] 0.7861190862563975 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.9984892 -0.01905373 -0.05153898 0.53613912] [ 0.01935156 0.99979877 0.00528598 -0.12568939] [ 0.05142789 -0.00627536 0.99865699 -0.0712201 ] [ 0. 0. 0. 1. ]] SLAMing on 83.33327356000001 meters Centerline goodness [0,1] 0.8094799930367312 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.99849557 -0.01756533 -0.05194275 0.53793093] [ 0.01793068 0.99981761 0.00657606 -0.12862223] [ 0.05181777 -0.00749754 0.99862841 -0.07189051] [ 0. 0. 0. 1. ]] SLAMing on 83.36327356000001 meters Centerline goodness [0,1] 0.812748311481923 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.99849498 -0.01698074 -0.0521481 0.53872868] [ 0.01737183 0.9998242 0.00705547 -0.12978409] [ 0.05201912 -0.00795076 0.99861444 -0.07210808] [ 0. 0. 0. 1. ]] SLAMing on 83.39327356 meters Centerline goodness [0,1] 0.8115533115533116 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.99849617 -0.01648313 -0.0522848 0.53931825] [ 0.01689355 0.99982978 0.00741748 -0.13098267] [ 0.05215364 -0.0082896 0.99860467 -0.07221213] [ 0. 0. 0. 1. ]] SLAMing on 83.42327356 meters Centerline goodness [0,1] 0.8241909683770149 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.9985001 -0.01541917 -0.05253381 0.54044303] [ 0.01587731 0.99983937 0.0083148 -0.13335652] [ 0.05239717 -0.00913643 0.99858453 -0.07256225] [ 0. 0. 0. 1. ]] SLAMing on 83.45327356 meters Centerline goodness [0,1] 0.8268535595721136 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.07 [[ 0.99849906 -0.01502134 -0.05266856 0.54095063] [ 0.01549556 0.99984289 0.00860704 -0.13438995] [ 0.05253099 -0.00941025 0.99857496 -0.07263058] [ 0. 0. 0. 1. ]] SLAMing on 83.48327356 meters Centerline goodness [0,1] 0.8303549511512592 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99849675 -0.01465084 -0.05281669 0.54137148] [ 0.01514066 0.99984589 0.00888587 -0.13546322] [ 0.05267836 -0.00967219 0.99856469 -0.07258715] [ 0. 0. 0. 1. ]] SLAMing on 83.51327356 meters Centerline goodness [0,1] 0.8176085196181876 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99849499 -0.01444873 -0.05290546 0.54159181] [ 0.01494684 0.9998475 0.00903143 -0.13635952] [ 0.0527669 -0.00980861 0.99855868 -0.07247559] [ 0. 0. 0. 1. ]] SLAMing on 83.54327356 meters Centerline goodness [0,1] 0.837021443258592 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99849579 -0.0140967 -0.05298531 0.54172781] [ 0.01462157 0.99984767 0.00953143 -0.1386488 ] [ 0.05284287 -0.01029182 0.9985498 -0.07233072] [ 0. 0. 0. 1. ]] SLAMing on 83.57327356 meters Centerline goodness [0,1] 0.8359917204431998 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99849054 -0.01416538 -0.05306581 0.54166564] [ 0.01469317 0.99984626 0.00956908 -0.13976323] [ 0.0529221 -0.01033434 0.99854517 -0.07199262] [ 0. 0. 0. 1. ]] SLAMing on 83.60327356 meters Centerline goodness [0,1] 0.8394351081733701 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99849087 -0.01432192 -0.05301761 0.54121934] [ 0.0148537 0.99984311 0.00964974 -0.1410774 ] [ 0.05287109 -0.01042269 0.99854695 -0.07162803] [ 0. 0. 0. 1. ]] SLAMing on 83.63327356 meters Centerline goodness [0,1] 0.8619695096827359 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99842263 -0.01772684 -0.05327307 0.54215347] [ 0.01808986 0.99981626 0.00633994 -0.14261673] [ 0.0531509 -0.00729364 0.99855986 -0.07158049] [ 0. 0. 0. 1. ]] SLAMing on 83.66327356000001 meters Centerline goodness [0,1] 0.8654347196757696 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99842099 -0.01808808 -0.0531823 0.54182633] [ 0.0184605 0.99980833 0.00651996 -0.14449893] [ 0.05305417 -0.00749144 0.99856353 -0.07163836] [ 0. 0. 0. 1. ]] SLAMing on 83.69327356000001 meters Centerline goodness [0,1] 0.8439009154032819 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.07 [[ 0.99833632 -0.02149048 -0.05350469 0.5432396 ] [ 0.02168137 0.99976046 0.00298974 -0.1445739 ] [ 0.05342762 -0.00414482 0.99856312 -0.07192489] [ 0. 0. 0. 1. ]] SLAMing on 83.72327356000001 meters Centerline goodness [0,1] 0.8193233510235026 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98237767e-01 -2.51880684e-02 -5.37300784e-02 5.44407588e-01] [ 2.52211732e-02 9.99681894e-01 -6.19440263e-05 -1.46932826e-01] [ 5.37145468e-02 -1.29330075e-03 9.98555494e-01 -7.25090031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75327356000001 meters Centerline goodness [0,1] 0.8150004751496721 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98239380e-01 -2.56364702e-02 -5.34874854e-02 5.43725388e-01] [ 2.56804764e-02 9.99670193e-01 1.35503442e-04 -1.48776229e-01] [ 5.34663710e-02 -1.50884898e-03 9.98568511e-01 -7.25785391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78327356 meters Centerline goodness [0,1] 0.812656552767144 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98239778e-01 -2.59210462e-02 -5.33427050e-02 5.43526435e-01] [ 2.59856619e-02 9.99662181e-01 5.18005080e-04 -1.50681741e-01] [ 5.33112576e-02 -1.90323877e-03 9.98576130e-01 -7.29973322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81327356 meters Centerline goodness [0,1] 0.8499376602601802 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98236170e-01 -2.67542696e-02 -5.29977168e-02 5.42158123e-01] [ 2.68131688e-02 9.99640382e-01 4.00520320e-04 -1.52798961e-01] [ 5.29679422e-02 -1.82085060e-03 9.98594553e-01 -7.24727733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84327356 meters Centerline goodness [0,1] 0.7946915922880502 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98236765e-01 -2.69443809e-02 -5.28900948e-02 5.41784892e-01] [ 2.70048871e-02 9.99635209e-01 4.29555714e-04 -1.53329196e-01] [ 5.28592269e-02 -1.85708934e-03 9.98600247e-01 -7.23437113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87327356 meters Centerline goodness [0,1] 0.7995919133167597 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98235998e-01 -2.71376811e-02 -5.28056688e-02 5.41330032e-01] [ 2.71931394e-02 9.99630143e-01 3.31906461e-04 -1.53398665e-01] [ 5.27771311e-02 -1.76727289e-03 9.98604752e-01 -7.20417492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90327356 meters Centerline goodness [0,1] 0.8259558754791063 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98229132e-01 -2.72259808e-02 -5.28899516e-02 5.41321895e-01] [ 2.72853259e-02 9.99627606e-01 4.00172888e-04 -1.53978597e-01] [ 5.28593606e-02 -1.84258380e-03 9.98600267e-01 -7.17995994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93327356 meters Centerline goodness [0,1] 0.8567026194144838 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98233897e-01 -2.72961457e-02 -5.27637004e-02 5.41146976e-01] [ 2.73590448e-02 9.99625561e-01 4.70039167e-04 -1.54487450e-01] [ 5.27311133e-02 -1.91277347e-03 9.98606915e-01 -7.19032953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96327356 meters Centerline goodness [0,1] 0.8452311497981377 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 9.98235644e-01 -2.74423813e-02 -5.26546725e-02 5.40949664e-01] [ 2.75069922e-02 9.99621485e-01 5.02635664e-04 -1.54820863e-01] [ 5.26209484e-02 -1.95012050e-03 9.98612654e-01 -7.19887236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99327356 meters Centerline goodness [0,1] 0.8679904908404419 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 9.98233218e-01 -2.75898651e-02 -5.26235886e-02 5.40783466e-01] [ 2.76580062e-02 9.99617283e-01 5.66943110e-04 -1.55456145e-01] [ 5.25878068e-02 -2.02140499e-03 9.98614258e-01 -7.19722935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02327356 meters Centerline goodness [0,1] 0.8631995346131471 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 9.98230354e-01 -2.75232788e-02 -5.27127061e-02 5.41195593e-01] [ 2.75970122e-02 9.99618905e-01 6.71290392e-04 -1.55671296e-01] [ 5.26741414e-02 -2.12481564e-03 9.98609493e-01 -7.22297273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05327356000001 meters Centerline goodness [0,1] 0.8697246854542922 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 0.99823285 -0.0272745 -0.05279473 0.54187812] [ 0.02736586 0.99962498 0.00100816 -0.15598529] [ 0.05274743 -0.00245115 0.99860488 -0.07284983] [ 0. 0. 0. 1. ]] SLAMing on 84.08327356000001 meters Centerline goodness [0,1] 0.8567113548177234 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 0.9982301 -0.02719585 -0.05288717 0.54232774] [ 0.02728904 0.99962704 0.00104061 -0.15578198] [ 0.05283914 -0.002482 0.99859995 -0.07314963] [ 0. 0. 0. 1. ]] SLAMing on 84.11327356000001 meters Centerline goodness [0,1] 0.8622947774191301 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 0.9982399 -0.02683221 -0.05288795 0.54303465] [ 0.0269323 0.99963656 0.00118043 -0.15524534] [ 0.05283706 -0.00260275 0.99859976 -0.07389607] [ 0. 0. 0. 1. ]] SLAMing on 84.14327356 meters Centerline goodness [0,1] 0.8650679530590473 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 0.99824176 -0.0265045 -0.05301791 0.5437823 ] [ 0.0266144 0.99964484 0.00136799 -0.1549462 ] [ 0.05296282 -0.00277662 0.99859262 -0.07435295] [ 0. 0. 0. 1. ]] SLAMing on 84.17327356 meters Centerline goodness [0,1] 0.8693866183944858 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 0.9982379 -0.02637236 -0.05315628 0.54405764] [ 0.02647762 0.99964859 0.00127674 -0.15441013] [ 0.05310393 -0.00268194 0.99858539 -0.07423199] [ 0. 0. 0. 1. ]] SLAMing on 84.20327356 meters Centerline goodness [0,1] 0.8757866381812693 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 0.99824689 -0.02617352 -0.0530858 0.54415917] [ 0.02628038 0.99965375 0.00131576 -0.15391914] [ 0.05303298 -0.00270857 0.99858909 -0.07445043] [ 0. 0. 0. 1. ]] SLAMing on 84.23327356 meters Centerline goodness [0,1] 0.8737045127108798 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 0.99825229 -0.0257578 -0.05318747 0.54439104] [ 0.02585965 0.99966483 0.00122747 -0.15285263] [ 0.05313802 -0.00260073 0.99858379 -0.07409953] [ 0. 0. 0. 1. ]] SLAMing on 84.26327356 meters Centerline goodness [0,1] 0.8738765936694457 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.07 [[ 0.99825481 -0.02554449 -0.05324304 0.54465428] [ 0.02564756 0.99967026 0.00125327 -0.15241422] [ 0.05319347 -0.00261664 0.9985808 -0.07416398] [ 0. 0. 0. 1. ]] SLAMing on 84.29327356 meters Centerline goodness [0,1] 0.8771502758844532 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99825046 -0.02517286 -0.05350086 0.54516442] [ 0.0252754 0.99967976 0.00124076 -0.15171129] [ 0.05345249 -0.00259085 0.99856703 -0.07390545] [ 0. 0. 0. 1. ]] SLAMing on 84.32327356 meters Centerline goodness [0,1] 0.8969497496755052 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99824967 -0.02506883 -0.05356441 0.54547096] [ 0.02517082 0.99968241 0.0012302 -0.15135303] [ 0.05351656 -0.00257631 0.99856364 -0.07405068] [ 0. 0. 0. 1. ]] SLAMing on 84.35327356 meters Centerline goodness [0,1] 0.8769995124555986 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.9982489 -0.02482594 -0.05369184 0.54601333] [ 0.02493501 0.99968815 0.00136243 -0.15122055] [ 0.05364127 -0.00269885 0.99855662 -0.07432401] [ 0. 0. 0. 1. ]] SLAMing on 84.38327356 meters Centerline goodness [0,1] 0.882703592883817 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99824554 -0.0244427 -0.05392964 0.54689852] [ 0.02456647 0.99969686 0.00163322 -0.1512347 ] [ 0.05387337 -0.00295521 0.9985434 -0.07472579] [ 0. 0. 0. 1. ]] SLAMing on 84.41327356000001 meters Centerline goodness [0,1] 0.8850470757386021 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99825476 -0.0236625 -0.05410659 0.5481342 ] [ 0.02380481 0.99971465 0.00198712 -0.15083386] [ 0.05404413 -0.00327165 0.99853319 -0.07549267] [ 0. 0. 0. 1. ]] SLAMing on 84.44327356000001 meters Centerline goodness [0,1] 0.9107829956886561 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99825086 -0.02344001 -0.05427503 0.54869495] [ 0.02358462 0.99971979 0.00202525 -0.15046903] [ 0.05421235 -0.00330177 0.99852397 -0.07564357] [ 0. 0. 0. 1. ]] SLAMing on 84.47327356000001 meters Centerline goodness [0,1] 0.9141188196842911 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.9982486 -0.02318488 -0.05442606 0.54926482] [ 0.02333917 0.99972518 0.0022008 -0.15047515] [ 0.05436007 -0.00346721 0.99851538 -0.07588278] [ 0. 0. 0. 1. ]] SLAMing on 84.50327356 meters Centerline goodness [0,1] 0.8900956394877614 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99824869 -0.02299098 -0.0545066 0.54970977] [ 0.02315344 0.99972916 0.00235087 -0.15070235] [ 0.05443779 -0.00360877 0.99851064 -0.07615767] [ 0. 0. 0. 1. ]] SLAMing on 84.53327356 meters Centerline goodness [0,1] 0.9149454064955839 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99826 -0.02276172 -0.05439559 0.54971724] [ 0.02294318 0.99973309 0.00271361 -0.15176533] [ 0.0543193 -0.00395689 0.99851578 -0.07642823] [ 0. 0. 0. 1. ]] SLAMing on 84.56327356 meters Centerline goodness [0,1] 0.9201100654380651 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.9982659 -0.02280451 -0.05426925 0.54950253] [ 0.02299162 0.99973166 0.00282598 -0.15240907] [ 0.05419025 -0.00406881 0.99852234 -0.07650024] [ 0. 0. 0. 1. ]] SLAMing on 84.59327356 meters Centerline goodness [0,1] 0.8864791204730229 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99826842 -0.02291685 -0.05417552 0.54922699] [ 0.02311149 0.99972849 0.00296893 -0.15333883] [ 0.05409277 -0.00421586 0.99852701 -0.0764672 ] [ 0. 0. 0. 1. ]] SLAMing on 84.62327356 meters Centerline goodness [0,1] 0.8864791204730229 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.08 [[ 0.99826842 -0.02291685 -0.05417552 0.54922699] [ 0.02311149 0.99972849 0.00296893 -0.15333883] [ 0.05409277 -0.00421586 0.99852701 -0.0764672 ] [ 0. 0. 0. 1. ]] SLAMing on 84.65327356 meters Centerline goodness [0,1] 0.9116116254433236 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99826468 -0.02349249 -0.05399742 0.54810577] [ 0.0236833 0.99971532 0.00289654 -0.15518592] [ 0.053914 -0.00417035 0.99853687 -0.07573865] [ 0. 0. 0. 1. ]] SLAMing on 84.68327356 meters Centerline goodness [0,1] 0.9068488126890988 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99826433 -0.02359374 -0.05395981 0.54804358] [ 0.02379936 0.99971173 0.00317107 -0.15647929] [ 0.05386944 -0.00444977 0.99853807 -0.07586785] [ 0. 0. 0. 1. ]] SLAMing on 84.71327356 meters Centerline goodness [0,1] 0.909633301207031 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99826365 -0.02376338 -0.05389801 0.5477396 ] [ 0.02398406 0.99970638 0.00345122 -0.15802774] [ 0.05380017 -0.00473792 0.99854048 -0.07582608] [ 0. 0. 0. 1. ]] SLAMing on 84.74327356 meters Centerline goodness [0,1] 0.900333821108469 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99826537 -0.02413187 -0.05370203 0.54720887] [ 0.02435823 0.99969694 0.0035646 -0.1594562 ] [ 0.05359973 -0.00486651 0.99855064 -0.07584734] [ 0. 0. 0. 1. ]] SLAMing on 84.77327356 meters Centerline goodness [0,1] 0.8972054071275772 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99825681 -0.02480362 -0.05355484 0.54662173] [ 0.02504261 0.99967918 0.00379598 -0.16250261] [ 0.05344351 -0.00513051 0.99855769 -0.07590793] [ 0. 0. 0. 1. ]] SLAMing on 84.80327356000001 meters Centerline goodness [0,1] 0.9028683033179661 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.08 [[ 0.99825882 -0.02507681 -0.05338987 0.54627822] [ 0.02532443 0.99967142 0.00396641 -0.16387001] [ 0.05327287 -0.00531157 0.99856587 -0.07602631] [ 0. 0. 0. 1. ]] SLAMing on 84.83327356000001 meters Centerline goodness [0,1] 0.9155718920881265 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.08 [[ 0.99825897 -0.02536828 -0.05324928 0.54593118] [ 0.02561912 0.99966364 0.00403327 -0.16502708] [ 0.05312905 -0.00539045 0.99857311 -0.07605892] [ 0. 0. 0. 1. ]] SLAMing on 84.86327356000001 meters Centerline goodness [0,1] 0.8905956609279913 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.08 [[ 0.99826215 -0.02581194 -0.05297578 0.54523662] [ 0.02607876 0.99965042 0.00435151 -0.16751808] [ 0.05284494 -0.00572549 0.99858632 -0.07616735] [ 0. 0. 0. 1. ]] SLAMing on 84.89327356 meters Centerline goodness [0,1] 0.8873499954885862 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.08 [[ 0.99826691 -0.02594663 -0.05281992 0.54505211] [ 0.02622189 0.99964591 0.00452491 -0.16859209] [ 0.05268381 -0.00590211 0.9985938 -0.07639181] [ 0. 0. 0. 1. ]] SLAMing on 84.92327356 meters Centerline goodness [0,1] 0.9068503652926851 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99827108 -0.0261972 -0.05261705 0.544585 ] [ 0.02647677 0.99963874 0.00462314 -0.16954364] [ 0.05247693 -0.00600827 0.99860406 -0.0764537 ] [ 0. 0. 0. 1. ]] SLAMing on 84.95327356 meters Centerline goodness [0,1] 0.8973713206359201 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99827649 -0.02637472 -0.0524254 0.54433728] [ 0.02667284 0.99963174 0.00499502 -0.17137926] [ 0.05227435 -0.00638474 0.99861235 -0.07678858] [ 0. 0. 0. 1. ]] SLAMing on 84.98327356 meters Centerline goodness [0,1] 0.8955230575991387 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99827875 -0.02645198 -0.0523433 0.54431656] [ 0.02675971 0.99962844 0.00518698 -0.17219363] [ 0.05218665 -0.00657874 0.99861568 -0.07706422] [ 0. 0. 0. 1. ]] SLAMing on 85.01327356 meters Centerline goodness [0,1] 0.9254927490683788 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99828049 -0.02659073 -0.05223986 0.54406304] [ 0.02690204 0.99962421 0.00526494 -0.17285876] [ 0.05208023 -0.00666125 0.99862069 -0.07708481] [ 0. 0. 0. 1. ]] SLAMing on 85.04327356 meters Centerline goodness [0,1] 0.9301190795953085 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99828365 -0.02706047 -0.0519374 0.5431687 ] [ 0.02737151 0.99961135 0.00528657 -0.17427744] [ 0.05177416 -0.0066991 0.99863635 -0.07692669] [ 0. 0. 0. 1. ]] SLAMing on 85.07327356 meters Centerline goodness [0,1] 0.9142312864186464 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.08 [[ 0.99829041 -0.02735226 -0.05165385 0.54252251] [ 0.02766218 0.99960331 0.00529438 -0.17499283] [ 0.05148854 -0.00671418 0.99865101 -0.07691733] [ 0. 0. 0. 1. ]] SLAMing on 85.10327356 meters Centerline goodness [0,1] 0.917987410152239 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.08 [[ 0.99828994 -0.02753906 -0.05156355 0.54239083] [ 0.02785526 0.99959725 0.00542349 -0.17600174] [ 0.05139343 -0.00685053 0.99865499 -0.07701689] [ 0. 0. 0. 1. ]] SLAMing on 85.13327356 meters Centerline goodness [0,1] 0.9239220055710307 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.08 [[ 0.99828412 -0.02844436 -0.05118326 0.54121247] [ 0.02875243 0.99957255 0.00529272 -0.17786834] [ 0.05101084 -0.00675528 0.99867525 -0.07685983] [ 0. 0. 0. 1. ]] SLAMing on 85.16327356000001 meters Centerline goodness [0,1] 0.9174217967271513 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.08 [[ 0.99828261 -0.02871504 -0.05106143 0.54106859] [ 0.02903201 0.99956348 0.00547675 -0.17908298] [ 0.05088187 -0.00694976 0.9986805 -0.07715587] [ 0. 0. 0. 1. ]] SLAMing on 85.19327356000001 meters Centerline goodness [0,1] 0.9140625 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.08 [[ 0.99828493 -0.02892556 -0.05089708 0.54088961] [ 0.02925308 0.99955577 0.0057018 -0.18040253] [ 0.05070954 -0.00718092 0.99868763 -0.0774876 ] [ 0. 0. 0. 1. ]] SLAMing on 85.22327356000001 meters Centerline goodness [0,1] 0.9003533411853597 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.08 [[ 0.99828435 -0.02948502 -0.05058637 0.54045591] [ 0.02981751 0.99953835 0.00583054 -0.18197104] [ 0.05039111 -0.00732889 0.99870267 -0.07800728] [ 0. 0. 0. 1. ]] Total time of SLAM: 4260.35 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/2841 [00:00