+ python -m lidar_slam --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters Centerline goodness [0,1] 0.5100221281715256 Centerline is valid? [0, False] SLAMing on 0.056502481 meters Centerline goodness [0,1] 0.5056823092213292 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99979806e-01 6.33806780e-03 -4.66104521e-04 4.71779687e-02] [-6.35061804e-03 9.99349762e-01 -3.54925839e-02 1.18757769e-02] [ 2.40847039e-04 3.54948272e-02 9.99369831e-01 -1.81849070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08650248099999999 meters Centerline goodness [0,1] 0.5000541324729879 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99998939 0.0038943 0.00245979 0.0596239 ] [-0.0037577 0.99857222 -0.0532861 0.01564753] [-0.00266378 0.05327629 0.99857626 -0.00559375] [ 0. 0. 0. 1. ]] SLAMing on 0.11650248099999999 meters Centerline goodness [0,1] 0.5117702345303927 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.01 [[ 0.99997709 -0.00176323 -0.00653595 0.11198243] [ 0.00122278 0.99664882 -0.08179019 0.01815199] [ 0.00665827 0.08178032 0.99662814 -0.00746473] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters Centerline goodness [0,1] 0.48842221000549757 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 0.9999214 -0.00719723 -0.01026579 0.12853716] [ 0.00633912 0.99666934 -0.08130217 0.02039394] [ 0.01081675 0.0812307 0.99663663 -0.00990569] [ 0. 0. 0. 1. ]] SLAMing on 0.176502481 meters Centerline goodness [0,1] 0.4933380393540987 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.01 [[ 0.9998751 -0.01041575 -0.01188695 0.14886894] [ 0.00951885 0.99727449 -0.07316405 0.02222922] [ 0.01261661 0.07304176 0.99724908 -0.0104922 ] [ 0. 0. 0. 1. ]] SLAMing on 0.206502481 meters Centerline goodness [0,1] 0.4768853737328729 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99990159 -0.00410936 -0.01341333 0.193162 ] [ 0.00330288 0.9982167 -0.05960297 0.0235979 ] [ 0.01363434 0.0595528 0.99813204 -0.01107027] [ 0. 0. 0. 1. ]] SLAMing on 0.236502481 meters Centerline goodness [0,1] 0.47445761574591816 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.01 [[ 9.99875293e-01 -1.67933066e-03 -1.57028299e-02 2.02447481e-01] [ 7.87528683e-04 9.98395090e-01 -5.66270554e-02 2.46579394e-02] [ 1.57727238e-02 5.66076272e-02 9.98271906e-01 -1.47014756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.266502481 meters Centerline goodness [0,1] 0.47893213978932136 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.02 [[ 0.99969849 0.00555975 -0.02391696 0.25094625] [-0.00725908 0.99740973 -0.07156208 0.02276886] [ 0.02345714 0.07171412 0.99714936 -0.01804754] [ 0. 0. 0. 1. ]] SLAMing on 0.29650248100000004 meters Centerline goodness [0,1] 0.44276413478012566 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:-0.02 [[ 0.99926557 0.00577701 -0.03788079 0.29893754] [-0.00902164 0.99624991 -0.08605077 0.02047986] [ 0.03724162 0.08632932 0.99557034 -0.02033835] [ 0. 0. 0. 1. ]] SLAMing on 0.326502481 meters Centerline goodness [0,1] 0.4424345507619464 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 9.99173305e-01 6.85019014e-04 -4.06477127e-02 3.10424128e-01] [-4.35226552e-03 9.95914109e-01 -9.02005840e-02 2.18897814e-02] [ 4.04198414e-02 9.03029253e-02 9.95093774e-01 -2.55672530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.356502481 meters Centerline goodness [0,1] 0.4422912970344939 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.03 [[ 9.98977031e-01 -4.41221870e-03 -4.50047116e-02 3.27084780e-01] [ 3.77427138e-04 9.96007410e-01 -8.92697971e-02 2.13723455e-02] [ 4.52189041e-02 8.91614909e-02 9.94990191e-01 -2.67455550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.386502481 meters Centerline goodness [0,1] 0.4280902737999771 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.03 [[ 0.99905598 -0.01142985 -0.0419106 0.36256116] [ 0.00814337 0.99693846 -0.077765 0.01892783] [ 0.04267113 0.0773503 0.99609041 -0.0283737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.41650248100000004 meters Centerline goodness [0,1] 0.4130528611344586 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.02 [[ 0.99924941 -0.01202479 -0.03682418 0.40308116] [ 0.00957778 0.99777888 -0.06592101 0.01548816] [ 0.03753507 0.06551884 0.99714512 -0.02373153] [ 0. 0. 0. 1. ]] SLAMing on 0.446502481 meters Centerline goodness [0,1] 0.4201275787187839 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:-0.02 [[ 0.99933601 -0.01272798 -0.03413996 0.416714 ] [ 0.01082235 0.99840373 -0.05543354 0.01384992] [ 0.03479102 0.05502726 0.99787854 -0.02271609] [ 0. 0. 0. 1. ]] SLAMing on 0.476502481 meters Centerline goodness [0,1] 0.423166249520846 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.02 [[ 0.99953346 -0.01111938 -0.02844694 0.42798671] [ 0.00981058 0.99890514 -0.04574147 0.01036506] [ 0.02892441 0.04544105 0.99854819 -0.02455161] [ 0. 0. 0. 1. ]] SLAMing on 0.506502481 meters Centerline goodness [0,1] 0.43247371731512263 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.02 [[ 0.99963565 -0.00637517 -0.02622823 0.45631876] [ 0.00534479 0.99921828 -0.03916956 0.00626451] [ 0.02645744 0.0390151 0.99888829 -0.0211335 ] [ 0. 0. 0. 1. ]] SLAMing on 0.536502481 meters Centerline goodness [0,1] 0.39064981545688404 Centerline is valid? [False, False] Translation: X:0.47, Y:0.00, Z:-0.02 [[ 9.99786760e-01 7.77151467e-05 -2.06501418e-02 4.72893630e-01] [-8.36048458e-04 9.99325361e-01 -3.67168163e-02 4.94537787e-03] [ 2.06333569e-02 3.67262513e-02 9.99112330e-01 -2.01666661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566502481 meters Centerline goodness [0,1] 0.4274073249471223 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:-0.03 [[ 0.99984296 0.00232272 -0.01756897 0.49495046] [-0.00277014 0.99967136 -0.02548511 0.00271925] [ 0.017504 0.02552978 0.99952081 -0.02560494] [ 0. 0. 0. 1. ]] SLAMing on 0.5965024809999999 meters Centerline goodness [0,1] 0.42859682257526943 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.03 [[ 0.99978162 0.00325315 -0.02064299 0.50510886] [-0.00369051 0.99976877 -0.02118443 0.00205266] [ 0.0205693 0.02125598 0.99956245 -0.02587318] [ 0. 0. 0. 1. ]] SLAMing on 0.6265024809999999 meters Centerline goodness [0,1] 0.43026706231454004 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.00, Z:-0.03 [[ 0.99986564 -0.00207513 -0.01626015 0.52595107] [ 0.00179896 0.9998542 -0.01698051 -0.00239848] [ 0.01629301 0.01694898 0.9997236 -0.03199653] [ 0. 0. 0. 1. ]] SLAMing on 0.656502481 meters Centerline goodness [0,1] 0.43761609907120746 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.03 [[ 0.99988228 -0.00776071 -0.01323591 0.53832622] [ 0.00758605 0.99988416 -0.01319547 -0.00674698] [ 0.01333678 0.01309351 0.99982533 -0.03367518] [ 0. 0. 0. 1. ]] SLAMing on 0.6865024809999999 meters Centerline goodness [0,1] 0.4436394159616531 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:-0.03 [[ 0.99975976 -0.01502542 -0.0159578 0.55145356] [ 0.01481572 0.99980339 -0.0131789 -0.01122069] [ 0.01615268 0.01293931 0.99978581 -0.03294899] [ 0. 0. 0. 1. ]] SLAMing on 0.7165024809999999 meters Centerline goodness [0,1] 0.45014931976551265 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.03 [[ 0.99887515 -0.04333257 -0.0192541 0.59354542] [ 0.04313294 0.99901241 -0.01066525 -0.03889517] [ 0.01969723 0.00982277 0.99975774 -0.03422913] [ 0. 0. 0. 1. ]] SLAMing on 0.7465024809999999 meters Centerline goodness [0,1] 0.4606986414070665 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:-0.04 [[ 0.99777692 -0.06352444 -0.02014594 0.61643044] [ 0.06332606 0.99793935 -0.01033757 -0.06237978] [ 0.02076111 0.00903883 0.99974361 -0.03654856] [ 0. 0. 0. 1. ]] SLAMing on 0.776502481 meters Centerline goodness [0,1] 0.4693756804089554 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99541156 -0.09178031 -0.02705938 0.66947592] [ 0.09167201 0.99577558 -0.00521857 -0.11348008] [ 0.02742403 0.00271403 0.99962021 -0.03642542] [ 0. 0. 0. 1. ]] SLAMing on 0.806502481 meters Centerline goodness [0,1] 0.46706043821381305 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 9.95002568e-01 -9.65667677e-02 -2.53918908e-02 6.95150162e-01] [ 9.66199081e-02 9.95320970e-01 8.71451493e-04 -1.42671330e-01] [ 2.51889281e-02 -3.32045863e-03 9.99677194e-01 -3.64837877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8365024809999999 meters Centerline goodness [0,1] 0.46557914455198257 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.03 [[ 0.99482771 -0.09779736 -0.02745009 0.74139811] [ 0.09794618 0.99518316 0.00412695 -0.19385458] [ 0.02691426 -0.00679424 0.99961466 -0.03455952] [ 0. 0. 0. 1. ]] SLAMing on 0.8665024809999999 meters Centerline goodness [0,1] 0.46450646188424793 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.22, Z:-0.03 [[ 0.9952479 -0.09444615 -0.02369687 0.76071561] [ 0.09464447 0.99548371 0.00738945 -0.21871802] [ 0.02289194 -0.00959712 0.99969188 -0.03227045] [ 0. 0. 0. 1. ]] SLAMing on 0.896502481 meters Centerline goodness [0,1] 0.479967725780424 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.26, Z:-0.03 [[ 0.99677774 -0.0766848 -0.02352807 0.7972277 ] [ 0.07684422 0.99702538 0.00594665 -0.2558347 ] [ 0.02300207 -0.00773548 0.99970549 -0.02801246] [ 0. 0. 0. 1. ]] SLAMing on 0.9265024809999999 meters Centerline goodness [0,1] 0.540837490890745 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.27, Z:-0.02 [[ 0.99862738 -0.04838086 -0.02006614 0.82580039] [ 0.04847036 0.99881662 0.00399799 -0.27400309] [ 0.01984897 -0.00496512 0.99979066 -0.02410062] [ 0. 0. 0. 1. ]] SLAMing on 0.9565024809999999 meters Centerline goodness [0,1] 0.603518456562953 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.27, Z:-0.03 [[ 9.99214685e-01 -3.63426551e-02 -1.57868688e-02 8.32267102e-01] [ 3.63510797e-02 9.99339051e-01 2.46927895e-04 -2.74569202e-01] [ 1.57674605e-02 -8.20603705e-04 9.99875349e-01 -2.61722634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9865024809999999 meters Centerline goodness [0,1] 0.638279676680736 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.03 [[ 0.99961021 -0.02467775 -0.01305518 0.8395947 ] [ 0.02462049 0.99968661 -0.0045282 -0.27369978] [ 0.01316284 0.00420501 0.99990452 -0.02839043] [ 0. 0. 0. 1. ]] SLAMing on 1.016502481 meters Centerline goodness [0,1] 0.657114866519716 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.27, Z:-0.03 [[ 0.9997959 -0.01876377 -0.00748828 0.85611575] [ 0.0187243 0.9998106 -0.00530702 -0.27227318] [ 0.00758645 0.00516572 0.99995788 -0.02893758] [ 0. 0. 0. 1. ]] SLAMing on 1.046502481 meters Centerline goodness [0,1] 0.6558575140753573 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.28, Z:-0.03 [[ 0.99989335 -0.01391961 -0.00441885 0.87495962] [ 0.01390473 0.99989761 -0.00338068 -0.27806653] [ 0.00446546 0.00331888 0.99998452 -0.02730458] [ 0. 0. 0. 1. ]] SLAMing on 1.0765024810000001 meters Centerline goodness [0,1] 0.6374671740179002 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.28, Z:-0.02 [[ 0.99969263 -0.02444481 -0.00413513 0.90065377] [ 0.02445419 0.99969845 0.00223484 -0.27860589] [ 0.00407925 -0.00233527 0.99998895 -0.02379058] [ 0. 0. 0. 1. ]] SLAMing on 1.1065024810000001 meters Centerline goodness [0,1] 0.6114047733461476 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.28, Z:-0.02 [[ 9.99810206e-01 -1.94811211e-02 -1.93871146e-04 9.19353750e-01] [ 1.94817387e-02 9.99802289e-01 3.98051696e-03 -2.83782817e-01] [ 1.16287883e-04 -3.98353843e-03 9.99992059e-01 -2.28322552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.136502481 meters Centerline goodness [0,1] 0.5924925878864888 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.29, Z:-0.02 [[ 9.99849526e-01 -1.73360267e-02 6.22569873e-04 9.52268371e-01] [ 1.73305192e-02 9.99818059e-01 7.96881282e-03 -2.85336870e-01] [-7.60604154e-04 -7.95682426e-03 9.99968055e-01 -2.16840314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.166502481 meters Centerline goodness [0,1] 0.5913848100598423 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.02 [[ 0.99984499 -0.01734317 -0.00303616 0.96241842] [ 0.01737038 0.99980699 0.0091789 -0.28402588] [ 0.00287639 -0.00923022 0.99995326 -0.02215746] [ 0. 0. 0. 1. ]] SLAMing on 1.196502481 meters Centerline goodness [0,1] 0.5935319059282084 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.28, Z:-0.02 [[ 9.99878375e-01 -1.55955892e-02 -1.13852834e-04 9.90964398e-01] [ 1.55959631e-02 9.99832193e-01 9.60997456e-03 -2.83346547e-01] [-3.60394868e-05 -9.61058139e-03 9.99953817e-01 -2.04487970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.226502481 meters Centerline goodness [0,1] 0.5924797815355529 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.02 [[ 0.99992059 -0.01074831 0.00657999 1.00505993] [ 0.01069661 0.99991203 0.00784319 -0.28504224] [-0.00666371 -0.00777218 0.99994759 -0.02146374] [ 0. 0. 0. 1. ]] SLAMing on 1.256502481 meters Centerline goodness [0,1] 0.5924797815355529 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.02 [[ 0.99992059 -0.01074831 0.00657999 1.00505993] [ 0.01069661 0.99991203 0.00784319 -0.28504224] [-0.00666371 -0.00777218 0.99994759 -0.02146374] [ 0. 0. 0. 1. ]] SLAMing on 1.286502481 meters Centerline goodness [0,1] 0.5861398112364277 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:-0.01 [[ 0.99990448 -0.01356205 -0.00266536 1.03443714] [ 0.01359681 0.99981657 0.01348889 -0.28440595] [ 0.00248193 -0.01352385 0.99990547 -0.01321268] [ 0. 0. 0. 1. ]] SLAMing on 1.3165024810000001 meters Centerline goodness [0,1] 0.583261023901554 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.28, Z:-0.01 [[ 0.99987846 -0.01430042 -0.00620986 1.0440976 ] [ 0.01438528 0.99980071 0.01384179 -0.28397955] [ 0.00601068 -0.01392944 0.99988491 -0.01403171] [ 0. 0. 0. 1. ]] SLAMing on 1.346502481 meters Centerline goodness [0,1] 0.5751696100947705 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.29, Z:-0.01 [[ 0.99989835 -0.01347723 -0.00465395 1.07826278] [ 0.01355898 0.99974595 0.01800537 -0.28987505] [ 0.00441011 -0.01806664 0.99982706 -0.0132917 ] [ 0. 0. 0. 1. ]] SLAMing on 1.376502481 meters Centerline goodness [0,1] 0.5699650571791613 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:-0.01 [[ 0.99987866 -0.01529308 -0.00296489 1.11431227] [ 0.0153492 0.99968345 0.01993517 -0.29575491] [ 0.00265908 -0.01997825 0.99979688 -0.01329944] [ 0. 0. 0. 1. ]] SLAMing on 1.406502481 meters Centerline goodness [0,1] 0.5557569296375267 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:-0.01 [[ 0.99990271 -0.01252344 -0.0061435 1.13874625] [ 0.01262191 0.99978814 0.01625947 -0.30010393] [ 0.00593857 -0.01633543 0.99984893 -0.01480879] [ 0. 0. 0. 1. ]] SLAMing on 1.436502481 meters Centerline goodness [0,1] 0.5531249164282085 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.30, Z:-0.02 [[ 9.99943061e-01 -1.06620074e-02 4.43787019e-04 1.15423784e+00] [ 1.06562661e-02 9.99878422e-01 1.13835844e-02 -3.04147101e-01] [-5.65104926e-04 -1.13782071e-02 9.99935106e-01 -1.79547618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.466502481 meters Centerline goodness [0,1] 0.5406148867313916 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.31, Z:-0.02 [[ 0.99988038 -0.01513563 0.00318532 1.18877449] [ 0.01510573 0.99984348 0.00921038 -0.31140611] [-0.00332423 -0.00916116 0.99995251 -0.01799994] [ 0. 0. 0. 1. ]] SLAMing on 1.496502481 meters Centerline goodness [0,1] 0.53228124406844 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.32, Z:-0.02 [[ 0.99986465 -0.0152442 0.00618897 1.21500978] [ 0.01520657 0.99986588 0.006082 -0.31773799] [-0.00628086 -0.00598706 0.99996235 -0.01913913] [ 0. 0. 0. 1. ]] SLAMing on 1.526502481 meters Centerline goodness [0,1] 0.5360387314366535 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.32, Z:-0.02 [[ 0.99985401 -0.01681688 0.00302509 1.22256918] [ 0.0167974 0.99983872 0.00635456 -0.31889616] [-0.00313147 -0.00630282 0.99997523 -0.01740705] [ 0. 0. 0. 1. ]] SLAMing on 1.556502481 meters Centerline goodness [0,1] 0.5399113383556801 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.32, Z:-0.02 [[ 0.99988588 -0.01307751 0.00756332 1.24297701] [ 0.0130437 0.99990479 0.00450248 -0.32368945] [-0.00762148 -0.00440331 0.99996126 -0.01823625] [ 0. 0. 0. 1. ]] SLAMing on 1.5865024810000001 meters Centerline goodness [0,1] 0.5306967369395871 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.32, Z:-0.02 [[ 0.9998854 -0.01422605 0.00517831 1.24847949] [ 0.01420482 0.99989064 0.00411419 -0.32277614] [-0.00523627 -0.00404016 0.99997813 -0.01738857] [ 0. 0. 0. 1. ]] SLAMing on 1.616502481 meters Centerline goodness [0,1] 0.5326367214004614 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.32, Z:-0.02 [[ 0.9998807 -0.01514651 0.00302848 1.25339148] [ 0.01513604 0.99987948 0.00345247 -0.32093781] [-0.00308041 -0.00340622 0.99998945 -0.01696515] [ 0. 0. 0. 1. ]] SLAMing on 1.646502481 meters Centerline goodness [0,1] 0.5417334383572806 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.32, Z:-0.01 [[ 0.99986746 -0.01474771 -0.0068963 1.27279692] [ 0.01476551 0.99988777 0.0025363 -0.31895595] [ 0.00685812 -0.00263779 0.999973 -0.01058103] [ 0. 0. 0. 1. ]] SLAMing on 1.676502481 meters Centerline goodness [0,1] 0.5400395653234329 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.32, Z:-0.01 [[ 0.99983673 -0.0158033 -0.00876157 1.27786357] [ 0.01582141 0.99987283 0.00200142 -0.31771159] [ 0.00872883 -0.00213972 0.99995961 -0.01093969] [ 0. 0. 0. 1. ]] SLAMing on 1.706502481 meters Centerline goodness [0,1] 0.5368045995627176 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.32, Z:-0.01 [[ 0.99995465 -0.00896019 -0.0032277 1.296061 ] [ 0.00896956 0.99995557 0.00289917 -0.32110077] [ 0.00320158 -0.00292799 0.99999059 -0.01455479] [ 0. 0. 0. 1. ]] SLAMing on 1.736502481 meters Centerline goodness [0,1] 0.5369551143720328 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.32, Z:-0.01 [[ 0.99993831 -0.00990886 -0.00501808 1.30083299] [ 0.00992034 0.99994822 0.002268 -0.31943294] [ 0.00499534 -0.00231764 0.99998484 -0.01497219] [ 0. 0. 0. 1. ]] SLAMing on 1.766502481 meters Centerline goodness [0,1] 0.534725398918279 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.32, Z:-0.02 [[ 9.99921120e-01 -6.60315499e-03 -1.06842258e-02 1.33054657e+00] [ 6.61464172e-03 9.99977582e-01 1.04013104e-03 -3.20947372e-01] [ 1.06771181e-02 -1.11072132e-03 9.99942381e-01 -1.56610185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.796502481 meters Centerline goodness [0,1] 0.5371936323857078 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.32, Z:-0.02 [[ 9.99893098e-01 -7.69785361e-03 -1.24312276e-02 1.33497383e+00] [ 7.70356444e-03 9.99970242e-01 4.11574883e-04 -3.18969390e-01] [ 1.24276895e-02 -5.07295648e-04 9.99922645e-01 -1.54439346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.826502481 meters Centerline goodness [0,1] 0.5252893270467209 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.32, Z:-0.01 [[ 0.9997929 -0.01232147 -0.01619697 1.3535472 ] [ 0.01237968 0.99991725 0.00349899 -0.31690393] [ 0.01615252 -0.00369878 0.9998627 -0.01334922] [ 0. 0. 0. 1. ]] SLAMing on 1.856502481 meters Centerline goodness [0,1] 0.5375799930382628 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.32, Z:-0.02 [[ 9.99949200e-01 -6.66622593e-03 -7.56030820e-03 1.36399976e+00] [ 6.67300150e-03 9.99977356e-01 8.71331689e-04 -3.18695358e-01] [ 7.55432851e-03 -9.21737373e-04 9.99971041e-01 -1.75375363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.886502481 meters Centerline goodness [0,1] 0.540595327003094 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.32, Z:-0.02 [[ 9.99997679e-01 -1.45576573e-03 -1.58851728e-03 1.38064149e+00] [ 1.45442587e-03 9.99998586e-01 -8.44294133e-04 -3.19338797e-01] [ 1.58974413e-03 8.41981792e-04 9.99998382e-01 -1.87751786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.916502481 meters Centerline goodness [0,1] 0.5450613988254138 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.32, Z:-0.02 [[ 9.99990446e-01 -2.34075621e-03 -3.69160533e-03 1.38484289e+00] [ 2.33712071e-03 9.99996780e-01 -9.88808002e-04 -3.18199822e-01] [ 3.69390800e-03 9.80170828e-04 9.99992697e-01 -1.69299065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.946502481 meters Centerline goodness [0,1] 0.5400064010241639 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.32, Z:-0.01 [[ 0.99993799 -0.00972578 -0.00542396 1.39998583] [ 0.00974166 0.99994831 0.00290991 -0.31750285] [ 0.00539538 -0.00296257 0.99998106 -0.00757043] [ 0. 0. 0. 1. ]] SLAMing on 1.976502481 meters Centerline goodness [0,1] 0.5217275393228473 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.32, Z:-0.01 [[ 9.99981269e-01 -5.35996322e-03 2.95523691e-03 1.41018227e+00] [ 5.36062201e-03 9.99985609e-01 -2.15048790e-04 -3.19179126e-01] [-2.95404172e-03 2.30886670e-04 9.99995610e-01 -8.89322409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.006502481 meters Centerline goodness [0,1] 0.5412208268061492 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.32, Z:0.01 [[ 9.99950908e-01 -5.50025953e-03 -8.24188411e-03 1.42816656e+00] [ 5.49300757e-03 9.99984506e-01 -9.02270535e-04 -3.16867991e-01] [ 8.24671913e-03 8.56953509e-04 9.99965628e-01 7.45522870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.036502481 meters Centerline goodness [0,1] 0.528414359517817 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.32, Z:0.01 [[ 9.99999992e-01 1.12468321e-04 5.70837675e-05 1.43862504e+00] [-1.12322651e-04 9.99996754e-01 -2.54548500e-03 -3.18196883e-01] [-5.73698686e-05 2.54547857e-03 9.99996759e-01 6.55475003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066502481 meters Centerline goodness [0,1] 0.5308257993094178 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.32, Z:0.02 [[ 9.99994577e-01 4.98452606e-04 -3.25548152e-03 1.44779247e+00] [-4.86168653e-04 9.99992764e-01 3.77301562e-03 -3.18055565e-01] [ 3.25733863e-03 -3.77141245e-03 9.99987583e-01 1.52868133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.096502481 meters Centerline goodness [0,1] 0.5485895069865542 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.32, Z:0.02 [[ 9.99985904e-01 -3.93678737e-04 -5.29492004e-03 1.45191502e+00] [ 4.11444643e-04 9.99994289e-01 3.35460298e-03 -3.15796412e-01] [ 5.29356916e-03 -3.35673427e-03 9.99980355e-01 1.68048214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.126502481 meters Centerline goodness [0,1] 0.5249697416197443 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.31, Z:0.02 [[ 0.99996776 -0.00222622 -0.00771517 1.45816274] [ 0.002263 0.9999861 0.0047613 -0.31361595] [ 0.00770446 -0.00477861 0.9999589 0.02256644] [ 0. 0. 0. 1. ]] SLAMing on 2.156502481 meters Centerline goodness [0,1] 0.5485269769519855 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.31, Z:0.02 [[ 0.99994754 -0.00319592 -0.00973145 1.46269991] [ 0.00323542 0.99998658 0.00404639 -0.31107447] [ 0.00971838 -0.00407766 0.99994446 0.02323232] [ 0. 0. 0. 1. ]] SLAMing on 2.186502481 meters Centerline goodness [0,1] 0.555392478050059 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.31, Z:0.03 [[ 0.99992193 -0.00718658 -0.01022147 1.47918065] [ 0.00728374 0.99992834 0.00950026 -0.30859932] [ 0.01015247 -0.00957397 0.99990263 0.02747818] [ 0. 0. 0. 1. ]] SLAMing on 2.216502481 meters Centerline goodness [0,1] 0.5530455723372509 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.31, Z:0.02 [[ 0.99999534 -0.00241977 -0.00186216 1.49031157] [ 0.00243017 0.99998133 0.00560618 -0.308735 ] [ 0.00184856 -0.00561068 0.99998255 0.02327946] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters Centerline goodness [0,1] 0.5520416437782836 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.31, Z:0.03 [[ 0.99998245 -0.00378292 -0.0045599 1.49499869] [ 0.00381386 0.99996963 0.0067965 -0.30709936] [ 0.00453405 -0.00681377 0.99996651 0.03028213] [ 0. 0. 0. 1. ]] SLAMing on 2.276502481 meters Centerline goodness [0,1] 0.5495519102772392 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.31, Z:0.04 [[ 0.99996044 -0.00522635 -0.00719711 1.49958355] [ 0.00528555 0.99995216 0.00823019 -0.30526703] [ 0.00715375 -0.00826791 0.99994023 0.03754322] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters Centerline goodness [0,1] 0.5430305884815658 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.31, Z:0.04 [[ 0.99996352 -0.00187697 -0.00833236 1.52112887] [ 0.00191058 0.99999006 0.0040278 -0.30632786] [ 0.00832472 -0.00404358 0.99995717 0.0359115 ] [ 0. 0. 0. 1. ]] SLAMing on 2.336502481 meters Centerline goodness [0,1] 0.5439286650931026 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.31, Z:0.04 [[ 0.99993182 -0.00326198 -0.01121255 1.52601428] [ 0.00332086 0.99998078 0.00523646 -0.30607498] [ 0.01119526 -0.00527334 0.99992343 0.0422993 ] [ 0. 0. 0. 1. ]] SLAMing on 2.366502481 meters Centerline goodness [0,1] 0.5353627892367292 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.31, Z:0.04 [[ 9.99995594e-01 1.15482923e-03 -2.73475274e-03 1.53659205e+00] [-1.15148222e-03 9.99998587e-01 1.22514057e-03 -3.06782376e-01] [ 2.73616370e-03 -1.22198615e-03 9.99995510e-01 3.84678913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.396502481 meters Centerline goodness [0,1] 0.5454640824569226 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.31, Z:0.04 [[ 9.99990939e-01 8.71557426e-04 -4.16676144e-03 1.53841278e+00] [-8.66100536e-04 9.99998765e-01 1.31124875e-03 -3.05294905e-01] [ 4.16789912e-03 -1.30762804e-03 9.99990459e-01 4.08804518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.426502481 meters Centerline goodness [0,1] 0.5475667764361507 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.30, Z:0.05 [[ 9.99979021e-01 -7.74710788e-04 -6.43104521e-03 1.54330719e+00] [ 7.89696693e-04 9.99996978e-01 2.32803192e-03 -3.01719867e-01] [ 6.42922222e-03 -2.33306166e-03 9.99976611e-01 4.64552383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.456502481 meters Centerline goodness [0,1] 0.5499334568513348 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:0.05 [[ 9.99969377e-01 -1.17991045e-03 -7.73652708e-03 1.54553120e+00] [ 1.19509331e-03 9.99997369e-01 1.95816122e-03 -2.99880989e-01] [ 7.73419627e-03 -1.96734713e-03 9.99968155e-01 4.76203520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.486502481 meters Centerline goodness [0,1] 0.5487470276202671 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:0.05 [[ 9.99962707e-01 -1.42411590e-03 -8.51804192e-03 1.54659263e+00] [ 1.44545079e-03 9.99995833e-01 2.49903906e-03 -2.97078529e-01] [ 8.51444750e-03 -2.51125827e-03 9.99960598e-01 5.09743787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.516502481 meters Centerline goodness [0,1] 0.5295436182135689 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:0.05 [[ 0.9999511 -0.00189622 -0.00970572 1.54911684] [ 0.0019196 0.99999528 0.00240026 -0.2941454 ] [ 0.00970113 -0.00241878 0.99995002 0.05215775] [ 0. 0. 0. 1. ]] SLAMing on 2.546502481 meters Centerline goodness [0,1] 0.5218607082189991 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:0.05 [[ 0.99993919 -0.0022125 -0.01080408 1.55072063] [ 0.00223966 0.99999436 0.00250161 -0.29384349] [ 0.01079849 -0.00252566 0.9999385 0.05358511] [ 0. 0. 0. 1. ]] SLAMing on 2.576502481 meters Centerline goodness [0,1] 0.4850458209699866 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:0.06 [[ 9.99912089e-01 -6.38941667e-03 -1.16184981e-02 1.55153091e+00] [ 6.37819182e-03 9.99979156e-01 -1.00291596e-03 -2.93463018e-01] [ 1.16246639e-02 9.28722779e-04 9.99932000e-01 5.63958480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606502481 meters Centerline goodness [0,1] 0.44982193164301276 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:0.06 [[ 9.99896071e-01 -6.69690483e-03 -1.27671137e-02 1.55270137e+00] [ 6.69190362e-03 9.99977515e-01 -4.34406075e-04 -2.95531551e-01] [ 1.27697358e-02 3.48924633e-04 9.99918403e-01 5.87451242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.636502481 meters Centerline goodness [0,1] 0.4483077248006758 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.06 [[ 0.99992915 -0.00349251 -0.0113801 1.57163955] [ 0.00343252 0.99998013 -0.00528729 -0.29738138] [ 0.01139834 0.00524785 0.99992127 0.05641821] [ 0. 0. 0. 1. ]] SLAMing on 2.6665024809999998 meters Centerline goodness [0,1] 0.4114722449951075 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.06 [[ 0.9999178 -0.00359769 -0.01230616 1.57226878] [ 0.00354547 0.99998463 -0.00426203 -0.29830172] [ 0.0123213 0.00421805 0.99991519 0.05987154] [ 0. 0. 0. 1. ]] SLAMing on 2.696502481 meters Centerline goodness [0,1] 0.4043215625748423 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.06 [[ 0.99991509 -0.00322529 -0.01262543 1.57278065] [ 0.00317977 0.99998838 -0.00362315 -0.29692102] [ 0.01263696 0.0035827 0.99991373 0.06084745] [ 0. 0. 0. 1. ]] SLAMing on 2.726502481 meters Centerline goodness [0,1] 0.393090221357982 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.06 [[ 9.99908677e-01 8.64139904e-05 -1.35140395e-02 1.57361900e+00] [-7.88083480e-05 9.99999838e-01 5.63327156e-04 -2.99179711e-01] [ 1.35140860e-02 -5.62210693e-04 9.99908523e-01 6.29341074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.756502481 meters Centerline goodness [0,1] 0.4108357563955505 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.07 [[ 9.99909086e-01 6.20756859e-04 -1.34697324e-02 1.57235744e+00] [-6.01820828e-04 9.99998825e-01 1.40982866e-03 -2.98832521e-01] [ 1.34705917e-02 -1.40159412e-03 9.99908285e-01 6.57713074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786502481 meters Centerline goodness [0,1] 0.42299065420560744 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.07 [[ 9.99903356e-01 6.98981183e-04 -1.38848567e-02 1.57253446e+00] [-6.78860894e-04 9.99998713e-01 1.45374184e-03 -2.98184999e-01] [ 1.38858550e-02 -1.44417546e-03 9.99902544e-01 6.68473959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.816502481 meters Centerline goodness [0,1] 0.44689875950380153 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.07 [[ 0.99990844 0.00161607 -0.01343523 1.56978595] [-0.00159008 0.99999685 0.00194459 -0.29653533] [ 0.01343833 -0.00192305 0.99990785 0.07019918] [ 0. 0. 0. 1. ]] SLAMing on 2.846502481 meters Centerline goodness [0,1] 0.46358919781827856 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.29, Z:0.07 [[ 9.99902335e-01 1.70033815e-03 -1.38718635e-02 1.56992007e+00] [-1.67931689e-03 9.99997424e-01 1.52689599e-03 -2.94226983e-01] [ 1.38744240e-02 -1.50345161e-03 9.99902615e-01 7.11258188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876502481 meters Centerline goodness [0,1] 0.46496375560925096 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.29, Z:0.07 [[ 0.99991023 0.00187796 -0.01326699 1.56857248] [-0.00185207 0.99999636 0.00196392 -0.29303036] [ 0.01327063 -0.00193917 0.99991006 0.07268781] [ 0. 0. 0. 1. ]] SLAMing on 2.906502481 meters Centerline goodness [0,1] 0.4732846871408334 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.07 [[ 9.99940470e-01 1.24898326e-04 -1.09105429e-02 1.56560530e+00] [-1.02772627e-04 9.99997937e-01 2.02845634e-03 -2.95330889e-01] [ 1.09107737e-02 -2.02721428e-03 9.99938421e-01 7.38046125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9365024809999998 meters Centerline goodness [0,1] 0.4672363909129875 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.08 [[ 9.99933472e-01 -2.50450860e-04 -1.15320569e-02 1.56639336e+00] [ 2.80170171e-04 9.99996644e-01 2.57556069e-03 -2.97981824e-01] [ 1.15313731e-02 -2.57862028e-03 9.99930187e-01 7.53560539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.966502481 meters Centerline goodness [0,1] 0.45875984779462997 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.30, Z:0.08 [[ 0.99997095 -0.00395371 -0.00651677 1.57430759] [ 0.00399365 0.99997325 0.00612809 -0.30136508] [ 0.00649236 -0.00615394 0.99995999 0.07552184] [ 0. 0. 0. 1. ]] SLAMing on 2.996502481 meters Centerline goodness [0,1] 0.46769430823829006 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.31, Z:0.08 [[ 9.99999372e-01 -4.62338577e-04 1.02051497e-03 1.58193181e+00] [ 4.60515111e-04 9.99998298e-01 1.78632212e-03 -3.06938799e-01] [-1.02133912e-03 -1.78585103e-03 9.99997884e-01 7.75935220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.026502481 meters Centerline goodness [0,1] 0.47992372650503945 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.31, Z:0.08 [[ 9.99999605e-01 6.63393525e-05 8.86538364e-04 1.58088052e+00] [-6.87144073e-05 9.99996408e-01 2.67925906e-03 -3.09340098e-01] [-8.86357440e-04 -2.67931892e-03 9.99996018e-01 7.99136200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.056502481 meters Centerline goodness [0,1] 0.4994084468289999 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.32, Z:0.08 [[ 9.99998130e-01 1.10196363e-03 1.58892974e-03 1.57887899e+00] [-1.10846553e-03 9.99990993e-01 4.09694412e-03 -3.16318459e-01] [-1.58440075e-03 -4.09869773e-03 9.99990345e-01 8.14810654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.086502481 meters Centerline goodness [0,1] 0.4871730241416008 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.33, Z:0.08 [[ 9.99995414e-01 -2.73373376e-03 1.30305247e-03 1.58000942e+00] [ 2.73153609e-03 9.99994849e-01 1.68536043e-03 -3.27451153e-01] [-1.30765309e-03 -1.68179337e-03 9.99997731e-01 8.14978050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.116502481 meters Centerline goodness [0,1] 0.47169918009612666 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.33, Z:0.08 [[ 9.99980121e-01 -6.17592926e-03 1.27137417e-03 1.58009523e+00] [ 6.17689160e-03 9.99980638e-01 -7.54404435e-04 -3.33534441e-01] [-1.26669041e-03 7.62242579e-04 9.99998907e-01 8.21749383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.146502481 meters Centerline goodness [0,1] 0.47169918009612666 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.33, Z:0.08 [[ 9.99980121e-01 -6.17592926e-03 1.27137417e-03 1.58009523e+00] [ 6.17689160e-03 9.99980638e-01 -7.54404435e-04 -3.33534441e-01] [-1.26669041e-03 7.62242579e-04 9.99998907e-01 8.21749383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.176502481 meters Centerline goodness [0,1] 0.45147496460662795 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.35, Z:0.08 [[ 0.99997107 -0.00741704 0.00168565 1.59879774] [ 0.00742365 0.99996464 -0.00395136 -0.35293183] [-0.00165628 0.00396376 0.99999077 0.08433207] [ 0. 0. 0. 1. ]] SLAMing on 3.206502481 meters Centerline goodness [0,1] 0.443007299270073 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:0.09 [[ 0.99999439 -0.00198472 -0.00269808 1.61069298] [ 0.00196538 0.99997252 -0.00714864 -0.36516258] [ 0.0027122 0.0071433 0.99997081 0.08679898] [ 0. 0. 0. 1. ]] SLAMing on 3.236502481 meters Centerline goodness [0,1] 0.4404926369007378 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:0.09 [[ 0.99998898 -0.00258213 -0.00392115 1.6124798 ] [ 0.00255462 0.99997221 -0.00700449 -0.37198988] [ 0.00393913 0.0069944 0.99996778 0.08780081] [ 0. 0. 0. 1. ]] SLAMing on 3.266502481 meters Centerline goodness [0,1] 0.46414265792362697 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.38, Z:0.09 [[ 9.99990642e-01 -4.24775792e-03 8.20049094e-04 1.62143366e+00] [ 4.24916163e-03 9.99989497e-01 -1.71765002e-03 -3.80606649e-01] [-8.12744319e-04 1.72111846e-03 9.99998189e-01 8.76402381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.296502481 meters Centerline goodness [0,1] 0.4667739915928808 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.38, Z:0.09 [[ 9.99992207e-01 -3.87001035e-03 7.79994615e-04 1.62111497e+00] [ 3.87069562e-03 9.99992123e-01 -8.78961775e-04 -3.83080347e-01] [-7.76586880e-04 8.81974048e-04 9.99999310e-01 8.86266970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.326502481 meters Centerline goodness [0,1] 0.47120261712536393 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:0.09 [[ 9.99993222e-01 -3.44139626e-03 1.30885238e-03 1.61989851e+00] [ 3.44065746e-03 9.99993921e-01 5.66304233e-04 -3.89315573e-01] [-1.31079330e-03 -5.61797082e-04 9.99998983e-01 9.08687262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.356502481 meters Centerline goodness [0,1] 0.463436016808247 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:0.09 [[ 9.99975076e-01 -6.15066682e-03 3.46645929e-03 1.61556217e+00] [ 6.15581226e-03 9.99979964e-01 -1.47564284e-03 -3.92673778e-01] [-3.45731365e-03 1.49694494e-03 9.99992903e-01 9.35198231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.386502481 meters Centerline goodness [0,1] 0.4606309930729907 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.39, Z:0.10 [[ 9.99977197e-01 -5.48356502e-03 3.94146069e-03 1.61350784e+00] [ 5.48447186e-03 9.99984936e-01 -2.19306707e-04 -3.94281457e-01] [-3.94019874e-03 2.40918536e-04 9.99992208e-01 9.61778026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4165024809999998 meters Centerline goodness [0,1] 0.43715249293592195 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.40, Z:0.10 [[ 9.99940733e-01 -8.86571966e-03 6.31899241e-03 1.61004210e+00] [ 8.87537845e-03 9.99959485e-01 -1.50213447e-03 -3.99300261e-01] [-6.30541889e-03 1.55812889e-03 9.99978907e-01 9.89106476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.446502481 meters Centerline goodness [0,1] 0.4182677645623666 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.41, Z:0.10 [[ 9.99924619e-01 -1.00843615e-02 7.00443574e-03 1.61031706e+00] [ 1.00907709e-02 9.99948699e-01 -8.80322853e-04 -4.05354102e-01] [-6.99519891e-03 9.50936650e-04 9.99975081e-01 9.90651658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.476502481 meters Centerline goodness [0,1] 0.37181711170311627 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.42, Z:0.10 [[ 9.99819137e-01 -1.57501192e-02 1.06595926e-02 1.60865400e+00] [ 1.57658709e-02 9.99874737e-01 -1.39528233e-03 -4.17412682e-01] [-1.06362815e-02 1.56308774e-03 9.99942211e-01 1.00095262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.506502481 meters Centerline goodness [0,1] 0.35437013996889577 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.42, Z:0.10 [[ 9.99790758e-01 -1.69919375e-02 1.13892215e-02 1.60863396e+00] [ 1.70005593e-02 9.99855262e-01 -6.60625765e-04 -4.24147560e-01] [-1.13763478e-02 8.54110671e-04 9.99934922e-01 1.00776901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.536502481 meters Centerline goodness [0,1] 0.34249537718995826 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.11 [[ 9.99813814e-01 -1.53469941e-02 1.16964603e-02 1.62837835e+00] [ 1.53429656e-02 9.99882196e-01 4.34077039e-04 -4.37624797e-01] [-1.17017441e-02 -2.54537832e-04 9.99931500e-01 1.05385405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.566502481 meters Centerline goodness [0,1] 0.3565825803212851 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.11 [[ 9.99821351e-01 -1.48484286e-02 1.16957775e-02 1.62752601e+00] [ 1.48333767e-02 9.99889037e-01 1.37265305e-03 -4.39364450e-01] [-1.17148615e-02 -1.19891995e-03 9.99930660e-01 1.07197337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.596502481 meters Centerline goodness [0,1] 0.38570579215821255 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.10 [[ 0.99986288 -0.00308307 0.01626979 1.63244064] [ 0.0031214 0.99999241 -0.00233084 -0.44161816] [-0.01626248 0.0023813 0.99986492 0.10463423] [ 0. 0. 0. 1. ]] SLAMing on 3.6265024809999997 meters Centerline goodness [0,1] 0.3985780660450903 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.11 [[ 9.99876748e-01 7.87193578e-04 1.56801904e-02 1.63271323e+00] [-8.14230539e-04 9.99998193e-01 1.71796566e-03 -4.42164942e-01] [-1.56788097e-02 -1.73052121e-03 9.99875582e-01 1.05948317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.656502481 meters Centerline goodness [0,1] 0.40268393685587067 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.11 [[ 9.99875649e-01 8.71595571e-04 1.57457234e-02 1.63264535e+00] [-8.90065602e-04 9.99998924e-01 1.16604923e-03 -4.40323807e-01] [-1.57446901e-02 -1.17991896e-03 9.99875348e-01 1.05397502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6865024809999998 meters Centerline goodness [0,1] 0.412976601100028 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.11 [[ 9.99866245e-01 1.07564407e-03 1.63197488e-02 1.63175753e+00] [-1.08963454e-03 9.99999046e-01 8.48404843e-04 -4.38770297e-01] [-1.63188207e-02 -8.66073927e-04 9.99866464e-01 1.05061017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.716502481 meters Centerline goodness [0,1] 0.44782083449493537 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.44, Z:0.10 [[ 9.99854440e-01 1.16896764e-03 1.70215509e-02 1.63068045e+00] [-1.17593089e-03 9.99999229e-01 3.99081743e-04 -4.36536303e-01] [-1.70210713e-02 -4.19039820e-04 9.99855043e-01 1.04802517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746502481 meters Centerline goodness [0,1] 0.45392765576251815 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99852084e-01 1.20083699e-03 1.71571309e-02 1.63046711e+00] [-1.20140371e-03 9.99999278e-01 2.27241873e-05 -4.34599817e-01] [-1.71570913e-02 -4.33334668e-05 9.99852805e-01 1.04542800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.776502481 meters Centerline goodness [0,1] 0.45814923528503015 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99851727e-01 1.10712382e-03 1.71842740e-02 1.63090300e+00] [-1.09913009e-03 9.99999283e-01 -4.74614827e-04 -4.33226547e-01] [-1.71847871e-02 4.55656701e-04 9.99852227e-01 1.03634390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806502481 meters Centerline goodness [0,1] 0.4580270079055031 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99854282e-01 9.28658492e-04 1.70456073e-02 1.63137250e+00] [-9.17159556e-04 9.99999347e-01 -6.82403119e-04 -4.32557723e-01] [-1.70462298e-02 6.66670139e-04 9.99854480e-01 1.03444505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.836502481 meters Centerline goodness [0,1] 0.4617916692302959 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99852579e-01 8.90378333e-04 1.71472374e-02 1.63137245e+00] [-8.83055558e-04 9.99999516e-01 -4.34619543e-04 -4.32660550e-01] [-1.71476160e-02 4.19413507e-04 9.99852881e-01 1.03838811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.866502481 meters Centerline goodness [0,1] 0.46228762788411315 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99857908e-01 6.99496462e-04 1.68426464e-02 1.63205212e+00] [-6.93135140e-04 9.99999686e-01 -3.83525895e-04 -4.32827253e-01] [-1.68429094e-02 3.71797168e-04 9.99858079e-01 1.04053015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8965024809999997 meters Centerline goodness [0,1] 0.465112722155945 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99863347e-01 8.18794928e-04 1.65111344e-02 1.63307582e+00] [-8.03794999e-04 9.99999258e-01 -9.15089370e-04 -4.30453872e-01] [-1.65118714e-02 9.01692753e-04 9.99863263e-01 1.02941040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.926502481 meters Centerline goodness [0,1] 0.46998808687417903 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99865185e-01 7.50951620e-04 1.64027087e-02 1.63401290e+00] [-7.23369835e-04 9.99998315e-01 -1.68740671e-03 -4.28068379e-01] [-1.64039482e-02 1.67531399e-03 9.99864043e-01 1.01326586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.956502481 meters Centerline goodness [0,1] 0.4747379038420393 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.43, Z:0.10 [[ 9.99869723e-01 7.49133906e-04 1.61237490e-02 1.63479835e+00] [-7.17320561e-04 9.99997785e-01 -1.97876657e-03 -4.27349923e-01] [-1.61251956e-02 1.96694288e-03 9.99868046e-01 1.00665213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.986502481 meters Centerline goodness [0,1] 0.47292760346722007 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 9.99876350e-01 5.47003907e-04 1.57157444e-02 1.63574933e+00] [-5.13898586e-04 9.99997641e-01 -2.11046790e-03 -4.27126805e-01] [-1.57168618e-02 2.10213064e-03 9.99874273e-01 1.00565197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.016502481 meters Centerline goodness [0,1] 0.47433133974923347 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 0.99988114 0.00332739 0.01505409 1.63803476] [-0.00335607 0.9999926 0.00188011 -0.42845364] [-0.01504773 -0.00193041 0.99988491 0.10060223] [ 0. 0. 0. 1. ]] SLAMing on 4.046502480999999 meters Centerline goodness [0,1] 0.47215393486904 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 0.9998903 0.00286139 0.01453286 1.63979949] [-0.00288576 0.99999446 0.00165643 -0.42868477] [-0.01452804 -0.00169818 0.99989302 0.09976223] [ 0. 0. 0. 1. ]] SLAMing on 4.0765024809999995 meters Centerline goodness [0,1] 0.46834982096255384 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 9.99899097e-01 2.30461978e-03 1.40172806e-02 1.64207242e+00] [-2.32406425e-03 9.99996359e-01 1.37104690e-03 -4.28692639e-01] [-1.40140698e-02 -1.40348562e-03 9.99900813e-01 9.83003088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.106502481 meters Centerline goodness [0,1] 0.4678097311681635 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 9.99901572e-01 2.05537325e-03 1.38788449e-02 1.64308560e+00] [-2.07109105e-03 9.99997230e-01 1.11822278e-03 -4.28017071e-01] [-1.38765081e-02 -1.14685707e-03 9.99903059e-01 9.74042861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.136502480999999 meters Centerline goodness [0,1] 0.4759648752225475 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:0.10 [[ 9.99901542e-01 2.22819294e-03 1.38543200e-02 1.64332613e+00] [-2.23757609e-03 9.99997278e-01 6.61808157e-04 -4.25537187e-01] [-1.38528077e-02 -6.92743092e-04 9.99903805e-01 9.66680828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.166502480999999 meters Centerline goodness [0,1] 0.4795267056060697 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:0.10 [[ 9.99903483e-01 2.15582205e-03 1.37250364e-02 1.64420450e+00] [-2.15779923e-03 9.99997664e-01 1.29249707e-04 -4.23560496e-01] [-1.37247257e-02 -1.58853105e-04 9.99905799e-01 9.55059841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.196502481 meters Centerline goodness [0,1] 0.5092340387320782 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.42, Z:0.10 [[ 0.99989638 0.00613132 0.01302472 1.64500205] [-0.00616999 0.99997667 0.00293096 -0.42013097] [-0.01300644 -0.00301102 0.99991088 0.09518333] [ 0. 0. 0. 1. ]] SLAMing on 4.226502481 meters Centerline goodness [0,1] 0.5275388291517324 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.42, Z:0.09 [[ 0.99989825 0.00608464 0.01290203 1.64527032] [-0.00611091 0.99997933 0.00199766 -0.4170938 ] [-0.01288961 -0.0020763 0.99991477 0.09445372] [ 0. 0. 0. 1. ]] SLAMing on 4.256502480999999 meters Centerline goodness [0,1] 0.5364380300550513 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99903585e-01 6.03021368e-03 1.25082888e-02 1.64596851e+00] [-6.04359468e-03 9.99981205e-01 1.03224801e-03 -4.13630367e-01] [-1.25018290e-02 -1.10774351e-03 9.99921235e-01 9.38473326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286502480999999 meters Centerline goodness [0,1] 0.5440399120983548 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99914220e-01 5.53800297e-03 1.18693883e-02 1.64763432e+00] [-5.53904912e-03 9.99984658e-01 5.52662040e-05 -4.10536683e-01] [-1.18689002e-02 -1.21006588e-04 9.99929555e-01 9.30551656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.316502481 meters Centerline goodness [0,1] 0.5441694023008902 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99922898e-01 5.18512960e-03 1.12832974e-02 1.64864870e+00] [-5.18139923e-03 9.99986512e-01 -3.59817698e-04 -4.09444392e-01] [-1.12850109e-02 3.01326687e-04 9.99936277e-01 9.32868815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.346502481 meters Centerline goodness [0,1] 0.5405612998522895 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99930006e-01 4.90685213e-03 1.07659331e-02 1.64932883e+00] [-4.90211849e-03 9.99987876e-01 -4.66032141e-04 -4.08707128e-01] [-1.07680893e-02 4.13223642e-04 9.99941937e-01 9.40857158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.376502480999999 meters Centerline goodness [0,1] 0.5390208719715035 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99940122e-01 4.28749313e-03 1.00682805e-02 1.65068402e+00] [-4.27873500e-03 9.99990449e-01 -8.91253030e-04 -4.07145842e-01] [-1.00720056e-02 8.48120160e-04 9.99948916e-01 9.45658457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4065024809999995 meters Centerline goodness [0,1] 0.5311039934177662 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.09 [[ 9.99945509e-01 3.95197656e-03 9.66230602e-03 1.65182610e+00] [-3.94268323e-03 9.99991747e-01 -9.80672118e-04 -4.06328135e-01] [-9.66610187e-03 9.42523268e-04 9.99952838e-01 9.45570228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.436502481 meters Centerline goodness [0,1] 0.5222509246756297 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:0.10 [[ 9.99958407e-01 3.19673617e-03 8.54198335e-03 1.65393142e+00] [-3.18855098e-03 9.99994444e-01 -9.71678253e-04 -4.06798242e-01] [-8.54504210e-03 9.44401289e-04 9.99963044e-01 9.55280064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466502480999999 meters Centerline goodness [0,1] 0.5087215267802175 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.41, Z:0.10 [[ 9.99965831e-01 2.82661864e-03 7.76837083e-03 1.65534933e+00] [-2.82017691e-03 9.99995670e-01 -8.40055384e-04 -4.07290480e-01] [-7.77071171e-03 8.18118500e-04 9.99969473e-01 9.61962732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.496502480999999 meters Centerline goodness [0,1] 0.495524315440378 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.41, Z:0.10 [[ 9.99974327e-01 2.12568953e-03 6.84297789e-03 1.65808528e+00] [-2.11818826e-03 9.99997148e-01 -1.10325943e-03 -4.07057992e-01] [-6.84530356e-03 1.08873639e-03 9.99975978e-01 9.54465915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526502481 meters Centerline goodness [0,1] 0.4700937601034594 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.41, Z:0.09 [[ 9.99982437e-01 1.05942755e-03 5.83124366e-03 1.66153090e+00] [-1.05529915e-03 9.99999190e-01 -7.11009612e-04 -4.09608698e-01] [-5.83199220e-03 7.04843418e-04 9.99982745e-01 9.49275492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.556502481 meters Centerline goodness [0,1] 0.46388717133351 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.41, Z:0.09 [[ 9.99984849e-01 8.41108695e-04 5.44009200e-03 1.66295567e+00] [-8.40095935e-04 9.99999629e-01 -1.88448310e-04 -4.10539125e-01] [-5.44024849e-03 1.83875255e-04 9.99985185e-01 9.48507370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.586502480999999 meters Centerline goodness [0,1] 0.46131004880343385 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.41, Z:0.09 [[ 9.99986647e-01 6.23240242e-04 5.12997845e-03 1.66412350e+00] [-6.22293142e-04 9.99999789e-01 -1.86214612e-04 -4.09800641e-01] [-5.13009342e-03 1.83019775e-04 9.99986824e-01 9.44685917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6165024809999995 meters Centerline goodness [0,1] 0.4588525022721276 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.09 [[ 0.99998342 0.003812 0.00431686 1.66629095] [-0.00382773 0.99998604 0.00364155 -0.41076717] [-0.00430292 -0.00365801 0.99998405 0.09438147] [ 0. 0. 0. 1. ]] SLAMing on 4.646502481 meters Centerline goodness [0,1] 0.4612362186253812 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.09 [[ 0.99998545 0.00349694 0.00410638 1.66735463] [-0.00351014 0.99998868 0.0032124 -0.40961496] [-0.0040951 -0.00322677 0.99998641 0.09357504] [ 0. 0. 0. 1. ]] SLAMing on 4.676502480999999 meters Centerline goodness [0,1] 0.47037460094309225 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.09 [[ 0.99998433 0.00362558 0.00426671 1.66695839] [-0.00363759 0.99998944 0.00280884 -0.40756171] [-0.00425648 -0.00282431 0.99998695 0.0934381 ] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters Centerline goodness [0,1] 0.4802802510582397 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.09 [[ 0.99998432 0.00366183 0.00423672 1.66623159] [-0.00367112 0.99999087 0.00218709 -0.40524752] [-0.00422868 -0.00220261 0.99998863 0.09415676] [ 0. 0. 0. 1. ]] SLAMing on 4.736502481 meters Centerline goodness [0,1] 0.4811615350941194 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:0.09 [[ 0.99998707 0.00337555 0.00380351 1.66697561] [-0.00338315 0.99999229 0.0019935 -0.40492448] [-0.00379675 -0.00200634 0.99999078 0.09448377] [ 0. 0. 0. 1. ]] SLAMing on 4.766502481 meters Centerline goodness [0,1] 0.47644483362521894 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:0.09 [[ 9.99991294e-01 2.72380714e-03 3.16123608e-03 1.66846439e+00] [-2.72900521e-03 9.99994930e-01 1.64116701e-03 -4.04424544e-01] [-3.15674983e-03 -1.64977975e-03 9.99993657e-01 9.46393764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.796502480999999 meters Centerline goodness [0,1] 0.4765389456429471 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.10 [[ 0.9999931 0.00250216 0.00274446 1.66890427] [-0.00250723 0.99999515 0.00184624 -0.4050952 ] [-0.00273982 -0.00185311 0.99999453 0.09563397] [ 0. 0. 0. 1. ]] SLAMing on 4.8265024809999995 meters Centerline goodness [0,1] 0.4690294022806555 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.10 [[ 9.99995897e-01 1.63792151e-03 2.35012063e-03 1.66940099e+00] [-1.64260096e-03 9.99996670e-01 1.99060444e-03 -4.07322350e-01] [-2.34685235e-03 -1.99445658e-03 9.99995257e-01 9.70801604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.856502481 meters Centerline goodness [0,1] 0.4588773803585575 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.10 [[ 9.99998379e-01 1.03954543e-03 1.47047159e-03 1.67184970e+00] [-1.04245503e-03 9.99997498e-01 1.97930367e-03 -4.08219343e-01] [-1.46841033e-03 -1.98083336e-03 9.99996960e-01 9.66266733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886502480999999 meters Centerline goodness [0,1] 0.45035128805620606 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:0.10 [[ 9.99999607e-01 2.93311378e-04 8.36477363e-04 1.67430448e+00] [-2.95344047e-04 9.99997002e-01 2.43094686e-03 -4.10188268e-01] [-8.35761831e-04 -2.43119296e-03 9.99996695e-01 9.62819618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.916502480999999 meters Centerline goodness [0,1] 0.4454012888107791 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.10 [[ 9.99999989e-01 3.15140518e-05 1.41620339e-04 1.67558229e+00] [-3.19377270e-05 9.99995522e-01 2.99262045e-03 -4.12081146e-01] [-1.41525395e-04 -2.99262494e-03 9.99995512e-01 9.71581258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946502481 meters Centerline goodness [0,1] 0.441983461414838 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.10 [[ 9.99999870e-01 -3.29135869e-04 -3.90379118e-04 1.67738295e+00] [ 3.30337875e-04 9.99995193e-01 3.08301689e-03 -4.12282102e-01] [ 3.89362510e-04 -3.08314545e-03 9.99995171e-01 9.67350227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.976502481 meters Centerline goodness [0,1] 0.4423076923076923 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.10 [[ 9.99999269e-01 -7.83788522e-04 -9.20933234e-04 1.67935209e+00] [ 7.86360021e-04 9.99995784e-01 2.79523782e-03 -4.11978645e-01] [ 9.18738476e-04 -2.79595996e-03 9.99995669e-01 9.57197758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006502480999999 meters Centerline goodness [0,1] 0.43815770295875234 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.09 [[ 9.99997709e-01 -1.35437552e-03 -1.65775089e-03 1.68195845e+00] [ 1.35888596e-03 9.99995370e-01 2.72272026e-03 -4.12791416e-01] [ 1.65405563e-03 -2.72496672e-03 9.99994919e-01 9.47018068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.036502480999999 meters Centerline goodness [0,1] 0.48870690408882933 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.10 [[ 9.99996149e-01 -1.66370148e-03 -2.22129229e-03 1.68312186e+00] [ 1.66996476e-03 9.99994627e-01 2.82078613e-03 -4.13310396e-01] [ 2.21658741e-03 -2.82448474e-03 9.99993554e-01 9.50735956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066502481 meters Centerline goodness [0,1] 0.48870690408882933 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.10 [[ 9.99996149e-01 -1.66370148e-03 -2.22129229e-03 1.68312186e+00] [ 1.66996476e-03 9.99994627e-01 2.82078613e-03 -4.13310396e-01] [ 2.21658741e-03 -2.82448474e-03 9.99993554e-01 9.50735956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.096502480999999 meters Centerline goodness [0,1] 0.4842396045362024 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.41, Z:0.09 [[ 0.9999948 -0.0019663 -0.00255697 1.68438115] [ 0.00197202 0.99999555 0.00223663 -0.41067628] [ 0.00255256 -0.00224166 0.99999423 0.09426158] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters Centerline goodness [0,1] 0.49002172338884864 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.41, Z:0.09 [[ 9.99991283e-01 4.73368787e-04 -4.14847460e-03 1.68898848e+00] [-4.53370640e-04 9.99988280e-01 4.82021801e-03 -4.10697441e-01] [ 4.15070772e-03 -4.81829519e-03 9.99979778e-01 9.25321794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1565024809999995 meters Centerline goodness [0,1] 0.49282988319648435 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.41, Z:0.09 [[ 9.99989129e-01 -1.36737327e-04 -4.66092046e-03 1.69085416e+00] [ 1.53944237e-04 9.99993174e-01 3.69158174e-03 -4.08356395e-01] [ 4.66038387e-03 -3.69225913e-03 9.99982324e-01 9.10607737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186502481 meters Centerline goodness [0,1] 0.49889045793826914 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.41, Z:0.09 [[ 9.99989995e-01 7.29393431e-05 -4.47273876e-03 1.69007924e+00] [-5.85372560e-05 9.99994814e-01 3.22001693e-03 -4.05035753e-01] [ 4.47295043e-03 -3.21972289e-03 9.99984813e-01 9.12497213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.216502480999999 meters Centerline goodness [0,1] 0.5168387449311207 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.40, Z:0.09 [[ 9.99990967e-01 1.13659313e-03 -4.09551322e-03 1.68797722e+00] [-1.12339726e-03 9.99994175e-01 3.22289236e-03 -3.99606749e-01] [ 4.09915249e-03 -3.21826236e-03 9.99986420e-01 9.24497377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.246502480999999 meters Centerline goodness [0,1] 0.5356835522918937 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.40, Z:0.09 [[ 9.99989422e-01 6.62660301e-04 -4.55164426e-03 1.68944363e+00] [-6.52103389e-04 9.99997095e-01 2.32045472e-03 -3.97412253e-01] [ 4.55316871e-03 -2.31746203e-03 9.99986949e-01 9.15014207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.276502481 meters Centerline goodness [0,1] 0.5584471111364478 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.40, Z:0.09 [[ 0.99997746 0.00389473 -0.00546907 1.69148824] [-0.00386657 0.99997926 0.00514998 -0.39542798] [ 0.00548901 -0.00512872 0.99997178 0.09106905] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters Centerline goodness [0,1] 0.5692543585666421 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.39, Z:0.09 [[ 0.99997779 0.00355822 -0.00563478 1.6920091 ] [-0.00353624 0.99998612 0.00390586 -0.39053385] [ 0.0056486 -0.00388585 0.9999765 0.09041598] [ 0. 0. 0. 1. ]] SLAMing on 5.336502480999999 meters Centerline goodness [0,1] 0.5369519596165844 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.39, Z:0.09 [[ 0.99997838 0.00317376 -0.00575939 1.69268206] [-0.00315536 0.9999899 0.00320174 -0.3882787 ] [ 0.00576949 -0.0031835 0.99997829 0.08979429] [ 0. 0. 0. 1. ]] SLAMing on 5.3665024809999995 meters Centerline goodness [0,1] 0.5662336188801271 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.39, Z:0.09 [[ 0.99997848 0.0027197 -0.00597008 1.69401326] [-0.0027028 0.99999232 0.00283715 -0.38725591] [ 0.00597775 -0.00282095 0.99997815 0.08876517] [ 0. 0. 0. 1. ]] SLAMing on 5.396502481 meters Centerline goodness [0,1] 0.5544514990177376 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.39, Z:0.09 [[ 0.99997704 0.00228131 -0.0063808 1.69576961] [-0.00226481 0.99999408 0.00259191 -0.3872476 ] [ 0.00638667 -0.0025774 0.99997628 0.08771576] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters Centerline goodness [0,1] 0.545289701090806 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.39, Z:0.09 [[ 9.99975304e-01 1.64596501e-03 -6.83248563e-03 1.69826685e+00] [-1.63294997e-03 9.99996843e-01 1.91001837e-03 -3.86201903e-01] [ 6.83560788e-03 -1.89881409e-03 9.99974834e-01 8.56227461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.456502480999999 meters Centerline goodness [0,1] 0.5339472938509493 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.38, Z:0.08 [[ 9.99973677e-01 1.38858250e-03 -7.12160035e-03 1.70037962e+00] [-1.37937558e-03 9.99998207e-01 1.29756394e-03 -3.84040139e-01] [ 7.12338936e-03 -1.28770642e-03 9.99973799e-01 8.34133298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486502481 meters Centerline goodness [0,1] 0.534185375784652 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.38, Z:0.08 [[ 9.99969730e-01 9.43166137e-04 -7.72332129e-03 1.70190963e+00] [-9.38785896e-04 9.99999396e-01 5.70750394e-04 -3.82638567e-01] [ 7.72385495e-03 -5.63482573e-04 9.99970012e-01 8.28247168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.516502481 meters Centerline goodness [0,1] 0.5282651072124757 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.38, Z:0.08 [[ 9.99966953e-01 7.51705208e-04 -8.09486835e-03 1.70296994e+00] [-7.50400044e-04 9.99999705e-01 1.64269497e-04 -3.81193489e-01] [ 8.09498945e-03 -1.58189678e-04 9.99967223e-01 8.23179147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.546502480999999 meters Centerline goodness [0,1] 0.5286944248412138 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.38, Z:0.08 [[ 9.99964934e-01 5.48657432e-04 -8.35641042e-03 1.70405971e+00] [-5.51483688e-04 9.99999792e-01 -3.35913633e-04 -3.79442422e-01] [ 8.35622438e-03 3.40510278e-04 9.99965028e-01 8.14101169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5765024809999995 meters Centerline goodness [0,1] 0.5210361466181326 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.38, Z:0.08 [[ 9.99961082e-01 3.17534488e-04 -8.81672424e-03 1.70603206e+00] [-3.24931615e-04 9.99999596e-01 -8.37568427e-04 -3.78066505e-01] [ 8.81645473e-03 8.40400662e-04 9.99960781e-01 7.98095895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606502481 meters Centerline goodness [0,1] 0.5160431593554416 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.38, Z:0.08 [[ 9.99955328e-01 9.55545086e-05 -9.45162017e-03 1.70748196e+00] [-1.03357211e-04 9.99999654e-01 -8.25056245e-04 -3.78677734e-01] [ 9.45153807e-03 8.25996281e-04 9.99954992e-01 7.97396474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.636502480999999 meters Centerline goodness [0,1] 0.5021100631602798 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.38, Z:0.08 [[ 9.99945682e-01 -4.75789312e-04 -1.04118852e-02 1.70973677e+00] [ 4.70417356e-04 9.99999755e-01 -5.18387591e-04 -3.81018396e-01] [ 1.04121293e-02 5.13461501e-04 9.99945660e-01 7.99703064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666502480999999 meters Centerline goodness [0,1] 0.497154667195153 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.38, Z:0.08 [[ 9.99940220e-01 -5.55839266e-04 -1.09200629e-02 1.71069627e+00] [ 5.56303628e-04 9.99999844e-01 3.94862826e-05 -3.82855221e-01] [ 1.09200392e-02 -4.55587927e-05 9.99940374e-01 8.05061688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.696502481 meters Centerline goodness [0,1] 0.48766571096034295 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.38, Z:0.08 [[ 9.99934944e-01 -6.44093717e-04 -1.13882798e-02 1.71170934e+00] [ 6.50744396e-04 9.99999620e-01 5.80297320e-04 -3.84861692e-01] [ 1.13879017e-02 -5.87670427e-04 9.99934983e-01 8.08325856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726502481 meters Centerline goodness [0,1] 0.4768360618462938 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.39, Z:0.08 [[ 9.99922707e-01 -1.25860719e-03 -1.23691785e-02 1.71432383e+00] [ 1.27057011e-03 9.99998733e-01 9.59345213e-04 -3.87448575e-01] [ 1.23679554e-02 -9.74986971e-04 9.99923039e-01 8.07212742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756502480999999 meters Centerline goodness [0,1] 0.47399386084583905 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.08 [[ 9.99913588e-01 -1.37151527e-03 -1.30742400e-02 1.71518669e+00] [ 1.39291821e-03 9.99997705e-01 1.62806589e-03 -3.89571856e-01] [ 1.30719771e-02 -1.64613655e-03 9.99913203e-01 8.20804879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786502480999999 meters Centerline goodness [0,1] 0.4986149584487535 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.39, Z:0.09 [[ 9.99907915e-01 -1.30509450e-03 -1.35076896e-02 1.71400322e+00] [ 1.33888012e-03 9.99995997e-01 2.49247336e-03 -3.92477340e-01] [ 1.35043826e-02 -2.51032902e-03 9.99905660e-01 8.56767948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816502481 meters Centerline goodness [0,1] 0.4751150624624796 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.39, Z:0.09 [[ 9.99906263e-01 -1.11942249e-03 -1.36459877e-02 1.71348597e+00] [ 1.15816516e-03 9.99995320e-01 2.83155363e-03 -3.93169956e-01] [ 1.36427542e-02 -2.84709252e-03 9.99902880e-01 8.68880595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.846502480999999 meters Centerline goodness [0,1] 0.5024228001261577 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.39, Z:0.09 [[ 9.99901930e-01 -1.00011428e-03 -1.39689247e-02 1.71321794e+00] [ 1.04359113e-03 9.99994634e-01 3.10545546e-03 -3.94139194e-01] [ 1.39657439e-02 -3.11972875e-03 9.99897607e-01 8.82952337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876502480999999 meters Centerline goodness [0,1] 0.5088177849264706 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.39, Z:0.09 [[ 9.99899889e-01 -9.08066349e-04 -1.41204636e-02 1.71346909e+00] [ 9.56455426e-04 9.99993693e-01 3.42050049e-03 -3.94762338e-01] [ 1.41172685e-02 -3.43366365e-03 9.99894451e-01 8.85943870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9065024809999995 meters Centerline goodness [0,1] 0.5046018407362944 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99988794 0.00238539 -0.01477916 1.71631389] [-0.00228133 0.99997252 0.00705368 -0.39563826] [ 0.01479558 -0.00701918 0.9998659 0.08685106] [ 0. 0. 0. 1. ]] SLAMing on 5.936502481 meters Centerline goodness [0,1] 0.5104273797280311 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.08 [[ 0.99989101 0.00214156 -0.01460725 1.71737604] [-0.00205047 0.99997838 0.00624843 -0.39371463] [ 0.01462032 -0.0062178 0.99987378 0.08461221] [ 0. 0. 0. 1. ]] SLAMing on 5.966502480999999 meters Centerline goodness [0,1] 0.5076743124500742 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99988437 0.00185676 -0.01509332 1.71779497] [-0.0017591 0.99997745 0.00648084 -0.39500526] [ 0.01510501 -0.00645354 0.99986509 0.08582522] [ 0. 0. 0. 1. ]] SLAMing on 5.996502480999999 meters Centerline goodness [0,1] 0.49894043528064147 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 9.99891614e-01 -1.65419500e-03 -1.46295778e-02 1.71570058e+00] [ 1.70002976e-03 9.99993684e-01 3.12113899e-03 -3.95252433e-01] [ 1.46243224e-02 -3.14567142e-03 9.99888111e-01 8.76687165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026502481 meters Centerline goodness [0,1] 0.5001290692671734 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 9.99889006e-01 -1.58574296e-03 -1.48141899e-02 1.71578769e+00] [ 1.63836683e-03 9.99992389e-01 3.54080019e-03 -3.96340212e-01] [ 1.48084623e-02 -3.56467827e-03 9.99883995e-01 8.83350984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.056502480999999 meters Centerline goodness [0,1] 0.49193525282910755 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99988228 -0.001863 -0.01523026 1.71701585] [ 0.00191393 0.99999262 0.00332983 -0.39649235] [ 0.01522395 -0.00335859 0.99987847 0.08789308] [ 0. 0. 0. 1. ]] SLAMing on 6.086502480999999 meters Centerline goodness [0,1] 0.4932222860425043 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99988332 -0.00172449 -0.01517795 1.71732596] [ 0.00177436 0.99999307 0.0032729 -0.39608034] [ 0.0151722 -0.00329945 0.99987945 0.08720932] [ 0. 0. 0. 1. ]] SLAMing on 6.1165024809999995 meters Centerline goodness [0,1] 0.4945376344086021 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99987458 -0.00199753 -0.0157108 1.71856878] [ 0.00204535 0.99999332 0.00302799 -0.39555444] [ 0.01570465 -0.00305974 0.99987199 0.08706674] [ 0. 0. 0. 1. ]] SLAMing on 6.146502481 meters Centerline goodness [0,1] 0.4957105557627751 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:0.09 [[ 0.99986905 -0.00204653 -0.01605263 1.71968211] [ 0.00209171 0.9999939 0.00279824 -0.39533042] [ 0.01604681 -0.00283145 0.99986723 0.08625315] [ 0. 0. 0. 1. ]] SLAMing on 6.176502480999999 meters Centerline goodness [0,1] 0.4898128778978136 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.08 [[ 0.99986517 -0.00208542 -0.01628753 1.72138762] [ 0.00212872 0.99999424 0.00264189 -0.39449017] [ 0.01628193 -0.00267621 0.99986386 0.08455517] [ 0. 0. 0. 1. ]] SLAMing on 6.206502480999999 meters Centerline goodness [0,1] 0.4897848231658464 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.08 [[ 0.99986001 -0.00229664 -0.01657381 1.72217253] [ 0.00233975 0.99999393 0.00258213 -0.39488431] [ 0.01656778 -0.00262054 0.99985931 0.08440778] [ 0. 0. 0. 1. ]] SLAMing on 6.236502481 meters Centerline goodness [0,1] 0.5164973529832594 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.09 [[ 0.99986069 -0.00197887 -0.01657384 1.72137044] [ 0.00202893 0.99999343 0.00300457 -0.39456633] [ 0.01656779 -0.00303778 0.99985813 0.08584682] [ 0. 0. 0. 1. ]] SLAMing on 6.266502481 meters Centerline goodness [0,1] 0.5262555116532097 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.09 [[ 0.99986011 -0.00182888 -0.01662562 1.72182441] [ 0.00187764 0.99999398 0.00291778 -0.3936489 ] [ 0.01662018 -0.00294859 0.99985753 0.08523579] [ 0. 0. 0. 1. ]] SLAMing on 6.296502480999999 meters Centerline goodness [0,1] 0.5130108328079326 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.39, Z:0.08 [[ 9.99862537e-01 -1.33334492e-03 -1.65266278e-02 1.72164436e+00] [ 1.38528916e-03 9.99994136e-01 3.13201438e-03 -3.93879406e-01] [ 1.65223548e-02 -3.15447801e-03 9.99858521e-01 8.49683941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3265024809999995 meters Centerline goodness [0,1] 0.5363568215892054 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.40, Z:0.08 [[ 0.99992433 0.00249039 -0.01204678 1.73477353] [-0.00251844 0.99999415 -0.00231372 -0.39721087] [ 0.01204095 0.00234388 0.99992476 0.08402611] [ 0. 0. 0. 1. ]] SLAMing on 6.356502481 meters Centerline goodness [0,1] 0.5344524242162038 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:0.08 [[ 0.99991868 0.00245332 -0.01251459 1.73540967] [-0.00248089 0.99999453 -0.00218803 -0.39735834] [ 0.01250915 0.0022189 0.9999193 0.08457037] [ 0. 0. 0. 1. ]] SLAMing on 6.386502480999999 meters Centerline goodness [0,1] 0.5354373671816668 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:0.08 [[ 9.99890563e-01 5.72776496e-03 -1.36402008e-02 1.73869747e+00] [-5.70711481e-03 9.99982509e-01 1.55236238e-03 -3.98035154e-01] [ 1.36488538e-02 -1.47434630e-03 9.99905763e-01 8.35120928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.416502480999999 meters Centerline goodness [0,1] 0.5405242629344957 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:0.08 [[ 9.99891353e-01 5.73188103e-03 -1.35803936e-02 1.73969812e+00] [-5.71848584e-03 9.99983124e-01 1.02498839e-03 -3.95270575e-01] [ 1.35860396e-02 -9.47217737e-04 9.99907257e-01 8.17685529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446502481 meters Centerline goodness [0,1] 0.5489019664130903 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:0.08 [[ 9.99886479e-01 5.23206221e-03 -1.41299500e-02 1.74133104e+00] [-5.22772956e-03 9.99986276e-01 3.43547062e-04 -3.94350858e-01] [ 1.41315535e-02 -2.69640505e-04 9.99900108e-01 8.08941136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476502481 meters Centerline goodness [0,1] 0.5297168729940394 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:0.08 [[ 9.99877259e-01 4.74694406e-03 -1.49309762e-02 1.74272535e+00] [-4.74673096e-03 9.99988733e-01 4.97113221e-05 -3.94615807e-01] [ 1.49310440e-02 2.11681065e-05 9.99888526e-01 8.12397917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506502480999999 meters Centerline goodness [0,1] 0.5440413021654955 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:0.08 [[ 9.99878325e-01 4.76870238e-03 -1.48524294e-02 1.74241932e+00] [-4.77026807e-03 9.99988620e-01 -6.99911197e-05 -3.93615159e-01] [ 1.48519266e-02 1.40832673e-04 9.99889694e-01 8.15216271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536502480999999 meters Centerline goodness [0,1] 0.5549387987475092 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:0.08 [[ 9.99874036e-01 4.96739906e-03 -1.50743917e-02 1.74307493e+00] [-4.97862214e-03 9.99987357e-01 -7.07076782e-04 -3.88942010e-01] [ 1.50706888e-02 7.82037416e-04 9.99886125e-01 8.07885008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566502481 meters Centerline goodness [0,1] 0.5676189395443842 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.38, Z:0.08 [[ 9.99869979e-01 5.32997420e-03 -1.52189588e-02 1.74299737e+00] [-5.34637096e-03 9.99985170e-01 -1.03690761e-03 -3.83735037e-01] [ 1.52132064e-02 1.11813899e-03 9.99883647e-01 8.10446386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.596502480999999 meters Centerline goodness [0,1] 0.5694416848797934 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.38, Z:0.08 [[ 9.99865228e-01 4.96566127e-03 -1.56482833e-02 1.74400611e+00] [-4.98898549e-03 9.99986501e-01 -1.45184462e-03 -3.82886040e-01] [ 1.56408627e-02 1.52971801e-03 9.99876504e-01 8.08766525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.626502480999999 meters Centerline goodness [0,1] 0.5610477517704275 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.38, Z:0.08 [[ 9.99861024e-01 4.48022097e-03 -1.60580297e-02 1.74504239e+00] [-4.50317903e-03 9.99988889e-01 -1.39381975e-03 -3.83581867e-01] [ 1.60516066e-02 1.46593823e-03 9.99870090e-01 8.10716164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6565024809999995 meters Centerline goodness [0,1] 0.5479342843313117 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.38, Z:0.08 [[ 9.99854682e-01 4.12855603e-03 -1.65399713e-02 1.74589074e+00] [-4.14884636e-03 9.99990682e-01 -1.19261955e-03 -3.84940886e-01] [ 1.65348934e-02 1.26106804e-03 9.99862494e-01 8.16281996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686502481 meters Centerline goodness [0,1] 0.5333428205493098 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.39, Z:0.08 [[ 9.99845649e-01 3.51430854e-03 -1.72141518e-02 1.74740755e+00] [-3.53009842e-03 9.99993376e-01 -8.86961383e-04 -3.86850274e-01] [ 1.72109208e-02 9.47592130e-04 9.99851432e-01 8.21338536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716502480999999 meters Centerline goodness [0,1] 0.5257277689333637 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.39, Z:0.08 [[ 9.99836624e-01 3.01126062e-03 -1.78229656e-02 1.74983953e+00] [-3.03229484e-03 9.99994738e-01 -1.15326806e-03 -3.86317949e-01] [ 1.78193990e-02 1.20712413e-03 9.99840493e-01 8.07336971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.746502480999999 meters Centerline goodness [0,1] 0.5272913059521445 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.39, Z:0.08 [[ 9.99821066e-01 4.91893433e-03 -1.82658247e-02 1.75357845e+00] [-4.89130442e-03 9.99986825e-01 1.55702355e-03 -3.87866698e-01] [ 1.82732429e-02 -1.46740124e-03 9.99831954e-01 7.79508456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.776502481 meters Centerline goodness [0,1] 0.5034527835403109 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99810299e-01 4.35000761e-03 -1.89853372e-02 1.75566581e+00] [-4.32799952e-03 9.99989914e-01 1.20014951e-03 -3.88254233e-01] [ 1.89903664e-02 -1.11775331e-03 9.99819042e-01 7.71456061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.806502480999999 meters Centerline goodness [0,1] 0.49880627557980906 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99805391e-01 3.92876315e-03 -1.93324860e-02 1.75759675e+00] [-3.90703938e-03 9.99991693e-01 1.16133439e-03 -3.88595659e-01] [ 1.93368880e-02 -1.08557560e-03 9.99812436e-01 7.58683520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.836502480999999 meters Centerline goodness [0,1] 0.5105960452778802 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.07 [[ 9.99806290e-01 3.72607846e-03 -1.93261071e-02 1.75861488e+00] [-3.71167843e-03 9.99992807e-01 7.80923394e-04 -3.86990862e-01] [ 1.93288779e-02 -7.09039827e-04 9.99812928e-01 7.45360200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8665024809999995 meters Centerline goodness [0,1] 0.5007505168653884 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.07 [[ 9.99793801e-01 3.29047611e-03 -2.00381817e-02 1.76080167e+00] [-3.29238705e-03 9.99994578e-01 -6.23758911e-05 -3.85641916e-01] [ 2.00378678e-02 1.28336479e-04 9.99799214e-01 7.31810668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.896502481 meters Centerline goodness [0,1] 0.5160530943332009 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.07 [[ 9.99784652e-01 3.15440814e-03 -2.05109658e-02 1.76116412e+00] [-3.15935252e-03 9.99994987e-01 -2.08660945e-04 -3.85390905e-01] [ 2.05102048e-02 2.73417382e-04 9.99789606e-01 7.40069335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926502480999999 meters Centerline goodness [0,1] 0.51953833938294 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99782623e-01 3.44302068e-03 -2.05633572e-02 1.76015620e+00] [-3.44666998e-03 9.99994050e-01 -1.42027798e-04 -3.85245311e-01] [ 2.05627458e-02 2.12872030e-04 9.99788542e-01 7.54058149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.956502480999999 meters Centerline goodness [0,1] 0.51953833938294 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99782623e-01 3.44302068e-03 -2.05633572e-02 1.76015620e+00] [-3.44666998e-03 9.99994050e-01 -1.42027798e-04 -3.85245311e-01] [ 2.05627458e-02 2.12872030e-04 9.99788542e-01 7.54058149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986502481 meters Centerline goodness [0,1] 0.5263307229599364 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.38, Z:0.08 [[ 9.99778901e-01 3.36750470e-03 -2.07559191e-02 1.76036433e+00] [-3.37279497e-03 9.99994288e-01 -2.19878580e-04 -3.84981058e-01] [ 2.07550601e-02 2.89835424e-04 9.99784549e-01 7.57569104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.016502480999999 meters Centerline goodness [0,1] 0.5475723742151766 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99769541e-01 3.48063581e-03 -2.11837362e-02 1.76000734e+00] [-3.47789704e-03 9.99993938e-01 1.66126754e-04 -3.86191371e-01] [ 2.11841860e-02 -9.24136147e-05 9.99775586e-01 7.75500562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046502480999999 meters Centerline goodness [0,1] 0.5516046577676796 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 9.99761168e-01 3.41244066e-03 -2.15861494e-02 1.76066560e+00] [-3.40963459e-03 9.99994173e-01 1.66797450e-04 -3.85990593e-01] [ 2.15865928e-02 -9.31567324e-05 9.99766978e-01 7.78345639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0765024809999995 meters Centerline goodness [0,1] 0.543132980379944 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 0.99972676 0.00693281 -0.02232359 1.76282033] [-0.00684591 0.9999687 0.00396676 -0.38692912] [ 0.02235039 -0.00381285 0.99974293 0.07716563] [ 0. 0. 0. 1. ]] SLAMing on 7.106502481 meters Centerline goodness [0,1] 0.5606840022611645 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.39, Z:0.08 [[ 0.99972218 0.00663066 -0.02261855 1.76403339] [-0.00655359 0.99997247 0.00347964 -0.38577804] [ 0.022641 -0.00333044 0.99973811 0.07629175] [ 0. 0. 0. 1. ]] SLAMing on 7.136502480999999 meters Centerline goodness [0,1] 0.5529947401165092 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.39, Z:0.08 [[ 0.99971135 0.00621374 -0.023208 1.76534497] [-0.00614861 0.99997696 0.00287686 -0.38508584] [ 0.02322534 -0.00273333 0.99972652 0.07595646] [ 0. 0. 0. 1. ]] SLAMing on 7.166502480999999 meters Centerline goodness [0,1] 0.5555304421528464 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 0.99970626 0.00594677 -0.02349547 1.76608004] [-0.00588613 0.99997917 0.00264907 -0.38459863] [ 0.02351073 -0.00251 0.99972043 0.07581616] [ 0. 0. 0. 1. ]] SLAMing on 7.196502481 meters Centerline goodness [0,1] 0.5429483377114934 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 0.99969936 0.00540072 -0.02391701 1.76713619] [-0.00534504 0.99998286 0.0023917 -0.38463965] [ 0.02392952 -0.00226314 0.99971109 0.07578914] [ 0. 0. 0. 1. ]] SLAMing on 7.226502480999999 meters Centerline goodness [0,1] 0.537666299466147 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 0.99969565 0.00507751 -0.02414175 1.7678364 ] [-0.0050302 0.99998531 0.0020203 -0.38362939] [ 0.02415166 -0.00189825 0.9997065 0.07554884] [ 0. 0. 0. 1. ]] SLAMing on 7.256502480999999 meters Centerline goodness [0,1] 0.528556887581995 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 9.99699367e-01 8.63474834e-04 -2.45036645e-02 1.76785855e+00] [-9.17042883e-04 9.99997214e-01 -2.17497105e-03 -3.82486609e-01] [ 2.45017182e-02 2.19678810e-03 9.99697374e-01 7.64966488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286502480999999 meters Centerline goodness [0,1] 0.5285472018089317 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 9.99680419e-01 4.24039078e-04 -2.52760841e-02 1.76884063e+00] [-4.68814565e-04 9.99998332e-01 -1.76555711e-03 -3.84455953e-01] [ 2.52752933e-02 1.77684267e-03 9.99678950e-01 7.78559032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.316502481 meters Centerline goodness [0,1] 0.5007508996628036 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.08 [[ 0.99966795 -0.00390231 -0.02547097 1.76922778] [ 0.00376262 0.99997763 -0.00552979 -0.38487234] [ 0.02549198 0.00543212 0.99966027 0.07833234] [ 0. 0. 0. 1. ]] SLAMing on 7.346502480999999 meters Centerline goodness [0,1] 0.4998019577887173 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.39, Z:0.08 [[ 0.99964488 -0.00436465 -0.02628807 1.7708002 ] [ 0.00422782 0.99997724 -0.00525847 -0.38644907] [ 0.02631043 0.00514547 0.99964058 0.0789268 ] [ 0. 0. 0. 1. ]] SLAMing on 7.376502480999999 meters Centerline goodness [0,1] 0.48753053456797135 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.39, Z:0.08 [[ 0.99962599 -0.00458826 -0.02695986 1.77262411] [ 0.00446341 0.99997904 -0.00468938 -0.38843071] [ 0.02698081 0.00456729 0.99962552 0.07886039] [ 0. 0. 0. 1. ]] SLAMing on 7.4065024809999995 meters Centerline goodness [0,1] 0.48611388042270776 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 0.99959708 -0.00485929 -0.02796557 1.77501493] [ 0.00474296 0.99997983 -0.00422456 -0.39038668] [ 0.02798553 0.00409022 0.99959996 0.07882509] [ 0. 0. 0. 1. ]] SLAMing on 7.436502481 meters Centerline goodness [0,1] 0.48310484100347006 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99595282e-01 -1.22085683e-03 -2.84214920e-02 1.77554277e+00] [ 1.22931559e-03 9.99999205e-01 2.80147338e-04 -3.93080778e-01] [ 2.84211274e-02 -3.14972941e-04 9.99595989e-01 8.01340112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466502480999999 meters Centerline goodness [0,1] 0.4910765195575322 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99597930e-01 -8.00758207e-04 -2.83432158e-02 1.77515168e+00] [ 8.23678510e-04 9.99999343e-01 7.97003855e-04 -3.93468489e-01] [ 2.83425589e-02 -8.20029101e-04 9.99597933e-01 8.06209901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.496502480999999 meters Centerline goodness [0,1] 0.48493049225159524 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99587486e-01 -9.96473635e-04 -2.87030392e-02 1.77607444e+00] [ 1.01639249e-03 9.99999253e-01 6.79381967e-04 -3.93116525e-01] [ 2.87023408e-02 -7.08275266e-04 9.99587752e-01 8.04529599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526502481 meters Centerline goodness [0,1] 0.49442167577413476 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99585166e-01 -8.54103470e-04 -2.87883082e-02 1.77621185e+00] [ 8.70887692e-04 9.99999458e-01 5.70488950e-04 -3.92045729e-01] [ 2.87878053e-02 -5.95323675e-04 9.99585368e-01 8.03906358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.556502480999999 meters Centerline goodness [0,1] 0.4939735061686281 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99579283e-01 -8.14553514e-04 -2.89929883e-02 1.77659008e+00] [ 8.25090573e-04 9.99999598e-01 3.51473163e-04 -3.90317391e-01] [ 2.89926903e-02 -3.75247133e-04 9.99579553e-01 8.03335437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586502480999999 meters Centerline goodness [0,1] 0.49489390672869626 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99563025e-01 -1.23139584e-03 -2.95337451e-02 1.77804621e+00] [ 1.22807866e-03 9.99999237e-01 -1.30456701e-04 -3.89716604e-01] [ 2.95338833e-02 9.41299327e-05 9.99563775e-01 7.98314266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6165024809999995 meters Centerline goodness [0,1] 0.49708907981008366 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.39, Z:0.08 [[ 9.99556213e-01 -1.32175834e-03 -2.97595362e-02 1.77804860e+00] [ 1.29646267e-03 9.99998782e-01 -8.69281589e-04 -3.86906958e-01] [ 2.97606490e-02 8.30313685e-04 9.99556709e-01 8.00128851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646502481 meters Centerline goodness [0,1] 0.4976127920445236 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.08 [[ 0.99967466 0.00294729 -0.02533556 1.79131201] [-0.00312406 0.99997104 -0.00694038 -0.3853381 ] [ 0.02531437 0.00701728 0.99965491 0.07766763] [ 0. 0. 0. 1. ]] SLAMing on 7.676502480999999 meters Centerline goodness [0,1] 0.5013560854333823 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.08 [[ 0.99966211 0.00283409 -0.02583878 1.79135578] [-0.00301308 0.99997172 -0.00689062 -0.38533819] [ 0.02581852 0.00696614 0.99964237 0.07911487] [ 0. 0. 0. 1. ]] SLAMing on 7.706502480999999 meters Centerline goodness [0,1] 0.4916980171414024 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.08 [[ 0.99963099 0.00220622 -0.02707426 1.79291818] [-0.00239345 0.99997343 -0.00688511 -0.38642268] [ 0.02705835 0.00694737 0.99960971 0.08067356] [ 0. 0. 0. 1. ]] SLAMing on 7.736502481 meters Centerline goodness [0,1] 0.48772763262074426 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.08 [[ 0.99962206 0.00212248 -0.02740862 1.79369443] [-0.0023093 0.99997431 -0.00678638 -0.38620867] [ 0.02739351 0.00684711 0.99960128 0.08074008] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999999 meters Centerline goodness [0,1] 0.48643520616221114 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.08 [[ 0.99959339 0.0058647 -0.02790461 1.79466043] [-0.00593859 0.99997907 -0.00256576 -0.38746028] [ 0.02788898 0.00273043 0.9996073 0.08128048] [ 0. 0. 0. 1. ]] SLAMing on 7.796502480999999 meters Centerline goodness [0,1] 0.5077886031494279 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.39, Z:0.08 [[ 0.99957827 0.00537281 -0.02853796 1.79687607] [-0.00545882 0.99998079 -0.00293663 -0.38737563] [ 0.02852164 0.00309117 0.9995884 0.08012147] [ 0. 0. 0. 1. ]] SLAMing on 7.8265024809999995 meters Centerline goodness [0,1] 0.505217317535277 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.39, Z:0.08 [[ 9.99533156e-01 8.74001581e-03 -2.92759592e-02 1.79945874e+00] [-8.71036443e-03 9.99961414e-01 1.14020235e-03 -3.88259350e-01] [ 2.92847950e-02 -8.84665777e-04 9.99570717e-01 7.94464517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.856502481 meters Centerline goodness [0,1] 0.513413322768691 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.39, Z:0.08 [[ 9.99518289e-01 8.22124911e-03 -2.99266051e-02 1.80147966e+00] [-8.19843571e-03 9.99966001e-01 8.84937052e-04 -3.88806169e-01] [ 2.99328629e-02 -6.39159420e-04 9.99551707e-01 7.86548073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886502480999999 meters Centerline goodness [0,1] 0.48534284985980114 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.39, Z:0.08 [[ 9.99499665e-01 7.64902807e-03 -3.06905939e-02 1.80256681e+00] [-7.63001949e-03 9.99970620e-01 7.36428215e-04 -3.89026042e-01] [ 3.06953252e-02 -5.01889924e-04 9.99528661e-01 7.95874310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.916502480999999 meters Centerline goodness [0,1] 0.48813684539539115 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.39, Z:0.08 [[ 9.99471767e-01 6.88328926e-03 -3.17617241e-02 1.80473403e+00] [-6.87024051e-03 9.99976264e-01 5.19948192e-04 -3.90731990e-01] [ 3.17645492e-02 -3.01462854e-04 9.99495334e-01 7.98064051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946502481 meters Centerline goodness [0,1] 0.47582935696432627 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.08 [[ 9.99449973e-01 5.90765079e-03 -3.26320438e-02 1.80644713e+00] [-5.89834168e-03 9.99982532e-01 3.81531522e-04 -3.91488242e-01] [ 3.26337277e-02 -1.88846726e-04 9.99467360e-01 8.05618509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.976502480999999 meters Centerline goodness [0,1] 0.48112110294743415 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.08 [[ 9.99430580e-01 5.30639693e-03 -3.33220290e-02 1.80811045e+00] [-5.30264802e-03 9.99985921e-01 2.00877185e-04 -3.92083321e-01] [ 3.33226257e-02 -2.40678111e-05 9.99444647e-01 8.05148665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006502481 meters Centerline goodness [0,1] 0.4790568497421074 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.08 [[ 9.99433991e-01 5.30547441e-03 -3.32197273e-02 1.80734761e+00] [-5.30051462e-03 9.99985924e-01 2.37366532e-04 -3.90453190e-01] [ 3.32205190e-02 -6.11505301e-05 9.99448044e-01 8.16259788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.036502481 meters Centerline goodness [0,1] 0.4787992388742155 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.08 [[ 9.99412387e-01 4.94499139e-03 -3.39179457e-02 1.80810984e+00] [-4.93875567e-03 9.99987768e-01 2.67625473e-04 -3.91678391e-01] [ 3.39188542e-02 -9.99557659e-05 9.99424585e-01 8.26545310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066502480999999 meters Centerline goodness [0,1] 0.48181092484889954 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.09 [[ 9.99380694e-01 4.93847125e-03 -3.48402018e-02 1.80834660e+00] [-4.91623928e-03 9.99987653e-01 7.23751538e-04 -3.93155722e-01] [ 3.48433459e-02 -5.52020545e-04 9.99392634e-01 8.50290760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.096502481 meters Centerline goodness [0,1] 0.4755944215820759 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.09 [[ 9.99357850e-01 4.72807212e-03 -3.55180602e-02 1.80943227e+00] [-4.70227875e-03 9.99988616e-01 8.09703932e-04 -3.94260713e-01] [ 3.55214842e-02 -6.42168162e-04 9.99368707e-01 8.55021864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126502481 meters Centerline goodness [0,1] 0.47374602538027444 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 9.99343729e-01 4.56044565e-03 -3.59348598e-02 1.81045643e+00] [-4.53369438e-03 9.99989382e-01 8.25888061e-04 -3.95337056e-01] [ 3.59382447e-02 -6.62428382e-04 9.99353793e-01 8.52834985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.156502480999999 meters Centerline goodness [0,1] 0.4814719579440587 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99930039 0.0085537 -0.03640829 1.81191707] [-0.00835965 0.99995005 0.00547873 -0.3980716 ] [ 0.03645334 -0.00517054 0.99932198 0.08522154] [ 0. 0. 0. 1. ]] SLAMing on 8.186502481 meters Centerline goodness [0,1] 0.479879965704487 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.08 [[ 0.99932118 0.00927327 -0.03565368 1.81131738] [-0.00906163 0.99994038 0.00609308 -0.39806632] [ 0.03570806 -0.00576586 0.99934563 0.08412376] [ 0. 0. 0. 1. ]] SLAMing on 8.216502481 meters Centerline goodness [0,1] 0.47828949251509856 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99930288 0.00923926 -0.03617155 1.81125266] [-0.00900011 0.99993659 0.00676892 -0.40094007] [ 0.03623179 -0.00643865 0.99932267 0.08599278] [ 0. 0. 0. 1. ]] SLAMing on 8.246502480999998 meters Centerline goodness [0,1] 0.4743456704715785 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99932236 0.00516951 -0.03644312 1.8103482 ] [-0.0050551 0.999982 0.00323082 -0.40264893] [ 0.03645917 -0.00304441 0.99933051 0.08803375] [ 0. 0. 0. 1. ]] SLAMing on 8.276502481 meters Centerline goodness [0,1] 0.47286955521031127 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99932282 0.00519731 -0.03642661 1.81037739] [-0.00507868 0.9999815 0.00334845 -0.4024861 ] [ 0.03644334 -0.00316118 0.99933072 0.08811298] [ 0. 0. 0. 1. ]] SLAMing on 8.306502480999999 meters Centerline goodness [0,1] 0.47381266869580196 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99932919 0.00513342 -0.03626043 1.81058062] [-0.00502998 0.99998302 0.00294327 -0.4007599 ] [ 0.03627492 -0.00275891 0.99933804 0.08730337] [ 0. 0. 0. 1. ]] SLAMing on 8.336502481 meters Centerline goodness [0,1] 0.47746688836649276 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.09 [[ 0.99932935 0.00492005 -0.03628567 1.81156919] [-0.004849 0.99998615 0.0020457 -0.39884665] [ 0.03629523 -0.00186838 0.99933936 0.08558418] [ 0. 0. 0. 1. ]] SLAMing on 8.366502481 meters Centerline goodness [0,1] 0.4937106918238994 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.08 [[ 9.99325376e-01 5.03021063e-03 -3.63798059e-02 1.81201615e+00] [-4.98215809e-03 9.99986593e-01 1.41139250e-03 -3.95717372e-01] [ 3.63864178e-02 -1.22919039e-03 9.99337039e-01 8.48313579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.396502480999999 meters Centerline goodness [0,1] 0.4831518477235702 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.39, Z:0.08 [[ 9.99318565e-01 4.81783917e-03 -3.65949960e-02 1.81283767e+00] [-4.79788013e-03 9.99988290e-01 6.33203047e-04 -3.94293091e-01] [ 3.65976181e-02 -4.57193156e-04 9.99329978e-01 8.38908909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426502481 meters Centerline goodness [0,1] 0.5032147449635662 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.9993548 0.01344315 -0.03330573 1.82293719] [-0.01361523 0.99989508 -0.0049454 -0.39468285] [ 0.03323576 0.00539568 0.99943297 0.07967539] [ 0. 0. 0. 1. ]] SLAMing on 8.456502481 meters Centerline goodness [0,1] 0.5268620443173695 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.9993583 0.01379165 -0.03305727 1.82244357] [-0.01397284 0.99988856 -0.00525626 -0.39312718] [ 0.03298109 0.00571479 0.99943964 0.07923541] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters Centerline goodness [0,1] 0.5399571122230165 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99935036 0.01494328 -0.03279559 1.82166621] [-0.01511657 0.99987302 -0.00504245 -0.39137384] [ 0.03271607 0.00553493 0.99944936 0.07883177] [ 0. 0. 0. 1. ]] SLAMing on 8.516502481 meters Centerline goodness [0,1] 0.537798465649513 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.9993369 0.01473715 -0.03329517 1.82262894] [-0.01491116 0.9998764 -0.004984 -0.39316952] [ 0.0332176 0.00547716 0.99943314 0.0788328 ] [ 0. 0. 0. 1. ]] SLAMing on 8.546502481 meters Centerline goodness [0,1] 0.5317174395480877 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99933923 0.01493998 -0.03313462 1.822433 ] [-0.01509802 0.99987578 -0.00452433 -0.39463703] [ 0.03306291 0.0050216 0.99944066 0.07880336] [ 0. 0. 0. 1. ]] SLAMing on 8.576502480999999 meters Centerline goodness [0,1] 0.5376449547106675 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:0.08 [[ 0.99933448 0.01491792 -0.03328747 1.82270528] [-0.01506655 0.99987759 -0.00421864 -0.39594398] [ 0.03322047 0.00471736 0.99943692 0.07909955] [ 0. 0. 0. 1. ]] SLAMing on 8.606502481 meters Centerline goodness [0,1] 0.540275332621432 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:0.08 [[ 0.9993272 0.01469535 -0.03360343 1.82304622] [-0.01484815 0.9998805 -0.00430217 -0.39626929] [ 0.0335362 0.00479822 0.99942599 0.07957457] [ 0. 0. 0. 1. ]] SLAMing on 8.636502480999999 meters Centerline goodness [0,1] 0.5414923995500303 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:0.08 [[ 0.99933562 0.01484277 -0.03328694 1.8219395 ] [-0.0150018 0.99987719 -0.00453294 -0.3954906 ] [ 0.03321557 0.00502929 0.99943556 0.07996331] [ 0. 0. 0. 1. ]] SLAMing on 8.666502481 meters Centerline goodness [0,1] 0.5494486511386866 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99934274 0.01495251 -0.03302286 1.82156499] [-0.01511701 0.99987451 -0.00473744 -0.39428218] [ 0.03294788 0.00523353 0.99944337 0.07964348] [ 0. 0. 0. 1. ]] SLAMing on 8.696502481 meters Centerline goodness [0,1] 0.5304467828186994 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99934495 0.01470583 -0.0330667 1.82173967] [-0.01488214 0.99987629 -0.00509202 -0.39377216] [ 0.03298773 0.00558079 0.99944018 0.07948907] [ 0. 0. 0. 1. ]] SLAMing on 8.726502480999999 meters Centerline goodness [0,1] 0.5462821583935928 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99934002 0.01437009 -0.03336211 1.82243645] [-0.01455483 0.99988002 -0.00530111 -0.39408429] [ 0.03328193 0.0057832 0.99942927 0.07941626] [ 0. 0. 0. 1. ]] SLAMing on 8.756502481 meters Centerline goodness [0,1] 0.5452051630042447 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99933466 0.01408092 -0.03364479 1.82270056] [-0.01427696 0.99988243 -0.00559355 -0.39365149] [ 0.03356207 0.00607017 0.9994182 0.07989931] [ 0. 0. 0. 1. ]] SLAMing on 8.786502481 meters Centerline goodness [0,1] 0.5357358914527699 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:0.08 [[ 0.99933234 0.01377119 -0.03384122 1.82342616] [-0.0139813 0.99988438 -0.00597995 -0.39253816] [ 0.03375496 0.0064491 0.99940933 0.07955965] [ 0. 0. 0. 1. ]] SLAMing on 8.816502480999999 meters Centerline goodness [0,1] 0.5490399584846912 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99931233 0.01305282 -0.03470578 1.82673543] [-0.01329207 0.9998894 -0.00667194 -0.3923946 ] [ 0.03461486 0.00712866 0.9993753 0.07737059] [ 0. 0. 0. 1. ]] SLAMing on 8.846502481 meters Centerline goodness [0,1] 0.5267532467532468 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99931384 0.0129729 -0.03469238 1.8278418 ] [-0.01322217 0.99988832 -0.00696542 -0.39134978] [ 0.03459814 0.00741935 0.99937376 0.07581512] [ 0. 0. 0. 1. ]] SLAMing on 8.876502481 meters Centerline goodness [0,1] 0.5267532467532468 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99931384 0.0129729 -0.03469238 1.8278418 ] [-0.01322217 0.99988832 -0.00696542 -0.39134978] [ 0.03459814 0.00741935 0.99937376 0.07581512] [ 0. 0. 0. 1. ]] SLAMing on 8.906502480999999 meters Centerline goodness [0,1] 0.5325038970036372 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.07 [[ 0.99931238 0.01289293 -0.03476392 1.82880417] [-0.01314903 0.999888 -0.00714829 -0.39040033] [ 0.03466786 0.00760049 0.99936999 0.07480984] [ 0. 0. 0. 1. ]] SLAMing on 8.936502481 meters Centerline goodness [0,1] 0.5340879558776819 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.9993016 0.01283408 -0.03509426 1.82888785] [-0.0130813 0.99989115 -0.00682375 -0.39169089] [ 0.03500286 0.00727807 0.99936071 0.07576217] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters Centerline goodness [0,1] 0.5247375878321718 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99928615 0.01278481 -0.03554911 1.82906299] [-0.01301753 0.99989528 -0.00632273 -0.39308277] [ 0.03546455 0.00678098 0.99934793 0.07715906] [ 0. 0. 0. 1. ]] SLAMing on 8.996502480999998 meters Centerline goodness [0,1] 0.5303253370283767 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99927156 0.01276856 -0.03596254 1.82903661] [-0.01299791 0.99989661 -0.00615082 -0.39356256] [ 0.03588028 0.00661378 0.99933421 0.07845364] [ 0. 0. 0. 1. ]] SLAMing on 9.026502481 meters Centerline goodness [0,1] 0.5317957451721849 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99927322 0.01296967 -0.03584449 1.82826855] [-0.01319837 0.99989398 -0.00615117 -0.39280265] [ 0.03576091 0.00661978 0.99933845 0.07907209] [ 0. 0. 0. 1. ]] SLAMing on 9.056502480999999 meters Centerline goodness [0,1] 0.5322738809413936 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99926524 0.01264337 -0.03618179 1.82965019] [-0.01289136 0.99989493 -0.0066288 -0.39185478] [ 0.03609418 0.00709036 0.99932324 0.07813664] [ 0. 0. 0. 1. ]] SLAMing on 9.086502481 meters Centerline goodness [0,1] 0.5354868455176787 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99925968 0.01303333 -0.03619713 1.82997537] [-0.01329172 0.9998878 -0.00690709 -0.38956336] [ 0.03610305 0.0073831 0.9993208 0.07737835] [ 0. 0. 0. 1. ]] SLAMing on 9.116502481 meters Centerline goodness [0,1] 0.5611434164315735 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99925049 0.01304124 -0.03644699 1.82993152] [-0.01329915 0.99988815 -0.00684284 -0.38909878] [ 0.03635367 0.00732243 0.99931216 0.07823828] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters Centerline goodness [0,1] 0.5561956333890201 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99924342 0.01290478 -0.03668859 1.83030977] [-0.01316475 0.99988985 -0.00685327 -0.38921453] [ 0.03659611 0.00733108 0.99930325 0.07849053] [ 0. 0. 0. 1. ]] SLAMing on 9.176502481 meters Centerline goodness [0,1] 0.5472612420317864 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.9992317 0.01277828 -0.03705027 1.83103505] [-0.01303321 0.99989297 -0.0066473 -0.39012473] [ 0.03696136 0.00712508 0.99929129 0.07872108] [ 0. 0. 0. 1. ]] SLAMing on 9.206502481 meters Centerline goodness [0,1] 0.5354282905958196 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99927933 0.00881653 -0.03692 1.83054487] [-0.00920509 0.99990388 -0.01036774 -0.39058166] [ 0.03682504 0.01070012 0.99926444 0.07906203] [ 0. 0. 0. 1. ]] SLAMing on 9.236502480999999 meters Centerline goodness [0,1] 0.5230992455020314 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.39, Z:0.08 [[ 0.99927531 0.00819522 -0.03717104 1.83055375] [-0.0085572 0.9999174 -0.00958971 -0.39395371] [ 0.03708938 0.00990084 0.9992629 0.0808941 ] [ 0. 0. 0. 1. ]] SLAMing on 9.266502481 meters Centerline goodness [0,1] 0.5118600657760703 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99926269 0.00814648 -0.03751958 1.83120724] [-0.00848566 0.99992448 -0.00888975 -0.39619369] [ 0.03744432 0.00920158 0.99925635 0.08148908] [ 0. 0. 0. 1. ]] SLAMing on 9.296502481 meters Centerline goodness [0,1] 0.5094619342460975 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99926323 0.0081817 -0.03749744 1.83137308] [-0.00850407 0.99992817 -0.00844574 -0.39656652] [ 0.03742565 0.00875839 0.99926103 0.08170744] [ 0. 0. 0. 1. ]] SLAMing on 9.326502480999999 meters Centerline goodness [0,1] 0.500452356632132 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99924895 0.00800203 -0.03791448 1.83209662] [-0.00830174 0.99993548 -0.00775396 -0.39947592] [ 0.03784999 0.00806289 0.9992509 0.08245739] [ 0. 0. 0. 1. ]] SLAMing on 9.356502481 meters Centerline goodness [0,1] 0.506991888827514 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.9992546 0.00835991 -0.0376876 1.8316106 ] [-0.00865342 0.99993344 -0.00763153 -0.39794093] [ 0.03762129 0.00795197 0.99926043 0.08252413] [ 0. 0. 0. 1. ]] SLAMing on 9.386502480999999 meters Centerline goodness [0,1] 0.5136686873397063 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99924176 0.0080942 -0.03808392 1.83360816] [-0.00841041 0.99993142 -0.00815019 -0.39753238] [ 0.03801534 0.00846431 0.99924131 0.08073723] [ 0. 0. 0. 1. ]] SLAMing on 9.416502480999998 meters Centerline goodness [0,1] 0.5246848739495799 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99923331 0.00811145 -0.03830132 1.83380585] [-0.008433 0.99993048 -0.0082412 -0.39689563] [ 0.03823181 0.00855787 0.99923225 0.08111062] [ 0. 0. 0. 1. ]] SLAMing on 9.446502481 meters Centerline goodness [0,1] 0.5336500626657728 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99923338 0.00830421 -0.03825829 1.83315352] [-0.00862071 0.99992991 -0.00811523 -0.39632191] [ 0.03818822 0.00843882 0.99923493 0.08191704] [ 0. 0. 0. 1. ]] SLAMing on 9.476502480999999 meters Centerline goodness [0,1] 0.5396171269910858 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99921456 0.00835053 -0.03873666 1.83284435] [-0.00864795 0.99993435 -0.00751684 -0.39753733] [ 0.03867135 0.00784592 0.99922118 0.08404767] [ 0. 0. 0. 1. ]] SLAMing on 9.506502481 meters Centerline goodness [0,1] 0.5270788787674643 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.999189 0.00788237 -0.03948693 1.83444157] [-0.00817872 0.99993955 -0.00734919 -0.39922764] [ 0.03942661 0.00766618 0.99919306 0.08433805] [ 0. 0. 0. 1. ]] SLAMing on 9.536502481 meters Centerline goodness [0,1] 0.5273946528448856 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99919651 0.00818113 -0.03923517 1.83497161] [-0.00845049 0.99994182 -0.00670432 -0.39970584] [ 0.03917804 0.00703049 0.99920751 0.08350095] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters Centerline goodness [0,1] 0.5331985466479137 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:0.08 [[ 0.99919584 0.00834605 -0.03921751 1.83493217] [-0.0085987 0.99994332 -0.0062779 -0.40009349] [ 0.03916289 0.00661007 0.99921098 0.08381009] [ 0. 0. 0. 1. ]] SLAMing on 9.596502481 meters Centerline goodness [0,1] 0.530594303129762 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991893 0.00833151 -0.03938703 1.83525108] [-0.00857124 0.99994573 -0.00592158 -0.40088314] [ 0.03933555 0.00625437 0.99920648 0.0842303 ] [ 0. 0. 0. 1. ]] SLAMing on 9.626502481 meters Centerline goodness [0,1] 0.5272151713222147 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99918156 0.00851371 -0.03954398 1.83638248] [-0.00874806 0.99994516 -0.00575705 -0.4013741 ] [ 0.0394928 0.00609827 0.99920125 0.0830937 ] [ 0. 0. 0. 1. ]] SLAMing on 9.656502480999999 meters Centerline goodness [0,1] 0.5344792186079254 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 9.99123496e-01 1.23475125e-02 -3.99972372e-02 1.83837705e+00] [-1.24281647e-02 9.99921204e-01 -1.76841580e-03 -4.02564279e-01] [ 3.99722500e-02 2.26395802e-03 9.99198225e-01 8.19465393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686502481 meters Centerline goodness [0,1] 0.5338308457711443 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99911945 0.01220835 -0.04014064 1.83901141] [-0.01229835 0.99992238 -0.00199603 -0.40200598] [ 0.04011316 0.00248794 0.99919205 0.08152897] [ 0. 0. 0. 1. ]] SLAMing on 9.716502481 meters Centerline goodness [0,1] 0.546768060836502 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99913829 0.01271967 -0.03950812 1.83698415] [-0.01281585 0.99991549 -0.00218223 -0.40071932] [ 0.03947703 0.00268668 0.99921687 0.08206551] [ 0. 0. 0. 1. ]] SLAMing on 9.746502480999998 meters Centerline goodness [0,1] 0.5612946454582532 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99915588 0.01296045 -0.03898156 1.83588104] [-0.01307287 0.99991109 -0.00263032 -0.39797829] [ 0.038944 0.0031377 0.99923647 0.08184876] [ 0. 0. 0. 1. ]] SLAMing on 9.776502481 meters Centerline goodness [0,1] 0.5683509710431445 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99916883 0.01303418 -0.03862317 1.83519587] [-0.01315279 0.99990953 -0.00281836 -0.39725487] [ 0.03858294 0.00332402 0.99924987 0.08176057] [ 0. 0. 0. 1. ]] SLAMing on 9.806502480999999 meters Centerline goodness [0,1] 0.5914078374455733 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99917127 0.01294636 -0.03858962 1.83562825] [-0.01307504 0.99990976 -0.00308413 -0.39640887] [ 0.03854621 0.00358614 0.99925038 0.08107441] [ 0. 0. 0. 1. ]] SLAMing on 9.836502481 meters Centerline goodness [0,1] 0.576602564102564 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99916309 0.01275758 -0.03886331 1.83671052] [-0.01290217 0.99991074 -0.003472 -0.39667781] [ 0.03881554 0.00397051 0.9992385 0.08011364] [ 0. 0. 0. 1. ]] SLAMing on 9.866502481 meters Centerline goodness [0,1] 0.5665150985192957 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99916774 0.01280399 -0.03872829 1.83688036] [-0.01295621 0.99990928 -0.00368221 -0.39599621] [ 0.03867763 0.00418091 0.99924299 0.07940402] [ 0. 0. 0. 1. ]] SLAMing on 9.896502480999999 meters Centerline goodness [0,1] 0.577034078652013 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99916006 0.01258249 -0.03899802 1.83817962] [-0.01274233 0.99991139 -0.00385282 -0.39666419] [ 0.03894609 0.00434651 0.99923186 0.07839823] [ 0. 0. 0. 1. ]] SLAMing on 9.926502481 meters Centerline goodness [0,1] 0.5809966117537095 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99915731 0.01264441 -0.0390485 1.83831273] [-0.01279617 0.9999115 -0.00363899 -0.39809512] [ 0.03899903 0.0041356 0.99923069 0.07835393] [ 0. 0. 0. 1. ]] SLAMing on 9.956502481 meters Centerline goodness [0,1] 0.6068866571018652 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991529 0.01267825 -0.03915023 1.83831039] [-0.01282651 0.99991148 -0.0035381 -0.39901563] [ 0.03910191 0.00403727 0.99922707 0.07858269] [ 0. 0. 0. 1. ]] SLAMing on 9.986502480999999 meters Centerline goodness [0,1] 0.5996563573883161 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99915704 0.01280552 -0.03900304 1.83844302] [-0.01296031 0.9999091 -0.00371838 -0.39800432] [ 0.03895188 0.00422074 0.99923217 0.07788779] [ 0. 0. 0. 1. ]] SLAMing on 10.016502481 meters Centerline goodness [0,1] 0.6097902505907407 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99917042 0.01335634 -0.03847188 1.83784275] [-0.01350598 0.99990219 -0.00363236 -0.39762884] [ 0.0384196 0.00414895 0.99925308 0.07695637] [ 0. 0. 0. 1. ]] SLAMing on 10.046502481 meters Centerline goodness [0,1] 0.6153463463170525 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99916705 0.01347512 -0.03851789 1.83786372] [-0.01361832 0.99990129 -0.00345781 -0.39874774] [ 0.03846749 0.00397948 0.99925193 0.07698922] [ 0. 0. 0. 1. ]] SLAMing on 10.076502480999999 meters Centerline goodness [0,1] 0.6491473954683485 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991764 0.0139821 -0.03809238 1.83681945] [-0.01412023 0.99989466 -0.00335942 -0.39843431] [ 0.0380414 0.00389453 0.99926857 0.07697813] [ 0. 0. 0. 1. ]] SLAMing on 10.106502481 meters Centerline goodness [0,1] 0.6374912444548213 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99917062 0.01385033 -0.03829158 1.83756444] [-0.01399965 0.9998954 -0.00363412 -0.39846394] [ 0.03823724 0.00416717 0.99926 0.07636773] [ 0. 0. 0. 1. ]] SLAMing on 10.136502480999999 meters Centerline goodness [0,1] 0.6572761738116069 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991697 0.01386358 -0.03831084 1.83809492] [-0.01402536 0.99989381 -0.00395717 -0.39777206] [ 0.03825191 0.00449121 0.99925803 0.07554455] [ 0. 0. 0. 1. ]] SLAMing on 10.166502480999998 meters Centerline goodness [0,1] 0.6600891894255152 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99917312 0.01408351 -0.03814095 1.83740724] [-0.01424719 0.99989041 -0.00402317 -0.39704427] [ 0.03808011 0.00456324 0.99926427 0.07584438] [ 0. 0. 0. 1. ]] SLAMing on 10.196502481 meters Centerline goodness [0,1] 0.6600447921817283 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99917602 0.01411778 -0.03805218 1.83732666] [-0.0142843 0.99988954 -0.00410767 -0.39655899] [ 0.03798999 0.00464783 0.99926731 0.07571442] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters Centerline goodness [0,1] 0.6522636736355442 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99915894 0.01382332 -0.0386047 1.83831575] [-0.01398492 0.99989453 -0.00391914 -0.39799224] [ 0.03854646 0.00445573 0.99924688 0.07617686] [ 0. 0. 0. 1. ]] SLAMing on 10.256502481 meters Centerline goodness [0,1] 0.664322810293517 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99915998 0.01398664 -0.03851892 1.83724795] [-0.0141135 0.99989583 -0.0030234 -0.40000029] [ 0.03847262 0.0035645 0.9992533 0.07807897] [ 0. 0. 0. 1. ]] SLAMing on 10.286502481 meters Centerline goodness [0,1] 0.6540950160303118 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99914758 0.01372912 -0.0389309 1.8381515 ] [-0.01385715 0.99989942 -0.00302061 -0.40070012] [ 0.03888552 0.0035575 0.99923734 0.07811514] [ 0. 0. 0. 1. ]] SLAMing on 10.316502480999999 meters Centerline goodness [0,1] 0.6396164639850328 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99913418 0.01327643 -0.03942869 1.83959989] [-0.01340612 0.99990555 -0.00302681 -0.40170271] [ 0.03938478 0.00355278 0.9992178 0.07786462] [ 0. 0. 0. 1. ]] SLAMing on 10.346502481 meters Centerline goodness [0,1] 0.628764202471011 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99913011 0.01315398 -0.0395726 1.84033896] [-0.01328084 0.99990747 -0.00294458 -0.40193735] [ 0.03953021 0.00346758 0.99921236 0.07751804] [ 0. 0. 0. 1. ]] SLAMing on 10.376502481 meters Centerline goodness [0,1] 0.6109356725146199 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99911468 0.01276024 -0.04008769 1.84211439] [-0.0128882 0.99991264 -0.00293529 -0.40275127] [ 0.04004673 0.00344935 0.99919185 0.07690402] [ 0. 0. 0. 1. ]] SLAMing on 10.406502480999999 meters Centerline goodness [0,1] 0.6105486705067784 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991051 0.01260118 -0.04037578 1.84353931] [-0.01275355 0.99991248 -0.0035185 -0.40023881] [ 0.04032791 0.00403028 0.99917837 0.07570248] [ 0. 0. 0. 1. ]] SLAMing on 10.436502481 meters Centerline goodness [0,1] 0.6510172599470267 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.07 [[ 0.99910342 0.01236215 -0.04049121 1.8446399 ] [-0.01254014 0.99991278 -0.00414487 -0.39852192] [ 0.04043644 0.00464892 0.9991713 0.07442379] [ 0. 0. 0. 1. ]] SLAMing on 10.466502481 meters Centerline goodness [0,1] 0.6606173233833734 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.40, Z:0.07 [[ 0.99909381 0.01206141 -0.04081768 1.84590869] [-0.01228253 0.9999112 -0.00517073 -0.39575416] [ 0.04075169 0.00566739 0.99915323 0.07314613] [ 0. 0. 0. 1. ]] SLAMing on 10.496502480999998 meters Centerline goodness [0,1] 0.6541928751558016 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99909772 0.01207071 -0.04071914 1.84539012] [-0.01230168 0.99990961 -0.0054266 -0.39433698] [ 0.04064995 0.00592261 0.9991559 0.07354875] [ 0. 0. 0. 1. ]] SLAMing on 10.526502481 meters Centerline goodness [0,1] 0.6719099167077807 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99909037 0.01178169 -0.04098332 1.84544051] [-0.01202378 0.99991166 -0.00566559 -0.39439588] [ 0.04091295 0.00615321 0.99914377 0.07419571] [ 0. 0. 0. 1. ]] SLAMing on 10.556502480999999 meters Centerline goodness [0,1] 0.6511007338225483 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.39, Z:0.08 [[ 0.99908547 0.01162616 -0.04114678 1.844975 ] [-0.01186298 0.99991442 -0.00551601 -0.39484554] [ 0.04107913 0.00599909 0.99913789 0.07554576] [ 0. 0. 0. 1. ]] SLAMing on 10.586502480999998 meters Centerline goodness [0,1] 0.6452448896395084 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99913984 0.00820075 -0.04064875 1.8436262 ] [-0.00857017 0.99992347 -0.00892236 -0.3951059 ] [ 0.04057247 0.00926305 0.99913366 0.07583486] [ 0. 0. 0. 1. ]] SLAMing on 10.616502481 meters Centerline goodness [0,1] 0.6302097004695657 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.99911938 0.00803639 -0.04118108 1.84422878] [-0.00839008 0.99992933 -0.00842306 -0.39724972] [ 0.04111048 0.00876116 0.99911619 0.07687179] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters Centerline goodness [0,1] 0.6473561203622553 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.40, Z:0.08 [[ 0.9991113 0.00794067 -0.04139521 1.8447445 ] [-0.00828378 0.99993269 -0.00812355 -0.39813389] [ 0.04132792 0.00845924 0.99910983 0.07709868] [ 0. 0. 0. 1. ]] SLAMing on 10.676502481 meters Centerline goodness [0,1] 0.6193869241507678 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.40, Z:0.08 [[ 0.99910541 0.00784029 -0.04155601 1.84606762] [-0.00819549 0.99993127 -0.00838426 -0.39649737] [ 0.04148742 0.00871733 0.999101 0.07590726] [ 0. 0. 0. 1. ]] SLAMing on 10.706502481 meters Centerline goodness [0,1] 0.6253963636363636 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.40, Z:0.07 [[ 0.99911525 0.00798459 -0.04129128 1.84662613] [-0.00834254 0.99992904 -0.0085039 -0.39538016] [ 0.04122045 0.00884085 0.99911096 0.07446231] [ 0. 0. 0. 1. ]] SLAMing on 10.736502480999999 meters Centerline goodness [0,1] 0.6385766699668045 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99912218 0.0080321 -0.04111384 1.8466655 ] [-0.00838682 0.99992902 -0.00846251 -0.39470525] [ 0.04104295 0.00879989 0.99911863 0.07412142] [ 0. 0. 0. 1. ]] SLAMing on 10.766502481 meters Centerline goodness [0,1] 0.6385766699668045 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99912218 0.0080321 -0.04111384 1.8466655 ] [-0.00838682 0.99992902 -0.00846251 -0.39470525] [ 0.04104295 0.00879989 0.99911863 0.07412142] [ 0. 0. 0. 1. ]] SLAMing on 10.796502481 meters Centerline goodness [0,1] 0.6436460063525367 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99911116 0.00786157 -0.04141359 1.8473002 ] [-0.00822114 0.99992992 -0.00851913 -0.39461761] [ 0.04134372 0.00885202 0.99910577 0.07428721] [ 0. 0. 0. 1. ]] SLAMing on 10.826502480999999 meters Centerline goodness [0,1] 0.6324226819120771 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99911539 0.00815429 -0.04125472 1.84625006] [-0.00850369 0.99992939 -0.00830086 -0.39406599] [ 0.04118412 0.00864433 0.99911418 0.07530663] [ 0. 0. 0. 1. ]] SLAMing on 10.856502481 meters Centerline goodness [0,1] 0.650526071034122 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99910347 0.00795542 -0.04158083 1.84588252] [-0.00830406 0.99993175 -0.00821864 -0.39489446] [ 0.04151261 0.00855656 0.99910134 0.07688215] [ 0. 0. 0. 1. ]] SLAMing on 10.886502480999999 meters Centerline goodness [0,1] 0.6483679957996675 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99910338 0.00822881 -0.04152978 1.84626347] [-0.00857642 0.99992961 -0.0081989 -0.39420945] [ 0.04145939 0.00854772 0.99910363 0.07607059] [ 0. 0. 0. 1. ]] SLAMing on 10.916502480999998 meters Centerline goodness [0,1] 0.6628123184195236 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99909883 0.00820898 -0.04164305 1.84702457] [-0.00856234 0.99992878 -0.0083142 -0.39329465] [ 0.04157183 0.00866327 0.99909796 0.07542346] [ 0. 0. 0. 1. ]] SLAMing on 10.946502481 meters Centerline goodness [0,1] 0.6509027373325568 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99909158 0.00841509 -0.04177559 1.84742901] [-0.00875186 0.99993061 -0.00788502 -0.39403023] [ 0.04170634 0.00824348 0.9990959 0.0754359 ] [ 0. 0. 0. 1. ]] SLAMing on 10.976502480999999 meters Centerline goodness [0,1] 0.6438172434906844 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.08 [[ 0.99908421 0.00842376 -0.04194964 1.84819347] [-0.00875507 0.99993187 -0.00772046 -0.3944749 ] [ 0.04188175 0.00808066 0.9990899 0.07502197] [ 0. 0. 0. 1. ]] SLAMing on 11.006502481 meters Centerline goodness [0,1] 0.6578088578088578 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.40, Z:0.07 [[ 0.99905537 0.00971154 -0.04235636 1.85064813] [-0.009982 0.99993109 -0.0061786 -0.39541972] [ 0.04229344 0.00659556 0.99908346 0.07339905] [ 0. 0. 0. 1. ]] SLAMing on 11.036502481 meters Centerline goodness [0,1] 0.6598887173362076 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.9990579 0.00968011 -0.04230387 1.85133692] [-0.00996134 0.99992963 -0.00644207 -0.39419951] [ 0.04223854 0.00685741 0.99908402 0.07232019] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters Centerline goodness [0,1] 0.6663575506418987 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.39, Z:0.07 [[ 0.99897591 0.01297181 -0.04334576 1.8545676 ] [-0.01311423 0.9999095 -0.00300278 -0.39411236] [ 0.04330289 0.00356815 0.99905562 0.07118216] [ 0. 0. 0. 1. ]] SLAMing on 11.096502481 meters Centerline goodness [0,1] 0.6779837775202782 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99897642 0.01280911 -0.04338257 1.85500946] [-0.01297485 0.99990955 -0.00354089 -0.39235083] [ 0.04333329 0.00410014 0.99905226 0.07054315] [ 0. 0. 0. 1. ]] SLAMing on 11.126502481 meters Centerline goodness [0,1] 0.6688449362493103 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99899315 0.00861261 -0.04402852 1.8566335 ] [-0.00898923 0.99992462 -0.00836315 -0.39042748] [ 0.04395318 0.00875051 0.99899527 0.06923629] [ 0. 0. 0. 1. ]] SLAMing on 11.156502480999999 meters Centerline goodness [0,1] 0.674865376218891 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99897871 0.00859539 -0.04435827 1.85687313] [-0.00896565 0.99992656 -0.00815474 -0.39135563] [ 0.04428492 0.00854412 0.9989824 0.06987466] [ 0. 0. 0. 1. ]] SLAMing on 11.186502481 meters Centerline goodness [0,1] 0.646441141394456 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99895073 0.00830931 -0.04503771 1.85770768] [-0.00866597 0.99993258 -0.00772956 -0.39336246] [ 0.04497044 0.00811174 0.99895538 0.07108002] [ 0. 0. 0. 1. ]] SLAMing on 11.216502481 meters Centerline goodness [0,1] 0.6563874086369064 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99895275 0.00850317 -0.04495671 1.85697669] [-0.00884433 0.99993354 -0.00739519 -0.39352445] [ 0.04489084 0.00778506 0.99896156 0.07199198] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters Centerline goodness [0,1] 0.6601722188396972 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99894532 0.00846592 -0.0451284 1.85815111] [-0.00881287 0.99993308 -0.00749464 -0.39218765] [ 0.04506193 0.00788444 0.99895308 0.07105623] [ 0. 0. 0. 1. ]] SLAMing on 11.276502481 meters Centerline goodness [0,1] 0.6541678684741852 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99888507 0.01177315 -0.04571654 1.86092608] [-0.01195773 0.99992141 -0.00376618 -0.3928041 ] [ 0.0456686 0.00430864 0.99894735 0.06968371] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999999 meters Centerline goodness [0,1] 0.655315232397607 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99888011 0.01138441 -0.04592305 1.86207593] [-0.01159854 0.99992306 -0.00439904 -0.39123437] [ 0.04586944 0.00492676 0.99893529 0.06871943] [ 0. 0. 0. 1. ]] SLAMing on 11.336502480999998 meters Centerline goodness [0,1] 0.6682886099274444 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99887105 0.01120528 -0.0461635 1.86292501] [-0.01143865 0.99992308 -0.00479408 -0.3904834 ] [ 0.04610623 0.00531672 0.99892239 0.06811042] [ 0. 0. 0. 1. ]] SLAMing on 11.366502481 meters Centerline goodness [0,1] 0.6696282239282325 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99887747 0.01122466 -0.04601964 1.86332322] [-0.01147123 0.99992121 -0.00509729 -0.38923293] [ 0.0459588 0.00561947 0.99892753 0.0671309 ] [ 0. 0. 0. 1. ]] SLAMing on 11.396502480999999 meters Centerline goodness [0,1] 0.6663232895527513 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99887547 0.01122413 -0.04606326 1.86314203] [-0.01146587 0.99992183 -0.00498711 -0.38914692] [ 0.04600368 0.00550965 0.99892608 0.06765111] [ 0. 0. 0. 1. ]] SLAMing on 11.426502481 meters Centerline goodness [0,1] 0.6755533919418115 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99887579 0.01161697 -0.04595862 1.86177123] [-0.01184348 0.99991901 -0.00465935 -0.38886366] [ 0.04590077 0.00519843 0.99893248 0.06929538] [ 0. 0. 0. 1. ]] SLAMing on 11.456502481 meters Centerline goodness [0,1] 0.6911735234332503 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99887246 0.01167565 -0.04601621 1.86165119] [-0.0119164 0.99991669 -0.00496088 -0.38745098] [ 0.04595446 0.00550363 0.99892837 0.06942933] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters Centerline goodness [0,1] 0.6997029589854906 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.39, Z:0.07 [[ 0.99886497 0.01226488 -0.04602552 1.86200532] [-0.01250199 0.99991 -0.00486735 -0.38541158] [ 0.04596168 0.00543723 0.99892841 0.06880288] [ 0. 0. 0. 1. ]] SLAMing on 11.516502481 meters Centerline goodness [0,1] 0.7110686151387144 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.38, Z:0.07 [[ 0.99886218 0.01212739 -0.04612226 1.86274546] [-0.0123809 0.99990976 -0.00521479 -0.38390763] [ 0.04605485 0.0057799 0.99892219 0.06810539] [ 0. 0. 0. 1. ]] SLAMing on 11.546502481 meters Centerline goodness [0,1] 0.7003225714367275 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.38, Z:0.07 [[ 0.99885209 0.01162052 -0.04646997 1.86437837] [-0.01189143 0.99991385 -0.00555773 -0.38389013] [ 0.04640138 0.00610394 0.99890423 0.06709239] [ 0. 0. 0. 1. ]] SLAMing on 11.576502480999999 meters Centerline goodness [0,1] 0.7092326139088729 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.38, Z:0.07 [[ 0.99885388 0.01158248 -0.04644109 1.86442554] [-0.01185609 0.99991392 -0.00562042 -0.38332366] [ 0.04637199 0.00616459 0.99890522 0.06703595] [ 0. 0. 0. 1. ]] SLAMing on 11.606502481 meters Centerline goodness [0,1] 0.7028746733325759 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.38, Z:0.07 [[ 0.99884864 0.01122217 -0.04664172 1.86488914] [-0.01153044 0.99991339 -0.00634542 -0.38019927] [ 0.04656647 0.00687592 0.99889153 0.06697085] [ 0. 0. 0. 1. ]] SLAMing on 11.636502480999999 meters Centerline goodness [0,1] 0.6981083771867445 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.38, Z:0.07 [[ 0.9988384 0.01030767 -0.0470702 1.86599369] [-0.01066419 0.99991627 -0.00732932 -0.37872459] [ 0.04699071 0.00782277 0.99886469 0.06670369] [ 0. 0. 0. 1. ]] SLAMing on 11.666502480999998 meters Centerline goodness [0,1] 0.6887633431751079 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.38, Z:0.07 [[ 0.99881727 0.00968279 -0.04764782 1.86739314] [-0.01006737 0.9999186 -0.00783788 -0.37729346] [ 0.04756805 0.0083083 0.99883345 0.06666236] [ 0. 0. 0. 1. ]] SLAMing on 11.696502481 meters Centerline goodness [0,1] 0.6782115335760861 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.38, Z:0.07 [[ 0.99878807 0.00885612 -0.04841437 1.8695707 ] [-0.0092801 0.99992047 -0.00853957 -0.37586024] [ 0.04833489 0.00897851 0.99879083 0.0661813 ] [ 0. 0. 0. 1. ]] SLAMing on 11.726502480999999 meters Centerline goodness [0,1] 0.6682318332249031 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.38, Z:0.07 [[ 0.99877751 0.00855541 -0.04868568 1.8704927 ] [-0.00899701 0.99992029 -0.0088585 -0.37535987] [ 0.04860601 0.0092857 0.99877487 0.06571989] [ 0. 0. 0. 1. ]] SLAMing on 11.756502481 meters Centerline goodness [0,1] 0.661079128569816 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.37, Z:0.06 [[ 0.99874307 0.00822015 -0.04944402 1.873366 ] [-0.00869019 0.999919 -0.009299 -0.37347524] [ 0.04936358 0.00971699 0.99873361 0.06412388] [ 0. 0. 0. 1. ]] SLAMing on 11.786502481 meters Centerline goodness [0,1] 0.6468247248094835 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.06 [[ 0.99869606 0.00752242 -0.05049356 1.8761227 ] [-0.00801889 0.99992141 -0.00963695 -0.37412325] [ 0.0504171 0.01002929 0.99867789 0.06356273] [ 0. 0. 0. 1. ]] SLAMing on 11.816502480999999 meters Centerline goodness [0,1] 0.6287295000987947 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.06 [[ 0.99867488 0.00729567 -0.0509437 1.87740596] [-0.00779544 0.99992336 -0.00961837 -0.37406041] [ 0.05086962 0.01000275 0.99865521 0.06333007] [ 0. 0. 0. 1. ]] SLAMing on 11.846502481 meters Centerline goodness [0,1] 0.6140049555130083 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.06 [[ 0.99865051 0.00712066 -0.05144362 1.87824644] [-0.00761537 0.99992657 -0.00942691 -0.37413659] [ 0.05137272 0.00980595 0.99863141 0.06397027] [ 0. 0. 0. 1. ]] SLAMing on 11.876502481 meters Centerline goodness [0,1] 0.6106683189230293 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99863298 0.00712079 -0.05178279 1.87832414] [-0.00759971 0.9999301 -0.00905765 -0.37430419] [ 0.05171467 0.00943881 0.99861729 0.06514766] [ 0. 0. 0. 1. ]] SLAMing on 11.906502480999999 meters Centerline goodness [0,1] 0.6044138318807984 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99862984 0.00715022 -0.05183929 1.87806411] [-0.00761183 0.99993307 -0.00871268 -0.37435089] [ 0.05177353 0.00909534 0.99861743 0.06603192] [ 0. 0. 0. 1. ]] SLAMing on 11.936502481 meters Centerline goodness [0,1] 0.6274443600348893 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99861045 0.00678904 -0.05225967 1.87948241] [-0.00725957 0.99993476 -0.00881912 -0.37406455] [ 0.05219638 0.00918625 0.99859459 0.06563543] [ 0. 0. 0. 1. ]] SLAMing on 11.966502481 meters Centerline goodness [0,1] 0.5695093786965584 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.38, Z:0.07 [[ 0.99856836 0.00584385 -0.05317028 1.88209962] [-0.00633432 0.99993889 -0.00906062 -0.3755721 ] [ 0.05311408 0.00938445 0.99854435 0.06518822] [ 0. 0. 0. 1. ]] SLAMing on 11.996502480999998 meters Centerline goodness [0,1] 0.5851556761032943 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.38, Z:0.07 [[ 0.99852933 0.00540015 -0.0539445 1.88373705] [-0.00589563 0.99994185 -0.00903001 -0.37686047] [ 0.0538926 0.00933477 0.9985031 0.06540886] [ 0. 0. 0. 1. ]] SLAMing on 12.026502481 meters Centerline goodness [0,1] 0.59147714478721 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.38, Z:0.07 [[ 0.99854492 0.00593446 -0.0535988 1.8828196 ] [-0.0064096 0.99994164 -0.00869716 -0.3754031 ] [ 0.05354406 0.00902805 0.99852468 0.06579143] [ 0. 0. 0. 1. ]] SLAMing on 12.056502480999999 meters Centerline goodness [0,1] 0.5932031733528386 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.38, Z:0.07 [[ 0.99853672 0.00592519 -0.05375231 1.88333585] [-0.00640083 0.99994183 -0.00868085 -0.37501297] [ 0.05369775 0.00901221 0.99851657 0.06565697] [ 0. 0. 0. 1. ]] SLAMing on 12.086502480999998 meters Centerline goodness [0,1] 0.6035084755307766 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99852414 0.00612401 -0.05396327 1.88390426] [-0.00660993 0.99993916 -0.00883085 -0.37427392] [ 0.05390591 0.00917451 0.99850387 0.0652398 ] [ 0. 0. 0. 1. ]] SLAMing on 12.116502481 meters Centerline goodness [0,1] 0.6127997298210064 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.06 [[ 0.9985174 0.00631386 -0.05406612 1.88439999] [-0.00680812 0.99993666 -0.0089625 -0.37305089] [ 0.05400611 0.0093173 0.99849713 0.06473007] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999999 meters Centerline goodness [0,1] 0.6259118434023376 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99851657 0.00673501 -0.05403061 1.88387567] [-0.00722283 0.99993485 -0.00883842 -0.37266945] [ 0.05396756 0.00921556 0.99850016 0.06513381] [ 0. 0. 0. 1. ]] SLAMing on 12.176502481 meters Centerline goodness [0,1] 0.6255282938590271 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.07 [[ 0.99851038 0.00706455 -0.05410279 1.88306526] [-0.00752819 0.99993663 -0.00837068 -0.3738829 ] [ 0.05404022 0.0087655 0.99850029 0.06637552] [ 0. 0. 0. 1. ]] SLAMing on 12.206502481 meters Centerline goodness [0,1] 0.6198466780238501 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.38, Z:0.07 [[ 0.99847617 0.00677838 -0.05476662 1.88368697] [-0.00722931 0.99994155 -0.0080397 -0.37518719] [ 0.05470893 0.00842338 0.99846681 0.06777077] [ 0. 0. 0. 1. ]] SLAMing on 12.236502480999999 meters Centerline goodness [0,1] 0.6083323892602244 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99844171 0.00641072 -0.05543505 1.88515291] [-0.00686713 0.99994404 -0.00804672 -0.37578286] [ 0.05538036 0.00841486 0.99842987 0.06789979] [ 0. 0. 0. 1. ]] SLAMing on 12.266502481 meters Centerline goodness [0,1] 0.6066966941446418 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99841993 0.006341 -0.05583393 1.88633453] [-0.00679428 0.99994546 -0.00793238 -0.37570254] [ 0.05578059 0.0082992 0.99840856 0.06765373] [ 0. 0. 0. 1. ]] SLAMing on 12.296502481 meters Centerline goodness [0,1] 0.6225086593606268 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99836841 0.00991021 -0.05623447 1.88792854] [-0.0101387 0.99994146 -0.00377934 -0.37696459] [ 0.05619372 0.00434332 0.99841044 0.06747842] [ 0. 0. 0. 1. ]] SLAMing on 12.326502480999999 meters Centerline goodness [0,1] 0.5999203595198817 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99837638 0.00995229 -0.0560853 1.8883019 ] [-0.01018644 0.99994055 -0.00389042 -0.37625418] [ 0.05604324 0.00445541 0.9984184 0.0666521 ] [ 0. 0. 0. 1. ]] SLAMing on 12.356502481 meters Centerline goodness [0,1] 0.6230275854239982 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99835141 0.00980365 -0.05655388 1.88947692] [-0.010038 0.99994216 -0.00386128 -0.37662637] [ 0.05651276 0.0044226 0.99839208 0.06648822] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999999 meters Centerline goodness [0,1] 0.6221306818181818 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99833334 0.00945024 -0.05693178 1.89027622] [-0.00970119 0.9999444 -0.00413318 -0.37671272] [ 0.05688956 0.00467859 0.99836952 0.06649558] [ 0. 0. 0. 1. ]] SLAMing on 12.416502480999998 meters Centerline goodness [0,1] 0.6271835299455535 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99830955 0.00904996 -0.05741209 1.89095275] [-0.0093065 0.99994786 -0.00420253 -0.37697178] [ 0.05737107 0.00472973 0.99834172 0.06718523] [ 0. 0. 0. 1. ]] SLAMing on 12.446502481 meters Centerline goodness [0,1] 0.6259901763152664 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99828445 0.00873623 -0.05789496 1.89214831] [-0.00899415 0.99995075 -0.00419591 -0.37759403] [ 0.05785545 0.00470943 0.99831386 0.06711899] [ 0. 0. 0. 1. ]] SLAMing on 12.476502480999999 meters Centerline goodness [0,1] 0.617772471431008 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99826802 0.00862408 -0.05819437 1.8929364 ] [-0.00887052 0.99995274 -0.00397774 -0.37869609] [ 0.05815732 0.00448707 0.99829735 0.06709109] [ 0. 0. 0. 1. ]] SLAMing on 12.506502481 meters Centerline goodness [0,1] 0.6056537904805155 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99823886 0.00828473 -0.05874132 1.8938357 ] [-0.00851076 0.99995731 -0.00359886 -0.38040889] [ 0.05870899 0.00409246 0.99826675 0.06787859] [ 0. 0. 0. 1. ]] SLAMing on 12.536502481 meters Centerline goodness [0,1] 0.6134165366614664 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99824386 0.00859025 -0.05861225 1.89401145] [-0.00881969 0.99995442 -0.00365704 -0.3787723 ] [ 0.05857816 0.00416756 0.99827413 0.06727969] [ 0. 0. 0. 1. ]] SLAMing on 12.566502480999999 meters Centerline goodness [0,1] 0.6184288747346072 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.38, Z:0.07 [[ 0.99823448 0.00852751 -0.05878103 1.89486351] [-0.0087812 0.99995321 -0.004059 -0.37730076] [ 0.05874367 0.004568 0.99826265 0.06648995] [ 0. 0. 0. 1. ]] SLAMing on 12.596502481 meters Centerline goodness [0,1] 0.6349874318637558 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.38, Z:0.07 [[ 9.98157113e-01 1.22325228e-02 -5.94368810e-02 1.89679940e+00] [-1.22846843e-02 9.99924409e-01 -5.12255761e-04 -3.77092781e-01] [ 5.94261219e-02 1.24147505e-03 9.98231934e-01 6.58617112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626502481 meters Centerline goodness [0,1] 0.6503297446592639 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.38, Z:0.07 [[ 9.98146694e-01 1.19750409e-02 -5.96638476e-02 1.89778425e+00] [-1.20632134e-02 9.99926612e-01 -1.11783872e-03 -3.75248702e-01] [ 5.96460828e-02 1.83550475e-03 9.98217900e-01 6.50835256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.656502480999999 meters Centerline goodness [0,1] 0.6403696006291075 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 9.98124057e-01 1.16874626e-02 -6.00980054e-02 1.89898782e+00] [-1.18181838e-02 9.99928506e-01 -1.82013622e-03 -3.73185332e-01] [ 6.00724360e-02 2.52697102e-03 9.98190822e-01 6.44795727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686502481 meters Centerline goodness [0,1] 0.6403696006291075 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 9.98124057e-01 1.16874626e-02 -6.00980054e-02 1.89898782e+00] [-1.18181838e-02 9.99928506e-01 -1.82013622e-03 -3.73185332e-01] [ 6.00724360e-02 2.52697102e-03 9.98190822e-01 6.44795727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.716502481 meters Centerline goodness [0,1] 0.668846777349209 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99809963 0.01114146 -0.06060533 1.90095943] [-0.01131227 0.99993295 -0.00247608 -0.3716922 ] [ 0.06057368 0.00315696 0.99815874 0.063351 ] [ 0. 0. 0. 1. ]] SLAMing on 12.746502480999998 meters Centerline goodness [0,1] 0.6521860908046944 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99809784 0.01097643 -0.06066476 1.90222521] [-0.01117514 0.99993324 -0.00293736 -0.37029339] [ 0.06062847 0.00360971 0.99815388 0.06177999] [ 0. 0. 0. 1. ]] SLAMing on 12.776502481 meters Centerline goodness [0,1] 0.6265774967120912 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99808226 0.01064938 -0.0609786 1.90329366] [-0.01086484 0.99993585 -0.00320288 -0.36968121] [ 0.06094058 0.00385926 0.99813393 0.06138712] [ 0. 0. 0. 1. ]] SLAMing on 12.806502480999999 meters Centerline goodness [0,1] 0.6554106764738661 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99807129 0.01046102 -0.06119035 1.90337998] [-0.01069988 0.99993636 -0.00357718 -0.36798653] [ 0.06114903 0.00422501 0.9981197 0.06186839] [ 0. 0. 0. 1. ]] SLAMing on 12.836502480999998 meters Centerline goodness [0,1] 0.6654609198920394 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99804925 0.01027002 -0.06158101 1.90379598] [-0.01053121 0.99993687 -0.00391834 -0.36697264] [ 0.06153688 0.00455922 0.9980944 0.06229632] [ 0. 0. 0. 1. ]] SLAMing on 12.866502481 meters Centerline goodness [0,1] 0.6515050353307739 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.06 [[ 0.99805461 0.01076563 -0.06140922 1.90287812] [-0.01103955 0.99993056 -0.0041231 -0.36502373] [ 0.06136057 0.00479301 0.99810416 0.06258895] [ 0. 0. 0. 1. ]] SLAMing on 12.896502480999999 meters Centerline goodness [0,1] 0.6839883349534787 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.36, Z:0.06 [[ 0.99803698 0.01065202 -0.06171481 1.90330376] [-0.01094168 0.99993064 -0.00435743 -0.36409419] [ 0.06166411 0.00502414 0.99808431 0.0628089 ] [ 0. 0. 0. 1. ]] SLAMing on 12.926502481 meters Centerline goodness [0,1] 0.7010446396408878 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.36, Z:0.06 [[ 0.99803083 0.01065235 -0.06181413 1.9033799 ] [-0.01096593 0.99992866 -0.00473599 -0.36242769] [ 0.06175927 0.00540451 0.99807644 0.06282098] [ 0. 0. 0. 1. ]] SLAMing on 12.956502481 meters Centerline goodness [0,1] 0.7083852738303 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.36, Z:0.06 [[ 0.99802079 0.01090097 -0.06193272 1.90426881] [-0.01123263 0.99992436 -0.00500958 -0.36017851] [ 0.06187343 0.00569533 0.99806775 0.06179835] [ 0. 0. 0. 1. ]] SLAMing on 12.986502480999999 meters Centerline goodness [0,1] 0.6799557338497717 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.36, Z:0.06 [[ 0.99801758 0.01081995 -0.06199875 1.9046206 ] [-0.01116159 0.99992436 -0.00516663 -0.35944107] [ 0.06193815 0.00584839 0.99806285 0.06157968] [ 0. 0. 0. 1. ]] SLAMing on 13.016502481 meters Centerline goodness [0,1] 0.7047421540163141 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99801054 0.01058424 -0.06215256 1.90582552] [-0.01094078 0.99992557 -0.00539909 -0.3583574 ] [ 0.06209079 0.00606834 0.99805206 0.06065533] [ 0. 0. 0. 1. ]] SLAMing on 13.046502481 meters Centerline goodness [0,1] 0.6992568444898748 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99799902 0.01022284 -0.06239744 1.90722904] [-0.01060721 0.99992674 -0.00583192 -0.35740783] [ 0.06233325 0.00648212 0.99803434 0.05955138] [ 0. 0. 0. 1. ]] SLAMing on 13.076502480999999 meters Centerline goodness [0,1] 0.6894131248623652 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99796767 0.00961173 -0.06299324 1.90984135] [-0.01001923 0.99993085 -0.00615639 -0.35700457] [ 0.06292971 0.00677502 0.99799497 0.05813334] [ 0. 0. 0. 1. ]] SLAMing on 13.106502481 meters Centerline goodness [0,1] 0.6893782597897177 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99794601 0.00944787 -0.06336012 1.91054261] [-0.00985251 0.999933 -0.0060769 -0.35757588] [ 0.06329846 0.00668868 0.99797223 0.05836694] [ 0. 0. 0. 1. ]] SLAMing on 13.136502480999999 meters Centerline goodness [0,1] 0.6892777178870553 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99789823 0.00921498 -0.06414212 1.91100828] [-0.00961243 0.99993645 -0.00589049 -0.35900229] [ 0.06408376 0.00649467 0.99792339 0.06001264] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters Centerline goodness [0,1] 0.684907227914705 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99786604 0.00894761 -0.06467849 1.91205575] [-0.00935487 0.99993826 -0.00599666 -0.35971873] [ 0.06462084 0.00658892 0.99788814 0.06013546] [ 0. 0. 0. 1. ]] SLAMing on 13.196502481 meters Centerline goodness [0,1] 0.6898601205285564 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99784974 0.00884658 -0.06494336 1.91293311] [-0.00926778 0.99993791 -0.00618737 -0.35893478] [ 0.06488459 0.00677595 0.99786977 0.05972582] [ 0. 0. 0. 1. ]] SLAMing on 13.226502480999999 meters Centerline goodness [0,1] 0.6966304588782974 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.9978507 0.009327 -0.06486127 1.9132382 ] [-0.00974264 0.99993396 -0.00609487 -0.35840793] [ 0.06480014 0.00671369 0.99787568 0.05886412] [ 0. 0. 0. 1. ]] SLAMing on 13.256502480999998 meters Centerline goodness [0,1] 0.7047302904564315 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99783664 0.00929575 -0.06508176 1.9139114 ] [-0.00972007 0.9999335 -0.00620613 -0.35808482] [ 0.06501974 0.0068253 0.99786064 0.05856062] [ 0. 0. 0. 1. ]] SLAMing on 13.286502481 meters Centerline goodness [0,1] 0.7150062352778163 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99779931 0.00938576 -0.06563876 1.91412443] [-0.00980858 0.99993315 -0.00612234 -0.35850988] [ 0.06557691 0.00675269 0.99782467 0.05960169] [ 0. 0. 0. 1. ]] SLAMing on 13.316502480999999 meters Centerline goodness [0,1] 0.7126577013725218 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99776279 0.00926977 -0.06620798 1.91461188] [-0.00968749 0.99993513 -0.0059909 -0.35924371] [ 0.06614815 0.00661889 0.99778786 0.06056234] [ 0. 0. 0. 1. ]] SLAMing on 13.346502481 meters Centerline goodness [0,1] 0.7134812760055478 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.06 [[ 0.99774669 0.00926846 -0.06645031 1.91473727] [-0.00967603 0.99993628 -0.00581415 -0.35983777] [ 0.06639219 0.00644402 0.9977728 0.06111315] [ 0. 0. 0. 1. ]] SLAMing on 13.376502481 meters Centerline goodness [0,1] 0.7006224927375847 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99765892 0.01216739 -0.06729509 1.91818983] [-0.01234482 0.99992133 -0.00222127 -0.36032564] [ 0.06726277 0.00304681 0.99773064 0.05988208] [ 0. 0. 0. 1. ]] SLAMing on 13.406502480999999 meters Centerline goodness [0,1] 0.6988185163664535 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99765634 0.01188639 -0.06738347 1.91976415] [-0.01208699 0.99992365 -0.00256994 -0.35957727] [ 0.06734778 0.00337838 0.99772384 0.05821861] [ 0. 0. 0. 1. ]] SLAMing on 13.436502481 meters Centerline goodness [0,1] 0.7010240797121505 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99764545 0.01130807 -0.06764386 1.9206277 ] [-0.0115098 0.9999304 -0.00259335 -0.36005715] [ 0.06760983 0.00336582 0.99770616 0.05826692] [ 0. 0. 0. 1. ]] SLAMing on 13.466502481 meters Centerline goodness [0,1] 0.6612916632033912 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.997684 0.00698951 -0.06765929 1.91995669] [-0.0074731 0.99994829 -0.00689687 -0.35861763] [ 0.06760759 0.00738652 0.99768465 0.05903819] [ 0. 0. 0. 1. ]] SLAMing on 13.496502480999998 meters Centerline goodness [0,1] 0.639443937760827 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99764004 0.00667609 -0.06833572 1.92057514] [-0.00715765 0.99995123 -0.00680451 -0.35924334] [ 0.06828696 0.00727757 0.99763918 0.06024466] [ 0. 0. 0. 1. ]] SLAMing on 13.526502481 meters Centerline goodness [0,1] 0.6230826631290938 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99763449 0.00666685 -0.06841767 1.92005154] [-0.007157 0.99995043 -0.00692142 -0.35820237] [ 0.06836814 0.00739472 0.99763276 0.06109428] [ 0. 0. 0. 1. ]] SLAMing on 13.556502480999999 meters Centerline goodness [0,1] 0.6265637108380383 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99763644 0.0068139 -0.06837476 1.92024693] [-0.00730618 0.99994914 -0.00695223 -0.35738291] [ 0.06832391 0.00743536 0.99763548 0.06072417] [ 0. 0. 0. 1. ]] SLAMing on 13.586502480999998 meters Centerline goodness [0,1] 0.6264560219129569 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.99762926 0.00704665 -0.06845589 1.92077735] [-0.00754702 0.99994664 -0.00705345 -0.3558866 ] [ 0.06840254 0.00755336 0.99762921 0.06013951] [ 0. 0. 0. 1. ]] SLAMing on 13.616502481 meters Centerline goodness [0,1] 0.6726056670274471 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.36, Z:0.06 [[ 0.9975384 0.00621831 -0.06984605 1.92464281] [-0.00677979 0.99994656 -0.00780461 -0.35597148] [ 0.06979378 0.00825894 0.99752725 0.05872702] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999999 meters Centerline goodness [0,1] 0.6753429962381058 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.36, Z:0.06 [[ 0.9975254 0.00608424 -0.07004325 1.92559874] [-0.00666591 0.99994519 -0.00807368 -0.35525603] [ 0.06999028 0.0085206 0.99751128 0.05799032] [ 0. 0. 0. 1. ]] SLAMing on 13.676502481 meters Centerline goodness [0,1] 0.6764226294116021 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.35, Z:0.06 [[ 0.99752535 0.00623608 -0.07003062 1.92503726] [-0.00681319 0.99994475 -0.00800498 -0.35412304] [ 0.06997683 0.00846231 0.99751272 0.05878843] [ 0. 0. 0. 1. ]] SLAMing on 13.706502481 meters Centerline goodness [0,1] 0.6280305546330123 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.36, Z:0.06 [[ 0.99744779 0.00552799 -0.07118532 1.9270928 ] [-0.00611759 0.99994875 -0.00806727 -0.3558692 ] [ 0.07113707 0.00848217 0.99743048 0.05943269] [ 0. 0. 0. 1. ]] SLAMing on 13.736502480999999 meters Centerline goodness [0,1] 0.6529398749930859 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.36, Z:0.06 [[ 0.99742133 0.00534344 -0.07156911 1.9278156 ] [-0.00592773 0.9999508 -0.0079542 -0.35559951] [ 0.07152308 0.00835794 0.99740393 0.05983355] [ 0. 0. 0. 1. ]] SLAMing on 13.766502481 meters Centerline goodness [0,1] 0.6585561423397019 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.36, Z:0.06 [[ 0.99740167 0.00531661 -0.07184464 1.92828267] [-0.00590652 0.99995055 -0.0080009 -0.35509263] [ 0.07179855 0.00840447 0.99738374 0.05997598] [ 0. 0. 0. 1. ]] SLAMing on 13.796502481 meters Centerline goodness [0,1] 0.6559294384383554 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.35, Z:0.06 [[ 0.99737038 0.0053895 -0.07227229 1.92886336] [-0.00597804 0.99995069 -0.00792944 -0.3547677 ] [ 0.07222599 0.00834063 0.99735342 0.06037309] [ 0. 0. 0. 1. ]] SLAMing on 13.826502480999999 meters Centerline goodness [0,1] 0.6563632841685807 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.35, Z:0.06 [[ 0.99733269 0.00504623 -0.07281516 1.93091364] [-0.00566937 0.99994904 -0.00835367 -0.35405958] [ 0.07276929 0.0087442 0.99731047 0.05912128] [ 0. 0. 0. 1. ]] SLAMing on 13.856502481 meters Centerline goodness [0,1] 0.6743124312431243 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.35, Z:0.06 [[ 0.99725658 0.00861746 -0.07351905 1.93385641] [-0.00900072 0.99994757 -0.00488324 -0.35318366] [ 0.07347312 0.00553156 0.99728186 0.05753005] [ 0. 0. 0. 1. ]] SLAMing on 13.886502480999999 meters Centerline goodness [0,1] 0.6573271130625686 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.35, Z:0.06 [[ 0.99726502 0.00871283 -0.07339328 1.93408688] [-0.00912334 0.99994455 -0.00525989 -0.35087083] [ 0.07334338 0.00591509 0.99728921 0.05679643] [ 0. 0. 0. 1. ]] SLAMing on 13.916502480999998 meters Centerline goodness [0,1] 0.6856426878762292 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 9.97175232e-01 1.19432461e-02 -7.41546778e-02 1.93640182e+00] [-1.21152664e-02 9.99924858e-01 -1.87034662e-03 -3.50454675e-01] [ 7.41267676e-02 2.76346700e-03 9.97244998e-01 5.63557534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946502481 meters Centerline goodness [0,1] 0.6582682753726047 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.9971655 0.0117939 -0.07430922 1.93674853] [-0.01197486 0.99992632 -0.00199016 -0.35010773] [ 0.07428027 0.00287436 0.99723326 0.05635338] [ 0. 0. 0. 1. ]] SLAMing on 13.976502480999999 meters Centerline goodness [0,1] 0.6472437930657333 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99720003 0.00768825 -0.07438406 1.93606953] [-0.00816161 0.99994832 -0.00606192 -0.3490757 ] [ 0.07433361 0.00665204 0.99721124 0.05718824] [ 0. 0. 0. 1. ]] SLAMing on 14.006502480999998 meters Centerline goodness [0,1] 0.6417068361086766 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99714662 0.00733033 -0.07513247 1.93643089] [-0.0078039 0.99995148 -0.00601143 -0.35005852] [ 0.07508476 0.0065806 0.99715544 0.05879546] [ 0. 0. 0. 1. ]] SLAMing on 14.036502481 meters Centerline goodness [0,1] 0.6501520839613076 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99712498 0.00313136 -0.07570972 1.93639179] [-0.00392936 0.99993826 -0.01039367 -0.34900155] [ 0.0756725 0.01066128 0.99707573 0.05987031] [ 0. 0. 0. 1. ]] SLAMing on 14.066502480999999 meters Centerline goodness [0,1] 0.6405196513731295 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99708915 0.0030282 -0.0761844 1.93693115] [-0.0038312 0.99993862 -0.01039618 -0.34910365] [ 0.07614824 0.01065779 0.99703955 0.06047344] [ 0. 0. 0. 1. ]] SLAMing on 14.096502481 meters Centerline goodness [0,1] 0.6596152267316165 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99703001 0.00265373 -0.07696823 1.93897219] [-0.00347314 0.99993869 -0.0105141 -0.34890842] [ 0.07693561 0.0107502 0.99697811 0.06017129] [ 0. 0. 0. 1. ]] SLAMing on 14.126502481 meters Centerline goodness [0,1] 0.6530026252461167 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99699039 0.00236877 -0.07748905 1.94075012] [-0.00320049 0.99993858 -0.01061095 -0.34884843] [ 0.07745916 0.01082702 0.99693674 0.05945457] [ 0. 0. 0. 1. ]] SLAMing on 14.156502480999999 meters Centerline goodness [0,1] 0.6236341783216783 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99695328 0.00209476 -0.07797286 1.94309815] [-0.0029019 0.99994336 -0.01023968 -0.35035274] [ 0.077947 0.01043475 0.99690289 0.05830023] [ 0. 0. 0. 1. ]] SLAMing on 14.186502481 meters Centerline goodness [0,1] 0.6332644065952004 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.996921 0.0064946 -0.07814311 1.94300927] [-0.00695013 0.9999604 -0.00555884 -0.35095751] [ 0.07810391 0.00608482 0.99692665 0.05945992] [ 0. 0. 0. 1. ]] SLAMing on 14.216502481 meters Centerline goodness [0,1] 0.6482097117009101 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99690993 0.00672754 -0.07826454 1.94295884] [-0.00718405 0.99995878 -0.00555273 -0.35010676] [ 0.07822396 0.00609783 0.99691716 0.05975873] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999998 meters Centerline goodness [0,1] 0.6487615718616019 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99687197 0.006647 -0.07875339 1.94364408] [-0.00710825 0.99995918 -0.005578 -0.35030053] [ 0.0787131 0.00612035 0.99687852 0.06014243] [ 0. 0. 0. 1. ]] SLAMing on 14.276502481 meters Centerline goodness [0,1] 0.6459926520615049 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99684261 0.0066715 -0.0791221 1.94482748] [-0.00712239 0.99995996 -0.00541784 -0.35036738] [ 0.07908278 0.00596428 0.99685021 0.05980633] [ 0. 0. 0. 1. ]] SLAMing on 14.306502480999999 meters Centerline goodness [0,1] 0.6453451897111372 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.35, Z:0.06 [[ 0.99686505 0.00687435 -0.0788214 1.94401262] [-0.00729702 0.9999605 -0.00507553 -0.35104988] [ 0.07878339 0.00563478 0.99687583 0.0601897 ] [ 0. 0. 0. 1. ]] SLAMing on 14.336502480999998 meters Centerline goodness [0,1] 0.6267786076432427 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 0.99679953 0.00630497 -0.07969275 1.94594001] [-0.00673587 0.99996411 -0.00513926 -0.35261909] [ 0.07965749 0.00565961 0.99680623 0.0602514 ] [ 0. 0. 0. 1. ]] SLAMing on 14.366502481 meters Centerline goodness [0,1] 0.586748110003287 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96772248e-01 1.52530987e-03 -8.02667948e-02 1.94827119e+00] [-2.26532047e-03 9.99955763e-01 -9.12913215e-03 -3.54082269e-01] [ 8.02493193e-02 9.28149559e-03 9.96731609e-01 5.91049835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396502480999999 meters Centerline goodness [0,1] 0.5739490725496652 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.36, Z:0.06 [[ 9.96706750e-01 9.57163177e-04 -8.10847542e-02 1.95013443e+00] [-1.68211572e-03 9.99959221e-01 -8.87283877e-03 -3.56108961e-01] [ 8.10729549e-02 8.98001223e-03 9.96667716e-01 5.93942124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426502480999998 meters Centerline goodness [0,1] 0.5564611289481628 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.36, Z:0.06 [[ 9.96685457e-01 -1.17406919e-04 -8.13516236e-02 1.95087740e+00] [-6.18526742e-04 9.99959118e-01 -9.02107046e-03 -3.58491634e-01] [ 8.13493569e-02 9.04148788e-03 9.96644638e-01 5.98472700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.456502481 meters Centerline goodness [0,1] 0.552224901359053 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.36, Z:0.06 [[ 9.96700218e-01 1.62791393e-04 -8.11704893e-02 1.94966298e+00] [-8.63167667e-04 9.99962703e-01 -8.59344433e-03 -3.57296704e-01] [ 8.11660629e-02 8.63515158e-03 9.96663185e-01 6.12054142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486502480999999 meters Centerline goodness [0,1] 0.5541470877499727 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.36, Z:0.06 [[ 9.96680951e-01 1.58951345e-04 -8.14067370e-02 1.95002068e+00] [-8.53307888e-04 9.99963555e-01 -8.49475352e-03 -3.56783503e-01] [ 8.14024199e-02 8.53602403e-03 9.96644762e-01 6.15437790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.516502481 meters Centerline goodness [0,1] 0.5514890367622995 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.36, Z:0.06 [[ 9.96704218e-01 6.29811308e-04 -8.11190797e-02 1.94900445e+00] [-1.30362467e-03 9.99965087e-01 -8.25377811e-03 -3.55190275e-01] [ 8.11110493e-02 8.33232429e-03 9.96670241e-01 6.20829289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546502481 meters Centerline goodness [0,1] 0.5785443745061174 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96678495e-01 5.33622549e-04 -8.14352112e-02 1.94993915e+00] [-1.21746208e-03 9.99964414e-01 -8.34792100e-03 -3.54346724e-01] [ 8.14278586e-02 8.41933762e-03 9.96643677e-01 6.18585360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.576502480999999 meters Centerline goodness [0,1] 0.5785443745061174 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96678495e-01 5.33622549e-04 -8.14352112e-02 1.94993915e+00] [-1.21746208e-03 9.99964414e-01 -8.34792100e-03 -3.54346724e-01] [ 8.14278586e-02 8.41933762e-03 9.96643677e-01 6.18585360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606502481 meters Centerline goodness [0,1] 0.5744790816604102 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96663551e-01 4.94579807e-04 -8.16181416e-02 1.95104742e+00] [-1.19454941e-03 9.99962926e-01 -8.52754508e-03 -3.53419222e-01] [ 8.16108982e-02 8.59659026e-03 9.96627192e-01 6.09678208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636502480999999 meters Centerline goodness [0,1] 0.5715643671917436 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96635470e-01 2.63019022e-04 -8.19613999e-02 1.95181831e+00] [-9.83155271e-04 9.99961269e-01 -8.74605097e-03 -3.52727132e-01] [ 8.19559251e-02 8.79720540e-03 9.96597128e-01 6.09432677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666502480999998 meters Centerline goodness [0,1] 0.570037068102492 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96596474e-01 -3.75064786e-04 -8.24337724e-02 1.95309076e+00] [-4.05576180e-04 9.99955237e-01 -9.45296770e-03 -3.51625616e-01] [ 8.24336280e-02 9.45422745e-03 9.96551712e-01 6.05978937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696502481 meters Centerline goodness [0,1] 0.5646957085720463 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96576300e-01 -5.90582819e-04 -8.26760537e-02 1.95398471e+00] [-2.15636406e-04 9.99952520e-01 -9.74227570e-03 -3.51044043e-01] [ 8.26778819e-02 9.72674904e-03 9.96528855e-01 6.01226255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726502480999999 meters Centerline goodness [0,1] 0.5636250775915581 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.35, Z:0.06 [[ 9.96568369e-01 1.54034078e-03 -8.27593692e-02 1.95481792e+00] [-2.15707429e-03 9.99970564e-01 -7.36323362e-03 -3.50687287e-01] [ 8.27455912e-02 7.51648383e-03 9.96542357e-01 5.99120182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756502480999998 meters Centerline goodness [0,1] 0.556695755225167 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 9.96554238e-01 1.35115545e-03 -8.29326488e-02 1.95569610e+00] [-1.99942303e-03 9.99968091e-01 -7.73424184e-03 -3.49186319e-01] [ 8.29195524e-02 7.87340894e-03 9.96525141e-01 5.92919421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786502481 meters Centerline goodness [0,1] 0.5589953428271461 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 9.96524720e-01 1.08112072e-03 -8.32905361e-02 1.95643191e+00] [-1.75068408e-03 9.99966736e-01 -7.96627364e-03 -3.48503612e-01] [ 8.32791530e-02 8.08440402e-03 9.96493465e-01 5.94028657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816502480999999 meters Centerline goodness [0,1] 0.5529613366177573 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 9.96490616e-01 7.61914023e-04 -8.37010866e-02 1.95682906e+00] [-1.47201531e-03 9.99963448e-01 -8.42239091e-03 -3.47133953e-01] [ 8.36916100e-02 8.51604278e-03 9.96455313e-01 5.99433766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846502481 meters Centerline goodness [0,1] 0.5541558337130451 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 9.96476833e-01 6.83004251e-04 -8.38656984e-02 1.95723551e+00] [-1.40829994e-03 9.99962118e-01 -8.58944596e-03 -3.46179691e-01] [ 8.38566548e-02 8.67729196e-03 9.96440046e-01 5.99033633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876502481 meters Centerline goodness [0,1] 0.5522113022113022 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 0.99642389 0.00435593 -0.08438284 1.95843976] [-0.00477692 0.99997713 -0.00478783 -0.34651177] [ 0.08436006 0.0051738 0.9964219 0.06010996] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999999 meters Centerline goodness [0,1] 0.5533342242416144 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:0.06 [[ 0.99639476 0.00424517 -0.08473172 1.95955531] [-0.00468966 0.99997627 -0.0050474 -0.34562739] [ 0.08470828 0.00542656 0.99639102 0.05959131] [ 0. 0. 0. 1. ]] SLAMing on 14.936502481 meters Centerline goodness [0,1] 0.5574963998079898 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.34, Z:0.06 [[ 0.9963611 0.00398136 -0.08513933 1.96111798] [-0.00447286 0.99997441 -0.00558287 -0.34460311] [ 0.08511492 0.00594337 0.99635341 0.05857537] [ 0. 0. 0. 1. ]] SLAMing on 14.966502481 meters Centerline goodness [0,1] 0.5839789154220909 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.34, Z:0.06 [[ 0.99634913 0.00378257 -0.0852883 1.96191395] [-0.00429976 0.99997346 -0.00588105 -0.34366175] [ 0.08526379 0.0062263 0.99633896 0.05800492] [ 0. 0. 0. 1. ]] SLAMing on 14.996502480999998 meters Centerline goodness [0,1] 0.5718122590081106 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.34, Z:0.06 [[ 0.9963203 0.00358166 -0.08563315 1.96311881] [-0.00412117 0.99997275 -0.00612423 -0.34308634] [ 0.08560888 0.00645461 0.99630791 0.0574757 ] [ 0. 0. 0. 1. ]] SLAMing on 15.026502481 meters Centerline goodness [0,1] 0.5735712576124246 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.34, Z:0.06 [[ 0.99627464 0.0033313 -0.08617279 1.96428164] [-0.00389123 0.99997239 -0.00633056 -0.34323477] [ 0.08614932 0.00664229 0.99626009 0.05739138] [ 0. 0. 0. 1. ]] SLAMing on 15.056502480999999 meters Centerline goodness [0,1] 0.5667241150735782 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.99622981 0.00313125 -0.08669698 1.96542282] [-0.00372423 0.99997076 -0.00667876 -0.34185922] [ 0.08667354 0.00697646 0.99621234 0.0572733 ] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999998 meters Centerline goodness [0,1] 0.5721101598324807 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.9962141 0.00316393 -0.08687614 1.9660344 ] [-0.00376101 0.99997042 -0.00670993 -0.34107422] [ 0.08685234 0.00701127 0.99619652 0.05702406] [ 0. 0. 0. 1. ]] SLAMing on 15.116502481 meters Centerline goodness [0,1] 0.5873466034085186 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.99619758 0.00316049 -0.08706543 1.96676809] [-0.0037852 0.99996826 -0.00701101 -0.33965578] [ 0.0870405 0.00731392 0.99617792 0.05649749] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999999 meters Centerline goodness [0,1] 0.5663261265542092 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.99616278 0.00296087 -0.08746969 1.96741997] [-0.00361056 0.99996705 -0.0072704 -0.33896979] [ 0.08744528 0.00755832 0.99614065 0.05672862] [ 0. 0. 0. 1. ]] SLAMing on 15.176502480999998 meters Centerline goodness [0,1] 0.5890674901681315 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.99613793 0.00273661 -0.08775953 1.96750435] [-0.00342559 0.99996448 -0.00770108 -0.33761001] [ 0.08773533 0.00797196 0.99611192 0.057271 ] [ 0. 0. 0. 1. ]] SLAMing on 15.206502481 meters Centerline goodness [0,1] 0.5863187030446817 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 0.99610872 0.00239622 -0.08810037 1.9681783 ] [-0.00311181 0.99996327 -0.00798598 -0.33707637] [ 0.088078 0.00822906 0.99607959 0.05738737] [ 0. 0. 0. 1. ]] SLAMing on 15.236502480999999 meters Centerline goodness [0,1] 0.5768158628306947 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 9.96075405e-01 1.86434748e-03 -8.84890528e-02 1.96922129e+00] [-2.60233130e-03 9.99962786e-01 -8.22519939e-03 -3.36357476e-01] [ 8.84704251e-02 8.42319664e-03 9.96043189e-01 5.73812696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266502481 meters Centerline goodness [0,1] 0.5715672895234096 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 9.96033367e-01 1.51762452e-03 -8.89675673e-02 1.97054119e+00] [-2.27476296e-03 9.99962052e-01 -8.40950135e-03 -3.36054353e-01] [ 8.89514287e-02 8.57852407e-03 9.95999022e-01 5.71167386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296502481 meters Centerline goodness [0,1] 0.5345921846315238 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 9.95990837e-01 1.04258708e-03 -8.94492302e-02 1.97169499e+00] [-1.81565112e-03 9.99961701e-01 -8.56155744e-03 -3.35978221e-01] [ 8.94368782e-02 8.68964136e-03 9.95954585e-01 5.71957469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326502480999999 meters Centerline goodness [0,1] 0.5581139489194499 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 9.95938153e-01 8.57131414e-04 -9.00358886e-02 1.97286672e+00] [-1.63872094e-03 9.99961614e-01 -8.60730321e-03 -3.35768067e-01] [ 9.00250549e-02 8.71988535e-03 9.95901327e-01 5.73179024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.356502481 meters Centerline goodness [0,1] 0.5448686037676527 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.34, Z:0.06 [[ 9.95879472e-01 2.64124388e-04 -9.06863116e-02 1.97451387e+00] [-1.07124223e-03 9.99960250e-01 -8.85154814e-03 -3.36118019e-01] [ 9.06803689e-02 8.91222210e-03 9.95840169e-01 5.71459497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386502480999999 meters Centerline goodness [0,1] 0.5335664887322833 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.34, Z:0.06 [[ 9.95804845e-01 -4.46088927e-04 -9.15014273e-02 1.97611198e+00] [-3.52267446e-04 9.99962016e-01 -8.70873423e-03 -3.38618784e-01] [ 9.15018366e-02 8.70443272e-03 9.95766864e-01 5.76606540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416502480999998 meters Centerline goodness [0,1] 0.5247501315097317 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.34, Z:0.06 [[ 9.95752065e-01 -7.27777026e-04 -9.20722325e-02 1.97746542e+00] [-6.95039183e-05 9.99962535e-01 -8.65579566e-03 -3.39285969e-01] [ 9.20750825e-02 8.62542578e-03 9.95714709e-01 5.75768643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446502481 meters Centerline goodness [0,1] 0.5229747815362007 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.34, Z:0.06 [[ 9.95737063e-01 1.73696543e-03 -9.22208437e-02 1.97922603e+00] [-2.25974045e-03 9.99981964e-01 -5.56461206e-03 -3.41677513e-01] [ 9.22095148e-02 5.74928564e-03 9.95723029e-01 5.67570356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476502480999999 meters Centerline goodness [0,1] 0.5480754082865095 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.34, Z:0.06 [[ 9.95701346e-01 1.67321408e-03 -9.26068531e-02 1.98005241e+00] [-2.18376340e-03 9.99982970e-01 -5.41202458e-03 -3.42471289e-01] [ 9.25962205e-02 5.59099162e-03 9.95688044e-01 5.68505060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506502480999998 meters Centerline goodness [0,1] 0.5412626475548061 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.35, Z:0.06 [[ 0.9960943 0.00498763 -0.08815479 1.99377728] [-0.00597743 0.99992199 -0.01096754 -0.34589988] [ 0.08809321 0.01145164 0.99604641 0.05515954] [ 0. 0. 0. 1. ]] SLAMing on 15.536502481 meters Centerline goodness [0,1] 0.5429144879311256 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.35, Z:0.06 [[ 0.99607621 0.00515969 -0.0883491 1.99401954] [-0.00612748 0.99992412 -0.0106865 -0.34637791] [ 0.08828726 0.01118593 0.99603225 0.05539437] [ 0. 0. 0. 1. ]] SLAMing on 15.566502480999999 meters Centerline goodness [0,1] 0.544351221571421 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.35, Z:0.05 [[ 0.99657526 0.00569633 -0.08249422 2.00382793] [-0.00606958 0.99997244 -0.00427457 -0.35038661] [ 0.08246759 0.00476063 0.99658238 0.05469911] [ 0. 0. 0. 1. ]] SLAMing on 15.596502481 meters Centerline goodness [0,1] 0.5557872508908539 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.35, Z:0.05 [[ 0.99652454 0.00588481 -0.08309155 2.0047246 ] [-0.00627503 0.99997047 -0.00443587 -0.35010445] [ 0.08306299 0.00494186 0.99653205 0.05476084] [ 0. 0. 0. 1. ]] SLAMing on 15.626502481 meters Centerline goodness [0,1] 0.5598901244024194 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99648927 0.00584872 -0.08351608 2.00561817] [-0.00625892 0.9999696 -0.00465076 -0.34940678] [ 0.08348634 0.00515715 0.99649558 0.05462964] [ 0. 0. 0. 1. ]] SLAMing on 15.656502480999999 meters Centerline goodness [0,1] 0.5563590298487768 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99644372 0.00567869 -0.08406945 2.00658972] [-0.00610462 0.9999698 -0.00481016 -0.34930954] [ 0.0840396 0.00530627 0.99644829 0.05482381] [ 0. 0. 0. 1. ]] SLAMing on 15.686502481 meters Centerline goodness [0,1] 0.558992102691424 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99640908 0.00543293 -0.08449514 2.0074084 ] [-0.0058672 0.99997082 -0.0048922 -0.34968694] [ 0.0844661 0.00537038 0.99641188 0.05497154] [ 0. 0. 0. 1. ]] SLAMing on 15.716502481 meters Centerline goodness [0,1] 0.5518316034123023 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.06 [[ 0.9963628 0.00503468 -0.08506369 2.00852814] [-0.0054885 0.99997192 -0.00510201 -0.34983933] [ 0.08503561 0.00555033 0.99636245 0.05514733] [ 0. 0. 0. 1. ]] SLAMing on 15.746502480999998 meters Centerline goodness [0,1] 0.5498640909930594 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99633283 0.00474485 -0.08543052 2.0095382 ] [-0.005221 0.99997205 -0.00535098 -0.34951028] [ 0.08540274 0.00577739 0.99632976 0.05490074] [ 0. 0. 0. 1. ]] SLAMing on 15.776502481 meters Centerline goodness [0,1] 0.5460534984846488 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99630003 0.00465539 -0.08581709 2.0103874 ] [-0.00514259 0.99997189 -0.00545692 -0.34893395] [ 0.08578927 0.00587805 0.99629596 0.05485212] [ 0. 0. 0. 1. ]] SLAMing on 15.806502480999999 meters Centerline goodness [0,1] 0.5629997097395572 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99628647 0.00466716 -0.08597372 2.01071122] [-0.00516274 0.99997131 -0.00554292 -0.34824545] [ 0.08594538 0.0059662 0.99628199 0.05484605] [ 0. 0. 0. 1. ]] SLAMing on 15.836502480999998 meters Centerline goodness [0,1] 0.5429682368704516 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99623339 0.00454135 -0.0865933 2.01236983] [-0.00505362 0.999971 -0.00569752 -0.3474838 ] [ 0.08656492 0.00611367 0.99622745 0.05438974] [ 0. 0. 0. 1. ]] SLAMing on 15.866502481 meters Centerline goodness [0,1] 0.5658969898255048 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:0.05 [[ 0.99619448 0.00425072 -0.0870545 2.01386113] [-0.00479214 0.99997045 -0.00601125 -0.34711134] [ 0.08702637 0.00640555 0.99618541 0.05371638] [ 0. 0. 0. 1. ]] SLAMing on 15.896502480999999 meters Centerline goodness [0,1] 0.559984183471728 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99608771 0.00354728 -0.0882989 2.01732114] [-0.00414447 0.99996976 -0.00658085 -0.34728019] [ 0.08827288 0.00692105 0.99607229 0.05252314] [ 0. 0. 0. 1. ]] SLAMing on 15.926502480999998 meters Centerline goodness [0,1] 0.5356172692987314 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99601467 0.00299646 -0.08913926 2.01943972] [-0.00363244 0.99996909 -0.00697333 -0.34757766] [ 0.08911561 0.00726934 0.99599476 0.05205363] [ 0. 0. 0. 1. ]] SLAMing on 15.956502481 meters Centerline goodness [0,1] 0.547517394054396 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99595579 0.00263744 -0.08980597 2.02098162] [-0.00330084 0.99996835 -0.00723929 -0.34749604] [ 0.08978403 0.00750645 0.99593297 0.05187057] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999999 meters Centerline goodness [0,1] 0.5479643497521358 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99592908 0.00265378 -0.09010124 2.02164745] [-0.00331135 0.99996896 -0.00714941 -0.34721839] [ 0.09007947 0.00741866 0.99590695 0.05188884] [ 0. 0. 0. 1. ]] SLAMing on 16.016502481 meters Centerline goodness [0,1] 0.5487727632620745 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99588613 0.00285868 -0.0905685 2.02260375] [-0.00350954 0.99996915 -0.00702795 -0.34680643] [ 0.09054561 0.00731689 0.99586543 0.05186442] [ 0. 0. 0. 1. ]] SLAMing on 16.046502481 meters Centerline goodness [0,1] 0.5435951502372167 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:0.05 [[ 0.99583166 0.00276695 -0.09116829 2.02369514] [-0.00342929 0.99996885 -0.00710919 -0.34645293] [ 0.09114578 0.0073922 0.99581012 0.05202768] [ 0. 0. 0. 1. ]] SLAMing on 16.076502481000002 meters Centerline goodness [0,1] 0.5452052627415825 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99616297 0.00741782 -0.08720275 2.03883076] [-0.00842562 0.99990184 -0.01119466 -0.34848231] [ 0.08711115 0.01188644 0.99612768 0.05022496] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters Centerline goodness [0,1] 0.542917436032709 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99610902 0.00726959 -0.08782924 2.03963456] [-0.00827392 0.99990442 -0.01107631 -0.3493568 ] [ 0.08774032 0.0117599 0.99607396 0.05093483] [ 0. 0. 0. 1. ]] SLAMing on 16.136502481 meters Centerline goodness [0,1] 0.5399032488302624 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99604827 0.00702461 -0.08853533 2.04109884] [-0.00803671 0.99990631 -0.01108035 -0.35003404] [ 0.0884492 0.01174809 0.99601141 0.05102071] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481000002 meters Centerline goodness [0,1] 0.557962389907165 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99602472 0.00709414 -0.08879433 2.04199224] [-0.00810098 0.99990686 -0.01098375 -0.34978016] [ 0.08870814 0.01165941 0.99598942 0.05064929] [ 0. 0. 0. 1. ]] SLAMing on 16.196502481 meters Centerline goodness [0,1] 0.5649168344104248 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99598097 0.00695623 -0.08929452 2.04339033] [-0.00796259 0.99990868 -0.01091894 -0.35014943] [ 0.08921041 0.01158607 0.99594541 0.05042494] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters Centerline goodness [0,1] 0.5316267853830459 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99592914 0.00685561 -0.08987851 2.04406606] [-0.00785356 0.99991133 -0.01075435 -0.35095715] [ 0.08979682 0.01141643 0.99589467 0.05120016] [ 0. 0. 0. 1. ]] SLAMing on 16.256502481000002 meters Centerline goodness [0,1] 0.5757005381617666 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.35, Z:0.05 [[ 0.99586779 0.0069018 -0.09055226 2.0444091 ] [-0.00787547 0.99991491 -0.01039972 -0.35197264] [ 0.09047277 0.01106988 0.9958374 0.05263722] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters Centerline goodness [0,1] 0.5722589378135201 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99582174 0.00705812 -0.09104534 2.04535587] [-0.00801888 0.99991592 -0.01019108 -0.35216693] [ 0.09096576 0.01087858 0.9957946 0.05281097] [ 0. 0. 0. 1. ]] SLAMing on 16.316502481 meters Centerline goodness [0,1] 0.572226339191192 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99579765 0.00702731 -0.09131074 2.04642646] [-0.00800238 0.99991476 -0.01031678 -0.3516124 ] [ 0.09123046 0.01100413 0.99576901 0.05222339] [ 0. 0. 0. 1. ]] SLAMing on 16.346502481 meters Centerline goodness [0,1] 0.5826448469441796 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99579561 0.00748323 -0.09129679 2.04663362] [-0.00842943 0.99991464 -0.00998281 -0.35086898] [ 0.0912143 0.01071041 0.99577369 0.0520345 ] [ 0. 0. 0. 1. ]] SLAMing on 16.376502481 meters Centerline goodness [0,1] 0.5679570574858532 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99575397 0.00732753 -0.09176244 2.04745366] [-0.00827285 0.99991652 -0.0099257 -0.35114545] [ 0.09168205 0.01064269 0.99573146 0.05236269] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters Centerline goodness [0,1] 0.5633226089499854 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99571233 0.00684978 -0.0922499 2.04778633] [-0.00778444 0.99992191 -0.00977583 -0.35308543] [ 0.09217573 0.01045203 0.9956879 0.05351762] [ 0. 0. 0. 1. ]] SLAMing on 16.436502481 meters Centerline goodness [0,1] 0.5604933021475653 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99565016 0.0065749 -0.09293828 2.04871018] [-0.00750138 0.99992556 -0.00962293 -0.35388274] [ 0.09286809 0.01027824 0.99562537 0.05436623] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters Centerline goodness [0,1] 0.5561691846108914 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.06 [[ 0.99560974 0.00630917 -0.09338866 2.04935296] [-0.00722359 0.99992919 -0.00945682 -0.35440995] [ 0.09332239 0.01008991 0.99558482 0.05504994] [ 0. 0. 0. 1. ]] SLAMing on 16.496502481 meters Centerline goodness [0,1] 0.5561691846108914 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.06 [[ 0.99560974 0.00630917 -0.09338866 2.04935296] [-0.00722359 0.99992919 -0.00945682 -0.35440995] [ 0.09332239 0.01008991 0.99558482 0.05504994] [ 0. 0. 0. 1. ]] SLAMing on 16.526502481 meters Centerline goodness [0,1] 0.5575019242508692 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.06 [[ 0.9955734 0.00617543 -0.09378419 2.05031999] [-0.00709579 0.99992986 -0.00948327 -0.35410968] [ 0.09371905 0.01010676 0.99554738 0.05500046] [ 0. 0. 0. 1. ]] SLAMing on 16.556502481000003 meters Centerline goodness [0,1] 0.5566741931199363 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99553162 0.00627928 -0.09421981 2.0520254 ] [-0.00721342 0.99992812 -0.0095771 -0.35301443] [ 0.0941529 0.01021395 0.99550535 0.05404961] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters Centerline goodness [0,1] 0.5548041477709709 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.05 [[ 0.99549619 0.00610777 -0.09460465 2.0535556 ] [-0.00707716 0.9999258 -0.0099146 -0.35205789] [ 0.09453707 0.01053948 0.99546555 0.05314191] [ 0. 0. 0. 1. ]] SLAMing on 16.616502481 meters Centerline goodness [0,1] 0.5556320682257594 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.35, Z:0.05 [[ 0.99543168 0.00626551 -0.09527078 2.05544043] [-0.00725707 0.99992301 -0.01006487 -0.35134003] [ 0.09520039 0.01071027 0.99540051 0.0523537 ] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481000002 meters Centerline goodness [0,1] 0.5567180031864047 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.35, Z:0.05 [[ 0.99540699 0.00643754 -0.09551691 2.0555254 ] [-0.00742504 0.99992256 -0.00998671 -0.35103849] [ 0.09544523 0.01065006 0.99537771 0.05282096] [ 0. 0. 0. 1. ]] SLAMing on 16.676502481 meters Centerline goodness [0,1] 0.5604825907503439 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.05 [[ 0.99578462 0.01079891 -0.09108438 2.06848976] [-0.01214017 0.9998257 -0.01418423 -0.35255568] [ 0.09091533 0.01523022 0.99574216 0.05337578] [ 0. 0. 0. 1. ]] SLAMing on 16.706502481 meters Centerline goodness [0,1] 0.5617017901055026 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.05 [[ 0.99579613 0.01178461 -0.09083611 2.06674468] [-0.01305992 0.99982414 -0.01345808 -0.3513716 ] [ 0.09066154 0.01458782 0.99577491 0.05494376] [ 0. 0. 0. 1. ]] SLAMing on 16.736502481000002 meters Centerline goodness [0,1] 0.5626385809312638 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99582569 0.01413385 -0.09017441 2.06561577] [-0.01518405 0.99982453 -0.01097102 -0.35004405] [ 0.09000352 0.01229444 0.99586556 0.05535305] [ 0. 0. 0. 1. ]] SLAMing on 16.766502481 meters Centerline goodness [0,1] 0.5687288851351351 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99580122 0.01465621 -0.09036112 2.06558738] [-0.01570652 0.99981698 -0.01092327 -0.34842326] [ 0.09018449 0.01229667 0.99584916 0.05577913] [ 0. 0. 0. 1. ]] SLAMing on 16.796502481 meters Centerline goodness [0,1] 0.5954771214202684 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.9957414 0.01445577 -0.09104997 2.06643654] [-0.01552434 0.99981855 -0.01103876 -0.34852506] [ 0.09087388 0.01240524 0.99578514 0.05648302] [ 0. 0. 0. 1. ]] SLAMing on 16.826502481000002 meters Centerline goodness [0,1] 0.5946252738840052 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99567965 0.01408382 -0.09178058 2.06871961] [-0.01518032 0.99982137 -0.01125989 -0.34833403] [ 0.0916056 0.01260451 0.99571559 0.05568389] [ 0. 0. 0. 1. ]] SLAMing on 16.856502481 meters Centerline goodness [0,1] 0.5659636171895597 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99565201 0.01381822 -0.09212021 2.0700167 ] [-0.0149255 0.99982428 -0.01134179 -0.34860246] [ 0.0919473 0.01266741 0.9956833 0.05513448] [ 0. 0. 0. 1. ]] SLAMing on 16.886502481 meters Centerline goodness [0,1] 0.5763571522916391 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99558859 0.01345272 -0.09285681 2.07152218] [-0.01455483 0.99983132 -0.01120191 -0.35009793] [ 0.09269045 0.01250401 0.99561646 0.05539042] [ 0. 0. 0. 1. ]] SLAMing on 16.916502481000002 meters Centerline goodness [0,1] 0.5630580651978655 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99555523 0.01347616 -0.09321036 2.07119024] [-0.0145543 0.9998347 -0.01089665 -0.35112264] [ 0.09304811 0.01220483 0.99558681 0.05676133] [ 0. 0. 0. 1. ]] SLAMing on 16.946502481 meters Centerline goodness [0,1] 0.579446890406264 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99554425 0.01392572 -0.09326157 2.07008948] [-0.01495802 0.99983425 -0.01037895 -0.35067838] [ 0.09310158 0.01172771 0.99558754 0.05843131] [ 0. 0. 0. 1. ]] SLAMing on 16.976502481 meters Centerline goodness [0,1] 0.5819730305180979 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99544858 0.01816127 -0.09355366 2.0708516 ] [-0.01880126 0.99980545 -0.00596402 -0.35165321] [ 0.09342714 0.0076958 0.99559638 0.0587203 ] [ 0. 0. 0. 1. ]] SLAMing on 17.006502481000002 meters Centerline goodness [0,1] 0.5783325458077387 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 9.95327543e-01 2.22868701e-02 -9.39488012e-02 2.07236566e+00] [-2.25288706e-02 9.99745044e-01 -1.51590453e-03 -3.52568855e-01] [ 9.38910636e-02 3.62538191e-03 9.95575876e-01 5.86977383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.036502481 meters Centerline goodness [0,1] 0.5832652523389116 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 9.95300084e-01 2.21623836e-02 -9.42686165e-02 2.07327115e+00] [-2.24088504e-02 9.99747678e-01 -1.55660587e-03 -3.53070847e-01] [ 9.42103324e-02 3.66174127e-03 9.95545582e-01 5.83984319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066502481 meters Centerline goodness [0,1] 0.5744652724532692 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.35, Z:0.06 [[ 0.9953049 0.01782509 -0.09513366 2.07541865] [-0.01846166 0.99981266 -0.00581527 -0.35355383] [ 0.09501218 0.00754429 0.99544752 0.05743762] [ 0. 0. 0. 1. ]] SLAMing on 17.096502481 meters Centerline goodness [0,1] 0.5704074338813439 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.36, Z:0.06 [[ 0.99526018 0.01764768 -0.09563331 2.0764868 ] [-0.01827765 0.99981661 -0.00571537 -0.35514147] [ 0.09551491 0.00743623 0.99540022 0.05742189] [ 0. 0. 0. 1. ]] SLAMing on 17.126502481 meters Centerline goodness [0,1] 0.5671511165331777 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.35, Z:0.06 [[ 0.9952603 0.01779745 -0.09560427 2.07649164] [-0.01842515 0.99981407 -0.00568678 -0.35499916] [ 0.09548529 0.00742135 0.99540318 0.05726554] [ 0. 0. 0. 1. ]] SLAMing on 17.156502481 meters Centerline goodness [0,1] 0.5740491105648509 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.35, Z:0.06 [[ 0.99529866 0.01843275 -0.09508313 2.07522376] [-0.01904135 0.99980358 -0.00549724 -0.35415761] [ 0.09496313 0.00728191 0.99545416 0.05741733] [ 0. 0. 0. 1. ]] SLAMing on 17.186502481 meters Centerline goodness [0,1] 0.5946802609683299 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99530004 0.018725 -0.09501164 2.07438643] [-0.01932624 0.99979858 -0.0054118 -0.35388391] [ 0.09489117 0.00722259 0.99546145 0.05814431] [ 0. 0. 0. 1. ]] SLAMing on 17.216502481 meters Centerline goodness [0,1] 0.6133446035184109 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99533539 0.01973522 -0.09443508 2.07200912] [-0.02032226 0.99977965 -0.0052586 -0.35252393] [ 0.09431049 0.0071532 0.99551713 0.0591057 ] [ 0. 0. 0. 1. ]] SLAMing on 17.246502481 meters Centerline goodness [0,1] 0.607637420718816 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99532955 0.01991347 -0.09445922 2.07194752] [-0.02051636 0.99977485 -0.00541564 -0.35168046] [ 0.09433011 0.00732831 0.995514 0.05907666] [ 0. 0. 0. 1. ]] SLAMing on 17.276502481 meters Centerline goodness [0,1] 0.6187503292766451 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99530953 0.02019599 -0.09461009 2.07129966] [-0.0207951 0.99976944 -0.00535059 -0.35125042] [ 0.09448022 0.00729292 0.99550003 0.06014235] [ 0. 0. 0. 1. ]] SLAMing on 17.306502481000003 meters Centerline goodness [0,1] 0.6227511689958524 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99532711 0.02045562 -0.09436898 2.07046293] [-0.02104501 0.99976472 -0.00525455 -0.35074996] [ 0.09423929 0.00721599 0.99552342 0.0605044 ] [ 0. 0. 0. 1. ]] SLAMing on 17.336502481 meters Centerline goodness [0,1] 0.6176812820648436 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99539498 0.02112284 -0.09350221 2.06837697] [-0.02166808 0.9997536 -0.00481981 -0.3499179 ] [ 0.09337736 0.00682363 0.99560741 0.06098912] [ 0. 0. 0. 1. ]] SLAMing on 17.366502481 meters Centerline goodness [0,1] 0.6126335223526309 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99536938 0.02108401 -0.09378308 2.06860729] [-0.02162571 0.99975479 -0.00476338 -0.35014923] [ 0.09365965 0.00676944 0.99558126 0.06143087] [ 0. 0. 0. 1. ]] SLAMing on 17.396502481000002 meters Centerline goodness [0,1] 0.6094790235654655 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99545223 0.01732483 -0.09367346 2.06863056] [-0.01822346 0.99979568 -0.00874632 -0.34865435] [ 0.0935028 0.0104136 0.99556456 0.06071117] [ 0. 0. 0. 1. ]] SLAMing on 17.426502481 meters Centerline goodness [0,1] 0.5954593453009503 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99544261 0.01703732 -0.09382824 2.06914009] [-0.01794211 0.99980023 -0.00880781 -0.34909967] [ 0.09365944 0.01045114 0.99554944 0.06059565] [ 0. 0. 0. 1. ]] SLAMing on 17.456502481 meters Centerline goodness [0,1] 0.5762420718816068 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99543258 0.0154599 -0.09420707 2.07181721] [-0.01644636 0.99981766 -0.00970381 -0.35083459] [ 0.09403987 0.01120885 0.99550533 0.05879354] [ 0. 0. 0. 1. ]] SLAMing on 17.486502481000002 meters Centerline goodness [0,1] 0.571458790555012 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99548976 0.0128028 -0.09400121 2.07304952] [-0.01395273 0.99983553 -0.01158611 -0.35303507] [ 0.09383742 0.01284543 0.99550466 0.05739206] [ 0. 0. 0. 1. ]] SLAMing on 17.516502481 meters Centerline goodness [0,1] 0.5454425223509496 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.9954724 0.01268023 -0.0942015 2.07319 ] [-0.01378517 0.9998435 -0.01108813 -0.35465267] [ 0.09404615 0.01233651 0.9954914 0.05811887] [ 0. 0. 0. 1. ]] SLAMing on 17.546502481 meters Centerline goodness [0,1] 0.5569338422391857 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:0.06 [[ 0.99545204 0.01267929 -0.09441647 2.0730806 ] [-0.01374448 0.99984893 -0.01064014 -0.35593203] [ 0.09426729 0.01188945 0.99547593 0.05900982] [ 0. 0. 0. 1. ]] SLAMing on 17.576502481000002 meters Centerline goodness [0,1] 0.5294070915975955 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:0.06 [[ 0.99541323 0.01242009 -0.09485907 2.07265416] [-0.01347024 0.99985479 -0.01043829 -0.35692422] [ 0.09471565 0.01166819 0.99543598 0.06090185] [ 0. 0. 0. 1. ]] SLAMing on 17.606502481 meters Centerline goodness [0,1] 0.5487788778877888 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:0.06 [[ 0.99541691 0.01448067 -0.09452765 2.07184157] [-0.01534881 0.99984638 -0.00846334 -0.35522072] [ 0.09439058 0.00987544 0.99548626 0.06141691] [ 0. 0. 0. 1. ]] SLAMing on 17.636502481 meters Centerline goodness [0,1] 0.5497800142266249 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99541899 0.01476664 -0.09446149 2.07208356] [-0.01564158 0.99984129 -0.00852857 -0.35384829] [ 0.09432056 0.00996702 0.99549198 0.06089288] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481000002 meters Centerline goodness [0,1] 0.5519395307332948 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99539876 0.01494948 -0.0946458 2.07278773] [-0.01584608 0.99983634 -0.00872867 -0.35283959] [ 0.09449982 0.01018827 0.99547274 0.06032866] [ 0. 0. 0. 1. ]] SLAMing on 17.696502481 meters Centerline goodness [0,1] 0.5551840345426782 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99540515 0.01524688 -0.09453106 2.07226533] [-0.01613442 0.99983257 -0.0086316 -0.35241611] [ 0.09438362 0.01011714 0.99548449 0.06057875] [ 0. 0. 0. 1. ]] SLAMing on 17.726502481 meters Centerline goodness [0,1] 0.5576872673900508 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99543386 0.01566033 -0.09416042 2.07130595] [-0.0165343 0.9998271 -0.00850863 -0.35125834] [ 0.09401089 0.01002666 0.99552068 0.06082825] [ 0. 0. 0. 1. ]] SLAMing on 17.756502481000002 meters Centerline goodness [0,1] 0.557032871745014 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99541866 0.01579358 -0.09429871 2.07080973] [-0.01664575 0.99982736 -0.00825707 -0.35180706] [ 0.09415202 0.00978892 0.99550971 0.06184794] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters Centerline goodness [0,1] 0.5565562148821089 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99537788 0.01536781 -0.0947982 2.07002668] [-0.01626626 0.99982974 -0.00871192 -0.35199712] [ 0.09464818 0.01021366 0.99545839 0.0638187 ] [ 0. 0. 0. 1. ]] SLAMing on 17.816502481 meters Centerline goodness [0,1] 0.5685869081581909 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99539889 0.01614838 -0.09444728 2.06844122] [-0.01703804 0.99981768 -0.00862083 -0.34998317] [ 0.09429085 0.01019037 0.99549254 0.0645957 ] [ 0. 0. 0. 1. ]] SLAMing on 17.846502481 meters Centerline goodness [0,1] 0.6050658136242069 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.9954374 0.01680021 -0.09392625 2.06710261] [-0.01768069 0.99980713 -0.00854984 -0.34867607] [ 0.0937645 0.01017151 0.99554244 0.06468387] [ 0. 0. 0. 1. ]] SLAMing on 17.876502481 meters Centerline goodness [0,1] 0.6199289928470736 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.07 [[ 0.99533815 0.0211183 -0.0941062 2.06692418] [-0.02165805 0.99975431 -0.0047177 -0.34804603] [ 0.09398345 0.00673387 0.99555099 0.06547345] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters Centerline goodness [0,1] 0.6354764638346728 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.9953428 0.02131319 -0.09401311 2.06742383] [-0.02188805 0.99974748 -0.00508757 -0.34675188] [ 0.09388094 0.00712164 0.99555796 0.06434007] [ 0. 0. 0. 1. ]] SLAMing on 17.936502481 meters Centerline goodness [0,1] 0.6279867952211277 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99530653 0.02129465 -0.09440045 2.06949315] [-0.02188399 0.99974693 -0.00521203 -0.34718385] [ 0.09426558 0.00725343 0.99552066 0.06264756] [ 0. 0. 0. 1. ]] SLAMing on 17.966502481 meters Centerline goodness [0,1] 0.6468459016393442 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99526568 0.02098323 -0.09489954 2.07084642] [-0.0215726 0.99975382 -0.00518876 -0.34866938] [ 0.0947673 0.00721143 0.99547333 0.06232165] [ 0. 0. 0. 1. ]] SLAMing on 17.996502481 meters Centerline goodness [0,1] 0.6159496603654362 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:0.06 [[ 0.99523187 0.01987157 -0.09549162 2.07336738] [-0.02050427 0.99977381 -0.00564902 -0.3520285 ] [ 0.09535777 0.00758007 0.9954142 0.06099383] [ 0. 0. 0. 1. ]] SLAMing on 18.026502481 meters Centerline goodness [0,1] 0.613537002897024 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.35, Z:0.06 [[ 0.99517319 0.01949758 -0.09617783 2.07542565] [-0.02011711 0.99978263 -0.00547589 -0.35381008] [ 0.09605016 0.00738428 0.9953491 0.06041285] [ 0. 0. 0. 1. ]] SLAMing on 18.056502481 meters Centerline goodness [0,1] 0.5764494001112377 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.36, Z:0.06 [[ 0.99516239 0.01583392 -0.09695933 2.07820022] [-0.01673955 0.99982346 -0.00853388 -0.35677043] [ 0.09680709 0.01011565 0.99525176 0.05878764] [ 0. 0. 0. 1. ]] SLAMing on 18.086502481 meters Centerline goodness [0,1] 0.5706771511303562 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.36, Z:0.06 [[ 0.99508974 0.01554826 -0.09774798 2.07979342] [-0.01642459 0.99983175 -0.00816689 -0.35936817] [ 0.09760455 0.00973226 0.99517769 0.05905479] [ 0. 0. 0. 1. ]] SLAMing on 18.116502481 meters Centerline goodness [0,1] 0.5595078898101097 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.36, Z:0.06 [[ 0.9951188 0.01214286 -0.09793426 2.0792829 ] [-0.01326917 0.99985301 -0.01085757 -0.3625026 ] [ 0.09778803 0.01210408 0.99513366 0.06001589] [ 0. 0. 0. 1. ]] SLAMing on 18.146502481000002 meters Centerline goodness [0,1] 0.5745576407506703 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.37, Z:0.06 [[ 0.99510181 0.01251515 -0.09805993 2.07875022] [-0.01355201 0.99985901 -0.00991471 -0.36516363] [ 0.09792202 0.01119505 0.99513112 0.06122166] [ 0. 0. 0. 1. ]] SLAMing on 18.176502481 meters Centerline goodness [0,1] 0.5711096767252972 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.37, Z:0.06 [[ 0.99509239 0.01330625 -0.09805145 2.07725299] [-0.0141749 0.99986617 -0.00816783 -0.36922009] [ 0.09792965 0.00951762 0.99514783 0.06363364] [ 0. 0. 0. 1. ]] SLAMing on 18.206502481 meters Centerline goodness [0,1] 0.5709281961471103 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.37, Z:0.06 [[ 0.99509348 0.0140953 -0.09793001 2.076432 ] [-0.0148191 0.99986796 -0.00666757 -0.37214214] [ 0.0978231 0.00808609 0.99517097 0.06486699] [ 0. 0. 0. 1. ]] SLAMing on 18.236502481000002 meters Centerline goodness [0,1] 0.5756061997083761 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.37, Z:0.07 [[ 0.99508513 0.01438174 -0.09797317 2.07650211] [-0.01504992 0.99986823 -0.00608435 -0.37376875] [ 0.09787276 0.00752894 0.99517046 0.06503097] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters Centerline goodness [0,1] 0.5572048846675712 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.06 [[ 0.99501213 0.01428457 -0.0987259 2.07842095] [-0.01490792 0.99987331 -0.00557909 -0.3769878 ] [ 0.0986337 0.00702306 0.99509903 0.06475819] [ 0. 0. 0. 1. ]] SLAMing on 18.296502481 meters Centerline goodness [0,1] 0.5721026086013341 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.06 [[ 0.99496247 0.01399774 -0.09926604 2.07995617] [-0.01463195 0.99987691 -0.00566378 -0.37776537] [ 0.09917454 0.0070877 0.99504481 0.06431769] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481000002 meters Centerline goodness [0,1] 0.5689636403222295 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.06 [[ 0.99494055 0.01405545 -0.0994774 2.08003048] [-0.01465777 0.99987838 -0.00532643 -0.37938634] [ 0.09939044 0.0067576 0.99502557 0.06483896] [ 0. 0. 0. 1. ]] SLAMing on 18.356502481 meters Centerline goodness [0,1] 0.5691994019301345 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.07 [[ 0.9949357 0.01411125 -0.09951801 2.07978784] [-0.01469976 0.99987852 -0.00518272 -0.38008278] [ 0.09943279 0.00661936 0.99502226 0.0652486 ] [ 0. 0. 0. 1. ]] SLAMing on 18.386502481 meters Centerline goodness [0,1] 0.5691994019301345 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.07 [[ 0.9949357 0.01411125 -0.09951801 2.07978784] [-0.01469976 0.99987852 -0.00518272 -0.38008278] [ 0.09943279 0.00661936 0.99502226 0.0652486 ] [ 0. 0. 0. 1. ]] SLAMing on 18.416502481000002 meters Centerline goodness [0,1] 0.5769430122486837 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.07 [[ 0.99494149 0.01437988 -0.09942158 2.07858852] [-0.01491261 0.99987814 -0.00461723 -0.38222559] [ 0.09934307 0.00607651 0.99503469 0.0665329 ] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters Centerline goodness [0,1] 0.5825576634366043 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.38, Z:0.07 [[ 0.99491256 0.01457344 -0.09968256 2.07836633] [-0.01506531 0.99987776 -0.00418333 -0.38350857] [ 0.09960941 0.00566379 0.9950105 0.06753843] [ 0. 0. 0. 1. ]] SLAMing on 18.476502481 meters Centerline goodness [0,1] 0.586076158030661 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.39, Z:0.07 [[ 0.99491049 0.01515351 -0.09961672 2.07781437] [-0.01559506 0.99987171 -0.0036552 -0.38502753] [ 0.09954855 0.00519013 0.99501917 0.0679008 ] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481000002 meters Centerline goodness [0,1] 0.5997533570841327 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.39, Z:0.07 [[ 9.94756507e-01 1.92879298e-02 -1.00436381e-01 2.08033080e+00] [-1.93162942e-02 9.99813185e-01 6.90160860e-04 -3.87555861e-01] [ 1.00430930e-01 1.25351668e-03 9.94943243e-01 6.73838052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.536502481 meters Centerline goodness [0,1] 0.6011370190327099 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.39, Z:0.07 [[ 9.94712279e-01 1.91710561e-02 -1.00895755e-01 2.08237371e+00] [-1.92183790e-02 9.99815183e-01 5.03048665e-04 -3.87644474e-01] [ 1.00886752e-01 1.43866418e-03 9.94896876e-01 6.60527463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566502481 meters Centerline goodness [0,1] 0.5993913404343616 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.39, Z:0.06 [[ 9.94652116e-01 1.90512511e-02 -1.01509690e-01 2.08489190e+00] [-1.90744350e-02 9.99817791e-01 7.42320175e-04 -3.89880840e-01] [ 1.01505337e-01 1.19788965e-03 9.94834273e-01 6.47200947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.596502481 meters Centerline goodness [0,1] 0.5953263274336283 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.39, Z:0.06 [[ 9.94593312e-01 1.87461581e-02 -1.02140713e-01 2.08623595e+00] [-1.87521879e-02 9.99823756e-01 9.01241978e-04 -3.91156548e-01] [ 1.02139606e-01 1.01899261e-03 9.94769552e-01 6.49351818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626502481 meters Centerline goodness [0,1] 0.5836839319049344 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.39, Z:0.06 [[ 0.9946771 0.0147072 -0.10198612 2.08589475] [-0.01508291 0.999882 -0.00291378 -0.39191314] [ 0.10193123 0.00443652 0.99478155 0.06466263] [ 0. 0. 0. 1. ]] SLAMing on 18.656502481 meters Centerline goodness [0,1] 0.5779688848069912 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.39, Z:0.07 [[ 0.99461981 0.01439321 -0.10258782 2.08645866] [-0.01472772 0.99988841 -0.00250394 -0.39408601] [ 0.10254033 0.00400135 0.9947208 0.06585089] [ 0. 0. 0. 1. ]] SLAMing on 18.686502481 meters Centerline goodness [0,1] 0.5623113892925002 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.07 [[ 0.99467089 0.01050916 -0.10256401 2.08670953] [-0.01116983 0.99992039 -0.00586929 -0.3952153 ] [ 0.10249417 0.00698363 0.99470909 0.06552545] [ 0. 0. 0. 1. ]] SLAMing on 18.716502481 meters Centerline goodness [0,1] 0.5563813142601699 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.07 [[ 0.99464276 0.01052935 -0.10283437 2.08717111] [-0.0111516 0.99992281 -0.00547795 -0.39638016] [ 0.10276875 0.00659538 0.99468341 0.06590341] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters Centerline goodness [0,1] 0.5587016187755559 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.07 [[ 0.99465059 0.01104717 -0.10270426 2.08651638] [-0.01161081 0.99992063 -0.00489176 -0.39710062] [ 0.10264206 0.00605807 0.99469991 0.06650171] [ 0. 0. 0. 1. ]] SLAMing on 18.776502481 meters Centerline goodness [0,1] 0.5639722604374315 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.07 [[ 0.99465116 0.01141108 -0.10265893 2.08658264] [-0.01195003 0.99991785 -0.00463646 -0.39728359] [ 0.10259759 0.00583844 0.99470581 0.06627794] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters Centerline goodness [0,1] 0.568866812594713 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.07 [[ 0.99459506 0.01190844 -0.1031448 2.08847432] [-0.01243883 0.99991251 -0.00450055 -0.39686608] [ 0.10308218 0.00575923 0.99465617 0.06505424] [ 0. 0. 0. 1. ]] SLAMing on 18.836502481 meters Centerline goodness [0,1] 0.5719416386083053 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.9945498 0.01168288 -0.10360603 2.08997067] [-0.01223982 0.99991385 -0.00474139 -0.39682216] [ 0.10354171 0.00598367 0.99460711 0.06442472] [ 0. 0. 0. 1. ]] SLAMing on 18.866502481 meters Centerline goodness [0,1] 0.5941308621173828 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.99447415 0.01153306 -0.10434633 2.09179564] [-0.01208658 0.99991603 -0.00467381 -0.39789403] [ 0.10428367 0.00590917 0.99453004 0.06416125] [ 0. 0. 0. 1. ]] SLAMing on 18.896502481000002 meters Centerline goodness [0,1] 0.5969837914023961 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.99444316 0.01151586 -0.10464315 2.09264131] [-0.01206103 0.99991678 -0.00457854 -0.39864359] [ 0.10458172 0.0058152 0.9944993 0.06391332] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters Centerline goodness [0,1] 0.6050192177255256 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.99438476 0.01149612 -0.10519882 2.09416642] [-0.01202196 0.9999182 -0.00436582 -0.40005563] [ 0.10514002 0.005606 0.99444163 0.06354911] [ 0. 0. 0. 1. ]] SLAMing on 18.956502481 meters Centerline goodness [0,1] 0.6107804795102874 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.99435075 0.01189728 -0.10547532 2.09438415] [-0.01234681 0.99991726 -0.00361001 -0.40226923] [ 0.10542364 0.0048919 0.99441537 0.06412541] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481000002 meters Centerline goodness [0,1] 0.6205780478110272 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.40, Z:0.06 [[ 0.99433612 0.01193774 -0.10560857 2.09481938] [-0.01236895 0.99991762 -0.00342905 -0.40289676] [ 0.10555893 0.00471589 0.99440187 0.06408347] [ 0. 0. 0. 1. ]] SLAMing on 19.016502481 meters Centerline goodness [0,1] 0.6255733781589219 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.41, Z:0.06 [[ 0.99434199 0.01271527 -0.10546248 2.09441609] [-0.01303347 0.99991235 -0.00232853 -0.40545157] [ 0.10542363 0.0036899 0.99442056 0.06438961] [ 0. 0. 0. 1. ]] SLAMing on 19.046502481 meters Centerline goodness [0,1] 0.6293260473588342 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.41, Z:0.06 [[ 9.94298863e-01 1.28415465e-02 -1.05853037e-01 2.09488052e+00] [-1.31140975e-02 9.99912241e-01 -1.87914064e-03 -4.06875196e-01] [ 1.05819616e-01 3.25659445e-03 9.94380010e-01 6.49665559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076502481000002 meters Centerline goodness [0,1] 0.6229709297349728 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.41, Z:0.07 [[ 9.94218798e-01 1.29062445e-02 -1.06594611e-01 2.09519015e+00] [-1.30863881e-02 9.99913879e-01 -9.90670130e-04 -4.10336979e-01] [ 1.06572645e-01 2.37988131e-03 9.94302071e-01 6.68192828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106502481 meters Centerline goodness [0,1] 0.6213217421144442 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.41, Z:0.07 [[ 9.94191663e-01 1.29694910e-02 -1.06839741e-01 2.09553525e+00] [-1.30980338e-02 9.99914091e-01 -5.01491894e-04 -4.11887737e-01] [ 1.06824058e-01 1.89796960e-03 9.94276128e-01 6.72602688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136502481 meters Centerline goodness [0,1] 0.5895143962183068 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.41, Z:0.07 [[ 9.94149687e-01 1.25120249e-02 -1.07283961e-01 2.09721505e+00] [-1.25639305e-02 9.99921052e-01 1.92102773e-04 -4.14957856e-01] [ 1.07277894e-01 1.15692932e-03 9.94228402e-01 6.72841907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166502481000002 meters Centerline goodness [0,1] 0.5680730877860396 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.9941565 0.00798474 -0.10765266 2.09957048] [-0.00840992 0.99995852 -0.00349619 -0.41667865] [ 0.10762028 0.00438111 0.99418242 0.0657734 ] [ 0. 0. 0. 1. ]] SLAMing on 19.196502481 meters Centerline goodness [0,1] 0.5653216256029577 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.99405735 0.00755604 -0.10859504 2.10143247] [-0.00794338 0.99996354 -0.00313468 -0.41917916] [ 0.1085674 0.00397866 0.99408113 0.06635059] [ 0. 0. 0. 1. ]] SLAMing on 19.226502481 meters Centerline goodness [0,1] 0.5529036004645761 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.99406762 0.00337366 -0.10871147 2.10225246] [-0.00415596 0.99996707 -0.00697036 -0.42004449] [ 0.10868438 0.00738081 0.99404891 0.06554964] [ 0. 0. 0. 1. ]] SLAMing on 19.256502481000002 meters Centerline goodness [0,1] 0.5518685473316853 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.99402801 0.00327313 -0.1090761 2.10303763] [-0.00403522 0.99996896 -0.0067668 -0.42094771] [ 0.10905057 0.00716654 0.99401037 0.06573879] [ 0. 0. 0. 1. ]] SLAMing on 19.286502481 meters Centerline goodness [0,1] 0.5520211868106284 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.99398462 0.00332301 -0.10946933 2.10400593] [-0.00407769 0.99996944 -0.00667078 -0.4214137 ] [ 0.10944382 0.00707703 0.99396779 0.065607 ] [ 0. 0. 0. 1. ]] SLAMing on 19.316502481 meters Centerline goodness [0,1] 0.5544961511546536 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.42, Z:0.07 [[ 0.99395864 0.00339275 -0.10970283 2.10449591] [-0.00413495 0.99997007 -0.00653875 -0.42142049] [ 0.10967736 0.00695287 0.99394292 0.0657248 ] [ 0. 0. 0. 1. ]] SLAMing on 19.346502481 meters Centerline goodness [0,1] 0.5662983425414365 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.42, Z:0.07 [[ 0.99391143 0.00401215 -0.11010888 2.10513489] [-0.00469893 0.99997109 -0.00597851 -0.42216821] [ 0.11008171 0.0064595 0.99390155 0.06588654] [ 0. 0. 0. 1. ]] SLAMing on 19.376502481 meters Centerline goodness [0,1] 0.5805810486935172 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.42, Z:0.07 [[ 0.99384972 0.0040929 -0.11066154 2.10709923] [-0.00474296 0.99997301 -0.00561173 -0.42376729] [ 0.11063558 0.00610208 0.99384231 0.06515654] [ 0. 0. 0. 1. ]] SLAMing on 19.406502481 meters Centerline goodness [0,1] 0.5801733952184955 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.42, Z:0.07 [[ 0.99380706 0.00405505 -0.11104542 2.10801263] [-0.00466739 0.9999753 -0.00525496 -0.42476298] [ 0.11102137 0.00574071 0.99380144 0.06540354] [ 0. 0. 0. 1. ]] SLAMing on 19.436502481 meters Centerline goodness [0,1] 0.5755494505494505 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.99379898 0.0042324 -0.11111111 2.10788088] [-0.0047818 0.99997762 -0.0046785 -0.42606388] [ 0.11108882 0.0051808 0.99379698 0.0660288 ] [ 0. 0. 0. 1. ]] SLAMing on 19.466502481 meters Centerline goodness [0,1] 0.5677055973851631 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.99377523 0.00427479 -0.11132169 2.10781252] [-0.00470928 0.99998229 -0.00364037 -0.42872719] [ 0.11130415 0.00414196 0.99377776 0.06746409] [ 0. 0. 0. 1. ]] SLAMing on 19.496502481 meters Centerline goodness [0,1] 0.5600654568832004 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.99373258 0.00422418 -0.11170369 2.10864208] [-0.00461559 0.99998408 -0.00324559 -0.43001868] [ 0.1116882 0.00374082 0.99373626 0.06777421] [ 0. 0. 0. 1. ]] SLAMing on 19.526502481 meters Centerline goodness [0,1] 0.5537160972173301 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.99366858 0.00384614 -0.11228516 2.11009829] [-0.00420633 0.99998674 -0.00297105 -0.43193575] [ 0.11227224 0.00342455 0.99367158 0.0679942 ] [ 0. 0. 0. 1. ]] SLAMing on 19.556502481 meters Centerline goodness [0,1] 0.5382038321382391 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.9935789 0.00338807 -0.11309066 2.11260543] [-0.00374147 0.99998876 -0.00291283 -0.43367707] [ 0.11307952 0.00331725 0.9935804 0.0673913 ] [ 0. 0. 0. 1. ]] SLAMing on 19.586502481 meters Centerline goodness [0,1] 0.5409165784209907 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.43, Z:0.07 [[ 0.99353971 0.00322572 -0.11343917 2.11406289] [-0.00356469 0.99998977 -0.00278543 -0.43454706] [ 0.11342902 0.00317181 0.99354104 0.06680353] [ 0. 0. 0. 1. ]] SLAMing on 19.616502481 meters Centerline goodness [0,1] 0.5309726685732818 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 0.99354529 0.0032163 -0.11339057 2.11435621] [-0.00350489 0.99999111 -0.00234588 -0.43634757] [ 0.11338202 0.00272816 0.99354772 0.06671542] [ 0. 0. 0. 1. ]] SLAMing on 19.646502481000002 meters Centerline goodness [0,1] 0.5300877374375942 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 9.93511416e-01 3.17237832e-03 -1.13688176e-01 2.11471443e+00] [-3.43446965e-03 9.99991877e-01 -2.10956200e-03 -4.36932932e-01] [ 1.13680560e-01 2.48633252e-03 9.93514242e-01 6.72570074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676502481 meters Centerline goodness [0,1] 0.5273285326407744 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 9.93499128e-01 3.23713711e-03 -1.13793685e-01 2.11420635e+00] [-3.46224308e-03 9.99992421e-01 -1.78061638e-03 -4.37712645e-01] [ 1.13787059e-01 2.16302222e-03 9.93502807e-01 6.83241822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706502481 meters Centerline goodness [0,1] 0.5242403701629779 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 9.93452539e-01 3.16597258e-03 -1.14201705e-01 2.11447781e+00] [-3.37702137e-03 9.99992929e-01 -1.65461856e-03 -4.37894350e-01] [ 1.14195659e-01 2.02944660e-03 9.93456206e-01 6.91825358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736502481000002 meters Centerline goodness [0,1] 0.5226488033759259 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 9.93446833e-01 3.10917983e-03 -1.14252886e-01 2.11401075e+00] [-3.33237587e-03 9.99992894e-01 -1.76258582e-03 -4.37365346e-01] [ 1.14246594e-01 2.13176886e-03 9.93450135e-01 6.98571241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766502481 meters Centerline goodness [0,1] 0.522930632253492 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.44, Z:0.07 [[ 9.93447656e-01 3.17835994e-03 -1.14243827e-01 2.11423497e+00] [-3.39949589e-03 9.99992706e-01 -1.74087712e-03 -4.37039809e-01] [ 1.14237460e-01 2.11784171e-03 9.93451215e-01 6.96246212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796502481 meters Centerline goodness [0,1] 0.539286134998233 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 0.99336665 0.00274031 -0.11495737 2.11680884] [-0.00300791 0.99999316 -0.00215437 -0.43642428] [ 0.11495068 0.00248586 0.99336809 0.0684689 ] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481000002 meters Centerline goodness [0,1] 0.5336306974271113 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 0.99335173 0.00268862 -0.11508743 2.11771759] [-0.0029765 0.99999286 -0.00232965 -0.43595129] [ 0.11508035 0.00265672 0.99335263 0.06769486] [ 0. 0. 0. 1. ]] SLAMing on 19.856502481 meters Centerline goodness [0,1] 0.5104004236664803 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.43, Z:0.07 [[ 0.99327469 0.00222103 -0.11576038 2.1202564 ] [-0.00256567 0.99999271 -0.00282826 -0.43486867] [ 0.11575326 0.00310624 0.99327314 0.06647294] [ 0. 0. 0. 1. ]] SLAMing on 19.886502481 meters Centerline goodness [0,1] 0.5262212537911133 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 9.93197998e-01 1.82921357e-03 -1.16423330e-01 2.12152367e+00] [-2.17281008e-03 9.99993651e-01 -2.82442248e-03 -4.35473793e-01] [ 1.16417424e-01 3.05817654e-03 9.93195666e-01 6.69278530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.916502481000002 meters Centerline goodness [0,1] 0.5070733863837312 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 9.93183836e-01 -2.64234990e-03 -1.16528477e-01 2.12198142e+00] [ 1.85750392e-03 9.99974859e-01 -6.84331088e-03 -4.35562936e-01] [ 1.16543630e-01 6.58021365e-03 9.93163775e-01 6.67083375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946502481 meters Centerline goodness [0,1] 0.5103523643559678 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 0.99311392 -0.00297981 -0.11711478 2.12302431] [ 0.0022313 0.99997624 -0.00652191 -0.43683402] [ 0.11713143 0.00621568 0.99309697 0.06746271] [ 0. 0. 0. 1. ]] SLAMing on 19.976502481 meters Centerline goodness [0,1] 0.494343624793778 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 0.9930687 -0.00334169 -0.11748784 2.12431164] [ 0.0026345 0.99997747 -0.00617404 -0.43796826] [ 0.11750582 0.00582173 0.99305513 0.06760243] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481000002 meters Centerline goodness [0,1] 0.4932129367327668 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.44, Z:0.07 [[ 0.99307844 -0.0031443 -0.11741097 2.1246288 ] [ 0.00245362 0.99997883 -0.00602661 -0.43773267] [ 0.11742743 0.00569682 0.99306513 0.06711151] [ 0. 0. 0. 1. ]] SLAMing on 20.036502481 meters Centerline goodness [0,1] 0.5130108252412944 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.44, Z:0.07 [[ 0.99363759 0.00424784 -0.11254467 2.1381329 ] [-0.00512052 0.99995902 -0.00746619 -0.43976851] [ 0.11250834 0.00799497 0.99361862 0.0662784 ] [ 0. 0. 0. 1. ]] SLAMing on 20.066502481 meters Centerline goodness [0,1] 0.5245148259813248 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.44, Z:0.07 [[ 0.99362507 0.00453938 -0.11264378 2.13776471] [-0.00544636 0.99995517 -0.0077453 -0.4378027 ] [ 0.11260357 0.00830942 0.99360525 0.06659734] [ 0. 0. 0. 1. ]] SLAMing on 20.096502481 meters Centerline goodness [0,1] 0.5318812113394507 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.44, Z:0.07 [[ 0.99357996 0.00433361 -0.11304899 2.13872965] [-0.00529763 0.99995211 -0.00822846 -0.43625292] [ 0.11300792 0.00877453 0.99355534 0.06637513] [ 0. 0. 0. 1. ]] SLAMing on 20.126502481 meters Centerline goodness [0,1] 0.536541837331773 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:0.07 [[ 0.99351514 0.00444202 -0.11361311 2.14029592] [-0.00549655 0.99994466 -0.00897017 -0.43379461] [ 0.11356697 0.00953648 0.99348457 0.06527705] [ 0. 0. 0. 1. ]] SLAMing on 20.156502481 meters Centerline goodness [0,1] 0.5488252783769603 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:0.06 [[ 0.99350028 0.00438813 -0.11374504 2.14100922] [-0.00549429 0.9999406 -0.00941327 -0.4319357 ] [ 0.11369698 0.00997703 0.99346538 0.064614 ] [ 0. 0. 0. 1. ]] SLAMing on 20.186502481 meters Centerline goodness [0,1] 0.5686894471195684 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:0.06 [[ 0.99344534 0.0085332 -0.11398925 2.14154905] [-0.00925336 0.99994042 -0.00579015 -0.43064519] [ 0.11393305 0.00680699 0.99346511 0.06470667] [ 0. 0. 0. 1. ]] SLAMing on 20.216502481 meters Centerline goodness [0,1] 0.556564225620862 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:0.06 [[ 0.99340615 0.00843471 -0.11433752 2.14243762] [-0.00920606 0.99993828 -0.00621988 -0.42894294] [ 0.114278 0.00723147 0.99342249 0.06438104] [ 0. 0. 0. 1. ]] SLAMing on 20.246502481 meters Centerline goodness [0,1] 0.5838650997603442 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.43, Z:0.06 [[ 0.99331166 0.00821235 -0.11517159 2.14434159] [-0.00905941 0.99993561 -0.00683328 -0.42701031] [ 0.11510806 0.00783096 0.99332211 0.06398129] [ 0. 0. 0. 1. ]] SLAMing on 20.276502481 meters Centerline goodness [0,1] 0.5731344146644692 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99329254 0.00807341 -0.1153462 2.14524254] [-0.00895005 0.99993485 -0.00708416 -0.42669593] [ 0.11528149 0.00806899 0.99330009 0.0632882 ] [ 0. 0. 0. 1. ]] SLAMing on 20.306502481 meters Centerline goodness [0,1] 0.5731344146644692 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99329254 0.00807341 -0.1153462 2.14524254] [-0.00895005 0.99993485 -0.00708416 -0.42669593] [ 0.11528149 0.00806899 0.99330009 0.0632882 ] [ 0. 0. 0. 1. ]] SLAMing on 20.336502481 meters Centerline goodness [0,1] 0.5622999509789786 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99322881 0.00769042 -0.11591976 2.14788472] [-0.00859953 0.99993605 -0.0073445 -0.42649541] [ 0.11585586 0.00829162 0.99323143 0.06181464] [ 0. 0. 0. 1. ]] SLAMing on 20.366502481 meters Centerline goodness [0,1] 0.5666262696214219 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99320897 0.00745052 -0.11610527 2.14909423] [-0.00837825 0.99993674 -0.00750438 -0.42652325] [ 0.11604202 0.00842617 0.99320856 0.06100801] [ 0. 0. 0. 1. ]] SLAMing on 20.396502481000002 meters Centerline goodness [0,1] 0.5586296617519515 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99315621 0.00677031 -0.11659718 2.15105225] [-0.00768848 0.99994286 -0.0074267 -0.42822551] [ 0.11654024 0.00827233 0.99315152 0.06058315] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters Centerline goodness [0,1] 0.545177222545032 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99317187 0.00247631 -0.11663404 2.15137936] [-0.00378552 0.99993228 -0.01100479 -0.42982166] [ 0.11659889 0.01137116 0.99311399 0.06041058] [ 0. 0. 0. 1. ]] SLAMing on 20.456502481 meters Centerline goodness [0,1] 0.5344379941071793 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 0.99309032 0.00231214 -0.11732976 2.15230354] [-0.00354933 0.99994028 -0.01033669 -0.43191153] [ 0.11729885 0.01068171 0.99303921 0.06162756] [ 0. 0. 0. 1. ]] SLAMing on 20.486502481000002 meters Centerline goodness [0,1] 0.5176443094180883 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 9.93050129e-01 1.99184968e-03 -1.17675292e-01 2.15305897e+00] [-3.14711192e-03 9.99948655e-01 -9.63237456e-03 -4.34147246e-01] [ 1.17650064e-01 9.93576811e-03 9.93005409e-01 6.24397459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.516502481 meters Centerline goodness [0,1] 0.5166369143425712 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.06 [[ 9.93033904e-01 2.09634661e-03 -1.17810317e-01 2.15368392e+00] [-3.21573904e-03 9.99951468e-01 -9.31236791e-03 -4.34577370e-01] [ 1.17785078e-01 9.62634430e-03 9.92992452e-01 6.22688592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546502481 meters Centerline goodness [0,1] 0.5109642710952575 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 0.99295081 0.00438342 -0.11844605 2.1568331 ] [-0.00522854 0.99996304 -0.00682524 -0.43666389] [ 0.11841176 0.00739643 0.99293703 0.06075686] [ 0. 0. 0. 1. ]] SLAMing on 20.576502481000002 meters Centerline goodness [0,1] 0.5051824090882473 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 0.99286943 0.00398376 -0.11914037 2.15897554] [-0.00485833 0.99996334 -0.00705114 -0.43678517] [ 0.11910792 0.00757968 0.99285238 0.06013154] [ 0. 0. 0. 1. ]] SLAMing on 20.606502481 meters Centerline goodness [0,1] 0.5065242832065535 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 0.99273437 0.00316964 -0.12028475 2.16254421] [-0.00410165 0.99996345 -0.00750154 -0.43696737] [ 0.12025658 0.0079404 0.99271109 0.05909341] [ 0. 0. 0. 1. ]] SLAMing on 20.636502481 meters Centerline goodness [0,1] 0.49827555971239845 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 0.99268033 0.0028796 -0.12073722 2.16388057] [-0.0038179 0.99996428 -0.00754084 -0.43688312] [ 0.1207112 0.00794661 0.99265586 0.0589377 ] [ 0. 0. 0. 1. ]] SLAMing on 20.666502481000002 meters Centerline goodness [0,1] 0.4916067843947284 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 0.99264874 0.0024281 -0.12100654 2.16430798] [-0.00336586 0.99996586 -0.00754586 -0.43669478] [ 0.12098409 0.00789768 0.99262303 0.05962193] [ 0. 0. 0. 1. ]] SLAMing on 20.696502481 meters Centerline goodness [0,1] 0.49038797623208663 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 9.92598009e-01 2.00350360e-03 -1.21429728e-01 2.16406998e+00] [-2.96930714e-03 9.99965380e-01 -7.77317156e-03 -4.36156802e-01] [ 1.21409951e-01 8.07619677e-03 9.92569594e-01 6.11409732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726502481 meters Centerline goodness [0,1] 0.49189299333391556 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.06 [[ 9.92529926e-01 1.76651820e-03 -1.21988628e-01 2.16438831e+00] [-2.74342966e-03 9.99965498e-01 -7.84072090e-03 -4.35708465e-01] [ 1.21970568e-01 8.11681735e-03 9.92500528e-01 6.23094739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756502481000002 meters Centerline goodness [0,1] 0.508910660813443 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.43, Z:0.06 [[ 9.92449786e-01 1.35435128e-03 -1.22644155e-01 2.16405547e+00] [-2.38104804e-03 9.99963338e-01 -8.22516976e-03 -4.34064018e-01] [ 1.22628519e-01 8.45508959e-03 9.92416625e-01 6.43621593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786502481 meters Centerline goodness [0,1] 0.4928716314111852 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.43, Z:0.06 [[ 9.92407301e-01 1.13673733e-03 -1.22989657e-01 2.16448738e+00] [-2.19128839e-03 9.99961987e-01 -8.43938021e-03 -4.32884397e-01] [ 1.22975389e-01 8.64480835e-03 9.92372068e-01 6.48219179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816502481 meters Centerline goodness [0,1] 0.5039329241939666 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.43, Z:0.06 [[ 9.92416574e-01 1.01977250e-03 -1.22915841e-01 2.16464731e+00] [-2.12229710e-03 9.99958682e-01 -8.83915733e-03 -4.30250290e-01] [ 1.22901748e-01 9.03299017e-03 9.92377733e-01 6.44840135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846502481 meters Centerline goodness [0,1] 0.49933999081726355 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92375254e-01 7.51087101e-04 -1.23250925e-01 2.16571626e+00] [-1.87331396e-03 9.99957838e-01 -8.98958758e-03 -4.29204463e-01] [ 1.23238976e-01 9.15193194e-03 9.92334821e-01 6.43128405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.876502481 meters Centerline goodness [0,1] 0.496933218687303 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92353219e-01 6.39685279e-04 -1.23428845e-01 2.16635097e+00] [-1.74577797e-03 9.99959284e-01 -8.85343421e-03 -4.28925212e-01] [ 1.23418156e-01 9.00121330e-03 9.92313931e-01 6.43073635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906502481 meters Centerline goodness [0,1] 0.49825335013171457 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92331772e-01 1.57436424e-04 -1.23602707e-01 2.16736720e+00] [-1.23603856e-03 9.99961826e-01 -8.64972903e-03 -4.29348961e-01] [ 1.23596626e-01 8.73617864e-03 9.92294086e-01 6.42436950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.936502481 meters Centerline goodness [0,1] 0.4938144917621572 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92229836e-01 -8.98340940e-04 -1.24415217e-01 2.17040992e+00] [-2.50400779e-04 9.99957490e-01 -9.21718342e-03 -4.28743065e-01] [ 1.24418208e-01 9.17671805e-03 9.92187431e-01 6.32224113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966502481 meters Centerline goodness [0,1] 0.4896633865524771 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92177443e-01 -1.37855942e-03 -1.24827965e-01 2.17213245e+00] [ 1.69295276e-04 9.99952963e-01 -9.69753553e-03 -4.27589814e-01] [ 1.24835462e-01 9.60054322e-03 9.92131008e-01 6.23831604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996502481 meters Centerline goodness [0,1] 0.49095278484591465 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:0.06 [[ 9.92085129e-01 -2.17985116e-03 -1.25548177e-01 2.17484340e+00] [ 8.49900035e-04 9.99942971e-01 -1.06457433e-02 -4.25214482e-01] [ 1.25564223e-01 1.04547802e-02 9.92030405e-01 6.10659475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026502481 meters Centerline goodness [0,1] 0.49673479772707996 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:0.06 [[ 9.92004680e-01 -2.56493810e-03 -1.26175019e-01 2.17636507e+00] [ 1.18525871e-03 9.99938702e-01 -1.10085079e-02 -4.24403204e-01] [ 1.26195521e-01 1.07709413e-02 9.91946913e-01 6.09159054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.056502481 meters Centerline goodness [0,1] 0.48885754583921015 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:0.06 [[ 9.91909295e-01 -3.14459372e-03 -1.26909659e-01 2.17770909e+00] [ 1.64797333e-03 9.99927881e-01 -1.18960754e-02 -4.21951310e-01] [ 1.26937915e-01 1.15906840e-02 9.91842942e-01 6.10242632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086502481 meters Centerline goodness [0,1] 0.492284383592391 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:0.06 [[ 0.99231996 0.00380003 -0.12363925 2.19139512] [-0.00578296 0.99986029 -0.01568307 -0.42172787] [ 0.12356238 0.01627762 0.99220329 0.05942673] [ 0. 0. 0. 1. ]] SLAMing on 21.116502481 meters Centerline goodness [0,1] 0.49279884112878514 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:0.06 [[ 0.99221848 0.00792391 -0.12425658 2.19267969] [-0.00943733 0.99988823 -0.0115959 -0.42184283] [ 0.1241508 0.01267831 0.99218236 0.05988035] [ 0. 0. 0. 1. ]] SLAMing on 21.146502481 meters Centerline goodness [0,1] 0.4987905580115105 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:0.06 [[ 0.99214188 0.0122378 -0.12451794 2.19335537] [-0.01327875 0.99988346 -0.0075333 -0.42181958] [ 0.12441124 0.00912755 0.99218876 0.06002387] [ 0. 0. 0. 1. ]] SLAMing on 21.176502481 meters Centerline goodness [0,1] 0.508905359809724 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.42, Z:0.06 [[ 0.99201557 0.01609418 -0.12508433 2.1951858 ] [-0.01676907 0.99984995 -0.00434437 -0.41990382] [ 0.12499564 0.00640723 0.9921366 0.05942274] [ 0. 0. 0. 1. ]] SLAMing on 21.206502481 meters Centerline goodness [0,1] 0.5133197286415532 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.42, Z:0.06 [[ 0.99199045 0.0157738 -0.1253241 2.19654969] [-0.01655716 0.99984934 -0.00521145 -0.41750123] [ 0.12522301 0.00724472 0.99210217 0.05817032] [ 0. 0. 0. 1. ]] SLAMing on 21.236502481000002 meters Centerline goodness [0,1] 0.5155910876672436 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.41, Z:0.06 [[ 0.99195257 0.01545135 -0.12566366 2.19790945] [-0.01637869 0.9998457 -0.00634969 -0.41298727] [ 0.12554616 0.00835679 0.99205258 0.05710412] [ 0. 0. 0. 1. ]] SLAMing on 21.266502481 meters Centerline goodness [0,1] 0.5154282893112812 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.41, Z:0.06 [[ 0.99189201 0.01503878 -0.12619061 2.19898164] [-0.01606082 0.99984591 -0.00708557 -0.41119764] [ 0.1260646 0.00905485 0.99198071 0.05694605] [ 0. 0. 0. 1. ]] SLAMing on 21.296502481 meters Centerline goodness [0,1] 0.5155789588562698 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.41, Z:0.06 [[ 0.99183283 0.01426929 -0.1267439 2.20047414] [-0.01550317 0.9998415 -0.00875412 -0.40667929] [ 0.1265989 0.01064756 0.99189684 0.05610102] [ 0. 0. 0. 1. ]] SLAMing on 21.326502481000002 meters Centerline goodness [0,1] 0.5151539862458887 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.40, Z:0.06 [[ 0.99180729 0.01375741 -0.12700013 2.201317 ] [-0.01514785 0.99983537 -0.009989 -0.40192104] [ 0.1268418 0.01183094 0.9918524 0.05546948] [ 0. 0. 0. 1. ]] SLAMing on 21.356502481 meters Centerline goodness [0,1] 0.5168536288687661 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.40, Z:0.05 [[ 0.99179933 0.01356133 -0.12708334 2.20199784] [-0.01504897 0.99982893 -0.01075316 -0.39895572] [ 0.12691578 0.01257745 0.99183375 0.05468147] [ 0. 0. 0. 1. ]] SLAMing on 21.386502481 meters Centerline goodness [0,1] 0.5179151345983521 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:0.05 [[ 0.99188917 0.01507181 -0.12620898 2.20072247] [-0.0164131 0.99981926 -0.00959434 -0.39423261] [ 0.12604157 0.01158801 0.99195728 0.05458381] [ 0. 0. 0. 1. ]] SLAMing on 21.416502481000002 meters Centerline goodness [0,1] 0.5151067543977441 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:0.05 [[ 0.99187821 0.01499883 -0.12630383 2.20072043] [-0.01638009 0.99981678 -0.00990449 -0.39292446] [ 0.12613213 0.01189292 0.99194216 0.05471867] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters Centerline goodness [0,1] 0.5128608364208226 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:0.05 [[ 0.99185938 0.01449689 -0.12651012 2.20177481] [-0.01600698 0.99981216 -0.01092802 -0.38938468] [ 0.12632793 0.01286411 0.99190512 0.05387679] [ 0. 0. 0. 1. ]] SLAMing on 21.476502481 meters Centerline goodness [0,1] 0.5116706145370346 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:0.05 [[ 0.99187011 0.01430879 -0.12644741 2.20197446] [-0.01587366 0.99980928 -0.0113766 -0.38765866] [ 0.12626051 0.0132913 0.99190807 0.05347123] [ 0. 0. 0. 1. ]] SLAMing on 21.506502481000002 meters Centerline goodness [0,1] 0.515213412207868 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:0.05 [[ 0.99188145 0.0135061 -0.12644672 2.20227707] [-0.01517228 0.99981018 -0.01222308 -0.38529655] [ 0.12625763 0.01404233 0.99189809 0.05329925] [ 0. 0. 0. 1. ]] SLAMing on 21.536502481 meters Centerline goodness [0,1] 0.4981229841907683 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.38, Z:0.05 [[ 0.99187611 0.01267345 -0.12657476 2.20339809] [-0.0144605 0.99980818 -0.0132096 -0.38235276] [ 0.12638307 0.01493262 0.99186911 0.05244401] [ 0. 0. 0. 1. ]] SLAMing on 21.566502481 meters Centerline goodness [0,1] 0.4986669482353562 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.38, Z:0.05 [[ 0.9918864 0.01240989 -0.12652025 2.20370527] [-0.01425471 0.99980473 -0.01368622 -0.38088417] [ 0.1263257 0.01537869 0.99186961 0.05193405] [ 0. 0. 0. 1. ]] SLAMing on 21.596502481 meters Centerline goodness [0,1] 0.5070981649929018 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.38, Z:0.05 [[ 0.99189298 0.01154307 -0.12655066 2.20272325] [-0.01348764 0.99980361 -0.01451985 -0.37904264] [ 0.1263582 0.01610901 0.99185387 0.05333069] [ 0. 0. 0. 1. ]] SLAMing on 21.626502481 meters Centerline goodness [0,1] 0.5046309658121901 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.38, Z:0.05 [[ 0.99185532 0.01122301 -0.12687424 2.20236282] [-0.01319778 0.99980433 -0.01473487 -0.3783037 ] [ 0.12668404 0.01628932 0.99180936 0.05462169] [ 0. 0. 0. 1. ]] SLAMing on 21.656502481 meters Centerline goodness [0,1] 0.5029338896857478 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.37, Z:0.06 [[ 0.99189526 0.01119361 -0.12656419 2.20110356] [-0.01321751 0.99979768 -0.01516261 -0.37469042] [ 0.12636886 0.01671258 0.99184253 0.05531354] [ 0. 0. 0. 1. ]] SLAMing on 21.686502481 meters Centerline goodness [0,1] 0.5040189371276955 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.37, Z:0.05 [[ 0.99190516 0.01118712 -0.12648715 2.20118185] [-0.01325708 0.99979144 -0.01553499 -0.3727186 ] [ 0.12628698 0.01708608 0.99184659 0.05497963] [ 0. 0. 0. 1. ]] SLAMing on 21.716502481 meters Centerline goodness [0,1] 0.5037242021414162 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.37, Z:0.05 [[ 0.99185274 0.01503805 -0.12649904 2.20169153] [-0.01668929 0.99978867 -0.0120036 -0.37113268] [ 0.12629179 0.01401698 0.9918941 0.05485682] [ 0. 0. 0. 1. ]] SLAMing on 21.746502481 meters Centerline goodness [0,1] 0.503171083840363 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.37, Z:0.05 [[ 0.99183065 0.01487641 -0.12669121 2.20228132] [-0.01658652 0.99978487 -0.01245399 -0.36939333] [ 0.12647869 0.01445361 0.99186402 0.05456367] [ 0. 0. 0. 1. ]] SLAMing on 21.776502481 meters Centerline goodness [0,1] 0.5124961431656896 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.37, Z:0.05 [[ 0.99176549 0.01405751 -0.12729335 2.20483442] [-0.01593423 0.99977867 -0.0137369 -0.36663413] [ 0.12707207 0.01565211 0.99176998 0.05285436] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters Centerline goodness [0,1] 0.4989633724948168 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.36, Z:0.05 [[ 0.99171755 0.01313475 -0.12776458 2.2061383 ] [-0.01515173 0.99977526 -0.01482754 -0.36457305] [ 0.12754111 0.01664059 0.99169368 0.05245506] [ 0. 0. 0. 1. ]] SLAMing on 21.836502481 meters Centerline goodness [0,1] 0.5150934233059836 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.36, Z:0.05 [[ 0.99173091 0.0131654 -0.12765762 2.20540594] [-0.01519491 0.99977297 -0.01493726 -0.36365637] [ 0.12743199 0.01675349 0.99170581 0.05302861] [ 0. 0. 0. 1. ]] SLAMing on 21.866502481 meters Centerline goodness [0,1] 0.5113244831779489 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.36, Z:0.05 [[ 0.99184585 0.0134623 -0.12673031 2.20257375] [-0.01546901 0.99976986 -0.01486362 -0.35980055] [ 0.12650105 0.01670281 0.99182584 0.05427128] [ 0. 0. 0. 1. ]] SLAMing on 21.896502481 meters Centerline goodness [0,1] 0.5118803613451757 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.36, Z:0.05 [[ 0.99188754 0.01354981 -0.12639424 2.20177489] [-0.01560399 0.99976155 -0.01527621 -0.35748821] [ 0.12615711 0.01712453 0.99186246 0.05427119] [ 0. 0. 0. 1. ]] SLAMing on 21.926502481 meters Centerline goodness [0,1] 0.5110021375581542 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.35, Z:0.05 [[ 0.99182915 0.01715241 -0.12641494 2.20142554] [-0.01886903 0.99974514 -0.01239422 -0.35450631] [ 0.12617013 0.01467828 0.99190002 0.05498525] [ 0. 0. 0. 1. ]] SLAMing on 21.956502481 meters Centerline goodness [0,1] 0.5209254678559828 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.35, Z:0.06 [[ 0.99176829 0.01994182 -0.12648315 2.20093114] [-0.02146603 0.99971233 -0.01069896 -0.34990888] [ 0.12623341 0.01332598 0.99191106 0.05557318] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481000002 meters Centerline goodness [0,1] 0.5171941191128832 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.35, Z:0.06 [[ 0.9917778 0.02004739 -0.12639181 2.20086813] [-0.02165369 0.99970113 -0.01134768 -0.34696985] [ 0.12612654 0.01399123 0.99191549 0.05523103] [ 0. 0. 0. 1. ]] SLAMing on 22.016502481 meters Centerline goodness [0,1] 0.5300341042045257 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.34, Z:0.05 [[ 0.99177347 0.02002774 -0.1264289 2.20105268] [-0.02172091 0.99969172 -0.01202782 -0.34446959] [ 0.12614904 0.01467502 0.99190275 0.05489552] [ 0. 0. 0. 1. ]] SLAMing on 22.046502481 meters Centerline goodness [0,1] 0.5321098645268345 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.34, Z:0.06 [[ 0.99178465 0.02133571 -0.12612688 2.20023126] [-0.02296376 0.99967052 -0.01146803 -0.33972637] [ 0.12584064 0.01427016 0.99194783 0.05514918] [ 0. 0. 0. 1. ]] SLAMing on 22.076502481000002 meters Centerline goodness [0,1] 0.5312677447228737 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.34, Z:0.05 [[ 0.99180694 0.02136525 -0.1259465 2.20000226] [-0.02305941 0.99966197 -0.01200866 -0.33731558] [ 0.12564736 0.01481453 0.99196435 0.05487876] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters Centerline goodness [0,1] 0.5385411532774766 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.33, Z:0.06 [[ 0.99182382 0.02322617 -0.12548331 2.19761376] [-0.02476942 0.99963537 -0.01075207 -0.33343101] [ 0.12518783 0.01377231 0.99203746 0.05656865] [ 0. 0. 0. 1. ]] SLAMing on 22.136502481 meters Centerline goodness [0,1] 0.5397410383037271 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.33, Z:0.06 [[ 0.99180494 0.02319548 -0.12563811 2.19748995] [-0.02478951 0.99963064 -0.01113876 -0.33176606] [ 0.12533334 0.01416199 0.99201361 0.05699051] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481000002 meters Centerline goodness [0,1] 0.5389744092558094 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.33, Z:0.06 [[ 0.9917944 0.02312498 -0.12573426 2.19764246] [-0.02477632 0.99962588 -0.0115855 -0.32990412] [ 0.12541931 0.01460567 0.99199631 0.05698478] [ 0. 0. 0. 1. ]] SLAMing on 22.196502481 meters Centerline goodness [0,1] 0.5389744092558094 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.33, Z:0.06 [[ 0.9917944 0.02312498 -0.12573426 2.19764246] [-0.02477632 0.99962588 -0.0115855 -0.32990412] [ 0.12541931 0.01460567 0.99199631 0.05698478] [ 0. 0. 0. 1. ]] SLAMing on 22.226502481 meters Centerline goodness [0,1] 0.5516416453069694 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.33, Z:0.06 [[ 0.99183523 0.02419328 -0.12521004 2.19685574] [-0.0257327 0.99961168 -0.01069174 -0.32596142] [ 0.12490275 0.01382644 0.99207264 0.05712726] [ 0. 0. 0. 1. ]] SLAMing on 22.256502481000002 meters Centerline goodness [0,1] 0.532638601446276 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.32, Z:0.06 [[ 0.9918115 0.02379203 -0.12547461 2.19751506] [-0.02543877 0.9996098 -0.01153791 -0.32324125] [ 0.12515114 0.01463535 0.99202974 0.05698924] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters Centerline goodness [0,1] 0.5328101843978523 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.32, Z:0.06 [[ 0.9917974 0.02350031 -0.12564099 2.19797705] [-0.02521503 0.99960913 -0.01207473 -0.3218271 ] [ 0.12530812 0.01514372 0.99200229 0.05682634] [ 0. 0. 0. 1. ]] SLAMing on 22.316502481 meters Centerline goodness [0,1] 0.5274949083503055 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.32, Z:0.06 [[ 0.99176913 0.02291655 -0.12597149 2.19938007] [-0.02475994 0.99960776 -0.01308694 -0.31930692] [ 0.12562217 0.01609827 0.99194754 0.05591658] [ 0. 0. 0. 1. ]] SLAMing on 22.346502481 meters Centerline goodness [0,1] 0.5440003877753812 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.32, Z:0.06 [[ 0.991753 0.02256149 -0.12616247 2.20045102] [-0.02447342 0.99960763 -0.01362492 -0.31814358] [ 0.12580557 0.01660019 0.99191602 0.05512616] [ 0. 0. 0. 1. ]] SLAMing on 22.376502481 meters Centerline goodness [0,1] 0.5407317956768507 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.32, Z:0.05 [[ 0.9917645 0.02213231 -0.12614805 2.20166102] [-0.02414445 0.99960413 -0.01444382 -0.31594691] [ 0.12577844 0.01737064 0.99190627 0.05373792] [ 0. 0. 0. 1. ]] SLAMing on 22.406502481 meters Centerline goodness [0,1] 0.5404658317909766 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.31, Z:0.05 [[ 0.99178879 0.02244307 -0.12590199 2.20069837] [-0.02449674 0.99959054 -0.01478702 -0.31331755] [ 0.12551858 0.01774979 0.99193247 0.05412901] [ 0. 0. 0. 1. ]] SLAMing on 22.436502481 meters Centerline goodness [0,1] 0.5472732518995864 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.31, Z:0.05 [[ 0.9918354 0.02293163 -0.12544596 2.19930158] [-0.02498972 0.9995773 -0.01485699 -0.31133393] [ 0.12505224 0.01787055 0.9919892 0.05457087] [ 0. 0. 0. 1. ]] SLAMing on 22.466502481 meters Centerline goodness [0,1] 0.5482171507938409 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.31, Z:0.06 [[ 0.99187191 0.02348524 -0.12505423 2.19762503] [-0.02554231 0.99956312 -0.0148713 -0.30931561] [ 0.12465034 0.0179446 0.99203845 0.05546395] [ 0. 0. 0. 1. ]] SLAMing on 22.496502481 meters Centerline goodness [0,1] 0.5618382142516456 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.31, Z:0.06 [[ 0.9918582 0.02429763 -0.12500774 2.19585983] [-0.0263552 0.9995426 -0.01483193 -0.30626282] [ 0.12459019 0.01800578 0.9920449 0.05714128] [ 0. 0. 0. 1. ]] SLAMing on 22.526502481 meters Centerline goodness [0,1] 0.5711764986408507 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.30, Z:0.06 [[ 0.99185203 0.02443728 -0.1250295 2.19572694] [-0.02655036 0.99953096 -0.0152621 -0.304251 ] [ 0.12459789 0.01845732 0.99203563 0.05725047] [ 0. 0. 0. 1. ]] SLAMing on 22.556502481 meters Centerline goodness [0,1] 0.5775531461578524 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.30, Z:0.06 [[ 0.99175091 0.02839548 -0.12499533 2.19586907] [-0.03014743 0.99947166 -0.01214656 -0.30133331] [ 0.12458439 0.01581465 0.99208297 0.05733374] [ 0. 0. 0. 1. ]] SLAMing on 22.586502481 meters Centerline goodness [0,1] 0.5902248520710058 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.30, Z:0.06 [[ 0.99176796 0.02832203 -0.12487667 2.19585046] [-0.03013539 0.9994657 -0.01265583 -0.29930039] [ 0.12445151 0.01631486 0.99209155 0.0570513 ] [ 0. 0. 0. 1. ]] SLAMing on 22.616502481 meters Centerline goodness [0,1] 0.5651968764007833 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.30, Z:0.06 [[ 0.99178113 0.02797946 -0.1248493 2.19560962] [-0.02989323 0.99946218 -0.01348128 -0.29652685] [ 0.12440496 0.01710263 0.99208412 0.05724175] [ 0. 0. 0. 1. ]] SLAMing on 22.646502481 meters Centerline goodness [0,1] 0.5778953556731334 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.06 [[ 0.99180658 0.02764095 -0.12472246 2.19547614] [-0.02962629 0.99946172 -0.01409108 -0.2945247 ] [ 0.12426583 0.01767069 0.9920916 0.05715313] [ 0. 0. 0. 1. ]] SLAMing on 22.676502481 meters Centerline goodness [0,1] 0.5758493578455542 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.06 [[ 0.99180553 0.02748717 -0.1247648 2.19585543] [-0.02950842 0.99946107 -0.01438117 -0.29359981] [ 0.12430226 0.01794493 0.99208212 0.05681571] [ 0. 0. 0. 1. ]] SLAMing on 22.706502481 meters Centerline goodness [0,1] 0.5693452797610714 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.06 [[ 0.99180877 0.0271734 -0.12480771 2.19604546] [-0.02927325 0.99945857 -0.01502132 -0.29163706] [ 0.12433195 0.01855181 0.99206723 0.0567095 ] [ 0. 0. 0. 1. ]] SLAMing on 22.736502481000002 meters Centerline goodness [0,1] 0.5710036304016863 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.06 [[ 0.99181029 0.02712263 -0.12480671 2.19555172] [-0.02923342 0.99945837 -0.01511194 -0.29129166] [ 0.12432924 0.01863671 0.99206598 0.05728709] [ 0. 0. 0. 1. ]] SLAMing on 22.766502481 meters Centerline goodness [0,1] 0.5636884787472036 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.06 [[ 0.99183564 0.02688781 -0.12465595 2.19467754] [-0.02904819 0.99945713 -0.01554534 -0.28987939] [ 0.1241703 0.01903945 0.99207824 0.05794842] [ 0. 0. 0. 1. ]] SLAMing on 22.796502481 meters Centerline goodness [0,1] 0.5603566689171886 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.06 [[ 0.99184278 0.02690506 -0.1245954 2.19417291] [-0.02909133 0.9994525 -0.01576059 -0.28872388] [ 0.12410314 0.01925667 0.99208245 0.05837838] [ 0. 0. 0. 1. ]] SLAMing on 22.826502481000002 meters Centerline goodness [0,1] 0.5610556447671577 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.06 [[ 0.9918487 0.02693459 -0.12454193 2.19368822] [-0.02916182 0.99944512 -0.01609479 -0.28678006] [ 0.12403931 0.01959547 0.9920838 0.05880592] [ 0. 0. 0. 1. ]] SLAMing on 22.856502481 meters Centerline goodness [0,1] 0.5655226751326674 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.06 [[ 0.99182984 0.0268876 -0.12470211 2.19424275] [-0.02916157 0.99943942 -0.01644548 -0.28538112] [ 0.12419002 0.01994763 0.99205793 0.05851732] [ 0. 0. 0. 1. ]] SLAMing on 22.886502481 meters Centerline goodness [0,1] 0.5876377130928911 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.06 [[ 0.99182871 0.02700743 -0.12468523 2.19465288] [-0.02933486 0.9994273 -0.016868 -0.28329274] [ 0.12415826 0.02038779 0.99205295 0.05797568] [ 0. 0. 0. 1. ]] SLAMing on 22.916502481000002 meters Centerline goodness [0,1] 0.5856779268857011 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.06 [[ 0.99182588 0.02702071 -0.1247049 2.19467064] [-0.02937479 0.99942258 -0.01707684 -0.28253518] [ 0.12417147 0.02060043 0.99204691 0.05796598] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters Centerline goodness [0,1] 0.5591919284778561 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.06 [[ 0.99185565 0.02862429 -0.1241089 2.19357661] [-0.03082969 0.99939841 -0.01588552 -0.27886298] [ 0.12357952 0.01958239 0.99214144 0.05816515] [ 0. 0. 0. 1. ]] SLAMing on 22.976502481 meters Centerline goodness [0,1] 0.587017744705209 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.06 [[ 0.99186464 0.02853341 -0.12405796 2.19374636] [-0.03080951 0.99938962 -0.01646709 -0.27637708] [ 0.12351238 0.02015529 0.99213833 0.05783638] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481000002 meters Centerline goodness [0,1] 0.589565535200329 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.06 [[ 0.99188478 0.0282789 -0.12395519 2.19355741] [-0.03067945 0.99937606 -0.01750007 -0.27279512] [ 0.12338297 0.02116093 0.99213349 0.05776412] [ 0. 0. 0. 1. ]] SLAMing on 23.036502481 meters Centerline goodness [0,1] 0.5885464161955134 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.06 [[ 0.99189273 0.0280443 -0.12394484 2.19315555] [-0.03050841 0.99937193 -0.01802725 -0.27137388] [ 0.12336143 0.02166246 0.99212534 0.05816579] [ 0. 0. 0. 1. ]] SLAMing on 23.066502481 meters Centerline goodness [0,1] 0.5902464461423357 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.06 [[ 0.99199985 0.0291774 -0.12282092 2.18963266] [-0.03157542 0.999346 -0.01762312 -0.26631078] [ 0.1222264 0.02136026 0.99227237 0.05976415] [ 0. 0. 0. 1. ]] SLAMing on 23.096502481 meters Centerline goodness [0,1] 0.6134370196220273 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.06 [[ 0.99204925 0.02957296 -0.12232628 2.18803884] [-0.03199576 0.9993279 -0.017889 -0.26354665] [ 0.12171504 0.02166069 0.99232871 0.06041367] [ 0. 0. 0. 1. ]] SLAMing on 23.126502481 meters Centerline goodness [0,1] 0.622457209427368 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.06 [[ 0.99208592 0.03087241 -0.12170632 2.18491441] [-0.03322396 0.99929751 -0.0173393 -0.2593338 ] [ 0.12108552 0.02124564 0.99241469 0.06261882] [ 0. 0. 0. 1. ]] SLAMing on 23.156502481 meters Centerline goodness [0,1] 0.6048385291945483 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.06 [[ 0.99211799 0.031219 -0.12135599 2.18328632] [-0.03357643 0.99928417 -0.01742911 -0.25784307] [ 0.120725 0.02136644 0.99245602 0.06357563] [ 0. 0. 0. 1. ]] SLAMing on 23.186502481 meters Centerline goodness [0,1] 0.6338701784045914 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.06 [[ 0.99215568 0.03392795 -0.12031626 2.18083261] [-0.03600952 0.99923633 -0.01516841 -0.25422509] [ 0.11970975 0.01938195 0.99261972 0.06453299] [ 0. 0. 0. 1. ]] SLAMing on 23.216502481 meters Centerline goodness [0,1] 0.6259521700620018 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.06 [[ 0.99213921 0.03365698 -0.12052803 2.1817441 ] [-0.03581153 0.99923438 -0.01575409 -0.25241141] [ 0.11990551 0.01994655 0.99258491 0.06395153] [ 0. 0. 0. 1. ]] SLAMing on 23.246502481 meters Centerline goodness [0,1] 0.629537917311519 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.99203566 0.03301469 -0.12155357 2.18501028] [-0.03531543 0.99923463 -0.01682177 -0.25073925] [ 0.12090518 0.02098052 0.99244232 0.06230805] [ 0. 0. 0. 1. ]] SLAMing on 23.276502481 meters Centerline goodness [0,1] 0.6408917674531316 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.99199019 0.03268129 -0.12201396 2.18702134] [-0.0350587 0.99923397 -0.01738846 -0.24952428] [ 0.12135221 0.02152683 0.99237606 0.06100363] [ 0. 0. 0. 1. ]] SLAMing on 23.306502481 meters Centerline goodness [0,1] 0.6352276954723505 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.99180477 0.03574894 -0.1226593 2.19056571] [-0.03782462 0.99917722 -0.01463499 -0.24756981] [ 0.12203519 0.0191546 0.99234093 0.05894762] [ 0. 0. 0. 1. ]] SLAMing on 23.336502481 meters Centerline goodness [0,1] 0.63502706018975 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.99180519 0.03565387 -0.12268357 2.19072648] [-0.03776217 0.99917563 -0.01490201 -0.24637869] [ 0.12205112 0.01941269 0.99233395 0.05884024] [ 0. 0. 0. 1. ]] SLAMing on 23.366502481 meters Centerline goodness [0,1] 0.63573837998861 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.9917978 0.03561782 -0.12275377 2.19034054] [-0.03773864 0.99917514 -0.01499476 -0.24604704] [ 0.12211843 0.01950433 0.99232387 0.05946875] [ 0. 0. 0. 1. ]] SLAMing on 23.396502481 meters Centerline goodness [0,1] 0.6333960942289167 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.99188035 0.03393665 -0.12256291 2.18737368] [-0.03627504 0.99919897 -0.01689765 -0.24466797] [ 0.12189128 0.02120643 0.99231689 0.06197038] [ 0. 0. 0. 1. ]] SLAMing on 23.426502481 meters Centerline goodness [0,1] 0.6507502515420622 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.9918891 0.03482203 -0.12224338 2.18523872] [-0.03714501 0.99916908 -0.01677508 -0.24274134] [ 0.12155766 0.02117975 0.99235838 0.06354494] [ 0. 0. 0. 1. ]] SLAMing on 23.456502481 meters Centerline goodness [0,1] 0.6623447493069653 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.9918812 0.03513416 -0.12221814 2.18525117] [-0.03748667 0.99915248 -0.01700189 -0.24117099] [ 0.12151721 0.0214454 0.99235763 0.06342118] [ 0. 0. 0. 1. ]] SLAMing on 23.486502481000002 meters Centerline goodness [0,1] 0.684380806645535 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.99178568 0.03608112 -0.1227164 2.18681031] [-0.038434 0.9991189 -0.01685969 -0.24025655] [ 0.12199996 0.02143768 0.99229856 0.06250023] [ 0. 0. 0. 1. ]] SLAMing on 23.516502481 meters Centerline goodness [0,1] 0.6882016939137285 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.99175564 0.03623421 -0.12291393 2.1871676 ] [-0.03858665 0.99911382 -0.01681199 -0.24057179] [ 0.12219584 0.02141622 0.99227492 0.06251025] [ 0. 0. 0. 1. ]] SLAMing on 23.546502481 meters Centerline goodness [0,1] 0.6911564625850339 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.99173846 0.03658907 -0.12294742 2.18656346] [-0.03889362 0.99910883 -0.01639585 -0.24159673] [ 0.12223794 0.02104227 0.99227774 0.06324214] [ 0. 0. 0. 1. ]] SLAMing on 23.576502481000002 meters Centerline goodness [0,1] 0.6904076475112625 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.06 [[ 0.99169589 0.03709509 -0.12313897 2.18542357] [-0.03929875 0.99910706 -0.01551448 -0.24429804] [ 0.12245351 0.02022485 0.99226816 0.06498908] [ 0. 0. 0. 1. ]] SLAMing on 23.606502481 meters Centerline goodness [0,1] 0.6903878208689854 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.07 [[ 0.99168484 0.03762518 -0.12306714 2.18359784] [-0.03971397 0.99910496 -0.01456307 -0.24650131] [ 0.12240905 0.01932946 0.99229149 0.06696226] [ 0. 0. 0. 1. ]] SLAMing on 23.636502481 meters Centerline goodness [0,1] 0.6839123699933614 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.07 [[ 0.99164848 0.0374628 -0.12340917 2.18444231] [-0.03955214 0.99911196 -0.01452315 -0.246868 ] [ 0.1227555 0.01928295 0.99224959 0.06683587] [ 0. 0. 0. 1. ]] SLAMing on 23.666502481000002 meters Centerline goodness [0,1] 0.666636990874694 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99159556 0.0370436 -0.12395972 2.1869 ] [-0.03910843 0.99913315 -0.01426477 -0.24845383] [ 0.12332385 0.01899275 0.99218471 0.06551579] [ 0. 0. 0. 1. ]] SLAMing on 23.696502481 meters Centerline goodness [0,1] 0.6506892090823928 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.06 [[ 0.99164138 0.03434693 -0.12436902 2.18839543] [-0.03669474 0.99918804 -0.01663589 -0.24960523] [ 0.12369664 0.02106052 0.99209657 0.06466135] [ 0. 0. 0. 1. ]] SLAMing on 23.726502481 meters Centerline goodness [0,1] 0.6561187594044063 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99177722 0.02968907 -0.12448498 2.18755809] [-0.03240683 0.99927735 -0.01986373 -0.25358687] [ 0.12380529 0.02373456 0.99202264 0.06576618] [ 0. 0. 0. 1. ]] SLAMing on 23.756502481000002 meters Centerline goodness [0,1] 0.6411750151825277 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99185371 0.0252865 -0.12484716 2.18764713] [-0.02844939 0.99931622 -0.02361626 -0.2549785 ] [ 0.12416462 0.0269757 0.99189488 0.06621475] [ 0. 0. 0. 1. ]] SLAMing on 23.786502481 meters Centerline goodness [0,1] 0.5899760365329837 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99198043 0.02138226 -0.12456975 2.18629591] [-0.02486452 0.99934042 -0.02646678 -0.2577511 ] [ 0.12392166 0.02935189 0.9918578 0.06707042] [ 0. 0. 0. 1. ]] SLAMing on 23.816502481 meters Centerline goodness [0,1] 0.5905859445752581 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99199367 0.02178884 -0.12439379 2.18560433] [-0.02518496 0.99934998 -0.02579423 -0.25872966] [ 0.1237509 0.02872056 0.9918976 0.06755407] [ 0. 0. 0. 1. ]] SLAMing on 23.846502481 meters Centerline goodness [0,1] 0.6084809495764056 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.07 [[ 0.99194735 0.02621687 -0.12390777 2.18495795] [-0.02904848 0.99935526 -0.02110117 -0.26036887] [ 0.12327467 0.02453059 0.99206935 0.06780296] [ 0. 0. 0. 1. ]] SLAMing on 23.876502481 meters Centerline goodness [0,1] 0.6057566012953486 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99193491 0.02655399 -0.12393554 2.18530736] [-0.02937374 0.9993483 -0.02097986 -0.259722 ] [ 0.12329767 0.0244511 0.99206846 0.06745604] [ 0. 0. 0. 1. ]] SLAMing on 23.906502481 meters Centerline goodness [0,1] 0.6167539741932557 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.9919206 0.02710186 -0.1239315 2.18528113] [-0.02987603 0.99934171 -0.02058099 -0.26058282] [ 0.12329214 0.02411729 0.99207732 0.06743441] [ 0. 0. 0. 1. ]] SLAMing on 23.936502481 meters Centerline goodness [0,1] 0.6259814743166663 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.07 [[ 0.99189808 0.02727484 -0.1240737 2.18492879] [-0.03000546 0.99934575 -0.02019257 -0.26211487] [ 0.12344177 0.02375186 0.99206753 0.06814991] [ 0. 0. 0. 1. ]] SLAMing on 23.966502481 meters Centerline goodness [0,1] 0.6190747493163172 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.07 [[ 0.99190957 0.02699457 -0.1240431 2.18401457] [-0.02968957 0.99936048 -0.01992912 -0.26454069] [ 0.12342579 0.02345067 0.99207668 0.06921566] [ 0. 0. 0. 1. ]] SLAMing on 23.996502481 meters Centerline goodness [0,1] 0.6071420401253631 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99195067 0.02703778 -0.12370463 2.18382062] [-0.02963955 0.99937547 -0.01923996 -0.26681756] [ 0.12310717 0.02275164 0.99213255 0.06896329] [ 0. 0. 0. 1. ]] SLAMing on 24.026502481 meters Centerline goodness [0,1] 0.6055677555128557 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99192769 0.02710748 -0.12387348 2.18429335] [-0.02966998 0.99938127 -0.01888838 -0.26816044] [ 0.12328482 0.02241123 0.99211823 0.06889096] [ 0. 0. 0. 1. ]] SLAMing on 24.056502481 meters Centerline goodness [0,1] 0.6076024867518525 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.9918752 0.02743447 -0.12422136 2.18480345] [-0.02991696 0.99938735 -0.01816295 -0.27096767] [ 0.12364696 0.02173171 0.99208828 0.06914754] [ 0. 0. 0. 1. ]] SLAMing on 24.086502481 meters Centerline goodness [0,1] 0.6116563003916149 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99185096 0.02765329 -0.1243663 2.18492725] [-0.03010213 0.99938735 -0.01785433 -0.27197526] [ 0.12379638 0.02145253 0.99207573 0.06937246] [ 0. 0. 0. 1. ]] SLAMing on 24.116502481 meters Centerline goodness [0,1] 0.6116563003916149 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99185096 0.02765329 -0.1243663 2.18492725] [-0.03010213 0.99938735 -0.01785433 -0.27197526] [ 0.12379638 0.02145253 0.99207573 0.06937246] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters Centerline goodness [0,1] 0.6079319462007127 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.07 [[ 0.99183425 0.02783166 -0.12445968 2.18512057] [-0.03026254 0.99938555 -0.01768335 -0.27254756] [ 0.12389105 0.02130542 0.99206708 0.06938095] [ 0. 0. 0. 1. ]] SLAMing on 24.176502481 meters Centerline goodness [0,1] 0.6303537959599232 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.07 [[ 0.99181567 0.02868711 -0.12441352 2.18528034] [-0.0310699 0.99936828 -0.01725395 -0.27277841] [ 0.12383996 0.02097825 0.99208043 0.06895702] [ 0. 0. 0. 1. ]] SLAMing on 24.206502481 meters Centerline goodness [0,1] 0.6314125493273025 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.07 [[ 0.99180964 0.02913376 -0.12435779 2.18513264] [-0.031503 0.99935689 -0.01712768 -0.27240072] [ 0.12377882 0.02090504 0.9920896 0.06893164] [ 0. 0. 0. 1. ]] SLAMing on 24.236502481000002 meters Centerline goodness [0,1] 0.649155722326454 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.9918401 0.03036278 -0.1238197 2.18317248] [-0.03262624 0.99933481 -0.01629328 -0.27301328] [ 0.12324262 0.0202001 0.99217096 0.06979413] [ 0. 0. 0. 1. ]] SLAMing on 24.266502481 meters Centerline goodness [0,1] 0.6520303269919532 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.9918083 0.03059415 -0.12401732 2.18350957] [-0.03280595 0.99933635 -0.01583142 -0.27510804] [ 0.12345067 0.01977024 0.99215375 0.06986841] [ 0. 0. 0. 1. ]] SLAMing on 24.296502481 meters Centerline goodness [0,1] 0.6635555451851507 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99177123 0.03059968 -0.12431204 2.18421537] [-0.03276489 0.99934428 -0.01541008 -0.27720311] [ 0.12375898 0.01935635 0.9921235 0.0697913 ] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481000002 meters Centerline goodness [0,1] 0.6602460456942003 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99172252 0.03056344 -0.12470894 2.18498109] [-0.03266417 0.99935628 -0.01483478 -0.27976971] [ 0.12417526 0.0187855 0.99208246 0.06991239] [ 0. 0. 0. 1. ]] SLAMing on 24.356502481 meters Centerline goodness [0,1] 0.638932643705184 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99186159 0.02676729 -0.12447531 2.18491124] [-0.02920326 0.99941524 -0.01778631 -0.28195507] [ 0.12392643 0.02127665 0.99206328 0.06939023] [ 0. 0. 0. 1. ]] SLAMing on 24.386502481 meters Centerline goodness [0,1] 0.6016527373462297 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99195766 0.02651583 -0.12376154 2.18269236] [-0.02884563 0.9994381 -0.01707081 -0.28426206] [ 0.12323935 0.0205035 0.99216514 0.07090834] [ 0. 0. 0. 1. ]] SLAMing on 24.416502481000002 meters Centerline goodness [0,1] 0.5973429439615574 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.29, Z:0.07 [[ 0.99194643 0.02678984 -0.12379247 2.18177082] [-0.02905336 0.99944141 -0.01651556 -0.28565293] [ 0.12328087 0.01997914 0.99217068 0.07208887] [ 0. 0. 0. 1. ]] SLAMing on 24.446502481 meters Centerline goodness [0,1] 0.6078940534925994 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.29, Z:0.07 [[ 0.99191466 0.02676967 -0.12405117 2.18201576] [-0.02902425 0.99944412 -0.01640285 -0.28646454] [ 0.12354312 0.01987072 0.99214024 0.07235324] [ 0. 0. 0. 1. ]] SLAMing on 24.476502481 meters Centerline goodness [0,1] 0.5930456876676233 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.29, Z:0.07 [[ 0.99189874 0.02675537 -0.12418149 2.1827587 ] [-0.02903415 0.99944096 -0.01657668 -0.28591526] [ 0.12366855 0.02004789 0.99212105 0.07179604] [ 0. 0. 0. 1. ]] SLAMing on 24.506502481000002 meters Centerline goodness [0,1] 0.6082777790864762 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.29, Z:0.07 [[ 0.99187901 0.02674619 -0.12434097 2.18334315] [-0.02904847 0.99943783 -0.01673956 -0.28563636] [ 0.12382335 0.02021553 0.99209834 0.0714837 ] [ 0. 0. 0. 1. ]] SLAMing on 24.536502481 meters Centerline goodness [0,1] 0.6122410412680415 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.07 [[ 0.99181298 0.02670082 -0.12487623 2.18563204] [-0.02906462 0.99943048 -0.01714544 -0.2851649 ] [ 0.12434732 0.02063455 0.99202417 0.06994996] [ 0. 0. 0. 1. ]] SLAMing on 24.566502481 meters Centerline goodness [0,1] 0.6262064723694172 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.07 [[ 0.99180965 0.02672113 -0.12489837 2.18626731] [-0.02911586 0.99942481 -0.01738714 -0.28447359] [ 0.12436192 0.02088126 0.99201718 0.06924095] [ 0. 0. 0. 1. ]] SLAMing on 24.596502481 meters Centerline goodness [0,1] 0.6410895747083176 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.28, Z:0.07 [[ 0.99179103 0.02699433 -0.12498746 2.18613985] [-0.02941149 0.99941359 -0.01753422 -0.28352741] [ 0.12444084 0.02106635 0.99200337 0.06951486] [ 0. 0. 0. 1. ]] SLAMing on 24.626502481 meters Centerline goodness [0,1] 0.6471292990039466 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99186252 0.02774587 -0.12425337 2.18331093] [-0.03011132 0.99939856 -0.01719959 -0.28264597] [ 0.12370142 0.02080106 0.99210144 0.07099356] [ 0. 0. 0. 1. ]] SLAMing on 24.656502481 meters Centerline goodness [0,1] 0.6454221555482631 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99187696 0.02781307 -0.12412306 2.18299717] [-0.03017967 0.99939603 -0.01722682 -0.28217727] [ 0.12356897 0.02083288 0.99211728 0.0710744 ] [ 0. 0. 0. 1. ]] SLAMing on 24.686502481 meters Centerline goodness [0,1] 0.6256552502291907 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99185533 0.02765684 -0.12433063 2.18410015] [-0.02999164 0.99940649 -0.01694628 -0.28311403] [ 0.12378815 0.02053714 0.99209612 0.07048517] [ 0. 0. 0. 1. ]] SLAMing on 24.716502481 meters Centerline goodness [0,1] 0.6402505061920234 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99183158 0.02753819 -0.12454621 2.18491057] [-0.02983949 0.99941603 -0.01664956 -0.28440152] [ 0.12401498 0.02022996 0.99207411 0.07016111] [ 0. 0. 0. 1. ]] SLAMing on 24.746502481 meters Centerline goodness [0,1] 0.5982369534555712 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.07 [[ 0.99190825 0.02279487 -0.12489359 2.18648254] [-0.0255584 0.99946169 -0.02056943 -0.28537043] [ 0.12435748 0.02359507 0.9919569 0.06910596] [ 0. 0. 0. 1. ]] SLAMing on 24.776502481 meters Centerline goodness [0,1] 0.5979631197666762 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.07 [[ 0.991893 0.0224817 -0.12507139 2.18650964] [-0.02520962 0.99947665 -0.02027092 -0.28708863] [ 0.12455021 0.02325958 0.99194064 0.06969488] [ 0. 0. 0. 1. ]] SLAMing on 24.806502481 meters Centerline goodness [0,1] 0.5706529403469186 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.07 [[ 0.99195406 0.02194529 -0.12468177 2.18567344] [-0.02464511 0.99949312 -0.02015251 -0.28800235] [ 0.12417632 0.02306316 0.9919921 0.07018144] [ 0. 0. 0. 1. ]] SLAMing on 24.836502481 meters Centerline goodness [0,1] 0.5774366917787321 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:0.07 [[ 0.99197263 0.02207638 -0.12451075 2.1850461 ] [-0.02476592 0.9994913 -0.02009432 -0.2875466 ] [ 0.1240038 0.02301664 0.99201476 0.07052307] [ 0. 0. 0. 1. ]] SLAMing on 24.866502481 meters Centerline goodness [0,1] 0.585238039536788 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.29, Z:0.07 [[ 0.99199031 0.02256198 -0.12428269 2.18376378] [-0.02526986 0.99947545 -0.02025474 -0.28528093] [ 0.12376051 0.02323311 0.9920401 0.07133512] [ 0. 0. 0. 1. ]] SLAMing on 24.896502481 meters Centerline goodness [0,1] 0.5982140770003974 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.9919854 0.02282683 -0.12427346 2.18348209] [-0.02556553 0.99946319 -0.02048756 -0.28399431] [ 0.12373909 0.02350048 0.99203647 0.07151511] [ 0. 0. 0. 1. ]] SLAMing on 24.926502481 meters Centerline goodness [0,1] 0.6314166218836889 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99194777 0.02542537 -0.12406924 2.18234658] [-0.02794604 0.99943603 -0.01861843 -0.28141478] [ 0.12352589 0.02193575 0.99209888 0.07227777] [ 0. 0. 0. 1. ]] SLAMing on 24.956502481 meters Centerline goodness [0,1] 0.6220587893034188 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99195063 0.02567285 -0.12399537 2.18225497] [-0.02820598 0.99942689 -0.01871685 -0.28040793] [ 0.12344379 0.0220636 0.99210626 0.07213784] [ 0. 0. 0. 1. ]] SLAMing on 24.986502481000002 meters Centerline goodness [0,1] 0.6373493696161973 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99197586 0.0259141 -0.12374311 2.18158992] [-0.02844323 0.99942019 -0.01871555 -0.27958962] [ 0.12318636 0.02208503 0.99213778 0.07229811] [ 0. 0. 0. 1. ]] SLAMing on 25.016502481 meters Centerline goodness [0,1] 0.6217656188468577 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99207099 0.02636575 -0.12288205 2.17911175] [-0.02883347 0.99941584 -0.01834683 -0.27897429] [ 0.12232654 0.02174447 0.99225168 0.07324069] [ 0. 0. 0. 1. ]] SLAMing on 25.046502481 meters Centerline goodness [0,1] 0.6145748800111295 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99211036 0.02629945 -0.12257805 2.17822564] [-0.02871961 0.99942509 -0.01801866 -0.27956485] [ 0.12203369 0.02139689 0.99229529 0.073798 ] [ 0. 0. 0. 1. ]] SLAMing on 25.076502481000002 meters Centerline goodness [0,1] 0.6024202522255193 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99210558 0.0260619 -0.1226674 2.17832526] [-0.02845998 0.99943576 -0.01783772 -0.28057284] [ 0.12213331 0.02118801 0.99228752 0.07401271] [ 0. 0. 0. 1. ]] SLAMing on 25.106502481 meters Centerline goodness [0,1] 0.5719071325547853 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99217788 0.02113003 -0.1230308 2.17891879] [-0.0239758 0.99947708 -0.02169604 -0.28220539] [ 0.12250803 0.0244761 0.99216566 0.0740633 ] [ 0. 0. 0. 1. ]] SLAMing on 25.136502481 meters Centerline goodness [0,1] 0.5616971675020399 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99216998 0.02060579 -0.1231833 2.17917085] [-0.02342408 0.99949495 -0.02147444 -0.28409982] [ 0.12267859 0.02419175 0.99215156 0.07434369] [ 0. 0. 0. 1. ]] SLAMing on 25.166502481000002 meters Centerline goodness [0,1] 0.5476240415763594 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99223205 0.01967676 -0.12283478 2.17844957] [-0.02249134 0.99951434 -0.02156901 -0.2848524 ] [ 0.12235071 0.02416418 0.99219272 0.07485359] [ 0. 0. 0. 1. ]] SLAMing on 25.196502481 meters Centerline goodness [0,1] 0.5491894913359419 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.9922376 0.01974112 -0.12277965 2.17841623] [-0.02254596 0.99951466 -0.02149712 -0.28440287] [ 0.12229568 0.02409844 0.9922011 0.07483412] [ 0. 0. 0. 1. ]] SLAMing on 25.226502481 meters Centerline goodness [0,1] 0.5416492644670287 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.08 [[ 0.99213282 0.02349293 -0.12296567 2.1788297 ] [-0.02586917 0.9995075 -0.01776341 -0.28425549] [ 0.12248779 0.02080468 0.99225194 0.07531162] [ 0. 0. 0. 1. ]] SLAMing on 25.256502481000002 meters Centerline goodness [0,1] 0.5745051170778122 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.08 [[ 0.99200016 0.02764129 -0.1231732 2.17931237] [-0.02960542 0.99946159 -0.01414412 -0.28335445] [ 0.12271592 0.01767756 0.99228439 0.07557841] [ 0. 0. 0. 1. ]] SLAMing on 25.286502481 meters Centerline goodness [0,1] 0.5681330595861496 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99195487 0.02760847 -0.12354473 2.18060866] [-0.02965277 0.99945159 -0.01473857 -0.28128385] [ 0.12307007 0.01828344 0.99222955 0.0748516 ] [ 0. 0. 0. 1. ]] SLAMing on 25.316502481 meters Centerline goodness [0,1] 0.5820105820105821 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99193728 0.02779662 -0.12364375 2.18123759] [-0.02991211 0.99943564 -0.01528586 -0.27868888] [ 0.12314907 0.01886106 0.99220893 0.07426884] [ 0. 0. 0. 1. ]] SLAMing on 25.346502481 meters Centerline goodness [0,1] 0.6002663972074224 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:0.07 [[ 0.99181217 0.03200126 -0.12363063 2.1815857 ] [-0.03377122 0.99935455 -0.01224698 -0.27538946] [ 0.12315891 0.01632186 0.99225273 0.07411832] [ 0. 0. 0. 1. ]] SLAMing on 25.376502481 meters Centerline goodness [0,1] 0.6080470058986894 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99181451 0.03192072 -0.12363271 2.18161993] [-0.03376436 0.99934727 -0.01284527 -0.27342259] [ 0.12314198 0.0169145 0.99224491 0.07404321] [ 0. 0. 0. 1. ]] SLAMing on 25.406502481 meters Centerline goodness [0,1] 0.6090871597470442 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99181063 0.03169776 -0.12372119 2.18200322] [-0.03364835 0.99933972 -0.0137079 -0.27056964] [ 0.12320499 0.01775866 0.99222233 0.073749 ] [ 0. 0. 0. 1. ]] SLAMing on 25.436502481 meters Centerline goodness [0,1] 0.6100881801982911 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99180689 0.03113965 -0.12389275 2.18351902] [-0.03321894 0.99933922 -0.01475224 -0.26722349] [ 0.12335151 0.01874696 0.99218595 0.07249939] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters Centerline goodness [0,1] 0.6076304214052921 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:0.07 [[ 0.99182012 0.03090795 -0.12384487 2.18381847] [-0.03305494 0.99933614 -0.01531858 -0.26546988] [ 0.12328918 0.01928696 0.99218335 0.07207185] [ 0. 0. 0. 1. ]] SLAMing on 25.496502481 meters Centerline goodness [0,1] 0.6204273484865688 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.26, Z:0.07 [[ 0.99179707 0.03055261 -0.12411734 2.18475018] [-0.03283457 0.99932655 -0.0163813 -0.26208247] [ 0.12353326 0.02032226 0.99213232 0.07158798] [ 0. 0. 0. 1. ]] SLAMing on 25.526502481 meters Centerline goodness [0,1] 0.6129061494539357 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99177935 0.03029673 -0.12432146 2.1854747 ] [-0.03267574 0.999319 -0.01714126 -0.25987525] [ 0.12371747 0.02106264 0.99209392 0.07117093] [ 0. 0. 0. 1. ]] SLAMing on 25.556502481 meters Centerline goodness [0,1] 0.617455728225515 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99177165 0.03000251 -0.12445422 2.18600332] [-0.03246757 0.99931381 -0.01782581 -0.25806935] [ 0.123834 0.02171986 0.99206521 0.07084832] [ 0. 0. 0. 1. ]] SLAMing on 25.586502481 meters Centerline goodness [0,1] 0.6250028196972772 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99174955 0.02960775 -0.12472454 2.18691003] [-0.0321773 0.99930839 -0.0186375 -0.25593836] [ 0.12408647 0.02249704 0.99201635 0.07040377] [ 0. 0. 0. 1. ]] SLAMing on 25.616502481 meters Centerline goodness [0,1] 0.6236104235114092 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99177791 0.02973109 -0.12446943 2.18654227] [-0.03232545 0.99929915 -0.01887546 -0.25373202] [ 0.12382101 0.02274379 0.99204389 0.070325 ] [ 0. 0. 0. 1. ]] SLAMing on 25.646502481 meters Centerline goodness [0,1] 0.6082761096898703 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99178989 0.03006271 -0.12429422 2.18609382] [-0.03266329 0.99928698 -0.01893774 -0.25216595] [ 0.12363628 0.02284212 0.99206467 0.07040718] [ 0. 0. 0. 1. ]] SLAMing on 25.676502481 meters Centerline goodness [0,1] 0.6293155392889822 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.07 [[ 0.99181456 0.0324785 -0.12348697 2.18375849] [-0.0348184 0.99925181 -0.0168374 -0.24960737] [ 0.12284772 0.0209992 0.99220334 0.07166936] [ 0. 0. 0. 1. ]] SLAMing on 25.706502481 meters Centerline goodness [0,1] 0.6298055481223799 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.07 [[ 0.99182729 0.03264448 -0.12334086 2.18310914] [-0.03500242 0.99924265 -0.01699848 -0.24853155] [ 0.12269254 0.02117678 0.99221877 0.07208704] [ 0. 0. 0. 1. ]] SLAMing on 25.736502481 meters Centerline goodness [0,1] 0.6328504568754179 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:0.07 [[ 0.9918377 0.03285939 -0.1232 2.18253737] [-0.03527163 0.99922541 -0.01744961 -0.24591253] [ 0.12253119 0.02165264 0.99222844 0.0723993 ] [ 0. 0. 0. 1. ]] SLAMing on 25.766502481 meters Centerline goodness [0,1] 0.6594811352105812 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99183963 0.03280262 -0.12319959 2.18242181] [-0.03526422 0.99921855 -0.01785279 -0.24431067] [ 0.1225177 0.02205164 0.99222132 0.07253652] [ 0. 0. 0. 1. ]] SLAMing on 25.796502481 meters Centerline goodness [0,1] 0.6639661852765057 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99186767 0.033031 -0.12291248 2.18116994] [-0.03553776 0.99920154 -0.01825797 -0.24167437] [ 0.12221126 0.02247753 0.99224955 0.07336464] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481000002 meters Centerline goodness [0,1] 0.6686872680151985 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99185927 0.03296501 -0.12299799 2.18067563] [-0.03549432 0.99919994 -0.01842901 -0.24111324] [ 0.12229207 0.02264472 0.99223579 0.07414037] [ 0. 0. 0. 1. ]] SLAMing on 25.856502481 meters Centerline goodness [0,1] 0.6603876425316677 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.08 [[ 0.99198908 0.0307626 -0.12252069 2.17809786] [-0.03352831 0.99922595 -0.02057556 -0.2388055 ] [ 0.12179289 0.02451864 0.99225265 0.07596364] [ 0. 0. 0. 1. ]] SLAMing on 25.886502481 meters Centerline goodness [0,1] 0.6545097182791002 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.08 [[ 0.99199047 0.03067337 -0.12253184 2.17783603] [-0.03344703 0.99922728 -0.02064336 -0.23840034] [ 0.12180395 0.02457634 0.99224987 0.07633641] [ 0. 0. 0. 1. ]] SLAMing on 25.916502481000002 meters Centerline goodness [0,1] 0.6507784431137724 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.08 [[ 0.99196837 0.03021885 -0.12282331 2.17931815] [-0.03304092 0.99923326 -0.02100468 -0.23792583] [ 0.1220944 0.02489417 0.99220625 0.07542305] [ 0. 0. 0. 1. ]] SLAMing on 25.946502481 meters Centerline goodness [0,1] 0.6356940509915014 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99193486 0.03016713 -0.12310634 2.18057764] [-0.03299091 0.99923577 -0.02096367 -0.23833469] [ 0.12237985 0.02485599 0.99217204 0.07465149] [ 0. 0. 0. 1. ]] SLAMing on 25.976502481 meters Centerline goodness [0,1] 0.6332777826506446 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99188297 0.03005515 -0.12355106 2.18306861] [-0.03285509 0.99924601 -0.02068712 -0.23984842] [ 0.12283615 0.02457849 0.99212256 0.07289328] [ 0. 0. 0. 1. ]] SLAMing on 26.006502481000002 meters Centerline goodness [0,1] 0.6497036223929747 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99185557 0.03009158 -0.12376197 2.18387474] [-0.03286715 0.99925057 -0.02044602 -0.24086675] [ 0.12305396 0.0243472 0.99210127 0.07248819] [ 0. 0. 0. 1. ]] SLAMing on 26.036502481 meters Centerline goodness [0,1] 0.6497036223929747 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:0.07 [[ 0.99185557 0.03009158 -0.12376197 2.18387474] [-0.03286715 0.99925057 -0.02044602 -0.24086675] [ 0.12305396 0.0243472 0.99210127 0.07248819] [ 0. 0. 0. 1. ]] SLAMing on 26.066502481 meters Centerline goodness [0,1] 0.6429560287428308 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99180328 0.03017125 -0.12416095 2.18526826] [-0.0329014 0.99925854 -0.0199969 -0.24265702] [ 0.12346556 0.02391806 0.99206057 0.07190426] [ 0. 0. 0. 1. ]] SLAMing on 26.096502481 meters Centerline goodness [0,1] 0.6383433151312312 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99172971 0.03016005 -0.12474994 2.18783411] [-0.03290267 0.99925878 -0.01998282 -0.24297453] [ 0.12405479 0.02392216 0.99198697 0.07034753] [ 0. 0. 0. 1. ]] SLAMing on 26.126502481 meters Centerline goodness [0,1] 0.6186844823418236 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99168758 0.03010455 -0.12509779 2.18943514] [-0.03287748 0.99925604 -0.02016055 -0.24256893] [ 0.1243978 0.02410587 0.99193956 0.06930941] [ 0. 0. 0. 1. ]] SLAMing on 26.156502481 meters Centerline goodness [0,1] 0.6560266478425836 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99163538 0.03047024 -0.12542267 2.19082002] [-0.03325707 0.99924297 -0.02018546 -0.24160557] [ 0.12471266 0.02418781 0.99189803 0.06843206] [ 0. 0. 0. 1. ]] SLAMing on 26.186502481 meters Centerline goodness [0,1] 0.6559952276794592 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99160307 0.03035117 -0.12570665 2.19120115] [-0.03316097 0.99924345 -0.02031963 -0.24172374] [ 0.12499482 0.02431756 0.99185934 0.06867541] [ 0. 0. 0. 1. ]] SLAMing on 26.216502481 meters Centerline goodness [0,1] 0.6396344439022226 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99163341 0.02698155 -0.12623464 2.19041817] [-0.03022218 0.99925918 -0.02382675 -0.2420079 ] [ 0.12549824 0.02744249 0.99171422 0.07017749] [ 0. 0. 0. 1. ]] SLAMing on 26.246502481 meters Centerline goodness [0,1] 0.6633444322778163 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99160174 0.02714887 -0.12644732 2.19019974] [-0.03035792 0.99926231 -0.02352068 -0.2432023 ] [ 0.12571549 0.02716182 0.99169443 0.07085608] [ 0. 0. 0. 1. ]] SLAMing on 26.276502481 meters Centerline goodness [0,1] 0.6680038119722524 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99159264 0.02773421 -0.12639167 2.18886369] [-0.03088593 0.99925722 -0.02304468 -0.24331581] [ 0.12565867 0.02675466 0.9917127 0.07225238] [ 0. 0. 0. 1. ]] SLAMing on 26.306502481 meters Centerline goodness [0,1] 0.6666815343443354 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99162063 0.02832267 -0.12604108 2.18740858] [-0.03140339 0.99925301 -0.02252235 -0.24348978] [ 0.12530904 0.02629174 0.99176932 0.07312432] [ 0. 0. 0. 1. ]] SLAMing on 26.336502481 meters Centerline goodness [0,1] 0.6590576334353786 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.07 [[ 0.99159673 0.02858073 -0.12617082 2.18697914] [-0.03160582 0.99925739 -0.0220394 -0.24460154] [ 0.12544723 0.02584193 0.99176368 0.07396647] [ 0. 0. 0. 1. ]] SLAMing on 26.366502481 meters Centerline goodness [0,1] 0.6562019905149956 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99153963 0.02844524 -0.12664923 2.18754537] [-0.03140977 0.99927593 -0.02147182 -0.2479296 ] [ 0.12594675 0.02526818 0.99171515 0.07447389] [ 0. 0. 0. 1. ]] SLAMing on 26.396502481 meters Centerline goodness [0,1] 0.6283302440876304 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99149873 0.02799261 -0.12706956 2.18922735] [-0.03091724 0.99929917 -0.02110193 -0.25069113] [ 0.12638981 0.02485118 0.99166932 0.07370686] [ 0. 0. 0. 1. ]] SLAMing on 26.426502481 meters Centerline goodness [0,1] 0.6138733497426717 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99146092 0.02786712 -0.12739176 2.19029659] [-0.03076818 0.99930882 -0.02086157 -0.25202244] [ 0.12672236 0.02460304 0.99163306 0.07329532] [ 0. 0. 0. 1. ]] SLAMing on 26.456502481 meters Centerline goodness [0,1] 0.5951393404031119 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99143246 0.02743037 -0.12770766 2.19161352] [-0.03028522 0.99933174 -0.02046636 -0.25415128] [ 0.12706092 0.02415867 0.99160067 0.07274935] [ 0. 0. 0. 1. ]] SLAMing on 26.486502481 meters Centerline goodness [0,1] 0.5850594531652373 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99145762 0.02737826 -0.12752342 2.19117938] [-0.0301983 0.99933913 -0.02023288 -0.25478574] [ 0.1268852 0.02391104 0.99162917 0.07294953] [ 0. 0. 0. 1. ]] SLAMing on 26.516502481 meters Centerline goodness [0,1] 0.6006868560724321 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99159292 0.02755493 -0.1264287 2.18809835] [-0.03028499 0.99934671 -0.01972221 -0.25484049] [ 0.12580266 0.0233853 0.99177962 0.07447226] [ 0. 0. 0. 1. ]] SLAMing on 26.546502481 meters Centerline goodness [0,1] 0.5895906146345807 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.9916016 0.02763417 -0.12634326 2.18703258] [-0.03035245 0.99934628 -0.01964038 -0.2547053 ] [ 0.12571792 0.02331026 0.99179213 0.07555101] [ 0. 0. 0. 1. ]] SLAMing on 26.576502481000002 meters Centerline goodness [0,1] 0.5938807298620383 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99159615 0.02759611 -0.12639436 2.18609955] [-0.03035614 0.99933979 -0.01996239 -0.2543327 ] [ 0.12576003 0.02363147 0.99177919 0.07668178] [ 0. 0. 0. 1. ]] SLAMing on 26.606502481 meters Centerline goodness [0,1] 0.5775061777866827 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99155947 0.02752307 -0.12669764 2.18708483] [-0.03032305 0.99933553 -0.02022395 -0.25385369] [ 0.12605683 0.02389511 0.9917352 0.07620092] [ 0. 0. 0. 1. ]] SLAMing on 26.636502481 meters Centerline goodness [0,1] 0.5969173283512377 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99140069 0.02838719 -0.12774518 2.19104988] [-0.03116006 0.99931906 -0.01976001 -0.25382945] [ 0.12709726 0.02357064 0.99161016 0.07398547] [ 0. 0. 0. 1. ]] SLAMing on 26.666502481000002 meters Centerline goodness [0,1] 0.593412934440055 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.07 [[ 0.99139128 0.02848969 -0.1277954 2.19181904] [-0.03124556 0.99931932 -0.0196117 -0.25399955] [ 0.12714968 0.02343591 0.99160663 0.07325642] [ 0. 0. 0. 1. ]] SLAMing on 26.696502481 meters Centerline goodness [0,1] 0.5866610402878337 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99143033 0.02866748 -0.12745229 2.19210663] [-0.0313222 0.99933113 -0.01887348 -0.25558999] [ 0.12682599 0.02270383 0.99166512 0.07249795] [ 0. 0. 0. 1. ]] SLAMing on 26.726502481 meters Centerline goodness [0,1] 0.5779624390135228 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.9914421 0.02880635 -0.1273293 2.19171802] [-0.03137946 0.99934095 -0.01824835 -0.25743517] [ 0.12671972 0.02208771 0.99169262 0.0728006 ] [ 0. 0. 0. 1. ]] SLAMing on 26.756502481000002 meters Centerline goodness [0,1] 0.5575247014540811 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99156691 0.02475763 -0.12720895 2.19106617] [-0.02770876 0.99938519 -0.02148186 -0.25948469] [ 0.1265989 0.0248255 0.99164329 0.0731497 ] [ 0. 0. 0. 1. ]] SLAMing on 26.786502481 meters Centerline goodness [0,1] 0.5698961003913102 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99152573 0.02464436 -0.12755151 2.19094517] [-0.02754648 0.99939911 -0.02103853 -0.26186922] [ 0.12695639 0.02437384 0.99160879 0.07410001] [ 0. 0. 0. 1. ]] SLAMing on 26.816502481 meters Centerline goodness [0,1] 0.5602031602708804 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99157678 0.020582 -0.12787445 2.19073076] [-0.02390678 0.99941344 -0.02452004 -0.26355101] [ 0.12729478 0.02737056 0.99148721 0.07478833] [ 0. 0. 0. 1. ]] SLAMing on 26.846502481 meters Centerline goodness [0,1] 0.5578639026588553 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99158178 0.02102494 -0.12776356 2.19062934] [-0.02427981 0.99941775 -0.02397177 -0.26400681] [ 0.12718517 0.02687204 0.99151492 0.07479432] [ 0. 0. 0. 1. ]] SLAMing on 26.876502481 meters Centerline goodness [0,1] 0.5551738167352289 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.08 [[ 0.99149338 0.02522446 -0.12768948 2.19070409] [-0.02796081 0.99941523 -0.01968248 -0.26516802] [ 0.12711833 0.02308535 0.99161888 0.07501772] [ 0. 0. 0. 1. ]] SLAMing on 26.906502481 meters Centerline goodness [0,1] 0.551822875566478 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99147698 0.02533784 -0.12779434 2.19146567] [-0.02808298 0.99941097 -0.01972481 -0.26452402] [ 0.12721928 0.02314554 0.99160453 0.07447075] [ 0. 0. 0. 1. ]] SLAMing on 26.936502481 meters Centerline goodness [0,1] 0.5526369374872735 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.07 [[ 0.99143772 0.02542981 -0.1280803 2.19163766] [-0.02816782 0.99941081 -0.01961121 -0.26591331] [ 0.12750613 0.02305104 0.99156988 0.07481276] [ 0. 0. 0. 1. ]] SLAMing on 26.966502481 meters Centerline goodness [0,1] 0.5562514181983209 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.08 [[ 0.99141259 0.02566189 -0.12822846 2.1914871 ] [-0.02837481 0.99940957 -0.01937484 -0.26664626] [ 0.12765555 0.02284691 0.99155538 0.07526593] [ 0. 0. 0. 1. ]] SLAMing on 26.996502481 meters Centerline goodness [0,1] 0.5536151682844961 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.08 [[ 0.99144013 0.0257673 -0.12799417 2.1906685 ] [-0.02849365 0.99940346 -0.0195151 -0.26584594] [ 0.12741496 0.02299507 0.9915829 0.07566498] [ 0. 0. 0. 1. ]] SLAMing on 27.026502481 meters Centerline goodness [0,1] 0.5727109922245144 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.27, Z:0.08 [[ 0.99146538 0.02591905 -0.12776774 2.18988213] [-0.0286286 0.99940153 -0.01941592 -0.26554536] [ 0.12718803 0.02290802 0.99161405 0.07610041] [ 0. 0. 0. 1. ]] SLAMing on 27.056502481 meters Centerline goodness [0,1] 0.5659077562452004 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.08 [[ 0.99150022 0.02575223 -0.12753092 2.18918966] [-0.02848878 0.99940036 -0.01968029 -0.2638877 ] [ 0.12694764 0.02314621 0.99163933 0.0765098 ] [ 0. 0. 0. 1. ]] SLAMing on 27.086502481 meters Centerline goodness [0,1] 0.5633948671769473 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.08 [[ 0.99148635 0.02564839 -0.12765958 2.18955516] [-0.02841979 0.99939727 -0.01993505 -0.26266083] [ 0.12707134 0.02339339 0.99161768 0.07644258] [ 0. 0. 0. 1. ]] SLAMing on 27.116502481 meters Centerline goodness [0,1] 0.5607581576051561 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.08 [[ 0.99143867 0.02486595 -0.12818369 2.19145984] [-0.02776395 0.9993966 -0.02087093 -0.26084881] [ 0.12758737 0.02425113 0.99153081 0.07554328] [ 0. 0. 0. 1. ]] SLAMing on 27.146502481 meters Centerline goodness [0,1] 0.5584121576186847 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.07 [[ 0.99141466 0.0245916 -0.12842209 2.19245062] [-0.02754804 0.99939362 -0.02129571 -0.25995664] [ 0.12782052 0.02465065 0.99149093 0.07494336] [ 0. 0. 0. 1. ]] SLAMing on 27.176502481 meters Centerline goodness [0,1] 0.5603344749366188 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.26, Z:0.08 [[ 0.99145081 0.02717403 -0.12762003 2.19086647] [-0.02987814 0.99936678 -0.0193221 -0.25626365] [ 0.12701416 0.02296996 0.9916349 0.07538708] [ 0. 0. 0. 1. ]] SLAMing on 27.206502481 meters Centerline goodness [0,1] 0.5665802707073393 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99149534 0.02913104 -0.12683994 2.18856633] [-0.03162919 0.99934248 -0.01772559 -0.25331376] [ 0.12624018 0.02158668 0.99176481 0.07652801] [ 0. 0. 0. 1. ]] SLAMing on 27.236502481 meters Centerline goodness [0,1] 0.5711615839581363 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99153366 0.03087834 -0.12612502 2.18586585] [-0.03324118 0.99930829 -0.01667206 -0.2491918 ] [ 0.12552297 0.02072345 0.99187425 0.07817036] [ 0. 0. 0. 1. ]] SLAMing on 27.266502481 meters Centerline goodness [0,1] 0.5722346638563212 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99153105 0.03055585 -0.12622404 2.18521025] [-0.03300452 0.99930454 -0.01735334 -0.24763589] [ 0.12560601 0.02137234 0.99184996 0.07912084] [ 0. 0. 0. 1. ]] SLAMing on 27.296502481 meters Centerline goodness [0,1] 0.5729687089140152 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99152206 0.03047884 -0.12631325 2.18519683] [-0.03296083 0.99930157 -0.01760576 -0.24709277] [ 0.12568843 0.02161989 0.99183416 0.07928869] [ 0. 0. 0. 1. ]] SLAMing on 27.326502481000002 meters Centerline goodness [0,1] 0.595634981320866 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99151174 0.03063075 -0.1263575 2.18591492] [-0.03314157 0.99929186 -0.01781607 -0.24512045] [ 0.12572231 0.02185253 0.99182477 0.07865273] [ 0. 0. 0. 1. ]] SLAMing on 27.356502481 meters Centerline goodness [0,1] 0.5689328011516064 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.08 [[ 0.9915094 0.03091183 -0.12630743 2.18632963] [-0.03341721 0.9992836 -0.01776453 -0.24401694] [ 0.12566781 0.02183454 0.99183207 0.07815878] [ 0. 0. 0. 1. ]] SLAMing on 27.386502481 meters Centerline goodness [0,1] 0.5960519980741454 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99146524 0.03101917 -0.12662733 2.18729688] [-0.03349049 0.99928697 -0.01743387 -0.24547626] [ 0.12599626 0.02152589 0.99179715 0.07782164] [ 0. 0. 0. 1. ]] SLAMing on 27.416502481000002 meters Centerline goodness [0,1] 0.5692331335484863 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99139978 0.0310167 -0.12713945 2.18811746] [-0.03345757 0.99929371 -0.01710749 -0.24761242] [ 0.12651903 0.02121414 0.99173731 0.07798109] [ 0. 0. 0. 1. ]] SLAMing on 27.446502481 meters Centerline goodness [0,1] 0.5880409646514702 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99142216 0.02721371 -0.12783393 2.1891723 ] [-0.03010112 0.9993323 -0.02070951 -0.24872801] [ 0.12718499 0.02437981 0.99157935 0.0778831 ] [ 0. 0. 0. 1. ]] SLAMing on 27.476502481 meters Centerline goodness [0,1] 0.5856599265519224 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99140941 0.02756251 -0.12785811 2.18907252] [-0.03040445 0.99933093 -0.02032873 -0.24938454] [ 0.12721225 0.02404155 0.99158411 0.07803514] [ 0. 0. 0. 1. ]] SLAMing on 27.506502481000002 meters Centerline goodness [0,1] 0.5905763548970322 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99127817 0.03223853 -0.12778213 2.18902145] [-0.03452384 0.9992804 -0.01570958 -0.2506165 ] [ 0.12718372 0.01998409 0.99167784 0.07840472] [ 0. 0. 0. 1. ]] SLAMing on 27.536502481 meters Centerline goodness [0,1] 0.594515159550959 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99129949 0.03290107 -0.12744737 2.18825734] [-0.0351347 0.9992652 -0.01531706 -0.25007068] [ 0.12684977 0.01966161 0.99172706 0.07857427] [ 0. 0. 0. 1. ]] SLAMing on 27.566502481 meters Centerline goodness [0,1] 0.6265715106387679 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99120906 0.03393409 -0.12787918 2.18869877] [-0.03613651 0.99923516 -0.01494142 -0.25003435] [ 0.12727435 0.01943118 0.9916772 0.07886734] [ 0. 0. 0. 1. ]] SLAMing on 27.596502481 meters Centerline goodness [0,1] 0.6476768930661465 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.08 [[ 0.99115925 0.03420802 -0.12819183 2.18884145] [-0.03641388 0.99922567 -0.01490281 -0.25068426] [ 0.12758277 0.01943902 0.99163741 0.07930309] [ 0. 0. 0. 1. ]] SLAMing on 27.626502481 meters Centerline goodness [0,1] 0.6695183847159734 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.25, Z:0.08 [[ 0.9912228 0.03998855 -0.12600906 2.19793814] [-0.04303002 0.99884226 -0.02150702 -0.25266989] [ 0.12500314 0.02674042 0.99179593 0.07867129] [ 0. 0. 0. 1. ]] SLAMing on 27.656502481 meters Centerline goodness [0,1] 0.6702919545353243 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.25, Z:0.08 [[ 0.99123662 0.04034683 -0.1257859 2.19750877] [-0.04332964 0.99883868 -0.02106721 -0.25355962] [ 0.12478983 0.02633285 0.9918337 0.07869511] [ 0. 0. 0. 1. ]] SLAMing on 27.686502481 meters Centerline goodness [0,1] 0.6659768119812182 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.25, Z:0.08 [[ 0.99125253 0.04038331 -0.12564875 2.19758898] [-0.04332107 0.99884599 -0.02073568 -0.25470382] [ 0.12466637 0.02599753 0.99185807 0.07841312] [ 0. 0. 0. 1. ]] SLAMing on 27.716502481 meters Centerline goodness [0,1] 0.6604871932652696 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99126859 0.04065338 -0.12543478 2.19714225] [-0.04350279 0.99885189 -0.02006018 -0.25649135] [ 0.12447525 0.02534179 0.99189904 0.07849055] [ 0. 0. 0. 1. ]] SLAMing on 27.746502481 meters Centerline goodness [0,1] 0.6461721628178632 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99142318 0.03674553 -0.12541871 2.19701468] [-0.03994929 0.99893408 -0.0231249 -0.25861157] [ 0.12443529 0.02793695 0.99183435 0.07837382] [ 0. 0. 0. 1. ]] SLAMing on 27.776502481 meters Centerline goodness [0,1] 0.6169902040082682 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99138475 0.03642867 -0.12581428 2.19727258] [-0.03960519 0.99895437 -0.02283852 -0.26093051] [ 0.12485074 0.02762466 0.99179089 0.07899962] [ 0. 0. 0. 1. ]] SLAMing on 27.806502481 meters Centerline goodness [0,1] 0.61702223523846 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99136153 0.0358594 -0.12616031 2.19895227] [-0.03904183 0.99897644 -0.02284296 -0.26215542] [ 0.12521204 0.02757116 0.99174683 0.07802864] [ 0. 0. 0. 1. ]] SLAMing on 27.836502481 meters Centerline goodness [0,1] 0.6100599286243351 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99119679 0.03806616 -0.1268065 2.20356897] [-0.04099612 0.99894743 -0.02057569 -0.26210176] [ 0.12588979 0.02559314 0.99171405 0.07501609] [ 0. 0. 0. 1. ]] SLAMing on 27.866502481 meters Centerline goodness [0,1] 0.6252230680611714 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99119617 0.03813847 -0.12678964 2.20339516] [-0.04105451 0.9989473 -0.02046499 -0.2624648 ] [ 0.12587567 0.02549011 0.99171849 0.07521229] [ 0. 0. 0. 1. ]] SLAMing on 27.896502481 meters Centerline goodness [0,1] 0.615812062344703 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99120845 0.03805571 -0.12671846 2.202156 ] [-0.04097548 0.99894954 -0.02051405 -0.26279198] [ 0.12580467 0.02552605 0.99172658 0.07647222] [ 0. 0. 0. 1. ]] SLAMing on 27.926502481 meters Centerline goodness [0,1] 0.615812062344703 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99120845 0.03805571 -0.12671846 2.202156 ] [-0.04097548 0.99894954 -0.02051405 -0.26279198] [ 0.12580467 0.02552605 0.99172658 0.07647222] [ 0. 0. 0. 1. ]] SLAMing on 27.956502481 meters Centerline goodness [0,1] 0.626860936756475 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99136603 0.03601362 -0.12608095 2.19762449] [-0.03918229 0.99897324 -0.02274214 -0.26188106] [ 0.12513247 0.02748592 0.99175924 0.07983612] [ 0. 0. 0. 1. ]] SLAMing on 27.986502481 meters Centerline goodness [0,1] 0.6394616395522726 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99134635 0.03608208 -0.12621605 2.19731909] [-0.03926067 0.99896915 -0.02278662 -0.26194101] [ 0.12526375 0.02754476 0.99174103 0.0804857 ] [ 0. 0. 0. 1. ]] SLAMing on 28.016502481 meters Centerline goodness [0,1] 0.659634445757934 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99116163 0.04062831 -0.12628528 2.19797379] [-0.04330989 0.99888926 -0.01856052 -0.26292154] [ 0.12539092 0.02386588 0.99182031 0.0802794 ] [ 0. 0. 0. 1. ]] SLAMing on 28.046502481 meters Centerline goodness [0,1] 0.6573805995668529 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.26, Z:0.08 [[ 0.99097966 0.04209593 -0.12722911 2.20158102] [-0.0446348 0.99885582 -0.0171691 -0.26463675] [ 0.12636079 0.02269308 0.99172475 0.07847969] [ 0. 0. 0. 1. ]] SLAMing on 28.076502481000002 meters Centerline goodness [0,1] 0.6579693574205351 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.27, Z:0.08 [[ 0.99091796 0.04194432 -0.12775862 2.2028309 ] [-0.04447782 0.99886502 -0.0170412 -0.2664708 ] [ 0.12689884 0.02256886 0.99165888 0.07823476] [ 0. 0. 0. 1. ]] SLAMing on 28.106502481 meters Centerline goodness [0,1] 0.6432898040028558 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.08 [[ 0.99097068 0.03805568 -0.1285647 2.20510997] [-0.04099216 0.99895381 -0.02027128 -0.26917738] [ 0.12765876 0.02535839 0.99149392 0.07702569] [ 0. 0. 0. 1. ]] SLAMing on 28.136502481 meters Centerline goodness [0,1] 0.624810196475406 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.08 [[ 0.99093829 0.03796715 -0.12884018 2.20598916] [-0.04087267 0.99896454 -0.01998182 -0.27076374] [ 0.12794812 0.02506679 0.99146404 0.07670213] [ 0. 0. 0. 1. ]] SLAMing on 28.166502481000002 meters Centerline goodness [0,1] 0.6023049441051054 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.08 [[ 0.99095052 0.03787809 -0.12877234 2.20542954] [-0.04067681 0.99898839 -0.0191729 -0.27356485] [ 0.12791584 0.02423745 0.99148882 0.07747539] [ 0. 0. 0. 1. ]] SLAMing on 28.196502481 meters Centerline goodness [0,1] 0.5939529830563325 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.27, Z:0.08 [[ 0.99109302 0.03401117 -0.12875505 2.20458723] [-0.03721825 0.99905193 -0.02258416 -0.27405934] [ 0.12786487 0.02717504 0.99141923 0.07805508] [ 0. 0. 0. 1. ]] SLAMing on 28.226502481 meters Centerline goodness [0,1] 0.5721162790697674 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.28, Z:0.08 [[ 0.99120443 0.02990518 -0.12891645 2.20285725] [-0.03345303 0.99911638 -0.02544318 -0.27856902] [ 0.12804166 0.02953204 0.991329 0.07997541] [ 0. 0. 0. 1. ]] SLAMing on 28.256502481000002 meters Centerline goodness [0,1] 0.5701680475588635 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.28, Z:0.08 [[ 0.99131677 0.02635561 -0.12882716 2.2003867 ] [-0.03018543 0.99915579 -0.02786648 -0.28213143] [ 0.12798397 0.03151322 0.99127545 0.08235486] [ 0. 0. 0. 1. ]] SLAMing on 28.286502481 meters Centerline goodness [0,1] 0.5509552645167347 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.28, Z:0.08 [[ 0.99131554 0.02661627 -0.12878304 2.1997538 ] [-0.0303514 0.99917109 -0.02712781 -0.28439026] [ 0.12795425 0.03080096 0.99130167 0.08304708] [ 0. 0. 0. 1. ]] SLAMing on 28.316502481 meters Centerline goodness [0,1] 0.544315381907779 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99129002 0.02708959 -0.12888075 2.20080603] [-0.03070713 0.99918591 -0.02616473 -0.28586992] [ 0.12806704 0.0298944 0.99131486 0.08239135] [ 0. 0. 0. 1. ]] SLAMing on 28.346502481 meters Centerline goodness [0,1] 0.5453072914221324 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99130175 0.02750915 -0.12870153 2.20127859] [-0.03105923 0.99918816 -0.02565828 -0.28610148] [ 0.12789121 0.02943247 0.99135139 0.08162193] [ 0. 0. 0. 1. ]] SLAMing on 28.376502481 meters Centerline goodness [0,1] 0.5606608156943728 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99129073 0.02786616 -0.12870959 2.20143644] [-0.03135717 0.99919111 -0.02517649 -0.28677688] [ 0.1279039 0.02899319 0.99136269 0.08157527] [ 0. 0. 0. 1. ]] SLAMing on 28.406502481 meters Centerline goodness [0,1] 0.5508883398046829 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99124884 0.02774566 -0.12905782 2.2005993 ] [-0.03123565 0.99919692 -0.02509664 -0.28963452] [ 0.12825786 0.02890822 0.99131944 0.08305954] [ 0. 0. 0. 1. ]] SLAMing on 28.436502481 meters Centerline goodness [0,1] 0.5736878078672606 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99116323 0.02791239 -0.12967789 2.20002957] [-0.03141552 0.99919253 -0.02504715 -0.29127491] [ 0.12887406 0.02889971 0.99123977 0.08483133] [ 0. 0. 0. 1. ]] SLAMing on 28.466502481 meters Centerline goodness [0,1] 0.583115075151601 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99113158 0.02842246 -0.12980889 2.2001774 ] [-0.03190885 0.99918164 -0.02485702 -0.29061022] [ 0.12899616 0.02877863 0.99122741 0.08489164] [ 0. 0. 0. 1. ]] SLAMing on 28.496502481 meters Centerline goodness [0,1] 0.5858571596658431 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99090038 0.0343832 -0.13013162 2.20293938] [-0.03725407 0.99911181 -0.01969092 -0.29018414] [ 0.129339 0.02435968 0.99130118 0.08312988] [ 0. 0. 0. 1. ]] SLAMing on 28.526502481 meters Centerline goodness [0,1] 0.6362028301886793 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.29, Z:0.08 [[ 0.99080393 0.03509335 -0.13067526 2.20475868] [-0.03794317 0.99909191 -0.01938212 -0.28964483] [ 0.12987641 0.02416211 0.99123575 0.08225658] [ 0. 0. 0. 1. ]] SLAMing on 28.556502481 meters Centerline goodness [0,1] 0.6504601698724773 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.29, Z:0.08 [[ 0.9906714 0.03504919 -0.13168801 2.20731275] [-0.03796942 0.99908412 -0.01972943 -0.29180768] [ 0.1308759 0.0245455 0.99109486 0.08131537] [ 0. 0. 0. 1. ]] SLAMing on 28.586502481 meters Centerline goodness [0,1] 0.6594304112118559 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.29, Z:0.08 [[ 0.9906198 0.03496098 -0.13209901 2.208175 ] [-0.03787584 0.99908988 -0.01961709 -0.29358126] [ 0.13129295 0.02443643 0.99104239 0.08121862] [ 0. 0. 0. 1. ]] SLAMing on 28.616502481 meters Centerline goodness [0,1] 0.6678387303699128 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:0.08 [[ 0.99060478 0.03541233 -0.13209139 2.20835539] [-0.03823851 0.99908951 -0.01891993 -0.29559907] [ 0.13130112 0.02379315 0.99105696 0.08104451] [ 0. 0. 0. 1. ]] SLAMing on 28.646502481 meters Centerline goodness [0,1] 0.6631353410308296 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:0.08 [[ 0.9905852 0.03563605 -0.13217805 2.20894886] [-0.03841413 0.99909014 -0.0185269 -0.29639055] [ 0.13139756 0.02342998 0.99105283 0.08068605] [ 0. 0. 0. 1. ]] SLAMing on 28.676502481 meters Centerline goodness [0,1] 0.6546657747622915 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:0.08 [[ 0.99055009 0.03601546 -0.13233823 2.2095945 ] [-0.03866282 0.99909926 -0.0174888 -0.29917476] [ 0.13158916 0.0224401 0.99105032 0.08060114] [ 0. 0. 0. 1. ]] SLAMing on 28.706502481 meters Centerline goodness [0,1] 0.6471038774533269 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:0.08 [[ 0.99051459 0.03600512 -0.13260648 2.20994654] [-0.03858919 0.99911109 -0.01696776 -0.3014664 ] [ 0.13187768 0.02192399 0.99102352 0.08093741] [ 0. 0. 0. 1. ]] SLAMing on 28.736502481 meters Centerline goodness [0,1] 0.6208853302555964 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.30, Z:0.08 [[ 0.99061332 0.0320028 -0.132895 2.21007605] [-0.03495151 0.99919057 -0.01991454 -0.30450483] [ 0.13215011 0.02437249 0.99093003 0.08136213] [ 0. 0. 0. 1. ]] SLAMing on 28.766502481 meters Centerline goodness [0,1] 0.6076919357957842 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.990591 0.03187558 -0.13309177 2.21017217] [-0.03475868 0.99920752 -0.01939494 -0.30702307] [ 0.13236807 0.02383855 0.99091393 0.08182754] [ 0. 0. 0. 1. ]] SLAMing on 28.796502481 meters Centerline goodness [0,1] 0.5734491375336617 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.99071247 0.02781092 -0.13309908 2.21064789] [-0.03106999 0.99926457 -0.0224717 -0.30900132] [ 0.13237623 0.02639838 0.99084795 0.08135836] [ 0. 0. 0. 1. ]] SLAMing on 28.826502481 meters Centerline goodness [0,1] 0.5670875033319602 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.99066787 0.02747959 -0.13349923 2.2115574 ] [-0.03073054 0.99927774 -0.02235231 -0.31042155] [ 0.13278857 0.02624622 0.99079682 0.08133686] [ 0. 0. 0. 1. ]] SLAMing on 28.856502481 meters Centerline goodness [0,1] 0.5508122677933999 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.9907661 0.02324159 -0.13357528 2.21201014] [-0.02694733 0.99929862 -0.02600197 -0.31124433] [ 0.13287727 0.02936137 0.9906975 0.08086004] [ 0. 0. 0. 1. ]] SLAMing on 28.886502481 meters Centerline goodness [0,1] 0.5453417961625446 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.99074546 0.02315169 -0.13374393 2.21218939] [-0.02682232 0.99930958 -0.02570868 -0.31282355] [ 0.13305639 0.02905808 0.9906824 0.0811096 ] [ 0. 0. 0. 1. ]] SLAMing on 28.916502481000002 meters Centerline goodness [0,1] 0.5353515672568743 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.31, Z:0.08 [[ 0.99078849 0.02273151 -0.133497 2.21280622] [-0.0263659 0.99932656 -0.02551989 -0.3145661 ] [ 0.13282699 0.02880459 0.99072059 0.08022076] [ 0. 0. 0. 1. ]] SLAMing on 28.946502481 meters Centerline goodness [0,1] 0.531335349200156 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:0.08 [[ 0.99078835 0.02292545 -0.13346484 2.21406909] [-0.02650352 0.9993337 -0.02509431 -0.31512506] [ 0.13280061 0.02840044 0.99073579 0.07901102] [ 0. 0. 0. 1. ]] SLAMing on 28.976502481 meters Centerline goodness [0,1] 0.5338525188610368 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:0.08 [[ 0.99076016 0.02303213 -0.13365564 2.21485929] [-0.02659086 0.99933618 -0.02490228 -0.31549575] [ 0.13299337 0.02822621 0.99071492 0.07866634] [ 0. 0. 0. 1. ]] SLAMing on 29.006502481000002 meters Centerline goodness [0,1] 0.5269837388433793 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.32, Z:0.08 [[ 0.99076054 0.02326925 -0.13361171 2.21505669] [-0.02678798 0.99933844 -0.02459831 -0.31647077] [ 0.13295094 0.02795022 0.99072844 0.07835287] [ 0. 0. 0. 1. ]] SLAMing on 29.036502481 meters Centerline goodness [0,1] 0.5418043015488512 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:0.08 [[ 0.99074752 0.02346861 -0.13367343 2.21483428] [-0.02694152 0.99934329 -0.02423099 -0.3175385 ] [ 0.13301697 0.02760815 0.99072916 0.07878242] [ 0. 0. 0. 1. ]] SLAMing on 29.066502481 meters Centerline goodness [0,1] 0.5338275726630008 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:0.08 [[ 0.99073782 0.02349702 -0.13374025 2.21416968] [-0.02689007 0.99935929 -0.02362074 -0.32046284] [ 0.13309954 0.02699824 0.99073488 0.07990755] [ 0. 0. 0. 1. ]] SLAMing on 29.096502481 meters Centerline goodness [0,1] 0.5391556637407489 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.32, Z:0.08 [[ 0.99071698 0.02369293 -0.13386002 2.21420032] [-0.02702614 0.9993669 -0.02313857 -0.32197238] [ 0.13322705 0.02654149 0.99073008 0.08017855] [ 0. 0. 0. 1. ]] SLAMing on 29.126502481 meters Centerline goodness [0,1] 0.5142483208218096 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99064659 0.02386956 -0.13434871 2.21540054] [-0.02709779 0.9993851 -0.02225143 -0.32520572] [ 0.13373497 0.02568385 0.99068426 0.08008953] [ 0. 0. 0. 1. ]] SLAMing on 29.156502481 meters Centerline goodness [0,1] 0.5274247989675369 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99059636 0.02440048 -0.13462341 2.21628401] [-0.02752045 0.99939294 -0.0213632 -0.32776668] [ 0.13402041 0.0248672 0.99066652 0.07981716] [ 0. 0. 0. 1. ]] SLAMing on 29.186502481 meters Centerline goodness [0,1] 0.527555334493907 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99055889 0.02473325 -0.13483822 2.21653217] [-0.02782174 0.99939084 -0.02106883 -0.32838887] [ 0.13423498 0.02462135 0.99064361 0.07997482] [ 0. 0. 0. 1. ]] SLAMing on 29.216502481 meters Centerline goodness [0,1] 0.529225396033429 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99055138 0.02559208 -0.13473308 2.21595287] [-0.02861508 0.99937928 -0.02054817 -0.32907667] [ 0.13412358 0.02420941 0.99066885 0.08015988] [ 0. 0. 0. 1. ]] SLAMing on 29.246502481 meters Centerline goodness [0,1] 0.5166941158856115 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99055954 0.02588373 -0.13461733 2.21602031] [-0.02889246 0.99937343 -0.02044452 -0.32919094] [ 0.1340038 0.02414094 0.99068673 0.07976001] [ 0. 0. 0. 1. ]] SLAMing on 29.276502481 meters Centerline goodness [0,1] 0.5512961390539933 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99054913 0.02650218 -0.13457364 2.21679292] [-0.02945629 0.99936581 -0.02000783 -0.33016089] [ 0.13395804 0.02378278 0.99070158 0.07867716] [ 0. 0. 0. 1. ]] SLAMing on 29.306502481 meters Centerline goodness [0,1] 0.5510301149022454 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.33, Z:0.08 [[ 0.99054345 0.02676075 -0.13456428 2.21674339] [-0.0296789 0.99936481 -0.01972658 -0.3310671 ] [ 0.13395091 0.02353376 0.99070849 0.07870192] [ 0. 0. 0. 1. ]] SLAMing on 29.336502481 meters Centerline goodness [0,1] 0.562145759141295 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.33, Z:0.08 [[ 0.99057947 0.02685602 -0.13427979 2.21493047] [-0.02972045 0.9993705 -0.01937265 -0.33285297] [ 0.13367499 0.02318101 0.99075408 0.08022348] [ 0. 0. 0. 1. ]] SLAMing on 29.366502481 meters Centerline goodness [0,1] 0.5588250062766759 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.33, Z:0.08 [[ 0.99058862 0.02710819 -0.13416156 2.21387988] [-0.0299238 0.99937131 -0.01901455 -0.33351661] [ 0.13356177 0.02285022 0.99077703 0.08117443] [ 0. 0. 0. 1. ]] SLAMing on 29.396502481 meters Centerline goodness [0,1] 0.5490862407491315 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.33, Z:0.08 [[ 0.99063106 0.02716133 -0.13383706 2.21308386] [-0.02991366 0.99937948 -0.01859667 -0.33441338] [ 0.1332489 0.022426 0.99082885 0.08166076] [ 0. 0. 0. 1. ]] SLAMing on 29.426502481 meters Centerline goodness [0,1] 0.5474213836477988 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.34, Z:0.08 [[ 0.99061372 0.02698294 -0.13400138 2.21406273] [-0.02973239 0.99938558 -0.01855915 -0.33514764] [ 0.13341826 0.02236913 0.99080734 0.08104215] [ 0. 0. 0. 1. ]] SLAMing on 29.456502481 meters Centerline goodness [0,1] 0.5476991575805106 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99051801 0.02622726 -0.13485624 2.21753477] [-0.02900315 0.99940512 -0.01866051 -0.33803798] [ 0.1342866 0.02239483 0.99068945 0.07932139] [ 0. 0. 0. 1. ]] SLAMing on 29.486502481 meters Centerline goodness [0,1] 0.5466666666666666 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99043797 0.02592608 -0.13550079 2.21910591] [-0.02868145 0.99941883 -0.01842192 -0.34029634] [ 0.13494443 0.02213213 0.99060596 0.07918517] [ 0. 0. 0. 1. ]] SLAMing on 29.516502481 meters Centerline goodness [0,1] 0.543528515178458 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99034213 0.025351 -0.13630772 2.22204048] [-0.02814822 0.99943008 -0.01863293 -0.34372226] [ 0.13575767 0.0222898 0.9904913 0.07763262] [ 0. 0. 0. 1. ]] SLAMing on 29.546502481 meters Centerline goodness [0,1] 0.548057623415229 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99032586 0.0255292 -0.1363926 2.22275753] [-0.0283027 0.99942941 -0.01843399 -0.34431693] [ 0.13584418 0.02211593 0.99048334 0.07703937] [ 0. 0. 0. 1. ]] SLAMing on 29.576502481 meters Centerline goodness [0,1] 0.5576523106579414 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99033949 0.02651973 -0.13610437 2.2220015 ] [-0.02919711 0.99941672 -0.01771285 -0.34455641] [ 0.13555524 0.02151559 0.99053615 0.07720292] [ 0. 0. 0. 1. ]] SLAMing on 29.606502481 meters Centerline goodness [0,1] 0.5883207585644372 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.34, Z:0.08 [[ 0.99033 0.02741861 -0.13599523 2.22113763] [-0.03004759 0.99939846 -0.0173162 -0.34475171] [ 0.13543864 0.02123508 0.99055815 0.07762372] [ 0. 0. 0. 1. ]] SLAMing on 29.636502481 meters Centerline goodness [0,1] 0.598876404494382 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99028563 0.02748365 -0.13630488 2.22116493] [-0.03011569 0.99939695 -0.01728527 -0.34531202] [ 0.13574761 0.02122227 0.99051613 0.07823283] [ 0. 0. 0. 1. ]] SLAMing on 29.666502481000002 meters Centerline goodness [0,1] 0.5990460804677282 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99021482 0.02777536 -0.13675946 2.21997285] [-0.03039565 0.99939152 -0.0171086 -0.34726442] [ 0.13620105 0.02109808 0.99045653 0.08018985] [ 0. 0. 0. 1. ]] SLAMing on 29.696502481 meters Centerline goodness [0,1] 0.6215193782490092 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99018722 0.02817297 -0.13687788 2.21979329] [-0.03075793 0.99938555 -0.01680663 -0.34783164] [ 0.13632029 0.02085179 0.99044535 0.08054973] [ 0. 0. 0. 1. ]] SLAMing on 29.726502481 meters Centerline goodness [0,1] 0.6681149732620321 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99005208 0.03303889 -0.13676733 2.21983935] [-0.03505113 0.99930945 -0.01233021 -0.34877204] [ 0.13626551 0.0170014 0.99052646 0.08065746] [ 0. 0. 0. 1. ]] SLAMing on 29.756502481000002 meters Centerline goodness [0,1] 0.672658175842235 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99005244 0.03312147 -0.13674475 2.22045572] [-0.03518344 0.99930031 -0.01268899 -0.34740099] [ 0.13622879 0.01737392 0.99052504 0.07980041] [ 0. 0. 0. 1. ]] SLAMing on 29.786502481 meters Centerline goodness [0,1] 0.6798313277794918 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.98995869 0.03312588 -0.13742079 2.22098497] [-0.03521841 0.99929737 -0.01282314 -0.34790882] [ 0.13689946 0.01753413 0.99042975 0.08059992] [ 0. 0. 0. 1. ]] SLAMing on 29.816502481 meters Centerline goodness [0,1] 0.6798313277794918 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.98995869 0.03312588 -0.13742079 2.22098497] [-0.03521841 0.99929737 -0.01282314 -0.34790882] [ 0.13689946 0.01753413 0.99042975 0.08059992] [ 0. 0. 0. 1. ]] SLAMing on 29.846502481 meters Centerline goodness [0,1] 0.6759513331607558 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99004507 0.02893163 -0.13774511 2.22124181] [-0.03159086 0.9993536 -0.01715812 -0.34722444] [ 0.13715966 0.02133879 0.99031908 0.08029399] [ 0. 0. 0. 1. ]] SLAMing on 29.876502481 meters Centerline goodness [0,1] 0.6736471076093717 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.98998463 0.02857217 -0.13825365 2.22270796] [-0.03125367 0.99936239 -0.01726322 -0.34801696] [ 0.13767225 0.02141125 0.99024639 0.07991376] [ 0. 0. 0. 1. ]] SLAMing on 29.906502481 meters Centerline goodness [0,1] 0.6589229968782518 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.98990584 0.02778277 -0.13897676 2.22612678] [-0.03050304 0.99938179 -0.01748163 -0.34954243] [ 0.13840515 0.02154438 0.99014133 0.07804778] [ 0. 0. 0. 1. ]] SLAMing on 29.936502481 meters Centerline goodness [0,1] 0.6466243899893003 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.9898653 0.02776995 -0.13926781 2.2271632 ] [-0.0304306 0.99939211 -0.01701131 -0.35086452] [ 0.13871075 0.02107691 0.99010863 0.07785834] [ 0. 0. 0. 1. ]] SLAMing on 29.966502481 meters Centerline goodness [0,1] 0.6161241444171587 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.98998575 0.02371972 -0.13916031 2.22666281] [-0.02675256 0.99944272 -0.01996369 -0.35266662] [ 0.13860923 0.02348666 0.99006861 0.07851638] [ 0. 0. 0. 1. ]] SLAMing on 29.996502481 meters Centerline goodness [0,1] 0.5899020583459906 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.9900939 0.01968509 -0.13902004 2.22563009] [-0.02318981 0.99945165 -0.02363537 -0.3529245 ] [ 0.13847855 0.02662509 0.99000747 0.07906631] [ 0. 0. 0. 1. ]] SLAMing on 30.026502481 meters Centerline goodness [0,1] 0.5639981076534903 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99014759 0.01557204 -0.13915913 2.22447487] [-0.01949558 0.99944865 -0.02687606 -0.35412149] [ 0.13866389 0.02932425 0.98990526 0.08080701] [ 0. 0. 0. 1. ]] SLAMing on 30.056502481 meters Centerline goodness [0,1] 0.5863598194604807 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.35, Z:0.08 [[ 0.99012288 0.01574001 -0.13931592 2.22441316] [-0.01961244 0.99945728 -0.02646689 -0.35455988] [ 0.13882372 0.0289378 0.98989423 0.08142292] [ 0. 0. 0. 1. ]] SLAMing on 30.086502481 meters Centerline goodness [0,1] 0.5700460347353002 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.99009605 0.01568725 -0.13951245 2.22570871] [-0.01956558 0.99945809 -0.02647112 -0.35380195] [ 0.13902159 0.02893859 0.98986643 0.08062074] [ 0. 0. 0. 1. ]] SLAMing on 30.116502481 meters Centerline goodness [0,1] 0.5428661153564325 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.99007557 0.01548094 -0.13968073 2.22708872] [-0.01940721 0.99945266 -0.02679069 -0.3528947 ] [ 0.13918953 0.02923562 0.9898341 0.07953565] [ 0. 0. 0. 1. ]] SLAMing on 30.146502481 meters Centerline goodness [0,1] 0.5698521757235062 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.98999625 0.01471444 -0.14032427 2.22967301] [-0.01879115 0.99943766 -0.02777141 -0.35123064] [ 0.13983672 0.03013045 0.98971604 0.07816523] [ 0. 0. 0. 1. ]] SLAMing on 30.176502481 meters Centerline goodness [0,1] 0.5535523260364756 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.9899675 0.01462771 -0.14053607 2.2296313 ] [-0.01871245 0.99943868 -0.02778803 -0.35118697] [ 0.14005071 0.03013902 0.98968552 0.0787875 ] [ 0. 0. 0. 1. ]] SLAMing on 30.206502481 meters Centerline goodness [0,1] 0.5719627138888168 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.98997404 0.01456435 -0.14049654 2.22880989] [-0.01871999 0.99942411 -0.02830209 -0.34836857] [ 0.14000342 0.03064843 0.98967657 0.07954826] [ 0. 0. 0. 1. ]] SLAMing on 30.236502481 meters Centerline goodness [0,1] 0.5701266084975274 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.35, Z:0.08 [[ 0.98999777 0.01461491 -0.14032401 2.22865983] [-0.01880575 0.99941442 -0.02858595 -0.34628061] [ 0.13982406 0.03093892 0.98969289 0.07932572] [ 0. 0. 0. 1. ]] SLAMing on 30.266502481 meters Centerline goodness [0,1] 0.5752522133003912 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.99008762 0.01659562 -0.13946717 2.22799882] [-0.02046543 0.99944303 -0.02635883 -0.34406362] [ 0.13895205 0.02895181 0.98987581 0.07916048] [ 0. 0. 0. 1. ]] SLAMing on 30.296502481 meters Centerline goodness [0,1] 0.5630254261254082 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.99006719 0.01602185 -0.13967916 2.22882557] [-0.01994241 0.99944418 -0.02671389 -0.34272207] [ 0.13917352 0.02923409 0.9898364 0.07909657] [ 0. 0. 0. 1. ]] SLAMing on 30.326502481 meters Centerline goodness [0,1] 0.5461784662655229 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.99003308 0.01557533 -0.1399711 2.22952159] [-0.01952549 0.99944763 -0.02689236 -0.34271419] [ 0.13947492 0.02935733 0.98979033 0.0792037 ] [ 0. 0. 0. 1. ]] SLAMing on 30.356502481 meters Centerline goodness [0,1] 0.5416314941293838 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.98993792 0.0144584 -0.14076175 2.23156244] [-0.01850396 0.99945124 -0.02747412 -0.34235348] [ 0.14028727 0.02980233 0.98966222 0.07912394] [ 0. 0. 0. 1. ]] SLAMing on 30.386502481 meters Centerline goodness [0,1] 0.5362448541256488 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.98988293 0.01418991 -0.14117521 2.23291632] [-0.01828445 0.9994477 -0.02774841 -0.3415545 ] [ 0.14070349 0.03004899 0.98959567 0.07862184] [ 0. 0. 0. 1. ]] SLAMing on 30.416502481000002 meters Centerline goodness [0,1] 0.5259070655633354 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.98978886 0.01715479 -0.1415052 2.23495939] [-0.02081488 0.99948493 -0.02442582 -0.34094883] [ 0.14101329 0.02712182 0.98963612 0.07805029] [ 0. 0. 0. 1. ]] SLAMing on 30.446502481 meters Centerline goodness [0,1] 0.5195617357703943 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:0.08 [[ 0.9897201 0.0167852 -0.14202952 2.23635582] [-0.02050097 0.99948371 -0.02473919 -0.34029108] [ 0.14154094 0.02739661 0.98955323 0.07777906] [ 0. 0. 0. 1. ]] SLAMing on 30.476502481 meters Centerline goodness [0,1] 0.5133979693106344 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:0.08 [[ 0.98961714 0.01568301 -0.14287043 2.23842396] [-0.0195109 0.99948616 -0.02543126 -0.34029025] [ 0.14239818 0.02795475 0.98941462 0.07761871] [ 0. 0. 0. 1. ]] SLAMing on 30.506502481000002 meters Centerline goodness [0,1] 0.5089408178816357 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:0.08 [[ 0.98963873 0.01512671 -0.14278087 2.23720379] [-0.01895216 0.99949591 -0.02547054 -0.3403187 ] [ 0.14232361 0.02791264 0.98942654 0.07921077] [ 0. 0. 0. 1. ]] SLAMing on 30.536502481 meters Centerline goodness [0,1] 0.507604177228024 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:0.08 [[ 0.9896568 0.01533017 -0.1426338 2.23617704] [-0.01912184 0.99949826 -0.02525058 -0.33974526] [ 0.14217514 0.02771683 0.98945339 0.08009228] [ 0. 0. 0. 1. ]] SLAMing on 30.566502481 meters Centerline goodness [0,1] 0.5072212157809983 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.98970916 0.01952498 -0.14175526 2.23440993] [-0.02276023 0.99951536 -0.02123723 -0.33809746] [ 0.1412719 0.02424506 0.9896739 0.0809087 ] [ 0. 0. 0. 1. ]] SLAMing on 30.596502481 meters Centerline goodness [0,1] 0.5046696123719623 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.34, Z:0.08 [[ 0.98971282 0.0196131 -0.14171752 2.23456919] [-0.02289465 0.99950533 -0.02156216 -0.3358813 ] [ 0.14122452 0.02458492 0.98967228 0.08065866] [ 0. 0. 0. 1. ]] SLAMing on 30.626502481 meters Centerline goodness [0,1] 0.5045006751012652 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:0.08 [[ 0.98958725 0.01881396 -0.14269934 2.23591234] [-0.02226925 0.99949528 -0.02265531 -0.33378929] [ 0.14220108 0.02559721 0.98950676 0.08137327] [ 0. 0. 0. 1. ]] SLAMing on 30.656502481 meters Centerline goodness [0,1] 0.5069331667707683 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:0.08 [[ 0.98949263 0.01833947 -0.14341549 2.23643491] [-0.02188787 0.99949113 -0.0232036 -0.33341967] [ 0.14291697 0.02609885 0.98939051 0.0823066 ] [ 0. 0. 0. 1. ]] SLAMing on 30.686502481 meters Centerline goodness [0,1] 0.5104574348747352 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:0.08 [[ 0.98943643 0.01817124 -0.14382407 2.23680948] [-0.02189459 0.99946376 -0.02434787 -0.3291369 ] [ 0.14330452 0.02723964 0.9893037 0.08253987] [ 0. 0. 0. 1. ]] SLAMing on 30.716502481 meters Centerline goodness [0,1] 0.513012814145227 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:0.08 [[ 0.98936563 0.0223149 -0.14372782 2.23650835] [-0.02555607 0.99945814 -0.020744 -0.32781389] [ 0.14318704 0.02419652 0.98939982 0.08301117] [ 0. 0. 0. 1. ]] SLAMing on 30.746502481 meters Centerline goodness [0,1] 0.5417252522262512 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98928432 0.02714065 -0.14345703 2.23574955] [-0.02988354 0.99940882 -0.01699955 -0.32279117] [ 0.14291084 0.02110439 0.98951053 0.08367409] [ 0. 0. 0. 1. ]] SLAMing on 30.776502481 meters Centerline goodness [0,1] 0.5201629727806003 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98911764 0.03111211 -0.14379963 2.23727505] [-0.03347284 0.9993412 -0.01402616 -0.32028166] [ 0.14326852 0.0186869 0.98950742 0.08293192] [ 0. 0. 0. 1. ]] SLAMing on 30.806502481 meters Centerline goodness [0,1] 0.5475827472581518 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98905215 0.03077005 -0.1443227 2.23890346] [-0.03321109 0.99934267 -0.01453468 -0.31961743] [ 0.1437806 0.01916867 0.98942392 0.08229728] [ 0. 0. 0. 1. ]] SLAMing on 30.836502481 meters Centerline goodness [0,1] 0.5546996135955304 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98895054 0.03038284 -0.145099 2.24066947] [-0.03288528 0.99934838 -0.01487859 -0.31992024] [ 0.1445524 0.01948581 0.98930526 0.08206675] [ 0. 0. 0. 1. ]] SLAMing on 30.866502481 meters Centerline goodness [0,1] 0.5542761125799995 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98883079 0.0301964 -0.14595155 2.24270903] [-0.03275255 0.99934878 -0.01514196 -0.32021261] [ 0.14539927 0.01975312 0.98917585 0.08155549] [ 0. 0. 0. 1. ]] SLAMing on 30.896502481 meters Centerline goodness [0,1] 0.5616573171931896 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98864852 0.03452648 -0.14622591 2.24378237] [-0.03651769 0.99927297 -0.01095416 -0.3203442 ] [ 0.14574139 0.01616965 0.98919057 0.08161638] [ 0. 0. 0. 1. ]] SLAMing on 30.926502481 meters Centerline goodness [0,1] 0.5633314481028844 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98864979 0.03472561 -0.14617019 2.24358572] [-0.0367125 0.99926624 -0.01091654 -0.31962905] [ 0.14568386 0.01615891 0.98919922 0.08170265] [ 0. 0. 0. 1. ]] SLAMing on 30.956502481 meters Centerline goodness [0,1] 0.5613036222636694 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98865139 0.03486334 -0.14612655 2.24280196] [-0.03681883 0.99926469 -0.0106982 -0.32013473] [ 0.14564613 0.015957 0.98920806 0.08250994] [ 0. 0. 0. 1. ]] SLAMing on 30.986502481 meters Centerline goodness [0,1] 0.5658257784785179 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98882227 0.03149755 -0.14573406 2.24011791] [-0.03390435 0.99932618 -0.01406022 -0.32014189] [ 0.145193 0.01884408 0.98922389 0.08409518] [ 0. 0. 0. 1. ]] SLAMing on 31.016502481 meters Centerline goodness [0,1] 0.5683930288165258 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.09 [[ 0.98883958 0.03193447 -0.14552141 2.23783317] [-0.03426537 0.99932106 -0.01353868 -0.32137032] [ 0.14499026 0.01837393 0.98926246 0.08608936] [ 0. 0. 0. 1. ]] SLAMing on 31.046502481 meters Centerline goodness [0,1] 0.5763166970488249 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.09 [[ 0.98882491 0.031903 -0.14562792 2.23816335] [-0.03426022 0.99931895 -0.01370675 -0.3209273 ] [ 0.14509145 0.01854282 0.98924448 0.08593231] [ 0. 0. 0. 1. ]] SLAMing on 31.076502481 meters Centerline goodness [0,1] 0.5876339450671265 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98872232 0.03211085 -0.14627737 2.24103432] [-0.03449271 0.99931001 -0.01377529 -0.32068808] [ 0.1457341 0.01866544 0.9891477 0.08413477] [ 0. 0. 0. 1. ]] SLAMing on 31.106502481 meters Centerline goodness [0,1] 0.5816690881331725 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98865496 0.03175549 -0.14680927 2.2429697 ] [-0.03418361 0.99931687 -0.0140454 -0.321016 ] [ 0.14626297 0.01890452 0.9890651 0.08326423] [ 0. 0. 0. 1. ]] SLAMing on 31.136502481 meters Centerline goodness [0,1] 0.5791050689646633 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.9887246 0.02768202 -0.14716441 2.24355489] [-0.03059563 0.99937738 -0.01757131 -0.32270277] [ 0.14658637 0.02187578 0.98895596 0.08303882] [ 0. 0. 0. 1. ]] SLAMing on 31.166502481000002 meters Centerline goodness [0,1] 0.5632699600922093 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98877693 0.02751882 -0.14684312 2.24205589] [-0.03034187 0.99939467 -0.01701943 -0.32483694] [ 0.14628588 0.02128392 0.98901337 0.08431416] [ 0. 0. 0. 1. ]] SLAMing on 31.196502481 meters Centerline goodness [0,1] 0.5642189321231059 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:0.09 [[ 0.9887896 0.02785559 -0.14669419 2.24120468] [-0.03061185 0.99939408 -0.01656487 -0.32533711] [ 0.14614388 0.02086975 0.98904318 0.08503105] [ 0. 0. 0. 1. ]] SLAMing on 31.226502481 meters Centerline goodness [0,1] 0.5631236657896044 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98879985 0.02840889 -0.14651894 2.24105869] [-0.03111443 0.99938443 -0.01620637 -0.32497809] [ 0.14596835 0.02058371 0.9890751 0.08485584] [ 0. 0. 0. 1. ]] SLAMing on 31.256502481000002 meters Centerline goodness [0,1] 0.5790296562848989 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.08 [[ 0.98875366 0.02851272 -0.14681017 2.24225914] [-0.03124955 0.99937757 -0.01636905 -0.32419893] [ 0.14625206 0.02077271 0.98902924 0.08415172] [ 0. 0. 0. 1. ]] SLAMing on 31.286502481 meters Centerline goodness [0,1] 0.5882323758495808 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.08 [[ 0.98862187 0.02836482 -0.14772348 2.24522601] [-0.03121602 0.99936777 -0.01701797 -0.32359349] [ 0.14714737 0.02143568 0.98888228 0.08268544] [ 0. 0. 0. 1. ]] SLAMing on 31.316502481 meters Centerline goodness [0,1] 0.5921830740943199 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.08 [[ 0.98853229 0.02832411 -0.14832958 2.2465007 ] [-0.03121159 0.99936523 -0.01717483 -0.32382616] [ 0.14774897 0.02160748 0.98878883 0.08254622] [ 0. 0. 0. 1. ]] SLAMing on 31.346502481 meters Centerline goodness [0,1] 0.6145158487849678 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.08 [[ 0.98844383 0.02891625 -0.14880406 2.24729818] [-0.0318071 0.99934801 -0.01708374 -0.32282849] [ 0.14821304 0.02161935 0.98871912 0.08247625] [ 0. 0. 0. 1. ]] SLAMing on 31.376502481 meters Centerline goodness [0,1] 0.6264833395268178 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.08 [[ 0.98845607 0.02933444 -0.14864079 2.24697112] [-0.03220752 0.99933732 -0.01695848 -0.32174959] [ 0.14804482 0.02155007 0.98874584 0.08244771] [ 0. 0. 0. 1. ]] SLAMing on 31.406502481 meters Centerline goodness [0,1] 0.6120112977553145 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.08 [[ 0.98847473 0.02965302 -0.1484534 2.2456104 ] [-0.03248763 0.99933252 -0.01670541 -0.32141944] [ 0.14785894 0.02133578 0.9887783 0.0835952 ] [ 0. 0. 0. 1. ]] SLAMing on 31.436502481 meters Centerline goodness [0,1] 0.596873366358816 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.09 [[ 0.98854739 0.02531493 -0.14877232 2.24437737] [-0.02871651 0.99937198 -0.02076059 -0.32160483] [ 0.14815334 0.02479505 0.98865353 0.08512608] [ 0. 0. 0. 1. ]] SLAMing on 31.466502481 meters Centerline goodness [0,1] 0.5899633717888022 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98848429 0.02499742 -0.14924458 2.24507772] [-0.02841847 0.99937898 -0.02083371 -0.32248511] [ 0.14863111 0.0248351 0.98858081 0.08546793] [ 0. 0. 0. 1. ]] SLAMing on 31.496502481 meters Centerline goodness [0,1] 0.5765409039970115 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98836008 0.02457982 -0.15013386 2.24698394] [-0.02799941 0.99939347 -0.02070549 -0.32343088] [ 0.14953386 0.02466814 0.98844884 0.0856853 ] [ 0. 0. 0. 1. ]] SLAMing on 31.526502481 meters Centerline goodness [0,1] 0.6045571389353366 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98834758 0.02481901 -0.15017685 2.24684962] [-0.02816916 0.99939861 -0.02022175 -0.32371225] [ 0.14958465 0.02421648 0.98845232 0.0861258 ] [ 0. 0. 0. 1. ]] SLAMing on 31.556502481 meters Centerline goodness [0,1] 0.5678542086787661 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98832425 0.02521578 -0.15026426 2.24706743] [-0.02839271 0.9994156 -0.01903425 -0.32401919] [ 0.14969648 0.02307842 0.98846262 0.08689981] [ 0. 0. 0. 1. ]] SLAMing on 31.586502481 meters Centerline goodness [0,1] 0.5542447547226164 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.09 [[ 0.98833306 0.02507057 -0.15023058 2.24643902] [-0.02816586 0.99943185 -0.01851108 -0.32570554] [ 0.14968114 0.02252649 0.98847767 0.08792305] [ 0. 0. 0. 1. ]] SLAMing on 31.616502481 meters Centerline goodness [0,1] 0.5421482239584634 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.09 [[ 0.98844509 0.02089748 -0.15013197 2.24560572] [-0.02449722 0.99945409 -0.02216776 -0.32602 ] [ 0.14958676 0.02558943 0.98841741 0.0884357 ] [ 0. 0. 0. 1. ]] SLAMing on 31.646502481 meters Centerline goodness [0,1] 0.5318057883282887 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.09 [[ 0.9885316 0.01608199 -0.15015538 2.24512899] [-0.02023961 0.99945177 -0.02620165 -0.3267974 ] [ 0.14965168 0.02894025 0.98831515 0.08900052] [ 0. 0. 0. 1. ]] SLAMing on 31.676502481 meters Centerline goodness [0,1] 0.5312281052947653 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.09 [[ 0.98851352 0.0160025 -0.15028288 2.24557784] [-0.02017802 0.99945041 -0.02630064 -0.32613077] [ 0.14977941 0.02903094 0.98829314 0.08893692] [ 0. 0. 0. 1. ]] SLAMing on 31.706502481 meters Centerline goodness [0,1] 0.5256640703015778 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98852311 0.01624869 -0.15019332 2.24515491] [-0.02042161 0.99944592 -0.0262831 -0.32491119] [ 0.14968304 0.02904864 0.98830722 0.08924325] [ 0. 0. 0. 1. ]] SLAMing on 31.736502481 meters Centerline goodness [0,1] 0.5256640703015778 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98852311 0.01624869 -0.15019332 2.24515491] [-0.02042161 0.99944592 -0.0262831 -0.32491119] [ 0.14968304 0.02904864 0.98830722 0.08924325] [ 0. 0. 0. 1. ]] SLAMing on 31.766502481 meters Centerline goodness [0,1] 0.5281902061727474 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.32, Z:0.09 [[ 0.98846633 0.02055637 -0.15003916 2.24498104] [-0.02421181 0.99945188 -0.02257714 -0.3228588 ] [ 0.14949282 0.02594946 0.98842224 0.08956195] [ 0. 0. 0. 1. ]] SLAMing on 31.796502481 meters Centerline goodness [0,1] 0.5298563118381147 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98843878 0.02070197 -0.15020059 2.24545524] [-0.02439677 0.99944237 -0.02279806 -0.32112218] [ 0.14964487 0.0261989 0.98839265 0.08937035] [ 0. 0. 0. 1. ]] SLAMing on 31.826502481 meters Centerline goodness [0,1] 0.5400952759031361 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.9883581 0.02079502 -0.15071773 2.24569986] [-0.02456729 0.99942871 -0.02320986 -0.3192011 ] [ 0.15014898 0.02664238 0.98830434 0.09014659] [ 0. 0. 0. 1. ]] SLAMing on 31.856502481 meters Centerline goodness [0,1] 0.5134291377601585 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98833855 0.02080967 -0.15084386 2.24510346] [-0.02462809 0.99942068 -0.02348971 -0.31769914] [ 0.15026766 0.02693078 0.98827848 0.09110513] [ 0. 0. 0. 1. ]] SLAMing on 31.886502481 meters Centerline goodness [0,1] 0.5573831313381152 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98834193 0.02081989 -0.15082032 2.24543289] [-0.02467682 0.99941341 -0.02374653 -0.31604386] [ 0.15023745 0.02719146 0.98827594 0.09070721] [ 0. 0. 0. 1. ]] SLAMing on 31.916502481000002 meters Centerline goodness [0,1] 0.5525679012345679 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98820541 0.02431727 -0.15119109 2.24716331] [-0.02767802 0.9994135 -0.02016367 -0.31647388] [ 0.15061209 0.02411052 0.98829888 0.09025028] [ 0. 0. 0. 1. ]] SLAMing on 31.946502481 meters Centerline goodness [0,1] 0.5426839741859495 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.9881772 0.0236474 -0.15148144 2.24977877] [-0.02706915 0.99942198 -0.02056614 -0.31475543] [ 0.15090754 0.02442346 0.98824613 0.08856531] [ 0. 0. 0. 1. ]] SLAMing on 31.976502481 meters Centerline goodness [0,1] 0.5371619136362522 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.98819992 0.02327441 -0.15139095 2.24962943] [-0.02670363 0.99942993 -0.02065768 -0.31464636] [ 0.15082385 0.02445661 0.98825808 0.08878049] [ 0. 0. 0. 1. ]] SLAMing on 32.006502481 meters Centerline goodness [0,1] 0.5283309306814572 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.98844029 0.0190869 -0.15040442 2.24639215] [-0.02300985 0.99943779 -0.02438559 -0.31206866] [ 0.14985442 0.02756448 0.98832376 0.09029672] [ 0. 0. 0. 1. ]] SLAMing on 32.036502481 meters Centerline goodness [0,1] 0.5261991181700811 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.98850127 0.01909233 -0.15000244 2.24516725] [-0.02301091 0.99943665 -0.0244312 -0.31115097] [ 0.14945149 0.02760196 0.98838372 0.09089464] [ 0. 0. 0. 1. ]] SLAMing on 32.066502481 meters Centerline goodness [0,1] 0.5307969699169873 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.31, Z:0.09 [[ 0.9886141 0.02129949 -0.148958 2.24326241] [-0.02498352 0.99942544 -0.02290451 -0.30648848] [ 0.14838456 0.02636521 0.98857822 0.09118317] [ 0. 0. 0. 1. ]] SLAMing on 32.096502481 meters Centerline goodness [0,1] 0.5326906856247741 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.31, Z:0.09 [[ 0.98847692 0.02523798 -0.1492529 2.24467873] [-0.02847436 0.99940261 -0.01958652 -0.30500977] [ 0.14866942 0.02361071 0.98860505 0.09059379] [ 0. 0. 0. 1. ]] SLAMing on 32.126502481 meters Centerline goodness [0,1] 0.5596389735711371 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.98831702 0.02926803 -0.14957556 2.24667572] [-0.03223042 0.99932866 -0.01741921 -0.30053933] [ 0.14896532 0.02203659 0.98859685 0.08891172] [ 0. 0. 0. 1. ]] SLAMing on 32.156502481 meters Centerline goodness [0,1] 0.5655286343612335 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.98828972 0.02951991 -0.1497064 2.246874 ] [-0.03259148 0.99930476 -0.01810505 -0.29767133] [ 0.14906786 0.02277219 0.98856472 0.08875507] [ 0. 0. 0. 1. ]] SLAMing on 32.186502481 meters Centerline goodness [0,1] 0.5804775749487632 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.09 [[ 0.98820341 0.03467289 -0.14917041 2.2453115 ] [-0.03729964 0.99919383 -0.01484671 -0.29303243] [ 0.14853538 0.02023558 0.98870004 0.08939543] [ 0. 0. 0. 1. ]] SLAMing on 32.216502481 meters Centerline goodness [0,1] 0.6361002944249217 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.29, Z:0.09 [[ 0.98805825 0.03909517 -0.14903848 2.24498938] [-0.04123855 0.99908523 -0.01131704 -0.29128483] [ 0.1484597 0.01732803 0.98876663 0.08978749] [ 0. 0. 0. 1. ]] SLAMing on 32.246502481 meters Centerline goodness [0,1] 0.668693009118541 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.29, Z:0.09 [[ 0.98791299 0.04452313 -0.14847764 2.24349474] [-0.04619641 0.99890162 -0.00783823 -0.28612566] [ 0.14796557 0.01460262 0.9888847 0.09035482] [ 0. 0. 0. 1. ]] SLAMing on 32.276502481 meters Centerline goodness [0,1] 0.6796768906579256 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.28, Z:0.09 [[ 0.98765104 0.04914451 -0.14876239 2.24403133] [-0.05049365 0.9987103 -0.0053036 -0.28137203] [ 0.14830989 0.01274966 0.98885875 0.09040734] [ 0. 0. 0. 1. ]] SLAMing on 32.306502481 meters Centerline goodness [0,1] 0.684621681674658 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.28, Z:0.09 [[ 0.9876004 0.04902047 -0.14913899 2.24497445] [-0.05052911 0.99870246 -0.00634115 -0.27838349] [ 0.14863463 0.01379838 0.98879591 0.08997324] [ 0. 0. 0. 1. ]] SLAMing on 32.336502481000004 meters Centerline goodness [0,1] 0.6840728020373356 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98757304 0.04941784 -0.14918906 2.24516902] [-0.05112885 0.99866274 -0.00765283 -0.27369506] [ 0.14861137 0.01518559 0.98877907 0.08936684] [ 0. 0. 0. 1. ]] SLAMing on 32.366502481 meters Centerline goodness [0,1] 0.6853932584269663 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98759001 0.0493078 -0.14911311 2.24539615] [-0.05111816 0.99865787 -0.00833032 -0.27136081] [ 0.14850223 0.01584933 0.98878506 0.08890555] [ 0. 0. 0. 1. ]] SLAMing on 32.396502481 meters Centerline goodness [0,1] 0.6919474346428072 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98765456 0.04973813 -0.14854153 2.24458972] [-0.05156579 0.99863363 -0.00847584 -0.26893859] [ 0.14791699 0.01603086 0.98886985 0.08865613] [ 0. 0. 0. 1. ]] SLAMing on 32.426502481 meters Centerline goodness [0,1] 0.6917575249277793 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98762525 0.04952245 -0.14880826 2.24512914] [-0.05136988 0.99864271 -0.00859463 -0.26890146] [ 0.14818065 0.01613254 0.98882872 0.08874031] [ 0. 0. 0. 1. ]] SLAMing on 32.456502481 meters Centerline goodness [0,1] 0.6910965454503044 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98784711 0.04513866 -0.14872995 2.24505393] [-0.04753736 0.99878985 -0.01261086 -0.26837651] [ 0.14798073 0.01952783 0.98879744 0.08833412] [ 0. 0. 0. 1. ]] SLAMing on 32.486502481 meters Centerline goodness [0,1] 0.6868823735544913 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98808687 0.04052769 -0.14846498 2.24464408] [-0.04344368 0.99892045 -0.01644961 -0.26901997] [ 0.14763804 0.02270351 0.98878084 0.08811598] [ 0. 0. 0. 1. ]] SLAMing on 32.516502481 meters Centerline goodness [0,1] 0.6877734877734878 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98826718 0.0362287 -0.14837611 2.24432727] [-0.03969341 0.9990025 -0.02045569 -0.2683038 ] [ 0.14748702 0.02610524 0.98871942 0.08793912] [ 0. 0. 0. 1. ]] SLAMing on 32.546502481 meters Centerline goodness [0,1] 0.6826774238941788 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98846009 0.03207389 -0.14804702 2.24303142] [-0.03600855 0.9990639 -0.02397314 -0.26894814] [ 0.14713952 0.02902745 0.98868972 0.08852845] [ 0. 0. 0. 1. ]] SLAMing on 32.576502481 meters Centerline goodness [0,1] 0.6867249583909609 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98846483 0.03195115 -0.14804188 2.24300168] [-0.03586504 0.99907216 -0.02384343 -0.26937416] [ 0.14714269 0.02887792 0.98869363 0.08873393] [ 0. 0. 0. 1. ]] SLAMing on 32.606502481 meters Centerline goodness [0,1] 0.6844465312830144 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98849373 0.03202681 -0.14783244 2.24347875] [-0.03589971 0.99907661 -0.02360382 -0.26952248] [ 0.14693998 0.02863937 0.98873072 0.08798395] [ 0. 0. 0. 1. ]] SLAMing on 32.636502481 meters Centerline goodness [0,1] 0.6845246487146952 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98848673 0.03218459 -0.14784496 2.2432086 ] [-0.03601395 0.9990797 -0.02329701 -0.27039227] [ 0.1469591 0.02835327 0.98873612 0.08840972] [ 0. 0. 0. 1. ]] SLAMing on 32.666502481 meters Centerline goodness [0,1] 0.6910624500728348 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98848231 0.03228384 -0.14785286 2.24197531] [-0.03609448 0.99907992 -0.02316232 -0.27192605] [ 0.14696905 0.02823221 0.9887381 0.08994558] [ 0. 0. 0. 1. ]] SLAMing on 32.696502481 meters Centerline goodness [0,1] 0.6935920047031159 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98846099 0.03256174 -0.14793449 2.24193921] [-0.0363719 0.99907077 -0.02312317 -0.27141473] [ 0.14704409 0.02823701 0.98872681 0.09011733] [ 0. 0. 0. 1. ]] SLAMing on 32.726502481 meters Centerline goodness [0,1] 0.6926503865736375 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.27, Z:0.09 [[ 0.98837597 0.03335703 -0.14832484 2.24364884] [-0.03713551 0.99905062 -0.0227776 -0.27125008] [ 0.14742423 0.02802095 0.98867635 0.08895748] [ 0. 0. 0. 1. ]] SLAMing on 32.756502481 meters Centerline goodness [0,1] 0.6909880359629044 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98830926 0.03337433 -0.14876479 2.24531279] [-0.03717678 0.99904738 -0.0228523 -0.27198032] [ 0.1478604 0.02811573 0.98860852 0.08797981] [ 0. 0. 0. 1. ]] SLAMing on 32.786502481 meters Centerline goodness [0,1] 0.6880842224530261 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.9883061 0.03347896 -0.14876226 2.24560961] [-0.03727092 0.99904563 -0.02277505 -0.2722099 ] [ 0.1478578 0.02805323 0.98861069 0.08765358] [ 0. 0. 0. 1. ]] SLAMing on 32.816502481 meters Centerline goodness [0,1] 0.6882497402474733 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.98829652 0.03351985 -0.14881668 2.2457423 ] [-0.03728653 0.99904919 -0.02259267 -0.27307323] [ 0.14791788 0.02787712 0.98860668 0.08768355] [ 0. 0. 0. 1. ]] SLAMing on 32.846502481 meters Centerline goodness [0,1] 0.6889343385098338 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.09 [[ 0.9884234 0.02952741 -0.14881972 2.24564034] [-0.03377094 0.99908957 -0.02606817 -0.27462517] [ 0.14791451 0.03079217 0.98852068 0.08739735] [ 0. 0. 0. 1. ]] SLAMing on 32.876502481 meters Centerline goodness [0,1] 0.6852173913043478 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.09 [[ 0.98840619 0.02914675 -0.14900897 2.24646979] [-0.0333189 0.99911738 -0.02557958 -0.27775554] [ 0.14813189 0.03024783 0.98850494 0.08721409] [ 0. 0. 0. 1. ]] SLAMing on 32.906502481 meters Centerline goodness [0,1] 0.68373515567131 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.09 [[ 0.9883649 0.02923315 -0.14926568 2.24681803] [-0.03331261 0.99913468 -0.02490301 -0.28027278] [ 0.14840853 0.02958569 0.98848348 0.08755193] [ 0. 0. 0. 1. ]] SLAMing on 32.936502481 meters Centerline goodness [0,1] 0.6809931998850685 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.09 [[ 0.98830096 0.02913399 -0.14970777 2.24744589] [-0.03313868 0.99915471 -0.02432488 -0.28311798] [ 0.14887255 0.02900142 0.98843102 0.08799226] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters Centerline goodness [0,1] 0.6764102935146998 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.09 [[ 0.98836993 0.02542029 -0.14992894 2.24786162] [-0.02981822 0.99918632 -0.02715837 -0.28556507] [ 0.14911657 0.03131313 0.9883237 0.087883 ] [ 0. 0. 0. 1. ]] SLAMing on 32.996502481 meters Centerline goodness [0,1] 0.6679622431982233 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.09 [[ 0.98833968 0.02589442 -0.15004721 2.24863885] [-0.0301452 0.99920408 -0.02612432 -0.2880081 ] [ 0.14925131 0.03034291 0.98833363 0.08754383] [ 0. 0. 0. 1. ]] SLAMing on 33.026502481 meters Centerline goodness [0,1] 0.6679160419790104 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.09 [[ 0.98830091 0.02611678 -0.15026387 2.24906138] [-0.03029359 0.99921381 -0.02557461 -0.28982817] [ 0.14947781 0.02982744 0.98831509 0.08762836] [ 0. 0. 0. 1. ]] SLAMing on 33.056502481 meters Centerline goodness [0,1] 0.667561237435347 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.09 [[ 0.98837136 0.0223079 -0.1504141 2.24834338] [-0.02690374 0.99922913 -0.02858899 -0.2927149 ] [ 0.14966039 0.03230324 0.98820963 0.08856022] [ 0. 0. 0. 1. ]] SLAMing on 33.086502481000004 meters Centerline goodness [0,1] 0.6608015640273706 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.9883443 0.02246336 -0.15056875 2.24772069] [-0.02695552 0.99924832 -0.02786011 -0.29522845] [ 0.14982974 0.03159404 0.98820689 0.08973928] [ 0. 0. 0. 1. ]] SLAMing on 33.116502481 meters Centerline goodness [0,1] 0.6528498677896386 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.98841228 0.02225142 -0.1501534 2.2466 ] [-0.02661404 0.99927818 -0.02710755 -0.29859116] [ 0.14944184 0.03078962 0.98829102 0.09054157] [ 0. 0. 0. 1. ]] SLAMing on 33.146502481 meters Centerline goodness [0,1] 0.6010728610448092 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.98839847 0.0217911 -0.15031174 2.2485973 ] [-0.02606517 0.99930832 -0.02652318 -0.30193089] [ 0.1496298 0.03013338 0.9882828 0.08919853] [ 0. 0. 0. 1. ]] SLAMing on 33.176502481 meters Centerline goodness [0,1] 0.624501059478638 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.09 [[ 0.9883244 0.021367 -0.15085862 2.25069775] [-0.02560357 0.99932887 -0.02619653 -0.30455944] [ 0.15019763 0.02975319 0.98820819 0.08841354] [ 0. 0. 0. 1. ]] SLAMing on 33.206502481 meters Centerline goodness [0,1] 0.6179416784150775 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.98821653 0.02066863 -0.15166045 2.25257756] [-0.02491123 0.99934818 -0.02612766 -0.30847817] [ 0.15102157 0.02959784 0.98808727 0.08830684] [ 0. 0. 0. 1. ]] SLAMing on 33.236502481 meters Centerline goodness [0,1] 0.5652195583910682 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.09 [[ 0.98827105 0.01231136 -0.15221289 2.25285702] [-0.01748223 0.99931297 -0.03267975 -0.31317946] [ 0.15170598 0.03495747 0.9878073 0.08901983] [ 0. 0. 0. 1. ]] SLAMing on 33.266502481 meters Centerline goodness [0,1] 0.568601517268916 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98815586 0.01239051 -0.15295252 2.25311221] [-0.0174137 0.99935061 -0.03154566 -0.3167044 ] [ 0.15246233 0.0338355 0.98772992 0.09074988] [ 0. 0. 0. 1. ]] SLAMing on 33.296502481 meters Centerline goodness [0,1] 0.5602338889027711 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98813379 0.01299967 -0.15304454 2.25277712] [-0.01776327 0.99939805 -0.02979948 -0.32064454] [ 0.15256503 0.03216445 0.98776989 0.0919493 ] [ 0. 0. 0. 1. ]] SLAMing on 33.326502481 meters Centerline goodness [0,1] 0.563711876704446 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98812971 0.0137204 -0.15300792 2.25236549] [-0.01835919 0.99941237 -0.02894572 -0.32183048] [ 0.15252086 0.03141123 0.98780095 0.09241516] [ 0. 0. 0. 1. ]] SLAMing on 33.356502481 meters Centerline goodness [0,1] 0.5554830942108959 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98805265 0.01879533 -0.1529663 2.25202392] [-0.02271981 0.999455 -0.02394831 -0.32476683] [ 0.15243281 0.02713755 0.98794119 0.09307578] [ 0. 0. 0. 1. ]] SLAMing on 33.386502481 meters Centerline goodness [0,1] 0.5904919512562058 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98800157 0.01936506 -0.15322495 2.2525036 ] [-0.02325738 0.99944971 -0.02365103 -0.32475727] [ 0.15268263 0.02693086 0.98790827 0.092972 ] [ 0. 0. 0. 1. ]] SLAMing on 33.416502481 meters Centerline goodness [0,1] 0.6235902845804134 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98791806 0.0204849 -0.15361728 2.25274954] [-0.02432847 0.99943519 -0.02318231 -0.32446802] [ 0.15305563 0.0266395 0.98785845 0.09315368] [ 0. 0. 0. 1. ]] SLAMing on 33.446502481 meters Centerline goodness [0,1] 0.6244701397075423 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98788398 0.0206677 -0.15381187 2.25313985] [-0.02451239 0.99943164 -0.0231416 -0.32413029] [ 0.15324617 0.02663151 0.98782912 0.09312094] [ 0. 0. 0. 1. ]] SLAMing on 33.476502481 meters Centerline goodness [0,1] 0.5995943103275568 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98787098 0.02089966 -0.153864 2.25341426] [-0.02470864 0.99943273 -0.02288474 -0.32384748] [ 0.15329843 0.02640894 0.98782699 0.09301582] [ 0. 0. 0. 1. ]] SLAMing on 33.506502481 meters Centerline goodness [0,1] 0.5949731149180943 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.09 [[ 0.98785843 0.02073918 -0.15396627 2.25310202] [-0.02450653 0.99944393 -0.02261107 -0.32497302] [ 0.15341171 0.02610971 0.98781736 0.09382317] [ 0. 0. 0. 1. ]] SLAMing on 33.536502481 meters Centerline goodness [0,1] 0.568057575605597 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.10 [[ 0.98798859 0.01614724 -0.15368086 2.25070877] [-0.02039285 0.99945157 -0.0260899 -0.32754721] [ 0.1531753 0.02891051 0.98777604 0.09584162] [ 0. 0. 0. 1. ]] SLAMing on 33.566502481 meters Centerline goodness [0,1] 0.5524939662107804 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.33, Z:0.10 [[ 0.98792306 0.01529813 -0.15418817 2.25235524] [-0.01957388 0.99946374 -0.02625081 -0.3290542 ] [ 0.1537039 0.02895184 0.98769272 0.09546753] [ 0. 0. 0. 1. ]] SLAMing on 33.596502481 meters Centerline goodness [0,1] 0.5475767063243582 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98781272 0.01815277 -0.15458494 2.2551061 ] [-0.02200572 0.99948747 -0.02324978 -0.33037283] [ 0.15408366 0.02636818 0.9877059 0.09403506] [ 0. 0. 0. 1. ]] SLAMing on 33.626502481 meters Centerline goodness [0,1] 0.537648909867386 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98768548 0.02189943 -0.15491229 2.25829868] [-0.02519999 0.99949467 -0.01937415 -0.33084199] [ 0.15440972 0.02303935 0.98773824 0.09208338] [ 0. 0. 0. 1. ]] SLAMing on 33.656502481 meters Centerline goodness [0,1] 0.537648909867386 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98768548 0.02189943 -0.15491229 2.25829868] [-0.02519999 0.99949467 -0.01937415 -0.33084199] [ 0.15440972 0.02303935 0.98773824 0.09208338] [ 0. 0. 0. 1. ]] SLAMing on 33.686502481 meters Centerline goodness [0,1] 0.5447841411894108 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98768887 0.02187826 -0.15489361 2.25865599] [-0.02519347 0.99949293 -0.01947241 -0.33045727] [ 0.15438904 0.02313499 0.98773923 0.09166053] [ 0. 0. 0. 1. ]] SLAMing on 33.716502481 meters Centerline goodness [0,1] 0.5417146288974526 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98777819 0.01997702 -0.15458058 2.25715446] [-0.02349118 0.99950471 -0.02094018 -0.33005832] [ 0.1540857 0.02431553 0.98775825 0.09279116] [ 0. 0. 0. 1. ]] SLAMing on 33.746502481 meters Centerline goodness [0,1] 0.5418646526284199 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98783386 0.02024425 -0.15418961 2.25583906] [-0.02373375 0.99950141 -0.020824 -0.32884102] [ 0.15369116 0.02423015 0.98782181 0.09345227] [ 0. 0. 0. 1. ]] SLAMing on 33.776502481 meters Centerline goodness [0,1] 0.5448320509947462 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.33, Z:0.09 [[ 0.98785737 0.02044371 -0.15401258 2.25559003] [-0.02394586 0.99949438 -0.02091856 -0.327182 ] [ 0.15350706 0.02435252 0.98784743 0.09335124] [ 0. 0. 0. 1. ]] SLAMing on 33.806502481 meters Centerline goodness [0,1] 0.5480612093299658 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98787128 0.02058918 -0.15390394 2.25514174] [-0.02412538 0.99948531 -0.0211443 -0.32493296] [ 0.15338939 0.02460084 0.98785955 0.09366856] [ 0. 0. 0. 1. ]] SLAMing on 33.836502481000004 meters Centerline goodness [0,1] 0.5477987577024921 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98784369 0.02049714 -0.15409321 2.25529543] [-0.02407233 0.99948176 -0.02137135 -0.3241939 ] [ 0.15357531 0.02482093 0.98782516 0.09387517] [ 0. 0. 0. 1. ]] SLAMing on 33.866502481 meters Centerline goodness [0,1] 0.5386702180132189 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98779993 0.01998189 -0.15444099 2.25636232] [-0.02369021 0.99947265 -0.02220803 -0.3223545 ] [ 0.15391579 0.02559583 0.98775239 0.09341026] [ 0. 0. 0. 1. ]] SLAMing on 33.896502481 meters Centerline goodness [0,1] 0.537473233404711 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98776038 0.01965157 -0.15473606 2.25724473] [-0.02341858 0.99947118 -0.0225595 -0.3216594 ] [ 0.15421091 0.02590708 0.98769824 0.09316742] [ 0. 0. 0. 1. ]] SLAMing on 33.926502481 meters Centerline goodness [0,1] 0.5339877481732969 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98775488 0.01937276 -0.15480632 2.25745631] [-0.02317148 0.99947213 -0.02277176 -0.32072969] [ 0.15428345 0.02608001 0.98768236 0.09322471] [ 0. 0. 0. 1. ]] SLAMing on 33.956502481 meters Centerline goodness [0,1] 0.5459990181639667 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98777971 0.01953362 -0.15462756 2.25674915] [-0.02328918 0.99947524 -0.02251346 -0.3205262 ] [ 0.15410665 0.02583949 0.98771629 0.09372962] [ 0. 0. 0. 1. ]] SLAMing on 33.986502481 meters Centerline goodness [0,1] 0.53664163353458 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.10 [[ 0.98790624 0.01929166 -0.15384766 2.25435667] [-0.02296784 0.99949073 -0.0221533 -0.32091795] [ 0.15334193 0.02541893 0.98784621 0.09516245] [ 0. 0. 0. 1. ]] SLAMing on 34.016502481 meters Centerline goodness [0,1] 0.5320688978309942 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.10 [[ 0.98795035 0.01934874 -0.15355696 2.25277736] [-0.02295712 0.99949961 -0.02176026 -0.32120676] [ 0.15305909 0.02502328 0.98790017 0.09653601] [ 0. 0. 0. 1. ]] SLAMing on 34.046502481 meters Centerline goodness [0,1] 0.531455008322726 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.10 [[ 0.9879378 0.01936925 -0.15363504 2.25310306] [-0.02299145 0.99949719 -0.02183495 -0.3205899 ] [ 0.15313486 0.02510387 0.98788638 0.09635423] [ 0. 0. 0. 1. ]] SLAMing on 34.076502481 meters Centerline goodness [0,1] 0.5299381433216792 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.32, Z:0.10 [[ 0.98790453 0.01910086 -0.15388239 2.25471504] [-0.022817 0.99948825 -0.02241926 -0.31887611] [ 0.15337541 0.02565922 0.9878348 0.09506821] [ 0. 0. 0. 1. ]] SLAMing on 34.106502481 meters Centerline goodness [0,1] 0.5303096805657157 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98788987 0.01900203 -0.15398874 2.25571238] [-0.02278362 0.99947971 -0.02283003 -0.31728894] [ 0.1534748 0.02606198 0.98780882 0.09417876] [ 0. 0. 0. 1. ]] SLAMing on 34.136502481 meters Centerline goodness [0,1] 0.5315521010444498 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.32, Z:0.09 [[ 0.98788063 0.0226802 -0.15354959 2.25522575] [-0.026015 0.99946656 -0.01974357 -0.31529918] [ 0.15301989 0.02349888 0.98794368 0.09415686] [ 0. 0. 0. 1. ]] SLAMing on 34.166502481 meters Centerline goodness [0,1] 0.5415221977062774 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.10 [[ 0.98791225 0.02284512 -0.15332154 2.25367366] [-0.02619451 0.99945955 -0.0198609 -0.31423957] [ 0.15278495 0.02363701 0.98797675 0.09532515] [ 0. 0. 0. 1. ]] SLAMing on 34.196502481 meters Centerline goodness [0,1] 0.5479541655563361 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.31, Z:0.10 [[ 0.98857178 0.02727962 -0.1482621 2.26064786] [-0.03169441 0.99911933 -0.0274959 -0.31188093] [ 0.14738145 0.03188075 0.98856579 0.095327 ] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters Centerline goodness [0,1] 0.5555018371688261 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.31, Z:0.10 [[ 0.98858417 0.02760573 -0.14811911 2.25985866] [-0.03207081 0.99909775 -0.0278416 -0.30950319] [ 0.14721688 0.03227407 0.98857755 0.09580248] [ 0. 0. 0. 1. ]] SLAMing on 34.256502481 meters Centerline goodness [0,1] 0.5793300379133273 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.31, Z:0.09 [[ 0.98828532 0.03577293 -0.14836586 2.26185128] [-0.03933018 0.99900323 -0.02111105 -0.30652269] [ 0.14746277 0.026699 0.98870718 0.09482154] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters Centerline goodness [0,1] 0.5984188023980701 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.30, Z:0.09 [[ 0.98785738 0.04327907 -0.1492137 2.26637427] [-0.04600353 0.99883083 -0.01485423 -0.30384815] [ 0.14839637 0.02153822 0.98869339 0.0925283 ] [ 0. 0. 0. 1. ]] SLAMing on 34.316502481 meters Centerline goodness [0,1] 0.5874591396053542 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.30, Z:0.09 [[ 0.98783293 0.04289869 -0.14948511 2.26763021] [-0.04574393 0.99883066 -0.01564596 -0.30206429] [ 0.14863912 0.02229363 0.98864018 0.09169604] [ 0. 0. 0. 1. ]] SLAMing on 34.346502481 meters Centerline goodness [0,1] 0.5972494618512318 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.30, Z:0.09 [[ 0.98797989 0.03997642 -0.14932386 2.2656158 ] [-0.04327744 0.9988839 -0.01892156 -0.29848299] [ 0.14840079 0.02515647 0.98860728 0.09313327] [ 0. 0. 0. 1. ]] SLAMing on 34.376502481 meters Centerline goodness [0,1] 0.5941811423261134 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:0.09 [[ 0.98797334 0.03974778 -0.14942823 2.2649434 ] [-0.04308078 0.99888836 -0.01913334 -0.29793253] [ 0.14850162 0.02534071 0.98858744 0.09414446] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters Centerline goodness [0,1] 0.5886987037169662 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:0.09 [[ 0.98799712 0.03960497 -0.14930889 2.26420099] [-0.04294874 0.99889207 -0.01923628 -0.29748632] [ 0.14838161 0.02541802 0.98860347 0.09477686] [ 0. 0. 0. 1. ]] SLAMing on 34.436502481 meters Centerline goodness [0,1] 0.5791481999383784 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.30, Z:0.09 [[ 0.9880277 0.03902029 -0.14926043 2.26457975] [-0.04245018 0.99890115 -0.01986157 -0.29514508] [ 0.14832141 0.02595992 0.98859842 0.09453971] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters Centerline goodness [0,1] 0.5723557977022385 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98801619 0.03847729 -0.14947743 2.26660343] [-0.042015 0.99890499 -0.02058066 -0.29295118] [ 0.14852186 0.02661432 0.98855093 0.09299157] [ 0. 0. 0. 1. ]] SLAMing on 34.496502481 meters Centerline goodness [0,1] 0.5670073754357673 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98796885 0.03799113 -0.14991408 2.2677458 ] [-0.04159609 0.99891413 -0.0209838 -0.29299179] [ 0.14895409 0.02696718 0.98847633 0.09269326] [ 0. 0. 0. 1. ]] SLAMing on 34.526502481 meters Centerline goodness [0,1] 0.5590409826384788 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98792277 0.03737222 -0.15037257 2.26889549] [-0.04107081 0.99892349 -0.0215651 -0.29224976] [ 0.14940476 0.02748058 0.98839417 0.09248636] [ 0. 0. 0. 1. ]] SLAMing on 34.556502481 meters Centerline goodness [0,1] 0.5590556746695567 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98793677 0.03731607 -0.15029452 2.26898972] [-0.04104124 0.99892048 -0.02175969 -0.29119379] [ 0.14932029 0.02766547 0.98840178 0.09226285] [ 0. 0. 0. 1. ]] SLAMing on 34.586502481000004 meters Centerline goodness [0,1] 0.5507938374691286 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98795897 0.03709693 -0.15020285 2.26883203] [-0.04083771 0.99892584 -0.02189638 -0.28968192] [ 0.14922922 0.02776667 0.98841269 0.09257881] [ 0. 0. 0. 1. ]] SLAMing on 34.616502481 meters Centerline goodness [0,1] 0.5449169248099127 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98798962 0.03696184 -0.15003441 2.26824691] [-0.04070326 0.99893032 -0.02194229 -0.28923065] [ 0.14906289 0.02778565 0.98843726 0.0929773 ] [ 0. 0. 0. 1. ]] SLAMing on 34.646502481 meters Centerline goodness [0,1] 0.5529387050091032 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98810022 0.03594774 -0.14955174 2.26713411] [-0.03974403 0.99895715 -0.02247272 -0.28812505] [ 0.14858794 0.02814909 0.98849848 0.09375113] [ 0. 0. 0. 1. ]] SLAMing on 34.676502481 meters Centerline goodness [0,1] 0.5455354216416164 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98811177 0.03524847 -0.14964181 2.26698626] [-0.03909188 0.99897501 -0.02281984 -0.28824796] [ 0.14868407 0.02839833 0.9884769 0.09427498] [ 0. 0. 0. 1. ]] SLAMing on 34.706502481 meters Centerline goodness [0,1] 0.5488336324019483 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98822101 0.0299633 -0.1500714 2.26746619] [-0.03447879 0.99902487 -0.02757746 -0.28679047] [ 0.14909875 0.03242691 0.98829047 0.09453312] [ 0. 0. 0. 1. ]] SLAMing on 34.736502481 meters Centerline goodness [0,1] 0.5461073669532884 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.09 [[ 0.98819978 0.02957428 -0.15028823 2.26830461] [-0.03414937 0.99902576 -0.02795255 -0.28597296] [ 0.14931514 0.03275495 0.98824698 0.09416033] [ 0. 0. 0. 1. ]] SLAMing on 34.766502481 meters Centerline goodness [0,1] 0.5409571276939407 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.28, Z:0.09 [[ 0.98803053 0.03243814 -0.15080925 2.27122712] [-0.0366804 0.99900336 -0.02543306 -0.28310606] [ 0.14983395 0.03066038 0.98823566 0.09288296] [ 0. 0. 0. 1. ]] SLAMing on 34.796502481 meters Centerline goodness [0,1] 0.543670784164884 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.28, Z:0.09 [[ 0.98784513 0.03581066 -0.15126002 2.27257856] [-0.03967997 0.99895594 -0.0226391 -0.28073171] [ 0.15029138 0.02836592 0.98823473 0.09289929] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters Centerline goodness [0,1] 0.5419381576220845 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.28, Z:0.09 [[ 0.98786492 0.03567429 -0.15116297 2.27233749] [-0.03962 0.99894614 -0.02317042 -0.27873177] [ 0.15017708 0.02887832 0.98823726 0.09300143] [ 0. 0. 0. 1. ]] SLAMing on 34.856502481 meters Centerline goodness [0,1] 0.5498596475081681 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.28, Z:0.09 [[ 0.98791822 0.03603272 -0.15072903 2.2709509 ] [-0.03998668 0.99892891 -0.02328315 -0.27513678] [ 0.14972863 0.029029 0.98830089 0.0937764 ] [ 0. 0. 0. 1. ]] SLAMing on 34.886502481 meters Centerline goodness [0,1] 0.5500057227881423 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.27, Z:0.09 [[ 0.98793901 0.03590656 -0.1506228 2.27065326] [-0.0399411 0.99891746 -0.02384557 -0.27163954] [ 0.14960354 0.02957401 0.98830368 0.09415043] [ 0. 0. 0. 1. ]] SLAMing on 34.916502481 meters Centerline goodness [0,1] 0.5482058427171603 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.27, Z:0.09 [[ 0.98793758 0.03587287 -0.15064021 2.27078177] [-0.03995517 0.99890935 -0.02415997 -0.27000002] [ 0.14960922 0.0298874 0.98829339 0.09409183] [ 0. 0. 0. 1. ]] SLAMing on 34.946502481 meters Centerline goodness [0,1] 0.5490571194315387 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.27, Z:0.09 [[ 0.98795104 0.03573263 -0.15058528 2.27117107] [-0.03987747 0.99890184 -0.02459471 -0.26795387] [ 0.14954108 0.03030333 0.98829104 0.09365476] [ 0. 0. 0. 1. ]] SLAMing on 34.976502481 meters Centerline goodness [0,1] 0.5440996602491506 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.27, Z:0.09 [[ 0.98778093 0.0385652 -0.15100184 2.2731651 ] [-0.04237045 0.99885833 -0.02206304 -0.26529996] [ 0.14997858 0.02819147 0.98828724 0.09318905] [ 0. 0. 0. 1. ]] SLAMing on 35.006502481 meters Centerline goodness [0,1] 0.5433697101154568 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.26, Z:0.09 [[ 0.98775871 0.03796117 -0.15129995 2.27386421] [-0.04196298 0.99884642 -0.02334379 -0.26108132] [ 0.15023926 0.02940703 0.98821222 0.09315951] [ 0. 0. 0. 1. ]] SLAMing on 35.036502481 meters Centerline goodness [0,1] 0.5450738472622478 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.26, Z:0.09 [[ 0.98775951 0.03758415 -0.15138885 2.27415984] [-0.04171415 0.99883654 -0.02419684 -0.25826027] [ 0.1503033 0.03021572 0.98817808 0.09313494] [ 0. 0. 0. 1. ]] SLAMing on 35.066502481 meters Centerline goodness [0,1] 0.5480344473695953 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.25, Z:0.09 [[ 0.98776647 0.03846514 -0.15112195 2.27311477] [-0.04261539 0.99879551 -0.02431975 -0.25261755] [ 0.15000446 0.03046235 0.98821592 0.093838 ] [ 0. 0. 0. 1. ]] SLAMing on 35.096502481 meters Centerline goodness [0,1] 0.5502381694341807 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.25, Z:0.09 [[ 0.98775817 0.0382247 -0.15123712 2.27354161] [-0.04249754 0.99878071 -0.0251208 -0.24994434] [ 0.15009248 0.03124048 0.98817826 0.09366514] [ 0. 0. 0. 1. ]] SLAMing on 35.126502481 meters Centerline goodness [0,1] 0.5391396801488504 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.25, Z:0.09 [[ 0.9877431 0.03806936 -0.15137468 2.27395261] [-0.04244615 0.99876591 -0.02578705 -0.24715176] [ 0.15020618 0.03189625 0.98814004 0.09358128] [ 0. 0. 0. 1. ]] SLAMing on 35.156502481 meters Centerline goodness [0,1] 0.5634465325859985 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.24, Z:0.09 [[ 0.98766487 0.04185914 -0.15088377 2.27425599] [-0.04584045 0.99868386 -0.02300419 -0.2417862 ] [ 0.14972226 0.02963701 0.98828381 0.09294951] [ 0. 0. 0. 1. ]] SLAMing on 35.186502481 meters Centerline goodness [0,1] 0.5549044474570342 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.24, Z:0.09 [[ 0.98752291 0.04517674 -0.15085612 2.27523907] [-0.04880436 0.9985994 -0.02042977 -0.23847056] [ 0.14972188 0.02753731 0.9883446 0.09252072] [ 0. 0. 0. 1. ]] SLAMing on 35.216502481 meters Centerline goodness [0,1] 0.5679314565483475 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.24, Z:0.09 [[ 0.98751092 0.0448338 -0.15103677 2.27553163] [-0.04855754 0.99859844 -0.02105535 -0.23704529] [ 0.14988109 0.02812636 0.98830388 0.09263359] [ 0. 0. 0. 1. ]] SLAMing on 35.246502481 meters Centerline goodness [0,1] 0.5658693712320717 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.23, Z:0.09 [[ 0.98758133 0.04521923 -0.15046042 2.27410662] [-0.04898495 0.99856992 -0.02141464 -0.23224441] [ 0.1492769 0.028519 0.98838407 0.09315104] [ 0. 0. 0. 1. ]] SLAMing on 35.276502481 meters Centerline goodness [0,1] 0.5660188904570622 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.23, Z:0.09 [[ 0.98761236 0.04591569 -0.15004525 2.27311345] [-0.04964062 0.99854269 -0.021173 -0.22891664] [ 0.14885441 0.02835905 0.98845239 0.09357252] [ 0. 0. 0. 1. ]] SLAMing on 35.306502481 meters Centerline goodness [0,1] 0.582031757019859 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.23, Z:0.09 [[ 0.98744987 0.04968968 -0.14991226 2.27340243] [-0.05305397 0.99841982 -0.01852403 -0.22547558] [ 0.14875492 0.02624499 0.98852576 0.0934769 ] [ 0. 0. 0. 1. ]] SLAMing on 35.336502481 meters Centerline goodness [0,1] 0.5748801658245887 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.9874471 0.04951324 -0.1499889 2.27371197] [-0.05297069 0.99841258 -0.0191422 -0.22348292] [ 0.14880301 0.02684693 0.98850235 0.09335218] [ 0. 0. 0. 1. ]] SLAMing on 35.366502481 meters Centerline goodness [0,1] 0.6051049102314514 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.9874368 0.04936288 -0.15010622 2.27392208] [-0.05295906 0.99839532 -0.02005287 -0.2207507 ] [ 0.14887548 0.02775042 0.98846649 0.09339562] [ 0. 0. 0. 1. ]] SLAMing on 35.396502481 meters Centerline goodness [0,1] 0.6076006831103137 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.98742655 0.04934478 -0.15017953 2.27396948] [-0.05305496 0.99837501 -0.02079698 -0.21861554] [ 0.14890927 0.02850326 0.98843998 0.09345484] [ 0. 0. 0. 1. ]] SLAMing on 35.426502481 meters Centerline goodness [0,1] 0.5800467047223663 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.98742447 0.04937867 -0.15018212 2.27387432] [-0.05313411 0.99836456 -0.02109444 -0.21717653] [ 0.14889489 0.02880896 0.98843328 0.09356775] [ 0. 0. 0. 1. ]] SLAMing on 35.456502481 meters Centerline goodness [0,1] 0.5963092118087894 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.9874464 0.0497752 -0.14990679 2.27369581] [-0.05352558 0.99834383 -0.02108562 -0.21511308] [ 0.14860898 0.02884477 0.98847527 0.09336298] [ 0. 0. 0. 1. ]] SLAMing on 35.486502481 meters Centerline goodness [0,1] 0.617496419115413 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.21, Z:0.09 [[ 0.98745656 0.04973634 -0.14985275 2.2738846 ] [-0.05349848 0.99834334 -0.02117734 -0.21464489] [ 0.14855121 0.02892859 0.9884815 0.09311078] [ 0. 0. 0. 1. ]] SLAMing on 35.516502481 meters Centerline goodness [0,1] 0.6039239464680151 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.21, Z:0.09 [[ 0.98751614 0.04913325 -0.14965897 2.2739577 ] [-0.05292765 0.99836742 -0.02147463 -0.21481822] [ 0.14835952 0.02912764 0.98850444 0.09280419] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters Centerline goodness [0,1] 0.6039239464680151 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.21, Z:0.09 [[ 0.98751614 0.04913325 -0.14965897 2.2739577 ] [-0.05292765 0.99836742 -0.02147463 -0.21481822] [ 0.14835952 0.02912764 0.98850444 0.09280419] [ 0. 0. 0. 1. ]] SLAMing on 35.576502481 meters Centerline goodness [0,1] 0.5830785576443549 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:0.09 [[ 0.9875241 0.04882301 -0.14970793 2.27418819] [-0.05261299 0.9983844 -0.02145819 -0.21577921] [ 0.14841841 0.02906706 0.98849739 0.09271154] [ 0. 0. 0. 1. ]] SLAMing on 35.606502481 meters Centerline goodness [0,1] 0.5993274029073552 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98769795 0.04453226 -0.14989875 2.27517793] [-0.04881904 0.99849375 -0.0250388 -0.21689281] [ 0.14855793 0.03204869 0.98838425 0.09167753] [ 0. 0. 0. 1. ]] SLAMing on 35.636502481 meters Centerline goodness [0,1] 0.5914545493999956 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98769326 0.04430435 -0.14999715 2.2759248 ] [-0.04856558 0.99851047 -0.02486408 -0.21834377] [ 0.14867214 0.03184278 0.98837373 0.09110524] [ 0. 0. 0. 1. ]] SLAMing on 35.666502481 meters Centerline goodness [0,1] 0.5812845394021148 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98772211 0.04382259 -0.14994873 2.27636589] [-0.04800839 0.99854867 -0.02440806 -0.22122601] [ 0.14866149 0.03130717 0.98839244 0.09068885] [ 0. 0. 0. 1. ]] SLAMing on 35.696502481 meters Centerline goodness [0,1] 0.5723323767284112 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98771896 0.04376857 -0.14998526 2.27667344] [-0.04789689 0.99856338 -0.0240222 -0.22282391] [ 0.14871837 0.03091101 0.98839636 0.0904967 ] [ 0. 0. 0. 1. ]] SLAMing on 35.726502481 meters Centerline goodness [0,1] 0.5671359666275584 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9877419 0.04322205 -0.14999266 2.27687202] [-0.04730041 0.99859883 -0.02372853 -0.22548212] [ 0.1487569 0.03053238 0.98840233 0.09047185] [ 0. 0. 0. 1. ]] SLAMing on 35.756502481 meters Centerline goodness [0,1] 0.5647153481494368 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9877539 0.0430691 -0.14995762 2.27668951] [-0.04711709 0.99861184 -0.02354521 -0.226894 ] [ 0.14873538 0.03032244 0.98841203 0.09064551] [ 0. 0. 0. 1. ]] SLAMing on 35.786502481 meters Centerline goodness [0,1] 0.5625243643608957 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98779287 0.04288146 -0.14975457 2.2763436 ] [-0.04690806 0.99862372 -0.02345841 -0.2280457 ] [ 0.14854254 0.03019675 0.98844487 0.09064163] [ 0. 0. 0. 1. ]] SLAMing on 35.816502481 meters Centerline goodness [0,1] 0.5585501657386744 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98776953 0.0430223 -0.14986804 2.27705806] [-0.04705338 0.99861697 -0.02345461 -0.22799148] [ 0.14865169 0.03021955 0.98842777 0.09009488] [ 0. 0. 0. 1. ]] SLAMing on 35.846502481 meters Centerline goodness [0,1] 0.5637345244032003 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98773099 0.04306414 -0.15010983 2.27770151] [-0.04711551 0.99861212 -0.02353659 -0.2280173 ] [ 0.14888791 0.03032032 0.98838913 0.08990342] [ 0. 0. 0. 1. ]] SLAMing on 35.876502481 meters Centerline goodness [0,1] 0.5716545328479805 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9876829 0.04307802 -0.15042197 2.27877756] [-0.04715328 0.99860813 -0.02362968 -0.22825801] [ 0.14919468 0.03043152 0.98833945 0.08932927] [ 0. 0. 0. 1. ]] SLAMing on 35.906502481 meters Centerline goodness [0,1] 0.5633235090152566 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98767981 0.04321496 -0.15040302 2.27885114] [-0.04727442 0.99860502 -0.02351887 -0.22818007] [ 0.14917684 0.03033932 0.98834498 0.08925546] [ 0. 0. 0. 1. ]] SLAMing on 35.936502481 meters Centerline goodness [0,1] 0.5706217134448508 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98774255 0.04360088 -0.14987865 2.27764729] [-0.04759783 0.99859751 -0.02318326 -0.22767705] [ 0.14865763 0.03003299 0.98843256 0.0896758 ] [ 0. 0. 0. 1. ]] SLAMing on 35.966502481 meters Centerline goodness [0,1] 0.5707291711797582 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98775723 0.04379812 -0.14972435 2.27693935] [-0.04776809 0.99859314 -0.02302076 -0.22764906] [ 0.14850545 0.02989097 0.98845974 0.0901798 ] [ 0. 0. 0. 1. ]] SLAMing on 35.996502481 meters Centerline goodness [0,1] 0.5772753849152212 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98775844 0.04380882 -0.14971321 2.27586751] [-0.0477666 0.99859504 -0.02294115 -0.2283416 ] [ 0.14849785 0.0298116 0.98846328 0.09138896] [ 0. 0. 0. 1. ]] SLAMing on 36.026502481 meters Centerline goodness [0,1] 0.5699127308949956 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98774703 0.04372518 -0.14981296 2.27601349] [-0.04769163 0.99859762 -0.02298471 -0.22858028] [ 0.14859785 0.02984791 0.98844716 0.09150609] [ 0. 0. 0. 1. ]] SLAMing on 36.056502481 meters Centerline goodness [0,1] 0.5690738173626755 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9877047 0.04372117 -0.15009295 2.27698669] [-0.04770667 0.99859529 -0.02305474 -0.22834645] [ 0.14887413 0.02993171 0.98840305 0.09108826] [ 0. 0. 0. 1. ]] SLAMing on 36.086502481 meters Centerline goodness [0,1] 0.57016687281644 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98766966 0.04334652 -0.15043179 2.27883642] [-0.04739424 0.99860154 -0.02342556 -0.22818995] [ 0.149206 0.03026631 0.98834281 0.08984893] [ 0. 0. 0. 1. ]] SLAMing on 36.116502481 meters Centerline goodness [0,1] 0.5707035655417715 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98763814 0.04292158 -0.1507602 2.27997318] [-0.04703331 0.99860945 -0.02381262 -0.22796251] [ 0.14952849 0.030609 0.98828352 0.08938063] [ 0. 0. 0. 1. ]] SLAMing on 36.146502481 meters Centerline goodness [0,1] 0.5618153025142634 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.98763842 0.04243081 -0.15089726 2.28063762] [-0.04660902 0.99861859 -0.02425928 -0.22755632] [ 0.14965947 0.03099257 0.98825174 0.08905243] [ 0. 0. 0. 1. ]] SLAMing on 36.176502481 meters Centerline goodness [0,1] 0.5594007815892315 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9876268 0.04216772 -0.15104695 2.28122146] [-0.04638901 0.99862218 -0.02453146 -0.22689855] [ 0.1498044 0.03123485 0.98822215 0.08882064] [ 0. 0. 0. 1. ]] SLAMing on 36.206502481 meters Centerline goodness [0,1] 0.5596791675699111 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:0.09 [[ 0.9876434 0.0419746 -0.15099222 2.28181329] [-0.04623073 0.99862321 -0.02478711 -0.22550668] [ 0.1497439 0.03146131 0.98822414 0.08825656] [ 0. 0. 0. 1. ]] SLAMing on 36.236502481 meters Centerline goodness [0,1] 0.5637995706944776 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98760914 0.04182537 -0.15125745 2.28271653] [-0.04611738 0.99862369 -0.02497819 -0.22487137] [ 0.15000455 0.03164428 0.98817877 0.08790522] [ 0. 0. 0. 1. ]] SLAMing on 36.266502481 meters Centerline goodness [0,1] 0.555107614279212 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98759858 0.04155385 -0.15140118 2.28404848] [-0.04589812 0.9986254 -0.02531148 -0.22378015] [ 0.15014127 0.03194661 0.98814827 0.08690684] [ 0. 0. 0. 1. ]] SLAMing on 36.296502481 meters Centerline goodness [0,1] 0.5561461361565496 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98758548 0.04140988 -0.15152604 2.28416569] [-0.04578902 0.99862499 -0.02552454 -0.22311917] [ 0.15026072 0.0321459 0.98812366 0.08710843] [ 0. 0. 0. 1. ]] SLAMing on 36.326502481 meters Centerline goodness [0,1] 0.5576948094184988 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98757548 0.04094433 -0.15171764 2.284214 ] [-0.04540902 0.99862801 -0.02607921 -0.22203907] [ 0.15044169 0.03264454 0.98807977 0.08755745] [ 0. 0. 0. 1. ]] SLAMing on 36.356502481 meters Centerline goodness [0,1] 0.552624156559849 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98755399 0.04039667 -0.15200404 2.28511692] [-0.04497815 0.99862782 -0.02682244 -0.2201647 ] [ 0.15071192 0.03332546 0.98801585 0.08727103] [ 0. 0. 0. 1. ]] SLAMing on 36.386502481 meters Centerline goodness [0,1] 0.5514075488898054 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98753974 0.04026875 -0.1521305 2.28558073] [-0.044882 0.99862704 -0.0270117 -0.21925277] [ 0.15083391 0.03350305 0.98799123 0.08714093] [ 0. 0. 0. 1. ]] SLAMing on 36.416502481 meters Centerline goodness [0,1] 0.5494845807345807 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98753756 0.04004953 -0.15220251 2.28551439] [-0.04471007 0.99862634 -0.02732118 -0.21828935] [ 0.15089924 0.03378567 0.98797163 0.08743492] [ 0. 0. 0. 1. ]] SLAMing on 36.446502481 meters Centerline goodness [0,1] 0.5523696169660246 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:0.09 [[ 0.98776154 0.03895412 -0.15102889 2.28105571] [-0.04375285 0.99863349 -0.02858053 -0.21517899] [ 0.14970918 0.0348387 0.9881161 0.09007153] [ 0. 0. 0. 1. ]] SLAMing on 36.476502481 meters Centerline goodness [0,1] 0.5508916027234411 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:0.09 [[ 0.98784816 0.03907296 -0.15043045 2.27893973] [-0.04389752 0.99861839 -0.02888454 -0.2122709 ] [ 0.149094 0.03513706 0.98819855 0.09136862] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters Centerline goodness [0,1] 0.550500140428198 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:0.09 [[ 0.98782197 0.03898286 -0.1506257 2.27942255] [-0.0438616 0.9986107 -0.02920321 -0.21108282] [ 0.14927801 0.03545426 0.98815944 0.0913107 ] [ 0. 0. 0. 1. ]] SLAMing on 36.536502481 meters Centerline goodness [0,1] 0.5485662424098364 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:0.09 [[ 0.98765871 0.04245834 -0.15075661 2.2804805 ] [-0.04693765 0.99855213 -0.02627755 -0.20970808] [ 0.14942264 0.03302942 0.9882216 0.09095265] [ 0. 0. 0. 1. ]] SLAMing on 36.566502481 meters Centerline goodness [0,1] 0.5494894544826544 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:0.09 [[ 0.98745778 0.0460948 -0.15100465 2.28200481] [-0.0501323 0.99847683 -0.0230386 -0.20904821] [ 0.14971269 0.03031986 0.98826455 0.09036693] [ 0. 0. 0. 1. ]] SLAMing on 36.596502481 meters Centerline goodness [0,1] 0.5465990066940185 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:0.09 [[ 0.98723909 0.05029212 -0.15109492 2.28367414] [-0.05389512 0.99834941 -0.01984362 -0.20600237] [ 0.14984754 0.02773367 0.98832007 0.08931845] [ 0. 0. 0. 1. ]] SLAMing on 36.626502481 meters Centerline goodness [0,1] 0.5457158914058446 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.20, Z:0.09 [[ 0.98721158 0.05029382 -0.151274 2.28451386] [-0.053971 0.99833616 -0.02029867 -0.20409264] [ 0.15000141 0.02820349 0.98828343 0.08886756] [ 0. 0. 0. 1. ]] SLAMing on 36.656502481 meters Centerline goodness [0,1] 0.5487730990608906 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98712908 0.05032782 -0.15180016 2.28509028] [-0.05413007 0.99831267 -0.02101757 -0.20248253] [ 0.15048626 0.028964 0.98818772 0.08925634] [ 0. 0. 0. 1. ]] SLAMing on 36.686502481 meters Centerline goodness [0,1] 0.5729529663860089 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98709246 0.05036492 -0.15202579 2.28505232] [-0.0542225 0.99830095 -0.02133372 -0.201835 ] [ 0.15069302 0.02930158 0.98814626 0.08975774] [ 0. 0. 0. 1. ]] SLAMing on 36.716502481 meters Centerline goodness [0,1] 0.5799731764298693 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.20, Z:0.09 [[ 0.98701145 0.05201998 -0.15199448 2.2831085 ] [-0.05580229 0.99822676 -0.02072289 -0.19887314] [ 0.15064695 0.02893537 0.98816408 0.09179875] [ 0. 0. 0. 1. ]] SLAMing on 36.746502481 meters Centerline goodness [0,1] 0.6168056695907697 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.20, Z:0.09 [[ 0.98675422 0.05707057 -0.15185211 2.28302698] [-0.06034799 0.99803162 -0.01705869 -0.1957166 ] [ 0.15057965 0.02599671 0.98825601 0.09222121] [ 0. 0. 0. 1. ]] SLAMing on 36.776502481 meters Centerline goodness [0,1] 0.6294275569411969 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:0.09 [[ 0.98670433 0.05787946 -0.1518701 2.28376183] [-0.06113247 0.99798768 -0.01683468 -0.19340068] [ 0.15059011 0.02589505 0.98825708 0.0916843 ] [ 0. 0. 0. 1. ]] SLAMing on 36.806502481 meters Centerline goodness [0,1] 0.5996798130800683 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98653179 0.05852251 -0.15274206 2.28620573] [-0.06184616 0.99793926 -0.01709611 -0.19136 ] [ 0.15142679 0.02631236 0.9881182 0.09079972] [ 0. 0. 0. 1. ]] SLAMing on 36.836502481 meters Centerline goodness [0,1] 0.6553515760304814 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98646457 0.05819784 -0.15329925 2.28746694] [-0.06159317 0.9979481 -0.01748909 -0.19142583] [ 0.15196687 0.02669455 0.98802504 0.09060959] [ 0. 0. 0. 1. ]] SLAMing on 36.866502481 meters Centerline goodness [0,1] 0.6024639944473364 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98639374 0.05791926 -0.15385949 2.28800253] [-0.06139146 0.99795309 -0.01790887 -0.191569 ] [ 0.15250728 0.02711086 0.98793043 0.09110599] [ 0. 0. 0. 1. ]] SLAMing on 36.896502481 meters Centerline goodness [0,1] 0.6009280742459397 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98638979 0.05780284 -0.15392858 2.28832511] [-0.06132837 0.99795077 -0.01825057 -0.19007098] [ 0.15255821 0.02744237 0.98791341 0.09098703] [ 0. 0. 0. 1. ]] SLAMing on 36.926502481 meters Centerline goodness [0,1] 0.5944518976933397 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98641077 0.05802343 -0.15371103 2.28891505] [-0.0615475 0.99793704 -0.01826409 -0.18754735] [ 0.15233418 0.02747642 0.98794703 0.09028863] [ 0. 0. 0. 1. ]] SLAMing on 36.956502481 meters Centerline goodness [0,1] 0.579260123600847 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98663192 0.05383109 -0.153817 2.28852871] [-0.05787526 0.99808286 -0.0219332 -0.18754909] [ 0.15234142 0.03054219 0.98785589 0.09054698] [ 0. 0. 0. 1. ]] SLAMing on 36.986502481 meters Centerline goodness [0,1] 0.6169359187282963 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98683558 0.04989959 -0.15383617 2.28776938] [-0.05445479 0.9981896 -0.02553803 -0.18729756] [ 0.15228333 0.03357895 0.98776629 0.09097962] [ 0. 0. 0. 1. ]] SLAMing on 37.016502481 meters Centerline goodness [0,1] 0.6031355273386888 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98686327 0.04954347 -0.15377365 2.28726531] [-0.05408377 0.99821121 -0.02548188 -0.18848021] [ 0.15223612 0.03346379 0.98777747 0.09146039] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters Centerline goodness [0,1] 0.5525788305278359 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98707269 0.0452235 -0.15376064 2.28660441] [-0.05028799 0.99830759 -0.02920732 -0.18889015] [ 0.15217956 0.03656206 0.98767636 0.09175973] [ 0. 0. 0. 1. ]] SLAMing on 37.076502481 meters Centerline goodness [0,1] 0.5819981454725811 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98706712 0.04509142 -0.15383516 2.28692955] [-0.05015486 0.99831473 -0.02919217 -0.18931673] [ 0.15225959 0.03653021 0.98766521 0.09159232] [ 0. 0. 0. 1. ]] SLAMing on 37.106502481 meters Centerline goodness [0,1] 0.5745314151370705 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98707474 0.04499942 -0.15381323 2.28786694] [-0.05004965 0.99832216 -0.02911861 -0.18944771] [ 0.15224484 0.03644054 0.98767079 0.09064959] [ 0. 0. 0. 1. ]] SLAMing on 37.136502481 meters Centerline goodness [0,1] 0.5803411615018007 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98706852 0.0448992 -0.15388243 2.28806853] [-0.0499309 0.99833188 -0.0289891 -0.19017789] [ 0.15232415 0.03629772 0.98766382 0.0905838 ] [ 0. 0. 0. 1. ]] SLAMing on 37.166502481 meters Centerline goodness [0,1] 0.5717153402836237 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98725741 0.04071011 -0.1538359 2.28753337] [-0.04623019 0.99840276 -0.03247625 -0.19111436] [ 0.15226807 0.03917428 0.98756256 0.09068927] [ 0. 0. 0. 1. ]] SLAMing on 37.196502481 meters Centerline goodness [0,1] 0.5489786243751078 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98745633 0.03646284 -0.15362442 2.28653038] [-0.0424602 0.99845154 -0.03593967 -0.19189721] [ 0.15207608 0.04201178 0.98747551 0.09107578] [ 0. 0. 0. 1. ]] SLAMing on 37.226502481 meters Centerline goodness [0,1] 0.5555986887508626 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98744635 0.03637523 -0.15370929 2.28663432] [-0.04234085 0.99846462 -0.03571636 -0.19284004] [ 0.1521741 0.04177617 0.9874704 0.09115459] [ 0. 0. 0. 1. ]] SLAMing on 37.256502481 meters Centerline goodness [0,1] 0.5503991370010788 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98742941 0.03614586 -0.15387212 2.28744125] [-0.04212456 0.99847175 -0.03577265 -0.19284557] [ 0.15234393 0.04180477 0.98744301 0.09067125] [ 0. 0. 0. 1. ]] SLAMing on 37.286502481 meters Centerline goodness [0,1] 0.542693718972588 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98740814 0.03559369 -0.15413714 2.28981388] [-0.04164188 0.998477 -0.03618891 -0.19145336] [ 0.15261429 0.04215179 0.9873865 0.08893337] [ 0. 0. 0. 1. ]] SLAMing on 37.316502481 meters Centerline goodness [0,1] 0.543890699531631 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98741947 0.03529541 -0.15413311 2.29027539] [-0.04139221 0.9984751 -0.03652608 -0.19030128] [ 0.15260887 0.04244648 0.98737472 0.08854227] [ 0. 0. 0. 1. ]] SLAMing on 37.346502481 meters Centerline goodness [0,1] 0.5397953014337536 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98751894 0.03421792 -0.15373834 2.28916979] [-0.04044841 0.99847458 -0.03758234 -0.18843008] [ 0.15221783 0.04333174 0.98739662 0.08915834] [ 0. 0. 0. 1. ]] SLAMing on 37.376502481 meters Centerline goodness [0,1] 0.5365133422425314 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.18, Z:0.09 [[ 0.9876122 0.03396722 -0.15319391 2.28673907] [-0.04027351 0.99845626 -0.0382511 -0.18498365] [ 0.15165814 0.04394691 0.98745556 0.09078024] [ 0. 0. 0. 1. ]] SLAMing on 37.406502481 meters Centerline goodness [0,1] 0.5411708812922452 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.18, Z:0.09 [[ 0.98765708 0.03383461 -0.15293368 2.28604944] [-0.04021087 0.99843787 -0.03879319 -0.1826817 ] [ 0.15138222 0.04446396 0.98747475 0.09109979] [ 0. 0. 0. 1. ]] SLAMing on 37.436502481 meters Centerline goodness [0,1] 0.5411708812922452 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.18, Z:0.09 [[ 0.98765708 0.03383461 -0.15293368 2.28604944] [-0.04021087 0.99843787 -0.03879319 -0.1826817 ] [ 0.15138222 0.04446396 0.98747475 0.09109979] [ 0. 0. 0. 1. ]] SLAMing on 37.466502481 meters Centerline goodness [0,1] 0.5408231608512477 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.18, Z:0.09 [[ 0.98774694 0.03578203 -0.15190666 2.28344933] [-0.04193008 0.99841794 -0.03746306 -0.17839442] [ 0.15032583 0.04337348 0.98768461 0.09223599] [ 0. 0. 0. 1. ]] SLAMing on 37.496502481 meters Centerline goodness [0,1] 0.5368559649463619 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.18, Z:0.09 [[ 0.98765366 0.0393665 -0.15162629 2.28344385] [-0.04503921 0.998401 -0.03416019 -0.17742666] [ 0.15003907 0.04056757 0.98784743 0.09215223] [ 0. 0. 0. 1. ]] SLAMing on 37.526502481 meters Centerline goodness [0,1] 0.5354998920319585 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.09 [[ 0.98755009 0.04284691 -0.15135706 2.28373366] [-0.04813722 0.99834512 -0.03146145 -0.17400496] [ 0.14975855 0.03835566 0.98797835 0.09192633] [ 0. 0. 0. 1. ]] SLAMing on 37.556502481 meters Centerline goodness [0,1] 0.536027663712989 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.09 [[ 0.98755584 0.04273112 -0.15135228 2.28359289] [-0.04809023 0.99833267 -0.03192498 -0.17231041] [ 0.14973573 0.03880627 0.98796421 0.09218003] [ 0. 0. 0. 1. ]] SLAMing on 37.586502481 meters Centerline goodness [0,1] 0.542304784533967 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.17, Z:0.09 [[ 0.98756001 0.04235881 -0.15142969 2.28397417] [-0.04788456 0.99830659 -0.03303047 -0.16898936] [ 0.14977413 0.03987072 0.98791601 0.09202608] [ 0. 0. 0. 1. ]] SLAMing on 37.616502481 meters Centerline goodness [0,1] 0.5413832566776792 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.09 [[ 0.98738609 0.04550102 -0.15165214 2.28649813] [-0.05069626 0.99824623 -0.03056707 -0.16661504] [ 0.14999535 0.0378697 0.98796117 0.09041393] [ 0. 0. 0. 1. ]] SLAMing on 37.646502481 meters Centerline goodness [0,1] 0.5404956180114838 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98733323 0.04538728 -0.15202992 2.28766993] [-0.05068257 0.99822933 -0.03113641 -0.1647016 ] [ 0.15034753 0.03844728 0.98788533 0.09001579] [ 0. 0. 0. 1. ]] SLAMing on 37.676502481 meters Centerline goodness [0,1] 0.5424877647364545 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98730662 0.04544118 -0.15218653 2.28807712] [-0.05081701 0.99820727 -0.03162071 -0.1628129 ] [ 0.15047682 0.038953 0.98784583 0.08999999] [ 0. 0. 0. 1. ]] SLAMing on 37.706502481 meters Centerline goodness [0,1] 0.5451518754729219 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.9870888 0.04965958 -0.15228138 2.28770296] [-0.05462021 0.99809854 -0.02856452 -0.16032356] [ 0.15057332 0.03651336 0.98792431 0.09103055] [ 0. 0. 0. 1. ]] SLAMing on 37.736502481 meters Centerline goodness [0,1] 0.5452268900306549 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98707525 0.05008376 -0.15223029 2.28729165] [-0.05506876 0.99806984 -0.02870597 -0.15832884] [ 0.15049876 0.03671809 0.98792809 0.09145167] [ 0. 0. 0. 1. ]] SLAMing on 37.766502481 meters Centerline goodness [0,1] 0.5497818668740011 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98683972 0.05418891 -0.15235134 2.28786289] [-0.05870848 0.99795397 -0.02532186 -0.15744016] [ 0.15066746 0.03393294 0.98800196 0.09159816] [ 0. 0. 0. 1. ]] SLAMing on 37.796502481 meters Centerline goodness [0,1] 0.5712586762384587 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98657153 0.05791338 -0.15271756 2.29010649] [-0.06202017 0.99782658 -0.02226223 -0.15621196] [ 0.15109636 0.03143485 0.9880191 0.09051562] [ 0. 0. 0. 1. ]] SLAMing on 37.826502481 meters Centerline goodness [0,1] 0.5742278743835971 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98655705 0.05799436 -0.15278037 2.29077436] [-0.06214535 0.99781274 -0.02253185 -0.15482651] [ 0.15113948 0.03172355 0.98800328 0.09000644] [ 0. 0. 0. 1. ]] SLAMing on 37.856502481 meters Centerline goodness [0,1] 0.5586887938113143 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.9865469 0.05794292 -0.15286542 2.29091769] [-0.06212276 0.9978102 -0.0227061 -0.1543713 ] [ 0.15121502 0.03189705 0.98798613 0.09006232] [ 0. 0. 0. 1. ]] SLAMing on 37.886502481 meters Centerline goodness [0,1] 0.5522097896055644 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98678694 0.0556628 -0.15216171 2.28749919] [-0.06010496 0.99788523 -0.02474807 -0.15356797] [ 0.15046237 0.03356675 0.98804572 0.09191245] [ 0. 0. 0. 1. ]] SLAMing on 37.916502481 meters Centerline goodness [0,1] 0.565540964454925 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98682057 0.05565278 -0.15194711 2.28693811] [-0.06005163 0.99789425 -0.0245125 -0.15409015] [ 0.15026296 0.03331411 0.98808462 0.09208508] [ 0. 0. 0. 1. ]] SLAMing on 37.946502481 meters Centerline goodness [0,1] 0.5481394996864932 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98703363 0.05120458 -0.15212729 2.28777244] [-0.05609061 0.99803301 -0.02799926 -0.15458194] [ 0.15039437 0.03616912 0.98796423 0.09132426] [ 0. 0. 0. 1. ]] SLAMing on 37.976502481 meters Centerline goodness [0,1] 0.5366823743028836 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98718156 0.04619794 -0.15276881 2.28915895] [-0.05165989 0.99815266 -0.03197702 -0.15582827] [ 0.15100932 0.03945914 0.98774448 0.09074304] [ 0. 0. 0. 1. ]] SLAMing on 38.006502481 meters Centerline goodness [0,1] 0.5354160356540176 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98718099 0.04594797 -0.1528479 2.28929396] [-0.05141255 0.99816496 -0.03199148 -0.15631531] [ 0.15109748 0.03943968 0.98773178 0.09077745] [ 0. 0. 0. 1. ]] SLAMing on 38.036502481 meters Centerline goodness [0,1] 0.5427687782511841 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98724966 0.04559447 -0.15250985 2.2884681 ] [-0.05110585 0.99816711 -0.03241321 -0.15505547] [ 0.15075245 0.03979408 0.98777028 0.09116869] [ 0. 0. 0. 1. ]] SLAMing on 38.066502481 meters Centerline goodness [0,1] 0.5483640921467778 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98724623 0.04560791 -0.15252804 2.28821704] [-0.05113702 0.99816192 -0.03252354 -0.15451992] [ 0.15076435 0.03990857 0.98776385 0.09153177] [ 0. 0. 0. 1. ]] SLAMing on 38.096502481 meters Centerline goodness [0,1] 0.5380512244633524 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98724817 0.04582585 -0.1524501 2.28784953] [-0.05135149 0.99815149 -0.03250589 -0.15434594] [ 0.15067869 0.03991992 0.98777646 0.09182223] [ 0. 0. 0. 1. ]] SLAMing on 38.126502481 meters Centerline goodness [0,1] 0.5474146320365044 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.09 [[ 0.98722107 0.04614362 -0.15252976 2.28785352] [-0.05166064 0.99813881 -0.03240503 -0.15428203] [ 0.15075059 0.03987072 0.98776748 0.09196901] [ 0. 0. 0. 1. ]] SLAMing on 38.156502481 meters Centerline goodness [0,1] 0.540061783067983 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98697719 0.0508629 -0.15260731 2.28761988] [-0.05580143 0.9980421 -0.02825175 -0.15554725] [ 0.15087155 0.03639954 0.98788301 0.09269729] [ 0. 0. 0. 1. ]] SLAMing on 38.186502481 meters Centerline goodness [0,1] 0.5605182333347754 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98694808 0.05163517 -0.1525362 2.28687711] [-0.05650733 0.99801569 -0.02777762 -0.15559083] [ 0.15079922 0.03603448 0.98790744 0.09334692] [ 0. 0. 0. 1. ]] SLAMing on 38.216502481 meters Centerline goodness [0,1] 0.5458672950943723 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.09 [[ 0.98691601 0.05427763 -0.15182467 2.28390195] [-0.05883044 0.99793829 -0.02565446 -0.15624616] [ 0.15011919 0.03425071 0.98807445 0.09495599] [ 0. 0. 0. 1. ]] SLAMing on 38.246502481 meters Centerline goodness [0,1] 0.575146880940038 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.16, Z:0.09 [[ 0.98688679 0.05477262 -0.15183682 2.28427512] [-0.05928029 0.99792026 -0.02531818 -0.15639867] [ 0.15013429 0.03398711 0.98808126 0.09458221] [ 0. 0. 0. 1. ]] SLAMing on 38.276502481 meters Centerline goodness [0,1] 0.5488146107628571 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98661268 0.05716893 -0.15273226 2.28806799] [-0.06137618 0.99785033 -0.02297148 -0.15907575] [ 0.15109068 0.03203807 0.98800059 0.0926305 ] [ 0. 0. 0. 1. ]] SLAMing on 38.306502481 meters Centerline goodness [0,1] 0.5715614589192229 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98655118 0.05710484 -0.1531529 2.28910517] [-0.06131022 0.99785662 -0.02287403 -0.16024572] [ 0.15151842 0.03195624 0.98793774 0.09235922] [ 0. 0. 0. 1. ]] SLAMing on 38.336502481 meters Centerline goodness [0,1] 0.5722198182604933 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98675324 0.0539745 -0.15298629 2.28744071] [-0.05857519 0.99795153 -0.02572336 -0.16203335] [ 0.15128449 0.03434381 0.98789347 0.09321453] [ 0. 0. 0. 1. ]] SLAMing on 38.366502481 meters Centerline goodness [0,1] 0.5828059986130374 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.16, Z:0.09 [[ 0.98674866 0.05423774 -0.15292266 2.28666919] [-0.05875653 0.99795464 -0.02518341 -0.16378257] [ 0.15124399 0.0338349 0.98791723 0.09388387] [ 0. 0. 0. 1. ]] SLAMing on 38.396502481 meters Centerline goodness [0,1] 0.5726473517820796 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.09 [[ 0.98696648 0.05059605 -0.15276522 2.28567179] [-0.05550014 0.99806578 -0.02800761 -0.16657868] [ 0.15105267 0.03612106 0.98786556 0.0941371 ] [ 0. 0. 0. 1. ]] SLAMing on 38.426502481 meters Centerline goodness [0,1] 0.5589457283822383 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.09 [[ 0.98706612 0.04729609 -0.15317818 2.28718715] [-0.05250484 0.9981658 -0.03013754 -0.17100537] [ 0.15147184 0.03779034 0.98773892 0.09293915] [ 0. 0. 0. 1. ]] SLAMing on 38.456502481 meters Centerline goodness [0,1] 0.5561808697157947 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.17, Z:0.09 [[ 0.98702619 0.04741075 -0.15339988 2.28795583] [-0.05252169 0.99818584 -0.02943642 -0.17361549] [ 0.15172599 0.03711134 0.98772566 0.09250439] [ 0. 0. 0. 1. ]] SLAMing on 38.486502481 meters Centerline goodness [0,1] 0.5566802932969956 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.18, Z:0.09 [[ 0.98711931 0.04511988 -0.15349158 2.2897473 ] [-0.05039193 0.99825971 -0.03063027 -0.17784673] [ 0.15184243 0.03797047 0.98767511 0.09073776] [ 0. 0. 0. 1. ]] SLAMing on 38.516502481 meters Centerline goodness [0,1] 0.554228855721393 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.18, Z:0.09 [[ 0.98710456 0.04509351 -0.15359415 2.28998091] [-0.050261 0.99828765 -0.0299267 -0.18094551] [ 0.15198164 0.03726058 0.98768073 0.09066669] [ 0. 0. 0. 1. ]] SLAMing on 38.546502481 meters Centerline goodness [0,1] 0.5518947413904852 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.9872864 0.04119391 -0.15352078 2.28906178] [-0.04671078 0.99837954 -0.03250223 -0.18523235] [ 0.15193311 0.03926009 0.98761074 0.09109733] [ 0. 0. 0. 1. ]] SLAMing on 38.576502481 meters Centerline goodness [0,1] 0.5579969230102494 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98728488 0.04127014 -0.15351006 2.28863618] [-0.04668059 0.99840332 -0.03180767 -0.1879655 ] [ 0.15195224 0.03856917 0.98763502 0.09149017] [ 0. 0. 0. 1. ]] SLAMing on 38.606502481 meters Centerline goodness [0,1] 0.5518697356170019 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98738521 0.03739138 -0.15385813 2.28871922] [-0.04321324 0.99846415 -0.03466936 -0.19100673] [ 0.15232549 0.04088072 0.98748454 0.0917262 ] [ 0. 0. 0. 1. ]] SLAMing on 38.636502481 meters Centerline goodness [0,1] 0.5537345745832432 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.19, Z:0.09 [[ 0.98735772 0.03749109 -0.15401023 2.28895368] [-0.04325183 0.9984778 -0.03422506 -0.19280591] [ 0.15249266 0.04045361 0.98747633 0.09175171] [ 0. 0. 0. 1. ]] SLAMing on 38.666502481 meters Centerline goodness [0,1] 0.5509409474367294 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98732504 0.03798994 -0.15409748 2.28906499] [-0.04362761 0.99849044 -0.03336869 -0.19501251] [ 0.15259719 0.03966865 0.98749202 0.09181634] [ 0. 0. 0. 1. ]] SLAMing on 38.696502481 meters Centerline goodness [0,1] 0.5529622980251346 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98731057 0.03858507 -0.15404232 2.28868262] [-0.04406515 0.99850574 -0.03231954 -0.19810268] [ 0.15256509 0.03869732 0.98753552 0.09210961] [ 0. 0. 0. 1. ]] SLAMing on 38.726502481 meters Centerline goodness [0,1] 0.5552336266730091 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98728036 0.03895623 -0.1541425 2.28848584] [-0.04434848 0.9985131 -0.03169849 -0.20005289] [ 0.15267845 0.03813129 0.98754002 0.09247267] [ 0. 0. 0. 1. ]] SLAMing on 38.756502481 meters Centerline goodness [0,1] 0.5505264066275457 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98730982 0.03958879 -0.15379224 2.28761768] [-0.04482493 0.99852215 -0.03072854 -0.20244267] [ 0.15234846 0.03723231 0.98762528 0.09276714] [ 0. 0. 0. 1. ]] SLAMing on 38.786502481 meters Centerline goodness [0,1] 0.5575588559569362 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98729435 0.0401491 -0.15374627 2.28755762] [-0.045295 0.99851968 -0.03011343 -0.20335774] [ 0.15230964 0.03669476 0.98765139 0.09274294] [ 0. 0. 0. 1. ]] SLAMing on 38.816502481 meters Centerline goodness [0,1] 0.5578157763894593 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98722663 0.04118635 -0.15390668 2.28826195] [-0.04622041 0.99850225 -0.02927332 -0.20406715] [ 0.1524705 0.03601303 0.98765166 0.09230284] [ 0. 0. 0. 1. ]] SLAMing on 38.846502481 meters Centerline goodness [0,1] 0.5593359560762613 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98718162 0.04150407 -0.15410989 2.28879293] [-0.04651175 0.99849581 -0.02903058 -0.20448153] [ 0.15267319 0.03582638 0.98762714 0.09215423] [ 0. 0. 0. 1. ]] SLAMing on 38.876502481 meters Centerline goodness [0,1] 0.5651627987530308 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.9870952 0.0420666 -0.15451041 2.28963276] [-0.04703939 0.99848154 -0.02866886 -0.20533385] [ 0.1530698 0.03556697 0.98757513 0.09196677] [ 0. 0. 0. 1. ]] SLAMing on 38.906502481 meters Centerline goodness [0,1] 0.5638178118370352 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98703518 0.04226403 -0.15483963 2.29066006] [-0.04724894 0.99847205 -0.0286549 -0.20504192] [ 0.15339197 0.03559941 0.98752397 0.09155403] [ 0. 0. 0. 1. ]] SLAMing on 38.936502481 meters Centerline goodness [0,1] 0.5707820890351637 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98681391 0.04681193 -0.15494178 2.29144534] [-0.05120398 0.99838825 -0.02447578 -0.20587544] [ 0.15354629 0.03208667 0.98762036 0.09134316] [ 0. 0. 0. 1. ]] SLAMing on 38.966502481 meters Centerline goodness [0,1] 0.5714966118940918 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.9868178 0.04705917 -0.15484205 2.29099178] [-0.0514374 0.99837836 -0.02438929 -0.20549836] [ 0.15344321 0.03203246 0.98763814 0.09163363] [ 0. 0. 0. 1. ]] SLAMing on 38.996502481 meters Centerline goodness [0,1] 0.5744188060089181 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98684228 0.04710776 -0.15467115 2.28985754] [-0.05150786 0.99837048 -0.02456271 -0.20530971] [ 0.15326202 0.0322063 0.98766062 0.09254735] [ 0. 0. 0. 1. ]] SLAMing on 39.026502481 meters Centerline goodness [0,1] 0.5762957201806123 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98681127 0.04695968 -0.15491384 2.28943488] [-0.05138574 0.99837365 -0.02468934 -0.20576632] [ 0.15350249 0.03232408 0.98761943 0.09346126] [ 0. 0. 0. 1. ]] SLAMing on 39.056502481 meters Centerline goodness [0,1] 0.5734699613031542 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.9868093 0.04646343 -0.15507598 2.2890235 ] [-0.05096208 0.99838364 -0.02515882 -0.20558439] [ 0.15365636 0.03272995 0.98758213 0.09427361] [ 0. 0. 0. 1. ]] SLAMing on 39.086502481 meters Centerline goodness [0,1] 0.5662312425779985 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98681551 0.04662054 -0.15498925 2.29030433] [-0.05110396 0.99837868 -0.02506776 -0.20392632] [ 0.15356929 0.03265782 0.98759807 0.09302073] [ 0. 0. 0. 1. ]] SLAMing on 39.116502481 meters Centerline goodness [0,1] 0.5673872200747188 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98682939 0.04660564 -0.15490537 2.29055566] [-0.05108243 0.99838037 -0.02504428 -0.20356915] [ 0.15348728 0.03262737 0.98761182 0.09263376] [ 0. 0. 0. 1. ]] SLAMing on 39.146502481 meters Centerline goodness [0,1] 0.5613467141469731 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98689185 0.04575346 -0.15476141 2.29098307] [-0.05026618 0.99841356 -0.02537075 -0.20403268] [ 0.15335509 0.03281745 0.98762606 0.09204067] [ 0. 0. 0. 1. ]] SLAMing on 39.176502481 meters Centerline goodness [0,1] 0.5550276434001382 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98708011 0.04084107 -0.154935 2.29123148] [-0.04594839 0.99850736 -0.02952616 -0.20447006] [ 0.15349786 0.0362637 0.98748334 0.09180211] [ 0. 0. 0. 1. ]] SLAMing on 39.206502481 meters Centerline goodness [0,1] 0.5593706837016574 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98709789 0.04014124 -0.15500461 2.29108156] [-0.04528359 0.99852999 -0.02978686 -0.20558723] [ 0.15358107 0.03642171 0.98746459 0.09212656] [ 0. 0. 0. 1. ]] SLAMing on 39.236502481 meters Centerline goodness [0,1] 0.551396623926089 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98719831 0.03975461 -0.15446383 2.28970067] [-0.04490086 0.99854177 -0.02997081 -0.20539149] [ 0.15304711 0.03652269 0.98754376 0.0926425 ] [ 0. 0. 0. 1. ]] SLAMing on 39.266502481 meters Centerline goodness [0,1] 0.5561453478335923 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.09 [[ 0.98721894 0.03998951 -0.15427119 2.28946071] [-0.04510368 0.99853796 -0.02979277 -0.20472103] [ 0.15285424 0.03637019 0.98757926 0.0925753 ] [ 0. 0. 0. 1. ]] SLAMing on 39.296502481 meters Centerline goodness [0,1] 0.552248477256037 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98721325 0.04031567 -0.15422273 2.28946914] [-0.04538413 0.99853439 -0.02948484 -0.20508115] [ 0.152808 0.03610709 0.98759607 0.0925056 ] [ 0. 0. 0. 1. ]] SLAMing on 39.326502481 meters Centerline goodness [0,1] 0.5563400047498759 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98720629 0.04042875 -0.15423766 2.28922774] [-0.04546813 0.99853645 -0.02928494 -0.20604928] [ 0.15282798 0.03592318 0.98759968 0.09274913] [ 0. 0. 0. 1. ]] SLAMing on 39.356502481 meters Centerline goodness [0,1] 0.5563400047498759 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98720629 0.04042875 -0.15423766 2.28922774] [-0.04546813 0.99853645 -0.02928494 -0.20604928] [ 0.15282798 0.03592318 0.98759968 0.09274913] [ 0. 0. 0. 1. ]] SLAMing on 39.386502481 meters Centerline goodness [0,1] 0.5556467108529977 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98718026 0.04084536 -0.15429447 2.2891125 ] [-0.0458198 0.99853387 -0.02882107 -0.20728348] [ 0.15289105 0.03552133 0.98760446 0.09297508] [ 0. 0. 0. 1. ]] SLAMing on 39.416502481 meters Centerline goodness [0,1] 0.5574053680551057 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98716248 0.0412763 -0.15429354 2.28929936] [-0.0462003 0.9985266 -0.02846338 -0.20750735] [ 0.15289134 0.03522639 0.98761498 0.09275015] [ 0. 0. 0. 1. ]] SLAMing on 39.446502481 meters Centerline goodness [0,1] 0.5667069904087099 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98709181 0.04241451 -0.15443697 2.28986723] [-0.04717943 0.99851279 -0.02731858 -0.20906004] [ 0.15304858 0.03425219 0.98762489 0.09249006] [ 0. 0. 0. 1. ]] SLAMing on 39.476502481 meters Centerline goodness [0,1] 0.5655771349564691 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98705014 0.04272977 -0.15461627 2.29013822] [-0.04743483 0.9985129 -0.02686868 -0.2105198 ] [ 0.15323825 0.03385493 0.98760918 0.0925124 ] [ 0. 0. 0. 1. ]] SLAMing on 39.506502481 meters Centerline goodness [0,1] 0.558374426853534 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98695002 0.04327735 -0.15510234 2.29039603] [-0.04786537 0.9985162 -0.02596732 -0.21470775] [ 0.1537484 0.03305248 0.98755707 0.09295847] [ 0. 0. 0. 1. ]] SLAMing on 39.536502481 meters Centerline goodness [0,1] 0.5625337918207574 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98691092 0.04353297 -0.1552795 2.29060184] [-0.04806097 0.99851822 -0.02552452 -0.21629738] [ 0.15393826 0.03265331 0.98754077 0.09307764] [ 0. 0. 0. 1. ]] SLAMing on 39.566502481 meters Centerline goodness [0,1] 0.5674463937621832 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98686575 0.04408674 -0.15541029 2.29120587] [-0.04853434 0.99851012 -0.02493925 -0.21755277] [ 0.15407926 0.03215443 0.98753515 0.09262265] [ 0. 0. 0. 1. ]] SLAMing on 39.596502481 meters Centerline goodness [0,1] 0.5680753210690732 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98683871 0.04440506 -0.15549131 2.29179894] [-0.04881723 0.99850299 -0.02467115 -0.21769827] [ 0.15416301 0.0319371 0.98752913 0.09217063] [ 0. 0. 0. 1. ]] SLAMing on 39.626502481 meters Centerline goodness [0,1] 0.5618060374739764 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98680498 0.0447543 -0.15560519 2.29280985] [-0.04911331 0.99849804 -0.0242805 -0.21867997] [ 0.15428482 0.0316024 0.98752088 0.09129342] [ 0. 0. 0. 1. ]] SLAMing on 39.656502481 meters Centerline goodness [0,1] 0.5631055335197347 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98696166 0.04071254 -0.15572144 2.2928718 ] [-0.0455728 0.99857501 -0.02776806 -0.21968768] [ 0.15436903 0.03450267 0.98741064 0.09104978] [ 0. 0. 0. 1. ]] SLAMing on 39.686502481 meters Centerline goodness [0,1] 0.5641109086175475 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98696555 0.04051895 -0.15574728 2.29237646] [-0.04534471 0.99859127 -0.02755611 -0.22114712] [ 0.15441132 0.03425925 0.9874125 0.09166202] [ 0. 0. 0. 1. ]] SLAMing on 39.716502481 meters Centerline goodness [0,1] 0.5567710707386425 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98716793 0.0367297 -0.15540399 2.29062094] [-0.04200246 0.99864322 -0.03078182 -0.22159169] [ 0.15406253 0.03691418 0.9873713 0.09247057] [ 0. 0. 0. 1. ]] SLAMing on 39.746502481 meters Centerline goodness [0,1] 0.5566524908869988 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98718739 0.03679274 -0.15526542 2.29033031] [-0.04201568 0.99865158 -0.03049115 -0.22221959] [ 0.1539342 0.03662406 0.98740212 0.09253804] [ 0. 0. 0. 1. ]] SLAMing on 39.776502481 meters Centerline goodness [0,1] 0.5551413213109069 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98720929 0.03680565 -0.15512305 2.29039657] [-0.04194473 0.99866985 -0.02998611 -0.22358105] [ 0.15381305 0.03610916 0.98743996 0.09232409] [ 0. 0. 0. 1. ]] SLAMing on 39.806502481 meters Centerline goodness [0,1] 0.5556422256890275 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98717604 0.03686606 -0.15532018 2.29095856] [-0.04197086 0.99867686 -0.02971503 -0.22448254] [ 0.15401919 0.03585289 0.98741717 0.09217403] [ 0. 0. 0. 1. ]] SLAMing on 39.836502481 meters Centerline goodness [0,1] 0.5523774467347999 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.987154 0.03672792 -0.15549291 2.29168631] [-0.0418062 0.9986897 -0.02951493 -0.22615419] [ 0.15420515 0.03563635 0.98739598 0.09177571] [ 0. 0. 0. 1. ]] SLAMing on 39.866502481 meters Centerline goodness [0,1] 0.5522504383970903 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98713942 0.03665122 -0.15560352 2.29218694] [-0.0417022 0.99869978 -0.02932012 -0.22773407] [ 0.15432658 0.03543205 0.98738436 0.09146281] [ 0. 0. 0. 1. ]] SLAMing on 39.896502481 meters Centerline goodness [0,1] 0.5529139445333795 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98712947 0.03693599 -0.15559931 2.29225468] [-0.04195032 0.99869684 -0.02906528 -0.22797525] [ 0.15432298 0.03521864 0.98739256 0.09138892] [ 0. 0. 0. 1. ]] SLAMing on 39.926502481 meters Centerline goodness [0,1] 0.5494241427086941 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98707493 0.0374637 -0.155819 2.29309315] [-0.04242668 0.9986888 -0.02864697 -0.22791196] [ 0.15454147 0.03488759 0.98737014 0.09098436] [ 0. 0. 0. 1. ]] SLAMing on 39.956502481 meters Centerline goodness [0,1] 0.546046511627907 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98705457 0.03778259 -0.15587095 2.29343979] [-0.04271871 0.99868229 -0.02843947 -0.22770706] [ 0.15459104 0.03472992 0.98736794 0.09075309] [ 0. 0. 0. 1. ]] SLAMing on 39.986502481 meters Centerline goodness [0,1] 0.5474067807639748 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98701047 0.03815982 -0.15605821 2.29402148] [-0.04306454 0.99867512 -0.02816822 -0.22796634] [ 0.15477656 0.0345229 0.98734613 0.09050614] [ 0. 0. 0. 1. ]] SLAMing on 40.016502481 meters Centerline goodness [0,1] 0.5496194791960278 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98699941 0.03813163 -0.15613504 2.29415973] [-0.04305368 0.9986729 -0.02826354 -0.2280592 ] [ 0.1548501 0.03461829 0.98733126 0.09050091] [ 0. 0. 0. 1. ]] SLAMing on 40.046502481 meters Centerline goodness [0,1] 0.5578538406441951 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98694683 0.03805758 -0.15648509 2.29455111] [-0.04303222 0.9986664 -0.02852468 -0.22798539] [ 0.15519082 0.03488624 0.98726833 0.09069277] [ 0. 0. 0. 1. ]] SLAMing on 40.076502481 meters Centerline goodness [0,1] 0.5440295764599052 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98694276 0.03824815 -0.15646428 2.29457422] [-0.04323126 0.99865653 -0.02856892 -0.22702776] [ 0.15516136 0.03496004 0.98727035 0.0906845 ] [ 0. 0. 0. 1. ]] SLAMing on 40.106502481 meters Centerline goodness [0,1] 0.5514223194748359 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98695211 0.03853905 -0.15633384 2.29426646] [-0.04349256 0.99865034 -0.02838822 -0.22650161] [ 0.15502878 0.03481718 0.98729623 0.0907797 ] [ 0. 0. 0. 1. ]] SLAMing on 40.136502481 meters Centerline goodness [0,1] 0.5523830155979204 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.09 [[ 0.98694512 0.03911483 -0.15623496 2.29396478] [-0.04402878 0.99863457 -0.02811513 -0.2251064 ] [ 0.15492191 0.03462692 0.98731969 0.09098801] [ 0. 0. 0. 1. ]] SLAMing on 40.166502481 meters Centerline goodness [0,1] 0.5496305259063998 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98692705 0.03917043 -0.15633515 2.29402943] [-0.0441157 0.99862586 -0.02828778 -0.22415691] [ 0.15501228 0.03481481 0.9872989 0.09114213] [ 0. 0. 0. 1. ]] SLAMing on 40.196502481 meters Centerline goodness [0,1] 0.5523902439024391 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98693462 0.03928462 -0.1562587 2.29333358] [-0.04427725 0.99860986 -0.02859835 -0.22239181] [ 0.154918 0.03514341 0.98730206 0.09174384] [ 0. 0. 0. 1. ]] SLAMing on 40.226502481 meters Centerline goodness [0,1] 0.5571573911725869 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98694872 0.03941917 -0.15613567 2.29323649] [-0.04445981 0.99859241 -0.02892272 -0.2202186 ] [ 0.15477579 0.03548701 0.98731207 0.09166753] [ 0. 0. 0. 1. ]] SLAMing on 40.256502481 meters Centerline goodness [0,1] 0.5640138408304498 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98695385 0.03936255 -0.15611752 2.29336239] [-0.04445729 0.99858222 -0.02927632 -0.21880429] [ 0.15474379 0.03583493 0.98730452 0.09154388] [ 0. 0. 0. 1. ]] SLAMing on 40.286502481 meters Centerline goodness [0,1] 0.5621600705118559 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:0.09 [[ 0.98692842 0.03943159 -0.15626081 2.29366991] [-0.04462134 0.99855812 -0.02984326 -0.2161071 ] [ 0.15485873 0.03642573 0.98726488 0.09156601] [ 0. 0. 0. 1. ]] SLAMing on 40.316502481 meters Centerline goodness [0,1] 0.5705476339874938 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.9869281 0.03962336 -0.15621434 2.2934808 ] [-0.04485202 0.99854044 -0.03008811 -0.21427785] [ 0.15479414 0.03670133 0.9872648 0.09167314] [ 0. 0. 0. 1. ]] SLAMing on 40.346502481 meters Centerline goodness [0,1] 0.5407859546199638 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.9867333 0.04333518 -0.15645914 2.2947888 ] [-0.04813649 0.99847502 -0.02702806 -0.21274059] [ 0.15504928 0.03420088 0.98731455 0.09123928] [ 0. 0. 0. 1. ]] SLAMing on 40.376502481 meters Centerline goodness [0,1] 0.5773436487012145 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.9866485 0.04316505 -0.15703983 2.29661129] [-0.04807539 0.99846222 -0.02760347 -0.21203989] [ 0.15560683 0.03478467 0.98720643 0.09040941] [ 0. 0. 0. 1. ]] SLAMing on 40.406502481 meters Centerline goodness [0,1] 0.5741809925397341 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98660657 0.04326697 -0.15727508 2.29710143] [-0.0481877 0.99845667 -0.02760836 -0.21222816] [ 0.15583782 0.03481731 0.98716885 0.09032055] [ 0. 0. 0. 1. ]] SLAMing on 40.436502481 meters Centerline goodness [0,1] 0.5762209629277155 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98660643 0.04364185 -0.15717236 2.29669872] [-0.04852303 0.99844748 -0.02735234 -0.21239232] [ 0.15573464 0.03461247 0.98719233 0.09048373] [ 0. 0. 0. 1. ]] SLAMing on 40.466502481 meters Centerline goodness [0,1] 0.5822768378694128 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98660268 0.04673023 -0.15630558 2.29417499] [-0.051193 0.99838461 -0.0246466 -0.21158679] [ 0.15490134 0.03231815 0.98740119 0.0916279 ] [ 0. 0. 0. 1. ]] SLAMing on 40.496502481 meters Centerline goodness [0,1] 0.5940178339537703 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98657654 0.04715441 -0.15634321 2.29433529] [-0.0516179 0.99836361 -0.024611 -0.21055736] [ 0.15492685 0.03235074 0.98739612 0.09154754] [ 0. 0. 0. 1. ]] SLAMing on 40.526502481 meters Centerline goodness [0,1] 0.599190195738784 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98640238 0.04805186 -0.15716669 2.29651274] [-0.05256118 0.99831319 -0.02465961 -0.20894838] [ 0.15571664 0.03258516 0.98726417 0.09070187] [ 0. 0. 0. 1. ]] SLAMing on 40.556502481 meters Centerline goodness [0,1] 0.6379201840237843 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98634511 0.04804357 -0.15752822 2.29741483] [-0.0526165 0.99830216 -0.02498613 -0.20841223] [ 0.15606034 0.03293353 0.98719833 0.0904221 ] [ 0. 0. 0. 1. ]] SLAMing on 40.586502481 meters Centerline goodness [0,1] 0.6337344173441735 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98625332 0.04805984 -0.1580969 2.29844533] [-0.05271654 0.99828664 -0.02539184 -0.20802306] [ 0.1566057 0.03337711 0.98709707 0.09034902] [ 0. 0. 0. 1. ]] SLAMing on 40.616502481 meters Centerline goodness [0,1] 0.6531268895223288 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98621809 0.04784332 -0.15838213 2.29900905] [-0.05253994 0.99829068 -0.02559818 -0.20798917] [ 0.15688671 0.03356678 0.98704601 0.09033053] [ 0. 0. 0. 1. ]] SLAMing on 40.646502481 meters Centerline goodness [0,1] 0.6256891444879251 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98626197 0.04808287 -0.15803593 2.29814416] [-0.05272 0.9982893 -0.02527985 -0.20727239] [ 0.15655005 0.03326421 0.98710971 0.09074378] [ 0. 0. 0. 1. ]] SLAMing on 40.676502481 meters Centerline goodness [0,1] 0.6115681067426647 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98626872 0.04796728 -0.15802894 2.29819417] [-0.05262636 0.99829047 -0.02542859 -0.20637949] [ 0.15653904 0.03339591 0.98710701 0.09080388] [ 0. 0. 0. 1. ]] SLAMing on 40.706502481 meters Centerline goodness [0,1] 0.6065153181122394 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98646965 0.04420687 -0.1578714 2.29687836] [-0.04936059 0.99836361 -0.02887285 -0.2059661 ] [ 0.15633668 0.03627481 0.98703748 0.09148109] [ 0. 0. 0. 1. ]] SLAMing on 40.736502481 meters Centerline goodness [0,1] 0.5993436818584166 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98664368 0.03998442 -0.15790975 2.29624687] [-0.04570772 0.99841692 -0.03277892 -0.20552714] [ 0.15634912 0.03955881 0.98690934 0.09186715] [ 0. 0. 0. 1. ]] SLAMing on 40.766502481 meters Centerline goodness [0,1] 0.5853985264567985 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98687621 0.03569659 -0.15748367 2.29489079] [-0.04190522 0.99846267 -0.03628027 -0.20580722] [ 0.15594648 0.04240352 0.98685492 0.09221494] [ 0. 0. 0. 1. ]] SLAMing on 40.796502481 meters Centerline goodness [0,1] 0.5661301154704391 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.9869584 0.03538841 -0.15703752 2.2953041 ] [-0.04152622 0.99848948 -0.03597674 -0.20612584] [ 0.15552715 0.04202872 0.98693713 0.09115587] [ 0. 0. 0. 1. ]] SLAMing on 40.826502481 meters Centerline goodness [0,1] 0.5632367201810149 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98695811 0.03514312 -0.15709443 2.29555857] [-0.0412659 0.99850361 -0.03588402 -0.20665544] [ 0.15559828 0.04189867 0.98693145 0.09115558] [ 0. 0. 0. 1. ]] SLAMing on 40.856502481 meters Centerline goodness [0,1] 0.5555243304005707 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98711606 0.03117034 -0.15694042 2.29364375] [-0.03778859 0.99851013 -0.03936416 -0.20739804] [ 0.1554796 0.04478755 0.98682327 0.09256216] [ 0. 0. 0. 1. ]] SLAMing on 40.886502481 meters Centerline goodness [0,1] 0.5689031480125748 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98704247 0.0309906 -0.15743805 2.29386612] [-0.03764107 0.99851285 -0.03943658 -0.2083954 ] [ 0.15598175 0.04485171 0.98674111 0.09333522] [ 0. 0. 0. 1. ]] SLAMing on 40.916502481 meters Centerline goodness [0,1] 0.5733619158979689 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.21, Z:0.09 [[ 0.98686786 0.03508427 -0.15767343 2.29440951] [-0.04126548 0.99849583 -0.03610048 -0.20795359] [ 0.15616971 0.04213287 0.98683121 0.09343167] [ 0. 0. 0. 1. ]] SLAMing on 40.946502481 meters Centerline goodness [0,1] 0.581033812670035 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98665697 0.03932284 -0.15799284 2.2957246 ] [-0.04501775 0.9984532 -0.03262845 -0.20675287] [ 0.15646542 0.03930557 0.98690103 0.09312571] [ 0. 0. 0. 1. ]] SLAMing on 40.976502481 meters Centerline goodness [0,1] 0.5922292416826581 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98646285 0.04375017 -0.15804103 2.29657177] [-0.04892421 0.99838152 -0.028996 -0.20581798] [ 0.15651667 0.03633551 0.98700672 0.09276033] [ 0. 0. 0. 1. ]] SLAMing on 41.006502481 meters Centerline goodness [0,1] 0.6209931403425515 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.98619995 0.04876883 -0.15821268 2.29748264] [-0.05343268 0.99824945 -0.0253573 -0.20450106] [ 0.15669908 0.03346109 0.98707941 0.09242704] [ 0. 0. 0. 1. ]] SLAMing on 41.036502481 meters Centerline goodness [0,1] 0.647435204599987 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.9861474 0.04924933 -0.15839134 2.29788048] [-0.05392633 0.99822272 -0.02536441 -0.20363179] [ 0.15686065 0.03355451 0.98705057 0.09234276] [ 0. 0. 0. 1. ]] SLAMing on 41.066502481 meters Centerline goodness [0,1] 0.6736465671384562 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.98608629 0.05014731 -0.15849001 2.29783558] [-0.05482339 0.9981763 -0.02526802 -0.20214128] [ 0.15693385 0.03360541 0.9870372 0.09253069] [ 0. 0. 0. 1. ]] SLAMing on 41.096502481 meters Centerline goodness [0,1] 0.6823139851967277 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.98603197 0.0507428 -0.15863836 2.29751694] [-0.05537823 0.99815406 -0.02493453 -0.20214794] [ 0.15708027 0.03337136 0.98702185 0.09313593] [ 0. 0. 0. 1. ]] SLAMing on 41.126502481 meters Centerline goodness [0,1] 0.6770176952956409 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.98601476 0.05073492 -0.15874777 2.29752328] [-0.05537234 0.99815464 -0.02492407 -0.20231358] [ 0.1571903 0.03336573 0.98700453 0.09336984] [ 0. 0. 0. 1. ]] SLAMing on 41.156502481 meters Centerline goodness [0,1] 0.6763036842784059 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.09 [[ 0.98599095 0.05038118 -0.1590081 2.29735254] [-0.05499953 0.99817894 -0.02477611 -0.20393844] [ 0.15747029 0.03317439 0.98696635 0.09413104] [ 0. 0. 0. 1. ]] SLAMing on 41.186502481 meters Centerline goodness [0,1] 0.6597570919703017 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98598758 0.05024174 -0.15907314 2.29733673] [-0.05482204 0.99819467 -0.02453473 -0.20524 ] [ 0.15755329 0.03291166 0.9869619 0.09429682] [ 0. 0. 0. 1. ]] SLAMing on 41.216502481 meters Centerline goodness [0,1] 0.6663721581726108 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98605609 0.049814 -0.15878274 2.29652141] [-0.05431675 0.99823185 -0.02414265 -0.20743506] [ 0.15729935 0.03243057 0.98701832 0.0947146 ] [ 0. 0. 0. 1. ]] SLAMing on 41.246502481 meters Centerline goodness [0,1] 0.6663721581726108 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98605609 0.049814 -0.15878274 2.29652141] [-0.05431675 0.99823185 -0.02414265 -0.20743506] [ 0.15729935 0.03243057 0.98701832 0.0947146 ] [ 0. 0. 0. 1. ]] SLAMing on 41.276502481 meters Centerline goodness [0,1] 0.6134751773049645 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98604264 0.04953667 -0.15895293 2.29674606] [-0.05403511 0.99824812 -0.02410168 -0.20841543] [ 0.15748055 0.03235432 0.98699193 0.0948441 ] [ 0. 0. 0. 1. ]] SLAMing on 41.306502481 meters Centerline goodness [0,1] 0.5987780478884754 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98622359 0.04526895 -0.15910299 2.29683003] [-0.05029914 0.99834915 -0.0277303 -0.20927403] [ 0.15758501 0.03535102 0.98687247 0.09464095] [ 0. 0. 0. 1. ]] SLAMing on 41.336502481 meters Centerline goodness [0,1] 0.5935004842354461 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98622426 0.04506267 -0.15915733 2.29680783] [-0.05007106 0.9983643 -0.02759739 -0.2103304 ] [ 0.15765338 0.03518639 0.98686743 0.09478552] [ 0. 0. 0. 1. ]] SLAMing on 41.366502481 meters Centerline goodness [0,1] 0.6056553058810881 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.9862713 0.04484825 -0.15892629 2.29695384] [-0.04985195 0.99837417 -0.02763683 -0.20996517] [ 0.15742844 0.03518019 0.98690356 0.09430548] [ 0. 0. 0. 1. ]] SLAMing on 41.396502481 meters Centerline goodness [0,1] 0.6172076026553074 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98626166 0.04498888 -0.15894636 2.29738119] [-0.0500039 0.99836503 -0.0276924 -0.20895565] [ 0.15744064 0.03525989 0.98689877 0.0939735 ] [ 0. 0. 0. 1. ]] SLAMing on 41.426502481 meters Centerline goodness [0,1] 0.5811608566380833 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98619796 0.04493194 -0.15935713 2.29801051] [-0.05010363 0.99833492 -0.02858341 -0.20623818] [ 0.15780748 0.03617327 0.98680712 0.09412096] [ 0. 0. 0. 1. ]] SLAMing on 41.456502481 meters Centerline goodness [0,1] 0.637674928523829 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.21, Z:0.09 [[ 0.98615442 0.04473702 -0.15968109 2.29796349] [-0.05001519 0.99832187 -0.0291879 -0.20502853] [ 0.15810735 0.03677026 0.98673705 0.09483544] [ 0. 0. 0. 1. ]] SLAMing on 41.486502481 meters Centerline goodness [0,1] 0.6715618818267826 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.10 [[ 0.98617033 0.04542264 -0.15938905 2.29532199] [-0.05075736 0.99827352 -0.02955775 -0.20165192] [ 0.15777128 0.03723915 0.98677326 0.09699533] [ 0. 0. 0. 1. ]] SLAMing on 41.516502481 meters Centerline goodness [0,1] 0.6810740860562925 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.20, Z:0.10 [[ 0.98615908 0.04687805 -0.15903685 2.29369673] [-0.05206224 0.9982346 -0.02858683 -0.19960407] [ 0.15741599 0.03647098 0.98685869 0.09802702] [ 0. 0. 0. 1. ]] SLAMing on 41.546502481 meters Centerline goodness [0,1] 0.6924878593837294 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.10 [[ 0.98590183 0.05084679 -0.15941197 2.29525403] [-0.05563025 0.99812098 -0.02568639 -0.19682052] [ 0.15780636 0.03419238 0.98687792 0.09765795] [ 0. 0. 0. 1. ]] SLAMing on 41.576502481 meters Centerline goodness [0,1] 0.6957133274186917 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.20, Z:0.10 [[ 0.98585231 0.05105037 -0.15965304 2.296156 ] [-0.05588569 0.99810011 -0.02594157 -0.19516156] [ 0.15802539 0.03449688 0.98683228 0.09725722] [ 0. 0. 0. 1. ]] SLAMing on 41.606502481 meters Centerline goodness [0,1] 0.6871958310004738 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98571311 0.05075261 -0.16060459 2.29961801] [-0.05573486 0.99808941 -0.02666759 -0.19313408] [ 0.15894429 0.03523787 0.98665851 0.09564394] [ 0. 0. 0. 1. ]] SLAMing on 41.636502481 meters Centerline goodness [0,1] 0.6804984611411231 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98572147 0.05018438 -0.1607318 2.30047691] [-0.05523217 0.99810598 -0.02708988 -0.19261881] [ 0.15906789 0.03558065 0.98662628 0.09507197] [ 0. 0. 0. 1. ]] SLAMing on 41.666502481 meters Centerline goodness [0,1] 0.6837224383916991 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98572025 0.05004468 -0.1607828 2.30049569] [-0.05508417 0.99811557 -0.02703774 -0.19263113] [ 0.15912673 0.03550823 0.98661941 0.09521651] [ 0. 0. 0. 1. ]] SLAMing on 41.696502481 meters Centerline goodness [0,1] 0.678169348229306 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98571289 0.04959339 -0.1609677 2.30109042] [-0.05467276 0.99813165 -0.0272782 -0.19246452] [ 0.15931414 0.03568902 0.98658264 0.09505334] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters Centerline goodness [0,1] 0.6366691078275104 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.09 [[ 0.9857848 0.04609037 -0.16156737 2.30322536] [-0.05160749 0.99821323 -0.03011663 -0.19263882] [ 0.1598906 0.0380266 0.98640203 0.09408439] [ 0. 0. 0. 1. ]] SLAMing on 41.756502481 meters Centerline goodness [0,1] 0.6355976259584977 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.09 [[ 0.98575541 0.04566748 -0.16186647 2.3037941 ] [-0.05118935 0.99823505 -0.03010692 -0.19379312] [ 0.16020588 0.0379639 0.98635329 0.09412094] [ 0. 0. 0. 1. ]] SLAMing on 41.786502481 meters Centerline goodness [0,1] 0.6109891056280412 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.09 [[ 0.98587077 0.04081089 -0.16246013 2.30473755] [-0.04697793 0.99830686 -0.03429994 -0.19280839] [ 0.16078525 0.04144735 0.98611877 0.09412177] [ 0. 0. 0. 1. ]] SLAMing on 41.816502481 meters Centerline goodness [0,1] 0.5974860456059885 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.09 [[ 0.98593243 0.04024986 -0.16222572 2.30367973] [-0.04646116 0.99831804 -0.0346764 -0.19199429] [ 0.16055714 0.04172578 0.98614419 0.09492199] [ 0. 0. 0. 1. ]] SLAMing on 41.846502481 meters Centerline goodness [0,1] 0.5961844881788037 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98593746 0.04004157 -0.16224672 2.30355445] [-0.04630886 0.99831274 -0.03503077 -0.19050657] [ 0.16057029 0.04205161 0.98612821 0.09527641] [ 0. 0. 0. 1. ]] SLAMing on 41.876502481 meters Centerline goodness [0,1] 0.5868996388642606 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98580666 0.04374458 -0.1620853 2.30325486] [-0.04957245 0.99825502 -0.0320856 -0.18739568] [ 0.16039889 0.03966516 0.98625497 0.09584799] [ 0. 0. 0. 1. ]] SLAMing on 41.906502481 meters Centerline goodness [0,1] 0.5951660978875977 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.19, Z:0.10 [[ 0.98580102 0.04397503 -0.16205722 2.30314991] [-0.04984808 0.99823268 -0.03235262 -0.18515555] [ 0.1603481 0.03997148 0.98625086 0.09601732] [ 0. 0. 0. 1. ]] SLAMing on 41.936502481 meters Centerline goodness [0,1] 0.6272963043008428 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.18, Z:0.10 [[ 0.98586633 0.04459547 -0.16148941 2.30063925] [-0.05045867 0.99820086 -0.03238767 -0.18148968] [ 0.15975453 0.04007846 0.98634285 0.09771692] [ 0. 0. 0. 1. ]] SLAMing on 41.966502481 meters Centerline goodness [0,1] 0.596570046222299 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.18, Z:0.10 [[ 0.98587534 0.04457261 -0.16144066 2.30010102] [-0.05050499 0.9981841 -0.0328291 -0.17964948] [ 0.15968422 0.04051896 0.98633623 0.0982559 ] [ 0. 0. 0. 1. ]] SLAMing on 41.996502481 meters Centerline goodness [0,1] 0.633103299547121 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.18, Z:0.10 [[ 0.98582472 0.04475872 -0.16169811 2.30069152] [-0.05082834 0.9981422 -0.03359506 -0.17616903] [ 0.15989404 0.04133768 0.98626827 0.09824737] [ 0. 0. 0. 1. ]] SLAMing on 42.026502481 meters Centerline goodness [0,1] 0.6690855686579413 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98561842 0.04859777 -0.16184741 2.30147734] [-0.05421497 0.99806427 -0.03047051 -0.1747961 ] [ 0.16005332 0.03880685 0.98634526 0.09818966] [ 0. 0. 0. 1. ]] SLAMing on 42.056502481 meters Centerline goodness [0,1] 0.6645505387488934 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98561467 0.04880063 -0.16180923 2.3014212 ] [-0.05444119 0.99804774 -0.03060814 -0.17325689] [ 0.15999964 0.03897692 0.98634726 0.0982654 ] [ 0. 0. 0. 1. ]] SLAMing on 42.086502481 meters Centerline goodness [0,1] 0.6748279655715426 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98559459 0.04900724 -0.16186904 2.30174918] [-0.05469866 0.99802496 -0.03089076 -0.17099537] [ 0.16003548 0.03929978 0.98632863 0.09817351] [ 0. 0. 0. 1. ]] SLAMing on 42.116502481 meters Centerline goodness [0,1] 0.6734479054779807 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98558077 0.04866696 -0.1620558 2.30267787] [-0.05443041 0.99802643 -0.03131427 -0.17027139] [ 0.160212 0.0396835 0.98628461 0.09764561] [ 0. 0. 0. 1. ]] SLAMing on 42.146502481 meters Centerline goodness [0,1] 0.6757473221405634 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98558228 0.04832097 -0.16215009 2.30304832] [-0.05410348 0.99804041 -0.03143476 -0.17098409] [ 0.16031339 0.03975443 0.98626528 0.09749149] [ 0. 0. 0. 1. ]] SLAMing on 42.176502481 meters Centerline goodness [0,1] 0.6582445086954645 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98556877 0.04824824 -0.16225381 2.30314763] [-0.05400253 0.99805197 -0.03124088 -0.17205392] [ 0.16043042 0.03955215 0.98625438 0.09761178] [ 0. 0. 0. 1. ]] SLAMing on 42.206502481 meters Centerline goodness [0,1] 0.6416126678968372 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98556526 0.04770732 -0.16243498 2.30383281] [-0.05348772 0.99807476 -0.03139821 -0.17265882] [ 0.16062433 0.03963326 0.98621956 0.09738588] [ 0. 0. 0. 1. ]] SLAMing on 42.236502481 meters Centerline goodness [0,1] 0.6460410935350757 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98556782 0.04781555 -0.16238763 2.30378692] [-0.05357553 0.99807388 -0.03127617 -0.1724406 ] [ 0.16057936 0.03952479 0.98623124 0.09738778] [ 0. 0. 0. 1. ]] SLAMing on 42.266502480999996 meters Centerline goodness [0,1] 0.6258316771796423 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98557039 0.04805059 -0.16230262 2.3033783 ] [-0.05377661 0.99806949 -0.03107037 -0.17205515] [ 0.16049635 0.03935012 0.98625174 0.09773512] [ 0. 0. 0. 1. ]] SLAMing on 42.296502481 meters Centerline goodness [0,1] 0.6332656236494079 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98555395 0.04790382 -0.16244579 2.3034414 ] [-0.0536445 0.99807454 -0.03113635 -0.17226144] [ 0.16064146 0.03940087 0.98622609 0.09796895] [ 0. 0. 0. 1. ]] SLAMing on 42.326502481 meters Centerline goodness [0,1] 0.6195478321013271 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98558181 0.04754126 -0.16238324 2.30323211] [-0.05332423 0.99808219 -0.03143985 -0.17168344] [ 0.16057713 0.03964551 0.98622676 0.09816702] [ 0. 0. 0. 1. ]] SLAMing on 42.356502481 meters Centerline goodness [0,1] 0.6031370355229468 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.9855924 0.04720268 -0.16241776 2.30344777] [-0.05302277 0.99809048 -0.0316855 -0.17154571] [ 0.16061198 0.03984083 0.98621321 0.09809665] [ 0. 0. 0. 1. ]] SLAMing on 42.386502481 meters Centerline goodness [0,1] 0.5983044266114419 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98580575 0.04272344 -0.16236293 2.30313999] [-0.04911091 0.99816114 -0.0355311 -0.17170902] [ 0.16054636 0.04300056 0.98609118 0.0979908 ] [ 0. 0. 0. 1. ]] SLAMing on 42.416502481 meters Centerline goodness [0,1] 0.5912804772609372 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.9859534 0.04151255 -0.16177947 2.30251163] [-0.04791634 0.9982066 -0.03588329 -0.17268168] [ 0.15999973 0.04313113 0.98617432 0.09773775] [ 0. 0. 0. 1. ]] SLAMing on 42.446502481 meters Centerline goodness [0,1] 0.5704013089906993 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98600684 0.04130353 -0.16150708 2.3024242 ] [-0.04770196 0.9982148 -0.03594059 -0.17224393] [ 0.15973428 0.04314188 0.98621688 0.097451 ] [ 0. 0. 0. 1. ]] SLAMing on 42.476502481 meters Centerline goodness [0,1] 0.5748109742925038 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98607779 0.04245662 -0.16077324 2.30133557] [-0.0486651 0.99820608 -0.0348759 -0.16970548] [ 0.15900412 0.04221439 0.986375 0.09752153] [ 0. 0. 0. 1. ]] SLAMing on 42.506502481 meters Centerline goodness [0,1] 0.5661076065192585 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98604967 0.04233621 -0.1609773 2.30205862] [-0.04862424 0.99819234 -0.03532324 -0.1682049 ] [ 0.15919086 0.04265787 0.9863258 0.09725032] [ 0. 0. 0. 1. ]] SLAMing on 42.536502481 meters Centerline goodness [0,1] 0.5767375456964243 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98602612 0.04250236 -0.16107775 2.30230842] [-0.04888933 0.99815896 -0.03589598 -0.16577187] [ 0.15925554 0.04326936 0.98628872 0.09720022] [ 0. 0. 0. 1. ]] SLAMing on 42.566502481 meters Centerline goodness [0,1] 0.5791234887737479 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98602881 0.04268379 -0.16101329 2.30198374] [-0.04909776 0.99814256 -0.0360672 -0.16451361] [ 0.15917473 0.04346869 0.986293 0.09744481] [ 0. 0. 0. 1. ]] SLAMing on 42.596502481 meters Centerline goodness [0,1] 0.5933791380387258 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98606333 0.04492576 -0.16018982 2.29945285] [-0.05106188 0.99810304 -0.03439488 -0.16143223] [ 0.15834073 0.04209512 0.9864868 0.0988112 ] [ 0. 0. 0. 1. ]] SLAMing on 42.626502481 meters Centerline goodness [0,1] 0.5951908989054555 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98606273 0.04515559 -0.16012893 2.2990907 ] [-0.0513065 0.99808735 -0.03448595 -0.16019386] [ 0.15826543 0.04222097 0.98649351 0.09911984] [ 0. 0. 0. 1. ]] SLAMing on 42.656502481 meters Centerline goodness [0,1] 0.6048484848484849 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98605579 0.04546097 -0.1600852 2.29882731] [-0.05164456 0.99806325 -0.0346784 -0.15869237] [ 0.15819864 0.04246237 0.98649386 0.09935358] [ 0. 0. 0. 1. ]] SLAMing on 42.686502481 meters Centerline goodness [0,1] 0.6032601636576178 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98602758 0.04551925 -0.16024232 2.29915272] [-0.05172486 0.99805596 -0.03476844 -0.15826064] [ 0.15834817 0.04257115 0.98646518 0.09932662] [ 0. 0. 0. 1. ]] SLAMing on 42.716502481 meters Centerline goodness [0,1] 0.6010684315252184 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98595587 0.04579083 -0.1606058 2.30020979] [-0.05204795 0.99803215 -0.03496923 -0.15658273] [ 0.15868848 0.04283732 0.98639897 0.09894652] [ 0. 0. 0. 1. ]] SLAMing on 42.746502481 meters Centerline goodness [0,1] 0.6037532587852541 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98590102 0.04607621 -0.16086072 2.30127017] [-0.05235447 0.99801471 -0.03500913 -0.15517269] [ 0.15892827 0.04293731 0.98635602 0.09845456] [ 0. 0. 0. 1. ]] SLAMing on 42.776502481 meters Centerline goodness [0,1] 0.6189552206627429 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.10 [[ 0.98566793 0.04972081 -0.16120354 2.3031874 ] [-0.05554105 0.9979499 -0.03179931 -0.15483825] [ 0.15929196 0.04029697 0.98640875 0.09764655] [ 0. 0. 0. 1. ]] SLAMing on 42.806502481 meters Centerline goodness [0,1] 0.5987953103151554 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.9856298 0.04924843 -0.16158121 2.30412351] [-0.05515451 0.99795624 -0.03226956 -0.15537384] [ 0.15966176 0.04071778 0.98633168 0.09739713] [ 0. 0. 0. 1. ]] SLAMing on 42.836502481 meters Centerline goodness [0,1] 0.6340888956114004 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.9856128 0.0493403 -0.16165686 2.30393286] [-0.05523899 0.9979539 -0.03219727 -0.15561994] [ 0.15973747 0.04066381 0.98632165 0.09770665] [ 0. 0. 0. 1. ]] SLAMing on 42.866502481 meters Centerline goodness [0,1] 0.6473198896932093 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.10 [[ 0.98562253 0.04938281 -0.16158452 2.30379585] [-0.05530384 0.99794535 -0.03235062 -0.15471701] [ 0.15965496 0.04082175 0.98632848 0.09776181] [ 0. 0. 0. 1. ]] SLAMing on 42.896502481 meters Centerline goodness [0,1] 0.6654632196505705 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.10 [[ 0.98560397 0.05203457 -0.16086396 2.30234041] [-0.05756556 0.9978935 -0.02991274 -0.15306002] [ 0.1589686 0.03874234 0.9865232 0.09834428] [ 0. 0. 0. 1. ]] SLAMing on 42.926502481 meters Centerline goodness [0,1] 0.6427804039535883 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.10 [[ 0.98560599 0.05210012 -0.16083036 2.30243546] [-0.05764802 0.99788549 -0.03002095 -0.1523298 ] [ 0.15892619 0.03886038 0.98652539 0.09822722] [ 0. 0. 0. 1. ]] SLAMing on 42.956502481 meters Centerline goodness [0,1] 0.6504854368932038 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.10 [[ 0.98555405 0.05151546 -0.1613362 2.30381804] [-0.05712232 0.9979071 -0.03030623 -0.15358153] [ 0.15943729 0.03908433 0.98643406 0.09775456] [ 0. 0. 0. 1. ]] SLAMing on 42.986502481 meters Centerline goodness [0,1] 0.6412299453693506 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98553007 0.05094366 -0.16166391 2.30466438] [-0.05658943 0.99793126 -0.03050973 -0.15503275] [ 0.15977519 0.03921672 0.98637414 0.09749414] [ 0. 0. 0. 1. ]] SLAMing on 43.016502480999996 meters Centerline goodness [0,1] 0.6213379221337922 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98568953 0.0470723 -0.16186521 2.30466977] [-0.05322925 0.99800635 -0.0339113 -0.15567419] [ 0.15994622 0.04204198 0.98623003 0.09746031] [ 0. 0. 0. 1. ]] SLAMing on 43.046502481 meters Centerline goodness [0,1] 0.6200613152554082 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98568314 0.04744269 -0.16179598 2.30400939] [-0.05352427 0.9980066 -0.03343628 -0.15611109] [ 0.15988715 0.04161759 0.98625761 0.09801022] [ 0. 0. 0. 1. ]] SLAMing on 43.076502481 meters Centerline goodness [0,1] 0.6324950807619953 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98571208 0.04997721 -0.16085391 2.30129345] [-0.05563638 0.99797377 -0.03086969 -0.15620274] [ 0.1589852 0.03937795 0.98649535 0.09924595] [ 0. 0. 0. 1. ]] SLAMing on 43.106502481 meters Centerline goodness [0,1] 0.6423058681498728 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98568081 0.05049525 -0.16088372 2.30064773] [-0.05609666 0.99796048 -0.0304639 -0.15690847] [ 0.15901731 0.03905272 0.98650311 0.10000673] [ 0. 0. 0. 1. ]] SLAMing on 43.136502481 meters Centerline goodness [0,1] 0.646694880663387 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98562207 0.05041051 -0.1612697 2.3010548 ] [-0.05602835 0.99796394 -0.03047632 -0.15771023] [ 0.15940502 0.03907381 0.9864397 0.1003743 ] [ 0. 0. 0. 1. ]] SLAMing on 43.166502481 meters Centerline goodness [0,1] 0.6694522819789356 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98558886 0.0506061 -0.16141133 2.30098094] [-0.0562099 0.9979579 -0.03033921 -0.15830275] [ 0.15954636 0.0389749 0.98642076 0.10071352] [ 0. 0. 0. 1. ]] SLAMing on 43.196502481 meters Centerline goodness [0,1] 0.6694522819789356 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98558886 0.0506061 -0.16141133 2.30098094] [-0.0562099 0.9979579 -0.03033921 -0.15830275] [ 0.15954636 0.0389749 0.98642076 0.10071352] [ 0. 0. 0. 1. ]] SLAMing on 43.226502481 meters Centerline goodness [0,1] 0.6559206847606349 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98556691 0.05070752 -0.16151353 2.30142762] [-0.05631632 0.99795197 -0.030337 -0.15797805] [ 0.15964443 0.038995 0.9864041 0.1005065 ] [ 0. 0. 0. 1. ]] SLAMing on 43.256502481 meters Centerline goodness [0,1] 0.6921085000323688 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.9855007 0.05095802 -0.16183836 2.30236411] [-0.05650543 0.99795571 -0.02985874 -0.15920556] [ 0.15998598 0.03857055 0.98636545 0.10021501] [ 0. 0. 0. 1. ]] SLAMing on 43.286502481 meters Centerline goodness [0,1] 0.6818631244089073 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98543462 0.0507639 -0.16230106 2.30356063] [-0.05631984 0.99796754 -0.02981372 -0.16011164] [ 0.16045773 0.03852024 0.98629078 0.09993133] [ 0. 0. 0. 1. ]] SLAMing on 43.316502481 meters Centerline goodness [0,1] 0.673992673992674 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98537305 0.05097435 -0.16260865 2.30388097] [-0.05643097 0.99798194 -0.02911333 -0.1625882 ] [ 0.16079646 0.03786365 0.98626104 0.10017342] [ 0. 0. 0. 1. ]] SLAMing on 43.346502481 meters Centerline goodness [0,1] 0.633479283048983 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.9853258 0.05096208 -0.16289852 2.30430813] [-0.05640816 0.99798709 -0.02898071 -0.16339288] [ 0.1610937 0.03774424 0.98621711 0.10033518] [ 0. 0. 0. 1. ]] SLAMing on 43.376502481 meters Centerline goodness [0,1] 0.6764451554325739 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98526531 0.05116603 -0.1632002 2.3047468 ] [-0.05654988 0.99799255 -0.02851294 -0.16507103] [ 0.16141369 0.03732176 0.98618087 0.10050784] [ 0. 0. 0. 1. ]] SLAMing on 43.406502481 meters Centerline goodness [0,1] 0.6699043762922123 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98521593 0.05101072 -0.16354658 2.30545728] [-0.0563983 0.99800244 -0.02846701 -0.16597829] [ 0.16176777 0.0372699 0.98612481 0.10049342] [ 0. 0. 0. 1. ]] SLAMing on 43.436502481 meters Centerline goodness [0,1] 0.6591990312256726 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98516293 0.05116955 -0.163816 2.30602323] [-0.05647306 0.99801478 -0.02788004 -0.16788155] [ 0.16206418 0.03671757 0.98609686 0.10046605] [ 0. 0. 0. 1. ]] SLAMing on 43.466502481 meters Centerline goodness [0,1] 0.6471148435132679 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98514466 0.05127758 -0.16389209 2.3059816 ] [-0.05654359 0.99801785 -0.02762595 -0.16808823] [ 0.16215064 0.0364826 0.98609137 0.10075346] [ 0. 0. 0. 1. ]] SLAMing on 43.496502481 meters Centerline goodness [0,1] 0.6080524993502556 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.9851823 0.05112456 -0.16371351 2.30533915] [-0.05632135 0.99804055 -0.02725747 -0.16919788] [ 0.1619992 0.03607414 0.98613129 0.10124048] [ 0. 0. 0. 1. ]] SLAMing on 43.526502481 meters Centerline goodness [0,1] 0.6027118350372552 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98516331 0.05091588 -0.16389271 2.30526479] [-0.0560731 0.99806171 -0.02699309 -0.17076926] [ 0.16220066 0.03578258 0.98610879 0.10171838] [ 0. 0. 0. 1. ]] SLAMing on 43.556502481 meters Centerline goodness [0,1] 0.5924353364238985 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98534535 0.04627729 -0.16417355 2.30574029] [-0.05198578 0.99817754 -0.03064441 -0.17216882] [ 0.16245621 0.03873002 0.98595536 0.1014189 ] [ 0. 0. 0. 1. ]] SLAMing on 43.586502481 meters Centerline goodness [0,1] 0.5830157630348173 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98530472 0.04592402 -0.16451621 2.30696899] [-0.05163223 0.99819762 -0.03058811 -0.17326152] [ 0.16281496 0.03863295 0.98589999 0.10085578] [ 0. 0. 0. 1. ]] SLAMing on 43.616502481 meters Centerline goodness [0,1] 0.5908657595978855 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98527087 0.04555639 -0.16482088 2.30864916] [-0.05127556 0.99821532 -0.03061039 -0.17359691] [ 0.16313222 0.03861081 0.98584841 0.09982038] [ 0. 0. 0. 1. ]] SLAMing on 43.646502481 meters Centerline goodness [0,1] 0.5757058607504699 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98526881 0.04560481 -0.16481981 2.30824491] [-0.05130215 0.9982181 -0.03047486 -0.17364511] [ 0.16313632 0.03848154 0.98585278 0.10032284] [ 0. 0. 0. 1. ]] SLAMing on 43.676502481 meters Centerline goodness [0,1] 0.5787677151745593 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98536889 0.04581783 -0.16416115 2.3054141 ] [-0.05145315 0.99821748 -0.03023962 -0.17347167] [ 0.16248302 0.03824379 0.98596992 0.10213627] [ 0. 0. 0. 1. ]] SLAMing on 43.706502481 meters Centerline goodness [0,1] 0.5914017965106235 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98535991 0.04588081 -0.16419741 2.30523067] [-0.05152592 0.99821234 -0.03028535 -0.17287467] [ 0.16251437 0.03830239 0.98596248 0.102463 ] [ 0. 0. 0. 1. ]] SLAMing on 43.736502481 meters Centerline goodness [0,1] 0.5846639154765249 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98534872 0.04599365 -0.16423303 2.30555239] [-0.0516864 0.99819577 -0.03055696 -0.17131266] [ 0.16253129 0.03859788 0.98594817 0.10227975] [ 0. 0. 0. 1. ]] SLAMing on 43.766502480999996 meters Centerline goodness [0,1] 0.5868092154795965 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.9852935 0.04595681 -0.1645743 2.30662573] [-0.05175354 0.99817529 -0.03110738 -0.1696412 ] [ 0.1628444 0.0391672 0.98587404 0.10189292] [ 0. 0. 0. 1. ]] SLAMing on 43.796502481 meters Centerline goodness [0,1] 0.593920027636238 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.10 [[ 0.98527211 0.04612454 -0.16465537 2.30671528] [-0.0519477 0.99816124 -0.0312343 -0.1687336 ] [ 0.16291194 0.03932776 0.98585649 0.1020058 ] [ 0. 0. 0. 1. ]] SLAMing on 43.826502481 meters Centerline goodness [0,1] 0.612203916826809 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98524963 0.04755031 -0.16438413 2.30495043] [-0.05324449 0.99811848 -0.03040604 -0.16733178] [ 0.16262902 0.03871008 0.98592765 0.10328034] [ 0. 0. 0. 1. ]] SLAMing on 43.856502481 meters Centerline goodness [0,1] 0.6214769735422332 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.10 [[ 0.98524267 0.04799066 -0.16429781 2.30447541] [-0.05368276 0.99809581 -0.03037942 -0.1661566 ] [ 0.16252703 0.03875106 0.98594286 0.103632 ] [ 0. 0. 0. 1. ]] SLAMing on 43.886502481 meters Centerline goodness [0,1] 0.6790358114821374 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98499945 0.05261007 -0.16434191 2.30459606] [-0.05776092 0.99797283 -0.026719 -0.16469255] [ 0.16260307 0.03581074 0.9860415 0.10407816] [ 0. 0. 0. 1. ]] SLAMing on 43.916502481 meters Centerline goodness [0,1] 0.6808051140290255 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.10 [[ 0.98497601 0.05286334 -0.1644011 2.30468846] [-0.05804422 0.9979524 -0.0268676 -0.16346571] [ 0.16264417 0.03600648 0.98602759 0.10415702] [ 0. 0. 0. 1. ]] SLAMing on 43.946502481 meters Centerline goodness [0,1] 0.6877779216854466 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98490441 0.05288412 -0.16482288 2.30523747] [-0.05814387 0.99793628 -0.02724847 -0.16262021] [ 0.16304172 0.03642058 0.98594672 0.1044018 ] [ 0. 0. 0. 1. ]] SLAMing on 43.976502481 meters Centerline goodness [0,1] 0.6846604366737006 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98483965 0.05258157 -0.16530587 2.3066553 ] [-0.05791256 0.99794026 -0.02759316 -0.16253665] [ 0.1635145 0.03674812 0.98585627 0.10389656] [ 0. 0. 0. 1. ]] SLAMing on 44.006502481 meters Centerline goodness [0,1] 0.6840080402878942 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98479428 0.0521498 -0.16571248 2.30899681] [-0.05758504 0.99794331 -0.02816244 -0.16149961] [ 0.16390299 0.03727677 0.98577191 0.10232696] [ 0. 0. 0. 1. ]] SLAMing on 44.036502481 meters Centerline goodness [0,1] 0.6829173503756801 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98478898 0.05200591 -0.16578916 2.30958479] [-0.05748531 0.9979417 -0.02842189 -0.16049219] [ 0.16396981 0.03752001 0.98575157 0.10195892] [ 0. 0. 0. 1. ]] SLAMing on 44.066502481 meters Centerline goodness [0,1] 0.6788757307103259 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98482825 0.05192325 -0.16558168 2.3087511 ] [-0.05742806 0.99793906 -0.02862956 -0.15900875] [ 0.16375389 0.03770423 0.98578043 0.10256656] [ 0. 0. 0. 1. ]] SLAMing on 44.096502481 meters Centerline goodness [0,1] 0.6652990714748435 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98483909 0.05158564 -0.16562276 2.30869501] [-0.05713332 0.99794803 -0.02890512 -0.15849475] [ 0.16379181 0.03792947 0.98576549 0.10277297] [ 0. 0. 0. 1. ]] SLAMing on 44.126502481 meters Centerline goodness [0,1] 0.6187819015485769 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98491521 0.05049014 -0.16550764 2.30856661] [-0.05614856 0.99798098 -0.02968667 -0.15729652] [ 0.16367459 0.03853187 0.9857616 0.10290088] [ 0. 0. 0. 1. ]] SLAMing on 44.156502481 meters Centerline goodness [0,1] 0.5956619426201175 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98513104 0.04557735 -0.16564885 2.30854894] [-0.0519056 0.99807051 -0.03407455 -0.15536797] [ 0.1637762 0.042166 0.98559595 0.10299819] [ 0. 0. 0. 1. ]] SLAMing on 44.186502481 meters Centerline goodness [0,1] 0.5836263617732715 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.10 [[ 0.98513536 0.04487293 -0.1658154 2.30893872] [-0.05127523 0.99808737 -0.03453204 -0.15514759] [ 0.1639487 0.04252096 0.98555202 0.1030207 ] [ 0. 0. 0. 1. ]] SLAMing on 44.216502481 meters Centerline goodness [0,1] 0.5759008571366885 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.10 [[ 0.98511953 0.0443398 -0.16605271 2.30950482] [-0.05081669 0.99809593 -0.03495963 -0.15472472] [ 0.16418643 0.04287767 0.98549699 0.10295073] [ 0. 0. 0. 1. ]] SLAMing on 44.246502481 meters Centerline goodness [0,1] 0.5700084100662024 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.10 [[ 0.98514274 0.04327623 -0.16619554 2.31036452] [-0.04993469 0.99810004 -0.03609479 -0.1523728 ] [ 0.16431773 0.04385744 0.98543199 0.10252689] [ 0. 0. 0. 1. ]] SLAMing on 44.276502481 meters Centerline goodness [0,1] 0.5763297011543855 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.10 [[ 0.9850577 0.0463026 -0.16588371 2.31070745] [-0.05256833 0.99805258 -0.03358016 -0.14938471] [ 0.16400581 0.04179863 0.98557342 0.10225705] [ 0. 0. 0. 1. ]] SLAMing on 44.306502481 meters Centerline goodness [0,1] 0.5622274983811786 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.10 [[ 0.98504378 0.04626414 -0.16597703 2.31120967] [-0.05259582 0.99803844 -0.03395528 -0.14718519] [ 0.16408055 0.04217714 0.98554486 0.1020749 ] [ 0. 0. 0. 1. ]] SLAMing on 44.336502481 meters Centerline goodness [0,1] 0.5815269021504448 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.10 [[ 0.98502941 0.04618142 -0.16608536 2.31177747] [-0.05258404 0.99802522 -0.03435948 -0.1451607 ] [ 0.16417061 0.04257853 0.9855126 0.10184481] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters Centerline goodness [0,1] 0.5486419966319789 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.10 [[ 0.98505909 0.04585398 -0.166 2.311544 ] [-0.05238967 0.9980059 -0.03520711 -0.14223582] [ 0.1640546 0.04337777 0.98549706 0.1020723 ] [ 0. 0. 0. 1. ]] SLAMing on 44.396502481 meters Centerline goodness [0,1] 0.5465468692904585 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.10 [[ 0.98508749 0.04547334 -0.16593614 2.31104179] [-0.05207251 0.99800729 -0.03563571 -0.14145593] [ 0.163985 0.04374501 0.98549241 0.10255741] [ 0. 0. 0. 1. ]] SLAMing on 44.426502481 meters Centerline goodness [0,1] 0.5428990889071204 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.10 [[ 0.98511975 0.04478327 -0.16593235 2.31078519] [-0.05150345 0.99800857 -0.03641831 -0.13986366] [ 0.16397098 0.04442248 0.98546444 0.10290981] [ 0. 0. 0. 1. ]] SLAMing on 44.456502481 meters Centerline goodness [0,1] 0.557935840182944 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.10 [[ 0.98510353 0.04462919 -0.16607005 2.31190671] [-0.05141321 0.9980001 -0.03677604 -0.13814779] [ 0.16409664 0.0447664 0.98542796 0.10217541] [ 0. 0. 0. 1. ]] SLAMing on 44.486502481 meters Centerline goodness [0,1] 0.531114952463267 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.10 [[ 0.98488362 0.04790336 -0.16646176 2.31486653] [-0.05427708 0.99794856 -0.03395087 -0.13603624] [ 0.16449392 0.04247271 0.98546325 0.100523 ] [ 0. 0. 0. 1. ]] SLAMing on 44.516502480999996 meters Centerline goodness [0,1] 0.5471069372917298 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:0.10 [[ 0.98487765 0.04743722 -0.16663052 2.31550669] [-0.0539597 0.99793534 -0.03483407 -0.13361707] [ 0.16463406 0.04329863 0.98540391 0.10032108] [ 0. 0. 0. 1. ]] SLAMing on 44.546502481 meters Centerline goodness [0,1] 0.56185700700268 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:0.10 [[ 0.98490334 0.04709062 -0.16657694 2.31511422] [-0.05368996 0.99793224 -0.03533605 -0.13266714] [ 0.16456851 0.0437461 0.98539509 0.1006831 ] [ 0. 0. 0. 1. ]] SLAMing on 44.576502481 meters Centerline goodness [0,1] 0.5677369171600191 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.10 [[ 0.98493818 0.04707015 -0.16637664 2.31433196] [-0.05377638 0.99790268 -0.03603261 -0.12917968] [ 0.16433164 0.04443703 0.98540371 0.101288 ] [ 0. 0. 0. 1. ]] SLAMing on 44.606502481 meters Centerline goodness [0,1] 0.5674629769754621 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.10 [[ 0.98477178 0.05081805 -0.16625906 2.31481844] [-0.05702642 0.99783438 -0.03278027 -0.1277993 ] [ 0.16423317 0.04176225 0.9855371 0.10110078] [ 0. 0. 0. 1. ]] SLAMing on 44.636502481 meters Centerline goodness [0,1] 0.5552554823376904 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:0.10 [[ 0.98458008 0.0547088 -0.1661596 2.31544771] [-0.06040429 0.99774047 -0.02941555 -0.1264474 ] [ 0.16417486 0.03899872 0.98566004 0.10082477] [ 0. 0. 0. 1. ]] SLAMing on 44.666502481 meters Centerline goodness [0,1] 0.5599265500108015 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.10 [[ 0.98439268 0.05816737 -0.1660952 2.31612754] [-0.06347631 0.9976226 -0.0268312 -0.12285961] [ 0.16413963 0.03695554 0.98574463 0.10068101] [ 0. 0. 0. 1. ]] SLAMing on 44.696502481 meters Centerline goodness [0,1] 0.5619663648124191 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.10 [[ 0.98445064 0.05729766 -0.16605393 2.31572474] [-0.06286172 0.99761685 -0.02844345 -0.11856942] [ 0.16402846 0.03843961 0.98570638 0.10122847] [ 0. 0. 0. 1. ]] SLAMing on 44.726502481 meters Centerline goodness [0,1] 0.5580227218832863 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.10 [[ 0.98446865 0.05655193 -0.16620279 2.31582683] [-0.06226723 0.9976271 -0.02937615 -0.11649416] [ 0.16414713 0.03926888 0.98565393 0.10155128] [ 0. 0. 0. 1. ]] SLAMing on 44.756502481 meters Centerline goodness [0,1] 0.546255316392841 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.10 [[ 0.98455017 0.05526216 -0.16615369 2.31550257] [-0.0612586 0.99763479 -0.03118027 -0.11181182] [ 0.16403761 0.04087688 0.98560679 0.10204528] [ 0. 0. 0. 1. ]] SLAMing on 44.786502481 meters Centerline goodness [0,1] 0.5443957041294811 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.10 [[ 0.98455558 0.05509097 -0.16617852 2.31533488] [-0.06117829 0.99762227 -0.03173361 -0.10922362] [ 0.16403516 0.04141002 0.98558494 0.10244283] [ 0. 0. 0. 1. ]] SLAMing on 44.816502481 meters Centerline goodness [0,1] 0.5396962561299661 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.10 [[ 0.98458642 0.05696352 -0.16536245 2.31297465] [-0.06286401 0.99755085 -0.03066621 -0.10351823] [ 0.1632106 0.04058888 0.98575598 0.103887 ] [ 0. 0. 0. 1. ]] SLAMing on 44.846502481 meters Centerline goodness [0,1] 0.5417035708885096 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.10 [[ 0.98459584 0.05660263 -0.16543025 2.31319272] [-0.06262066 0.99754372 -0.03138749 -0.10103327] [ 0.16324729 0.04126334 0.9857219 0.10399075] [ 0. 0. 0. 1. ]] SLAMing on 44.876502481 meters Centerline goodness [0,1] 0.5351726815799125 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.10 [[ 0.9845929 0.05551653 -0.16581538 2.31476962] [-0.06180005 0.99754369 -0.0329748 -0.09713708] [ 0.16357744 0.04271415 0.98560536 0.10331291] [ 0. 0. 0. 1. ]] SLAMing on 44.906502481 meters Centerline goodness [0,1] 0.5326688575629162 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.10, Z:0.10 [[ 0.98459917 0.05512975 -0.16590715 2.31520293] [-0.06151373 0.99754099 -0.03358615 -0.09521428] [ 0.16364759 0.04327446 0.98556927 0.10323896] [ 0. 0. 0. 1. ]] SLAMing on 44.936502481 meters Centerline goodness [0,1] 0.539532269917434 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.10 [[ 0.98461422 0.05457754 -0.16600041 2.3154398 ] [-0.06112981 0.99752932 -0.03461788 -0.09119238] [ 0.16370092 0.04423283 0.98551787 0.10350551] [ 0. 0. 0. 1. ]] SLAMing on 44.966502481 meters Centerline goodness [0,1] 0.5476381104883907 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.10 [[ 0.98459769 0.05432657 -0.16618068 2.31602163] [-0.06097069 0.99752078 -0.03514075 -0.08920712] [ 0.1638596 0.04473166 0.98546898 0.10344169] [ 0. 0. 0. 1. ]] SLAMing on 44.996502481 meters Centerline goodness [0,1] 0.5399228836322676 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.10 [[ 0.98438784 0.05694257 -0.16654766 2.31828245] [-0.063273 0.99745218 -0.03294961 -0.08705136] [ 0.1642471 0.04297317 0.98548272 0.10258666] [ 0. 0. 0. 1. ]] SLAMing on 45.026502481 meters Centerline goodness [0,1] 0.5394417475728155 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.10 [[ 0.9843553 0.05668005 -0.16682928 2.31921132] [-0.06311034 0.99744435 -0.03349416 -0.08521042] [ 0.16450447 0.04349881 0.98541673 0.1023412 ] [ 0. 0. 0. 1. ]] SLAMing on 45.056502481 meters Centerline goodness [0,1] 0.5355252884531969 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.10 [[ 0.98429181 0.05858426 -0.16654581 2.31817258] [-0.06482355 0.99737475 -0.03227237 -0.08164385] [ 0.16421794 0.04256152 0.98550545 0.10327019] [ 0. 0. 0. 1. ]] SLAMing on 45.086502481 meters Centerline goodness [0,1] 0.5355252884531969 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.10 [[ 0.98429181 0.05858426 -0.16654581 2.31817258] [-0.06482355 0.99737475 -0.03227237 -0.08164385] [ 0.16421794 0.04256152 0.98550545 0.10327019] [ 0. 0. 0. 1. ]] SLAMing on 45.116502481 meters Centerline goodness [0,1] 0.5424088761756165 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.10 [[ 0.98429349 0.05861315 -0.16652575 2.31796326] [-0.06492772 0.99735316 -0.03272719 -0.07937883] [ 0.16416674 0.0430253 0.98549384 0.10365518] [ 0. 0. 0. 1. ]] SLAMing on 45.146502481 meters Centerline goodness [0,1] 0.5412524097298936 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.10 [[ 0.98408027 0.06218532 -0.16649024 2.31830405] [-0.06809923 0.99722603 -0.03004554 -0.07643913] [ 0.16416001 0.04090508 0.98558524 0.10395452] [ 0. 0. 0. 1. ]] SLAMing on 45.176502481 meters Centerline goodness [0,1] 0.5431342411187843 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.10 [[ 0.98383553 0.06521149 -0.16677862 2.32034939] [-0.07081443 0.99710021 -0.02786547 -0.07333205] [ 0.16447785 0.03922537 0.98560053 0.10315428] [ 0. 0. 0. 1. ]] SLAMing on 45.206502481 meters Centerline goodness [0,1] 0.5423020273782706 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.10 [[ 0.98380978 0.06505079 -0.16699313 2.32109691] [-0.07077271 0.99708413 -0.02853873 -0.07050943] [ 0.16464974 0.03989524 0.98554494 0.103042 ] [ 0. 0. 0. 1. ]] SLAMing on 45.236502481 meters Centerline goodness [0,1] 0.5430354511571466 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.10 [[ 0.98362706 0.06812076 -0.16684532 2.32093002] [-0.07353461 0.99694103 -0.02648111 -0.06588719] [ 0.16453103 0.03831645 0.98562741 0.10369046] [ 0. 0. 0. 1. ]] SLAMing on 45.266502480999996 meters Centerline goodness [0,1] 0.539605889995669 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.10 [[ 0.98366154 0.06782283 -0.16676344 2.32043023] [-0.07334201 0.99693706 -0.02715595 -0.06340781] [ 0.16441086 0.03894303 0.9856229 0.10424708] [ 0. 0. 0. 1. ]] SLAMing on 45.296502481 meters Centerline goodness [0,1] 0.5412867877947896 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.10 [[ 0.98371131 0.0672944 -0.1666839 2.31976643] [-0.0729428 0.9969432 -0.02799289 -0.06096785] [ 0.16429062 0.03969531 0.98561294 0.10496837] [ 0. 0. 0. 1. ]] SLAMing on 45.326502481 meters Centerline goodness [0,1] 0.5478949526337369 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.11 [[ 0.98390211 0.0654816 -0.16627927 2.31814995] [-0.07148275 0.99697969 -0.03035975 -0.05476134] [ 0.16378905 0.04175712 0.98561123 0.10617278] [ 0. 0. 0. 1. ]] SLAMing on 45.356502481 meters Centerline goodness [0,1] 0.5370422383061467 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.11 [[ 0.98397092 0.0654313 -0.16589146 2.31816212] [-0.07149647 0.99696364 -0.03085041 -0.04835571] [ 0.16336917 0.04221656 0.98566134 0.10608176] [ 0. 0. 0. 1. ]] SLAMing on 45.386502481 meters Centerline goodness [0,1] 0.5288660683465654 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.11 [[ 0.98399093 0.0645737 -0.16610864 2.31928457] [-0.07082263 0.99697649 -0.03196923 -0.0453164 ] [ 0.16354203 0.04322168 0.98558911 0.10562118] [ 0. 0. 0. 1. ]] SLAMing on 45.416502481 meters Centerline goodness [0,1] 0.5194502578264903 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:0.10 [[ 0.98405459 0.06248771 -0.1665288 2.32158868] [-0.06913263 0.99701408 -0.03440339 -0.03995989] [ 0.16388177 0.04536739 0.98543623 0.10456697] [ 0. 0. 0. 1. ]] SLAMing on 45.446502481 meters Centerline goodness [0,1] 0.525189161223566 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:0.10 [[ 0.98408474 0.06158789 -0.16668579 2.32229692] [-0.06841219 0.99702504 -0.03550826 -0.03751695] [ 0.16400303 0.04634647 0.98537049 0.10435293] [ 0. 0. 0. 1. ]] SLAMing on 45.476502481 meters Centerline goodness [0,1] 0.52455058843816 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:0.10 [[ 0.98419157 0.05957995 -0.16678484 2.32250928] [-0.06679234 0.99704421 -0.03796877 -0.03238777] [ 0.16402968 0.04850849 0.98526199 0.10467152] [ 0. 0. 0. 1. ]] SLAMing on 45.506502481 meters Centerline goodness [0,1] 0.5026370740318171 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:0.10 [[ 0.98421009 0.05897633 -0.16689005 2.32280067] [-0.06635166 0.99703529 -0.03896268 -0.02926974] [ 0.16409739 0.0494209 0.98520537 0.10486283] [ 0. 0. 0. 1. ]] SLAMing on 45.536502481 meters Centerline goodness [0,1] 0.5159390906737986 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.11 [[ 0.98403677 0.06255265 -0.16660972 2.3229908 ] [-0.06954684 0.99691162 -0.03647559 -0.02242871] [ 0.16381353 0.0474805 0.98534803 0.10534234] [ 0. 0. 0. 1. ]] SLAMing on 45.566502481 meters Centerline goodness [0,1] 0.5167100647743657 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.11 [[ 0.98383866 0.06635099 -0.16631008 2.32310678] [-0.07285631 0.99678577 -0.03331807 -0.02009698] [ 0.16356484 0.04489635 0.98551046 0.10544064] [ 0. 0. 0. 1. ]] SLAMing on 45.596502481 meters Centerline goodness [0,1] 0.5145044405737265 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.11 [[ 0.98372375 0.0686337 -0.16606321 2.32245424] [-0.07491409 0.99668127 -0.03184845 -0.01564767] [ 0.16332622 0.04377055 0.98560067 0.10637136] [ 0. 0. 0. 1. ]] SLAMing on 45.626502481 meters Centerline goodness [0,1] 0.5148284551269626 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.11 [[ 0.98371192 0.0681769 -0.16632129 2.32279546] [-0.07455655 0.99668989 -0.03241284 -0.01471765] [ 0.16356095 0.04428524 0.98553875 0.10667346] [ 0. 0. 0. 1. ]] SLAMing on 45.656502481 meters Centerline goodness [0,1] 0.5127807233070392 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.11 [[ 0.98374925 0.06740117 -0.16641663 2.32357709] [-0.07397459 0.99669342 -0.03361532 -0.0112773 ] [ 0.16360065 0.04537964 0.98548238 0.10639872] [ 0. 0. 0. 1. ]] SLAMing on 45.686502481 meters Centerline goodness [0,1] 0.506186944899543 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.11 [[ 0.98358751 0.06929198 -0.16659602 2.32579369] [-0.07562317 0.99662424 -0.0319572 -0.00952597] [ 0.16381926 0.04403122 0.98550723 0.10532641] [ 0. 0. 0. 1. ]] SLAMing on 45.716502481 meters Centerline goodness [0,1] 0.5045832078151224 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.10 [[ 0.98336085 0.07145626 -0.1670193 2.32888251] [-0.07755445 0.99652846 -0.03027088 -0.00615332] [ 0.16427644 0.04272029 0.98548883 0.10404902] [ 0. 0. 0. 1. ]] SLAMing on 45.746502481 meters Centerline goodness [0,1] 0.5006149796085708 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.00, Z:0.10 [[ 0.9833725 0.07080906 -0.1672262 2.32923417] [-0.07709829 0.99652851 -0.0314131 -0.00243446] [ 0.16442134 0.04378363 0.98541799 0.10446728] [ 0. 0. 0. 1. ]] SLAMing on 45.776502481 meters Centerline goodness [0,1] 0.49722480184869233 Centerline is valid? [False, False] Translation: X:2.33, Y:0.00, Z:0.11 [[ 9.83330300e-01 7.26525102e-02 -1.66682737e-01 2.32772944e+00] [-7.87055760e-02 9.96446628e-01 -2.99924808e-02 4.73237565e-04] [ 1.63911422e-01 4.26113759e-02 9.85554319e-01 1.05322710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806502481 meters Centerline goodness [0,1] 0.5073226495265621 Centerline is valid? [False, False] Translation: X:2.33, Y:0.00, Z:0.11 [[ 0.98309152 0.07624746 -0.1664854 2.32786989] [-0.08184804 0.99627816 -0.027032 0.00269723] [ 0.16380465 0.04020144 0.98567331 0.10557136] [ 0. 0. 0. 1. ]] SLAMing on 45.836502481 meters Centerline goodness [0,1] 0.49890057773562124 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.11 [[ 0.98292096 0.07892795 -0.16624307 2.32740024] [-0.08429958 0.99611421 -0.02549626 0.00788252] [ 0.16358472 0.03907503 0.98575513 0.10647999] [ 0. 0. 0. 1. ]] SLAMing on 45.866502481 meters Centerline goodness [0,1] 0.5070431650020493 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.11 [[ 0.98297841 0.07911878 -0.16581212 2.3253753 ] [-0.08459913 0.99606943 -0.0262425 0.01299674] [ 0.16308411 0.03982337 0.98580813 0.10811488] [ 0. 0. 0. 1. ]] SLAMing on 45.896502481 meters Centerline goodness [0,1] 0.5000323129618061 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.11 [[ 0.98300123 0.07882512 -0.16581671 2.32554423] [-0.08443506 0.9960618 -0.02704843 0.01596205] [ 0.1630316 0.04058938 0.98578558 0.10827344] [ 0. 0. 0. 1. ]] SLAMing on 45.926502481 meters Centerline goodness [0,1] 0.49846034583001353 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.11 [[ 0.98300552 0.07862282 -0.1658873 2.32571357] [-0.08434859 0.99604991 -0.02774699 0.0189167 ] [ 0.16305049 0.0412678 0.98575428 0.10858134] [ 0. 0. 0. 1. ]] SLAMing on 45.956502481 meters Centerline goodness [0,1] 0.49987055574732486 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.11 [[ 0.98274197 0.08198725 -0.16582013 2.32646751] [-0.08738058 0.995849 -0.02548326 0.0234887 ] [ 0.16304251 0.03953292 0.9858267 0.10873506] [ 0. 0. 0. 1. ]] SLAMing on 45.986502481 meters Centerline goodness [0,1] 0.5126503167966898 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.11 [[ 0.98243341 0.08528431 -0.16598551 2.32801905] [-0.09035661 0.99563835 -0.02323708 0.02747571] [ 0.16327979 0.03782677 0.98585437 0.10853051] [ 0. 0. 0. 1. ]] SLAMing on 46.016502480999996 meters Centerline goodness [0,1] 0.5251577764329558 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.11 [[ 0.98240506 0.08500026 -0.16629867 2.32887316] [-0.09020432 0.99563452 -0.02398087 0.02989736] [ 0.16353432 0.03855978 0.98578378 0.10856246] [ 0. 0. 0. 1. ]] SLAMing on 46.046502481 meters Centerline goodness [0,1] 0.5196046697309078 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.11 [[ 0.98238088 0.08535784 -0.16625836 2.32946759] [-0.09063243 0.99558578 -0.02438679 0.03441081] [ 0.16344285 0.03902552 0.98578063 0.10858659] [ 0. 0. 0. 1. ]] SLAMing on 46.076502481 meters Centerline goodness [0,1] 0.5117345504098981 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.11 [[ 0.98238504 0.08516394 -0.16633322 2.32965412] [-0.0905327 0.99558084 -0.02495222 0.03685466] [ 0.16347314 0.03957129 0.98575385 0.10884372] [ 0. 0. 0. 1. ]] SLAMing on 46.106502481 meters Centerline goodness [0,1] 0.5220610521757956 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.11 [[ 0.98239329 0.08573336 -0.16599164 2.32846106] [-0.09106589 0.99553674 -0.02477117 0.0407577 ] [ 0.16312706 0.03945121 0.98581599 0.10983542] [ 0. 0. 0. 1. ]] SLAMing on 46.136502481 meters Centerline goodness [0,1] 0.504442570854141 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.11 [[ 0.9824159 0.08510533 -0.1661809 2.32905661] [-0.09053205 0.995571 -0.02534419 0.04193556] [ 0.16328796 0.03994323 0.98576954 0.10978007] [ 0. 0. 0. 1. ]] SLAMing on 46.166502481 meters Centerline goodness [0,1] 0.4900159917016035 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.11 [[ 0.98272044 0.0800187 -0.16690577 2.33046433] [-0.08616671 0.99583157 -0.02991291 0.04390778] [ 0.16381644 0.04377775 0.98551899 0.10945316] [ 0. 0. 0. 1. ]] SLAMing on 46.196502481 meters Centerline goodness [0,1] 0.4776947659353947 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.11 [[ 0.9827589 0.0783108 -0.1674884 2.33181126] [-0.08468958 0.99591639 -0.03127637 0.0466881 ] [ 0.16435517 0.04492166 0.98537781 0.10963662] [ 0. 0. 0. 1. ]] SLAMing on 46.226502481 meters Centerline goodness [0,1] 0.48984213250517594 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.11 [[ 0.98275271 0.07768934 -0.16781382 2.33268235] [-0.08416231 0.99594451 -0.03179992 0.04879705] [ 0.16466273 0.04537506 0.98530568 0.10972617] [ 0. 0. 0. 1. ]] SLAMing on 46.256502481 meters Centerline goodness [0,1] 0.46904011399455936 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.11 [[ 0.98275276 0.07699929 -0.16813128 2.3334992 ] [-0.08358537 0.99597238 -0.03244243 0.05096742] [ 0.16495606 0.0459362 0.98523061 0.10985828] [ 0. 0. 0. 1. ]] SLAMing on 46.286502481 meters Centerline goodness [0,1] 0.47426891737091237 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.11 [[ 0.98305861 0.07408421 -0.1676523 2.33198645] [-0.08104642 0.99609336 -0.03506419 0.05492554] [ 0.16439964 0.04805777 0.98522242 0.11062373] [ 0. 0. 0. 1. ]] SLAMing on 46.316502481 meters Centerline goodness [0,1] 0.4702958528731658 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:0.11 [[ 0.98316759 0.07292806 -0.1675201 2.33151187] [-0.08004142 0.99613756 -0.03610163 0.05623397] [ 0.16424024 0.04890249 0.98520743 0.1109484 ] [ 0. 0. 0. 1. ]] SLAMing on 46.346502481 meters Centerline goodness [0,1] 0.46798816695817413 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:0.11 [[ 0.98331835 0.07081631 -0.16754127 2.33156116] [-0.07828184 0.99619243 -0.03837442 0.06167109] [ 0.16418581 0.05084971 0.98511793 0.11151735] [ 0. 0. 0. 1. ]] SLAMing on 46.376502481 meters Centerline goodness [0,1] 0.4624203821656051 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:0.11 [[ 0.98317303 0.07301895 -0.1674486 2.33212743] [-0.08024954 0.99609453 -0.0368197 0.0682644 ] [ 0.1641061 0.04963781 0.98519301 0.11212674] [ 0. 0. 0. 1. ]] SLAMing on 46.406502481 meters Centerline goodness [0,1] 0.46668396246811084 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:0.11 [[ 0.98298371 0.07623373 -0.16712701 2.33211224] [-0.08305092 0.99595905 -0.03417773 0.07048518] [ 0.16384617 0.04747621 0.98534281 0.11227163] [ 0. 0. 0. 1. ]] SLAMing on 46.436502481 meters Centerline goodness [0,1] 0.45957181011458603 Centerline is valid? [False, False] Translation: X:2.33, Y:0.08, Z:0.11 [[ 0.98279127 0.07814012 -0.16737812 2.33484483] [-0.08485952 0.99583414 -0.03336515 0.07708576] [ 0.16407369 0.04699461 0.98532803 0.11138227] [ 0. 0. 0. 1. ]] SLAMing on 46.466502481 meters Centerline goodness [0,1] 0.46016232158618764 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.11 [[ 0.98277567 0.07760977 -0.16771612 2.33620944] [-0.08451613 0.99582709 -0.03443011 0.08074378] [ 0.16434414 0.04801179 0.98523392 0.1111704 ] [ 0. 0. 0. 1. ]] SLAMing on 46.496502481 meters Centerline goodness [0,1] 0.4638015388926008 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.11 [[ 0.98277127 0.07714782 -0.16795487 2.3371829 ] [-0.08423196 0.995815 -0.03546071 0.08411676] [ 0.16451626 0.04899693 0.98515669 0.11109937] [ 0. 0. 0. 1. ]] SLAMing on 46.526502481 meters Centerline goodness [0,1] 0.45723762141672586 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.11 [[ 0.98260316 0.08016566 -0.16752462 2.33755397] [-0.0869921 0.99563532 -0.03380369 0.09027039] [ 0.16408353 0.04778893 0.98528819 0.11113404] [ 0. 0. 0. 1. ]] SLAMing on 46.556502481 meters Centerline goodness [0,1] 0.4697922950960959 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.11 [[ 0.98232492 0.08409173 -0.16723139 2.33813891] [-0.09045389 0.99542474 -0.0307844 0.09330584] [ 0.16387755 0.04536702 0.98543695 0.11098789] [ 0. 0. 0. 1. ]] SLAMing on 46.586502481 meters Centerline goodness [0,1] 0.4630498216794553 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.11 [[ 0.98172465 0.09170673 -0.16675308 2.33948251] [-0.09723919 0.99493932 -0.02530377 0.10047499] [ 0.16358867 0.04105627 0.98567395 0.11089636] [ 0. 0. 0. 1. ]] SLAMing on 46.616502481 meters Centerline goodness [0,1] 0.481618362186345 Centerline is valid? [False, False] Translation: X:2.34, Y:0.11, Z:0.11 [[ 0.98140335 0.09595469 -0.16625329 2.33962873] [-0.1011939 0.9945935 -0.02331456 0.1084939 ] [ 0.1631173 0.0397048 0.98580742 0.11169854] [ 0. 0. 0. 1. ]] SLAMing on 46.646502481 meters Centerline goodness [0,1] 0.48300378173960024 Centerline is valid? [False, False] Translation: X:2.34, Y:0.11, Z:0.11 [[ 0.981338 0.09710682 -0.16596984 2.33912295] [-0.1023201 0.99448248 -0.02313414 0.11288977] [ 0.16280762 0.03968446 0.98585943 0.11243792] [ 0. 0. 0. 1. ]] SLAMing on 46.676502481 meters Centerline goodness [0,1] 0.5008844212433669 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:0.11 [[ 0.98108817 0.09992908 -0.16577149 2.33993322] [-0.10499354 0.99422838 -0.02205203 0.11943486] [ 0.16261108 0.03903992 0.9859176 0.11269269] [ 0. 0. 0. 1. ]] SLAMing on 46.706502481 meters Centerline goodness [0,1] 0.5032836465759343 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:0.11 [[ 0.98074532 0.1036716 -0.16550174 2.3405277 ] [-0.10827332 0.9939395 -0.01900437 0.1211983 ] [ 0.1625285 0.03655786 0.98602637 0.11250221] [ 0. 0. 0. 1. ]] SLAMing on 46.736502481 meters Centerline goodness [0,1] 0.5068167063406189 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:0.11 [[ 0.98032585 0.10795251 -0.16524976 2.3424079 ] [-0.11208441 0.99357214 -0.01585863 0.12739352] [ 0.16247558 0.03406855 0.98612424 0.11192261] [ 0. 0. 0. 1. ]] SLAMing on 46.766502480999996 meters Centerline goodness [0,1] 0.4919714347543822 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:0.11 [[ 0.98029749 0.1078231 -0.16550232 2.34325736] [-0.11206348 0.9935645 -0.01647315 0.13068363] [ 0.16266104 0.03469535 0.98607181 0.11206751] [ 0. 0. 0. 1. ]] SLAMing on 46.796502481 meters Centerline goodness [0,1] 0.5107124307479225 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:0.11 [[ 0.98030959 0.1077972 -0.16544749 2.34395791] [-0.11217575 0.99353733 -0.01732526 0.13622632] [ 0.16251064 0.03554331 0.98606641 0.11214024] [ 0. 0. 0. 1. ]] SLAMing on 46.826502481 meters Centerline goodness [0,1] 0.5114031864069695 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:0.11 [[ 0.98032384 0.10735868 -0.16564809 2.34457126] [-0.11187839 0.99355573 -0.01817242 0.13904996] [ 0.16262964 0.0363473 0.98601748 0.11228702] [ 0. 0. 0. 1. ]] SLAMing on 46.856502481 meters Centerline goodness [0,1] 0.5117869899339755 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:0.11 [[ 0.98048138 0.10613252 -0.16550578 2.34432847] [-0.11093494 0.99362598 -0.02002114 0.14450427] [ 0.16232595 0.03799072 0.98600557 0.11289057] [ 0. 0. 0. 1. ]] SLAMing on 46.886502481 meters Centerline goodness [0,1] 0.5047894998594503 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:0.11 [[ 0.98050991 0.10542046 -0.16579156 2.34466112] [-0.11037746 0.99366894 -0.02094896 0.1468787 ] [ 0.16253347 0.03884031 0.98593828 0.11335265] [ 0. 0. 0. 1. ]] SLAMing on 46.916502481 meters Centerline goodness [0,1] 0.5046272271233351 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:0.11 [[ 0.98060953 0.10410722 -0.16603204 2.34489693] [-0.10935143 0.99374305 -0.02273798 0.15165387] [ 0.16262599 0.04045292 0.98585818 0.11412852] [ 0. 0. 0. 1. ]] SLAMing on 46.946502481 meters Centerline goodness [0,1] 0.493960543659111 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.11 [[ 0.9806091 0.10361367 -0.16634301 2.34568025] [-0.10899448 0.99376391 -0.02352641 0.15430799] [ 0.16286802 0.04120068 0.98578726 0.11430463] [ 0. 0. 0. 1. ]] SLAMing on 46.976502481 meters Centerline goodness [0,1] 0.493960543659111 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.11 [[ 0.9806091 0.10361367 -0.16634301 2.34568025] [-0.10899448 0.99376391 -0.02352641 0.15430799] [ 0.16286802 0.04120068 0.98578726 0.11430463] [ 0. 0. 0. 1. ]] SLAMing on 47.006502481 meters Centerline goodness [0,1] 0.49007966493231714 Centerline is valid? [False, False] Translation: X:2.35, Y:0.16, Z:0.11 [[ 0.98037243 0.10522011 -0.1667292 2.34869246] [-0.11050584 0.99361569 -0.02272266 0.16011082] [ 0.16327387 0.04070122 0.98574087 0.11354545] [ 0. 0. 0. 1. ]] SLAMing on 47.036502481 meters Centerline goodness [0,1] 0.48835552869568966 Centerline is valid? [False, False] Translation: X:2.35, Y:0.17, Z:0.11 [[ 0.98025859 0.10573031 -0.1670754 2.35129883] [-0.11109234 0.99354267 -0.02305333 0.16606676] [ 0.1635591 0.04115902 0.98567457 0.11287752] [ 0. 0. 0. 1. ]] SLAMing on 47.066502481 meters Centerline goodness [0,1] 0.49106719026453205 Centerline is valid? [False, False] Translation: X:2.35, Y:0.17, Z:0.11 [[ 0.98027496 0.10525748 -0.16727783 2.35225637] [-0.11077915 0.99355519 -0.02400147 0.16896769] [ 0.16367343 0.04205893 0.9856176 0.11273668] [ 0. 0. 0. 1. ]] SLAMing on 47.096502481 meters Centerline goodness [0,1] 0.4932650104862597 Centerline is valid? [False, False] Translation: X:2.35, Y:0.17, Z:0.11 [[ 0.98020933 0.10608292 -0.16714092 2.35343488] [-0.11165776 0.99344981 -0.0242904 0.17493926] [ 0.16346932 0.04247226 0.98563375 0.11252105] [ 0. 0. 0. 1. ]] SLAMing on 47.126502481 meters Centerline goodness [0,1] 0.4979461235785013 Centerline is valid? [False, False] Translation: X:2.35, Y:0.18, Z:0.11 [[ 0.97987419 0.10969428 -0.16677454 2.35333775] [-0.11483389 0.9931528 -0.02146365 0.17719785] [ 0.16327816 0.04018305 0.98576141 0.11292236] [ 0. 0. 0. 1. ]] SLAMing on 47.156502481 meters Centerline goodness [0,1] 0.510212903923052 Centerline is valid? [False, False] Translation: X:2.35, Y:0.18, Z:0.11 [[ 0.97922541 0.11670976 -0.16582047 2.35296825] [-0.12106281 0.99251009 -0.01635601 0.1838733 ] [ 0.16266958 0.03609091 0.98602031 0.11380584] [ 0. 0. 0. 1. ]] SLAMing on 47.186502481 meters Centerline goodness [0,1] 0.5154538974923865 Centerline is valid? [False, False] Translation: X:2.35, Y:0.19, Z:0.11 [[ 0.97913843 0.11734923 -0.16588278 2.3539459 ] [-0.12172042 0.99242894 -0.01639936 0.18797616] [ 0.16270242 0.03624857 0.98600911 0.11387699] [ 0. 0. 0. 1. ]] SLAMing on 47.216502481 meters Centerline goodness [0,1] 0.5222583913596481 Centerline is valid? [False, False] Translation: X:2.35, Y:0.19, Z:0.11 [[ 0.97881688 0.12035633 -0.16562568 2.35441157] [-0.12447585 0.99211399 -0.01468289 0.19289131] [ 0.16255238 0.03498826 0.98607938 0.11438525] [ 0. 0. 0. 1. ]] SLAMing on 47.246502481 meters Centerline goodness [0,1] 0.5205665795780883 Centerline is valid? [False, False] Translation: X:2.36, Y:0.20, Z:0.11 [[ 0.97882411 0.11994214 -0.16588323 2.35509997] [-0.12421107 0.99213371 -0.01556611 0.19628485] [ 0.16271131 0.03584102 0.98602254 0.11468734] [ 0. 0. 0. 1. ]] SLAMing on 47.276502481 meters Centerline goodness [0,1] 0.5141191709844559 Centerline is valid? [False, False] Translation: X:2.36, Y:0.20, Z:0.12 [[ 0.97853471 0.12265513 -0.16560657 2.35538692] [-0.12664199 0.99185398 -0.01369271 0.20135118] [ 0.16257806 0.03437154 0.98609684 0.11526426] [ 0. 0. 0. 1. ]] SLAMing on 47.306502481 meters Centerline goodness [0,1] 0.5080026783592889 Centerline is valid? [False, False] Translation: X:2.36, Y:0.20, Z:0.12 [[ 0.97857986 0.12203107 -0.16580071 2.35600293] [-0.12616901 0.99190105 -0.01461818 0.20420158] [ 0.16267403 0.03522397 0.98605093 0.11540425] [ 0. 0. 0. 1. ]] SLAMing on 47.336502481 meters Centerline goodness [0,1] 0.5293280734656922 Centerline is valid? [False, False] Translation: X:2.36, Y:0.21, Z:0.12 [[ 0.97875553 0.12061709 -0.16579846 2.35635146] [-0.12506761 0.99200882 -0.01663105 0.2100941 ] [ 0.16246755 0.03701375 0.98601941 0.11578853] [ 0. 0. 0. 1. ]] SLAMing on 47.366502481 meters Centerline goodness [0,1] 0.5275094860296654 Centerline is valid? [False, False] Translation: X:2.36, Y:0.21, Z:0.12 [[ 0.97882356 0.11988296 -0.16592922 2.35665975] [-0.12450918 0.99206009 -0.01772697 0.21337055] [ 0.16248659 0.03801129 0.98597832 0.11617436] [ 0. 0. 0. 1. ]] SLAMing on 47.396502481 meters Centerline goodness [0,1] 0.5296503224971417 Centerline is valid? [False, False] Translation: X:2.36, Y:0.22, Z:0.12 [[ 0.97891867 0.11875382 -0.16617995 2.35753174] [-0.12364647 0.99213716 -0.01937516 0.22082048] [ 0.16257243 0.03951427 0.98590508 0.11689914] [ 0. 0. 0. 1. ]] SLAMing on 47.426502481 meters Centerline goodness [0,1] 0.49085915372071065 Centerline is valid? [False, False] Translation: X:2.36, Y:0.22, Z:0.12 [[ 0.97892281 0.11816425 -0.16657533 2.35857834] [-0.12320956 0.99217405 -0.02024998 0.22407343] [ 0.1628789 0.04034684 0.98582077 0.11717333] [ 0. 0. 0. 1. ]] SLAMing on 47.456502481 meters Centerline goodness [0,1] 0.5132690246516614 Centerline is valid? [False, False] Translation: X:2.36, Y:0.23, Z:0.12 [[ 0.97900809 0.11683545 -0.16701087 2.36000115] [-0.12216094 0.99226774 -0.02194168 0.23089254] [ 0.16315593 0.04188329 0.98571088 0.11768973] [ 0. 0. 0. 1. ]] SLAMing on 47.486502481 meters Centerline goodness [0,1] 0.5027295285359801 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:0.12 [[ 0.9791096 0.11529306 -0.16748703 2.3619206 ] [-0.12094603 0.99237089 -0.02391793 0.23836219] [ 0.16345168 0.04367517 0.9855841 0.11776397] [ 0. 0. 0. 1. ]] SLAMing on 47.516502480999996 meters Centerline goodness [0,1] 0.501372646505696 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:0.12 [[ 0.97912911 0.11451341 -0.16790732 2.36311962] [-0.12035414 0.99241625 -0.02499752 0.24170864] [ 0.1637714 0.04468414 0.9854858 0.11782905] [ 0. 0. 0. 1. ]] SLAMing on 47.546502481 meters Centerline goodness [0,1] 0.4929720392961243 Centerline is valid? [False, False] Translation: X:2.37, Y:0.25, Z:0.12 [[ 0.97917008 0.11326113 -0.16851669 2.36588456] [-0.1194104 0.99248368 -0.02678231 0.24926267] [ 0.16421667 0.04634708 0.98533488 0.11748367] [ 0. 0. 0. 1. ]] SLAMing on 47.576502481 meters Centerline goodness [0,1] 0.48844442524515097 Centerline is valid? [False, False] Translation: X:2.37, Y:0.25, Z:0.12 [[ 0.97912961 0.11293568 -0.16896965 2.36775617] [-0.11921552 0.99248857 -0.02746099 0.25267762] [ 0.16459912 0.04703168 0.98523863 0.11718448] [ 0. 0. 0. 1. ]] SLAMing on 47.606502481 meters Centerline goodness [0,1] 0.4843058045840444 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:0.12 [[ 0.97923068 0.1117341 -0.16918262 2.36932781] [-0.11830778 0.99254593 -0.02925472 0.25983005] [ 0.16465277 0.04866274 0.98515045 0.11716336] [ 0. 0. 0. 1. ]] SLAMing on 47.636502481 meters Centerline goodness [0,1] 0.4803836847563083 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:0.12 [[ 0.97934256 0.11055077 -0.16931238 2.36975997] [-0.11743434 0.9925915 -0.03116545 0.26645266] [ 0.16461266 0.05040474 0.98506956 0.11804773] [ 0. 0. 0. 1. ]] SLAMing on 47.666502481 meters Centerline goodness [0,1] 0.49600051885160845 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:0.12 [[ 0.97927497 0.11041004 -0.16979443 2.37102633] [-0.11741231 0.99257604 -0.03173585 0.26985262] [ 0.16502993 0.05101408 0.98496837 0.118426 ] [ 0. 0. 0. 1. ]] SLAMing on 47.696502481 meters Centerline goodness [0,1] 0.47638084536260694 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:0.12 [[ 0.97903057 0.11158211 -0.17043642 2.37398755] [-0.11846581 0.99248235 -0.03073503 0.27286757] [ 0.16572566 0.05028142 0.98488922 0.11777894] [ 0. 0. 0. 1. ]] SLAMing on 47.726502481 meters Centerline goodness [0,1] 0.472319309600863 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:0.12 [[ 0.97872389 0.11300397 -0.17125899 2.3783493 ] [-0.1197937 0.99235115 -0.02981062 0.27784363] [ 0.16658033 0.04969212 0.98477494 0.11656908] [ 0. 0. 0. 1. ]] SLAMing on 47.756502481 meters Centerline goodness [0,1] 0.466794932768386 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:0.12 [[ 0.97870394 0.11287755 -0.17145631 2.37945511] [-0.11973607 0.99234731 -0.03016761 0.27967578] [ 0.16673896 0.05005467 0.98472973 0.11627442] [ 0. 0. 0. 1. ]] SLAMing on 47.786502481 meters Centerline goodness [0,1] 0.48953332468318844 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:0.12 [[ 0.97858724 0.1132794 -0.17185689 2.3815753 ] [-0.12018501 0.99228931 -0.03029018 0.28372126] [ 0.1671005 0.05029621 0.98465614 0.11605484] [ 0. 0. 0. 1. ]] SLAMing on 47.816502481 meters Centerline goodness [0,1] 0.4870665457529041 Centerline is valid? [False, False] Translation: X:2.39, Y:0.29, Z:0.12 [[ 0.97913318 0.10952578 -0.17117923 2.39108088] [-0.11537988 0.99301673 -0.0246019 0.28545378] [ 0.16728929 0.04383918 0.9849327 0.11833109] [ 0. 0. 0. 1. ]] SLAMing on 47.846502481 meters Centerline goodness [0,1] 0.49113436837780566 Centerline is valid? [False, False] Translation: X:2.39, Y:0.29, Z:0.12 [[ 0.97868619 0.11370065 -0.17101318 2.39225697] [-0.11910147 0.99264653 -0.02162645 0.28995977] [ 0.1672967 0.04153343 0.98503136 0.11859243] [ 0. 0. 0. 1. ]] SLAMing on 47.876502481 meters Centerline goodness [0,1] 0.49244784904353844 Centerline is valid? [False, False] Translation: X:2.39, Y:0.29, Z:0.12 [[ 0.97862367 0.1138186 -0.17129227 2.39338441] [-0.11927444 0.99262043 -0.02186981 0.29199208] [ 0.16753902 0.04183311 0.9849775 0.11850764] [ 0. 0. 0. 1. ]] SLAMing on 47.906502481 meters Centerline goodness [0,1] 0.5021955915118216 Centerline is valid? [False, False] Translation: X:2.40, Y:0.30, Z:0.12 [[ 0.97856466 0.11392283 -0.17155987 2.39537754] [-0.11948038 0.99258406 -0.02239037 0.29565607] [ 0.16773682 0.04240846 0.98491923 0.11792061] [ 0. 0. 0. 1. ]] SLAMing on 47.936502481 meters Centerline goodness [0,1] 0.4850025857610757 Centerline is valid? [False, False] Translation: X:2.40, Y:0.30, Z:0.12 [[ 0.97823171 0.11541441 -0.1724594 2.39995903] [-0.12085786 0.99243981 -0.02136814 0.29920283] [ 0.16868938 0.04174607 0.98478483 0.11642598] [ 0. 0. 0. 1. ]] SLAMing on 47.966502481 meters Centerline goodness [0,1] 0.5046918918918919 Centerline is valid? [False, False] Translation: X:2.40, Y:0.30, Z:0.12 [[ 0.97803556 0.11612364 -0.1730946 2.40291141] [-0.12151016 0.99237186 -0.02081764 0.30084204] [ 0.16935679 0.04139314 0.98468517 0.11543596] [ 0. 0. 0. 1. ]] SLAMing on 47.996502481 meters Centerline goodness [0,1] 0.5047734243379844 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:0.11 [[ 0.97774901 0.11737453 -0.17386804 2.4064194 ] [-0.12270045 0.9922388 -0.02016861 0.30511904] [ 0.17015133 0.04105353 0.98456241 0.11477978] [ 0. 0. 0. 1. ]] SLAMing on 48.026502481 meters Centerline goodness [0,1] 0.5069023714730829 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:0.12 [[ 0.97773448 0.11714366 -0.17410529 2.40705877] [-0.12259082 0.99223866 -0.02083109 0.30785307] [ 0.17031377 0.04171098 0.98450669 0.11510801] [ 0. 0. 0. 1. ]] SLAMing on 48.056502481 meters Centerline goodness [0,1] 0.513602140098807 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:0.12 [[ 0.97741076 0.12037678 -0.17371714 2.40750193] [-0.12551676 0.991912 -0.01887124 0.31217925] [ 0.17004045 0.04024936 0.98461476 0.11552639] [ 0. 0. 0. 1. ]] SLAMing on 48.086502481 meters Centerline goodness [0,1] 0.5108343764837916 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:0.12 [[ 0.97729057 0.12060868 -0.17423171 2.40919986] [-0.12580662 0.99187162 -0.0190625 0.31474448] [ 0.17051639 0.04054911 0.98452015 0.11549867] [ 0. 0. 0. 1. ]] SLAMing on 48.116502481 meters Centerline goodness [0,1] 0.5118020195046172 Centerline is valid? [False, False] Translation: X:2.41, Y:0.32, Z:0.11 [[ 0.97703276 0.12160076 -0.17498638 2.41319809] [-0.12676309 0.9917588 -0.01859039 0.31915332] [ 0.17128368 0.04034523 0.98439533 0.11428346] [ 0. 0. 0. 1. ]] SLAMing on 48.146502481 meters Centerline goodness [0,1] 0.5130275624461671 Centerline is valid? [False, False] Translation: X:2.41, Y:0.32, Z:0.11 [[ 0.97693704 0.12161462 -0.17551043 2.41492517] [-0.12681621 0.99175015 -0.01868908 0.32073777] [ 0.17178963 0.04051562 0.98430016 0.11398678] [ 0. 0. 0. 1. ]] SLAMing on 48.176502481 meters Centerline goodness [0,1] 0.5259366305027716 Centerline is valid? [False, False] Translation: X:2.42, Y:0.32, Z:0.11 [[ 0.97689707 0.1212058 -0.17601498 2.41613202] [-0.12653187 0.99177447 -0.01931539 0.32327851] [ 0.17222603 0.04114065 0.98419797 0.11428985] [ 0. 0. 0. 1. ]] SLAMing on 48.206502481 meters Centerline goodness [0,1] 0.5102837185236289 Centerline is valid? [False, False] Translation: X:2.42, Y:0.32, Z:0.12 [[ 0.97787633 0.11355414 -0.17567966 2.42464222] [-0.11822112 0.99285356 -0.01629673 0.3248209 ] [ 0.17257361 0.03670523 0.98431249 0.11721055] [ 0. 0. 0. 1. ]] SLAMing on 48.236502481 meters Centerline goodness [0,1] 0.4932442624717164 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.12 [[ 0.97884018 0.10761076 -0.17404547 2.43259578] [-0.11128086 0.99372316 -0.01143883 0.32532648] [ 0.17172207 0.03056472 0.98467118 0.1196214 ] [ 0. 0. 0. 1. ]] SLAMing on 48.266502480999996 meters Centerline goodness [0,1] 0.4948868651639432 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.12 [[ 0.97990632 0.10155163 -0.17167083 2.44100764] [-0.10419021 0.99453675 -0.00640651 0.32752681] [ 0.17008235 0.0241642 0.98513354 0.12189586] [ 0. 0. 0. 1. ]] SLAMing on 48.296502481 meters Centerline goodness [0,1] 0.4901779374744497 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:0.12 [[ 0.98094789 0.09346402 -0.17031066 2.4505678 ] [-0.09542466 0.99543104 -0.00334466 0.32857433] [ 0.16921991 0.01953277 0.98538474 0.12343654] [ 0. 0. 0. 1. ]] SLAMing on 48.326502481 meters Centerline goodness [0,1] 0.4796510378615325 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.12 [[ 0.98214119 0.08275157 -0.16896998 2.46165036] [-0.08443387 0.9964252 -0.00278297 0.33086651] [ 0.16813565 0.01700006 0.98561727 0.12408845] [ 0. 0. 0. 1. ]] SLAMing on 48.356502481 meters Centerline goodness [0,1] 0.47683788675342587 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.13 [[ 9.82809055e-01 7.50863338e-02 -1.68666546e-01 2.47218580e+00] [-7.61142033e-02 9.97099037e-01 3.72230925e-04 3.32551708e-01] [ 1.68205200e-01 1.24720878e-02 9.85673099e-01 1.25595927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386502481 meters Centerline goodness [0,1] 0.47747883592184903 Centerline is valid? [False, False] Translation: X:2.49, Y:0.34, Z:0.13 [[ 0.98272597 0.06984097 -0.17138233 2.48562983] [-0.07013783 0.99752791 0.0043298 0.3379326 ] [ 0.17126106 0.00776538 0.98519508 0.12748283] [ 0. 0. 0. 1. ]] SLAMing on 48.416502481 meters Centerline goodness [0,1] 0.4800319316490108 Centerline is valid? [False, False] Translation: X:2.50, Y:0.34, Z:0.13 [[ 9.83219872e-01 6.49327732e-02 -1.70477029e-01 2.49614812e+00] [-6.42396114e-02 9.97888472e-01 9.58488806e-03 3.40873180e-01] [ 1.70739436e-01 1.52732569e-03 9.85315032e-01 1.28780297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446502481 meters Centerline goodness [0,1] 0.48285159620362383 Centerline is valid? [False, False] Translation: X:2.50, Y:0.35, Z:0.13 [[ 9.82888603e-01 6.85552083e-02 -1.70968353e-01 2.49762352e+00] [-6.75054785e-02 9.97647303e-01 1.19528155e-02 3.46786603e-01] [ 1.71385544e-01 -2.06985651e-04 9.85204016e-01 1.29379111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.476502481 meters Centerline goodness [0,1] 0.4855128702625793 Centerline is valid? [False, False] Translation: X:2.50, Y:0.35, Z:0.13 [[ 9.82688542e-01 6.96670424e-02 -1.71667508e-01 2.49995332e+00] [-6.85078888e-02 9.97570058e-01 1.26747238e-02 3.50741178e-01] [ 1.72133376e-01 -6.94727316e-04 9.85073407e-01 1.29164256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506502481 meters Centerline goodness [0,1] 0.48759045253267086 Centerline is valid? [False, False] Translation: X:2.50, Y:0.36, Z:0.13 [[ 9.82408973e-01 7.25895301e-02 -1.72056299e-01 2.50180391e+00] [-7.12503218e-02 9.97360846e-01 1.39547328e-02 3.57820106e-01] [ 1.72615184e-01 -1.45018801e-03 9.84988272e-01 1.29512724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.536502481 meters Centerline goodness [0,1] 0.4925907551605876 Centerline is valid? [False, False] Translation: X:2.50, Y:0.36, Z:0.13 [[ 9.82058200e-01 7.56813794e-02 -1.72725274e-01 2.50489688e+00] [-7.41179329e-02 9.97129133e-01 1.54927207e-02 3.64929237e-01] [ 1.73401914e-01 -2.41271312e-03 9.84848189e-01 1.29210380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566502481 meters Centerline goodness [0,1] 0.5015223822583084 Centerline is valid? [False, False] Translation: X:2.51, Y:0.37, Z:0.13 [[ 0.98178897 0.07740144 -0.17349188 2.50845644] [-0.07567031 0.99699503 0.01658042 0.36952268] [ 0.17425389 -0.00315029 0.98469572 0.12812556] [ 0. 0. 0. 1. ]] SLAMing on 48.596502481 meters Centerline goodness [0,1] 0.5196597067777946 Centerline is valid? [False, False] Translation: X:2.51, Y:0.38, Z:0.13 [[ 0.9812728 0.08206742 -0.17426595 2.51152338] [-0.07982852 0.99661134 0.01983043 0.37749699] [ 0.17530285 -0.00554767 0.98449892 0.12831529] [ 0. 0. 0. 1. ]] SLAMing on 48.626502481 meters Centerline goodness [0,1] 0.5182719944676162 Centerline is valid? [False, False] Translation: X:2.52, Y:0.38, Z:0.13 [[ 0.98217083 0.07579599 -0.17203319 2.52178434] [-0.07281434 0.99706659 0.02358573 0.38178002] [ 0.17331625 -0.01063873 0.98480876 0.12914418] [ 0. 0. 0. 1. ]] SLAMing on 48.656502481 meters Centerline goodness [0,1] 0.5368815202805073 Centerline is valid? [False, False] Translation: X:2.54, Y:0.39, Z:0.13 [[ 0.98280877 0.07283833 -0.1696511 2.54006196] [-0.06995245 0.99728666 0.02293424 0.38765476] [ 0.17086127 -0.01067246 0.98523729 0.13260744] [ 0. 0. 0. 1. ]] SLAMing on 48.686502481 meters Centerline goodness [0,1] 0.5347112277429569 Centerline is valid? [False, False] Translation: X:2.54, Y:0.39, Z:0.13 [[ 0.98266065 0.07292313 -0.17047071 2.54234698] [-0.07007104 0.99728378 0.022696 0.39045314] [ 0.17166274 -0.0103574 0.98510133 0.13235034] [ 0. 0. 0. 1. ]] SLAMing on 48.716502481 meters Centerline goodness [0,1] 0.5518583762858572 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:0.13 [[ 0.98238666 0.07443949 -0.17139201 2.54549292] [-0.07147593 0.99716766 0.02340635 0.39671975] [ 0.17264893 -0.01074368 0.98492483 0.13204807] [ 0. 0. 0. 1. ]] SLAMing on 48.746502481 meters Centerline goodness [0,1] 0.5427060206347134 Centerline is valid? [False, False] Translation: X:2.56, Y:0.40, Z:0.13 [[ 0.98300536 0.06892211 -0.17014759 2.55726759] [-0.06502715 0.99748025 0.02836599 0.39988061] [ 0.1716739 -0.01681971 0.98501024 0.1321049 ] [ 0. 0. 0. 1. ]] SLAMing on 48.776502481 meters Centerline goodness [0,1] 0.543793389512291 Centerline is valid? [False, False] Translation: X:2.58, Y:0.40, Z:0.13 [[ 0.98331172 0.06841095 -0.16857639 2.57705971] [-0.06404489 0.99745891 0.03120853 0.40424389] [ 0.17028303 -0.01989126 0.98519441 0.13452181] [ 0. 0. 0. 1. ]] SLAMing on 48.806502481 meters Centerline goodness [0,1] 0.5532489785158825 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:0.14 [[ 0.98398473 0.06570503 -0.16570124 2.59539214] [-0.06125413 0.99761438 0.03183533 0.40915402] [ 0.16739768 -0.02117559 0.98566202 0.13692303] [ 0. 0. 0. 1. ]] SLAMing on 48.836502481 meters Centerline goodness [0,1] 0.5380462328389783 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:0.14 [[ 0.9845418 0.05945655 -0.16474942 2.60755597] [-0.05421496 0.99787522 0.03613562 0.41255448] [ 0.16654786 -0.02664515 0.9856733 0.13669742] [ 0. 0. 0. 1. ]] SLAMing on 48.866502481 meters Centerline goodness [0,1] 0.5380462328389783 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:0.14 [[ 0.9845418 0.05945655 -0.16474942 2.60755597] [-0.05421496 0.99787522 0.03613562 0.41255448] [ 0.16654786 -0.02664515 0.9856733 0.13669742] [ 0. 0. 0. 1. ]] SLAMing on 48.896502481 meters Centerline goodness [0,1] 0.5473763684409211 Centerline is valid? [False, False] Translation: X:2.63, Y:0.42, Z:0.14 [[ 0.98501138 0.05706555 -0.16277627 2.62885602] [-0.05168406 0.99797377 0.03710944 0.41777567] [ 0.16456411 -0.02814028 0.9859649 0.13812778] [ 0. 0. 0. 1. ]] SLAMing on 48.926502481 meters Centerline goodness [0,1] 0.5434206718461299 Centerline is valid? [False, False] Translation: X:2.65, Y:0.42, Z:0.14 [[ 0.98553651 0.0535234 -0.16078877 2.64745021] [-0.04799945 0.99812244 0.03804804 0.42014405] [ 0.16252334 -0.02977996 0.9862552 0.14078349] [ 0. 0. 0. 1. ]] SLAMing on 48.956502481 meters Centerline goodness [0,1] 0.5343095483697358 Centerline is valid? [False, False] Translation: X:2.67, Y:0.43, Z:0.14 [[ 0.98627134 0.05142778 -0.15692043 2.66683694] [-0.04570163 0.99815855 0.03988564 0.42633678] [ 0.1586827 -0.03216654 0.98680551 0.1419386 ] [ 0. 0. 0. 1. ]] SLAMing on 48.986502481 meters Centerline goodness [0,1] 0.5331486736026663 Centerline is valid? [False, False] Translation: X:2.69, Y:0.43, Z:0.14 [[ 0.98685232 0.04753837 -0.15447523 2.68537203] [-0.04174769 0.99830627 0.04051817 0.42932652] [ 0.15613976 -0.03353647 0.98716548 0.14431472] [ 0. 0. 0. 1. ]] SLAMing on 49.016502480999996 meters Centerline goodness [0,1] 0.5180143388692259 Centerline is valid? [False, False] Translation: X:2.71, Y:0.44, Z:0.15 [[ 0.98702002 0.04248282 -0.15487635 2.70643445] [-0.03706746 0.9986018 0.03768874 0.43656316] [ 0.15626092 -0.03145867 0.98721471 0.14822734] [ 0. 0. 0. 1. ]] SLAMing on 49.046502481 meters Centerline goodness [0,1] 0.5184536270137435 Centerline is valid? [False, False] Translation: X:2.73, Y:0.44, Z:0.15 [[ 0.98689083 0.03854481 -0.1567188 2.72825245] [-0.03314613 0.99876844 0.03691788 0.4401648 ] [ 0.15794878 -0.03123929 0.98695303 0.15205927] [ 0. 0. 0. 1. ]] SLAMing on 49.076502481 meters Centerline goodness [0,1] 0.5159165499988525 Centerline is valid? [False, False] Translation: X:2.75, Y:0.45, Z:0.16 [[ 0.98648222 0.03626917 -0.1598042 2.75149172] [-0.03080219 0.99885677 0.03655652 0.44870213] [ 0.16094738 -0.03114004 0.98647161 0.15651329] [ 0. 0. 0. 1. ]] SLAMing on 49.106502481 meters Centerline goodness [0,1] 0.5097894006017125 Centerline is valid? [False, False] Translation: X:2.77, Y:0.46, Z:0.16 [[ 0.98681911 0.03458558 -0.1580882 2.76993426] [-0.02883678 0.99884183 0.03851545 0.45677794] [ 0.15923718 -0.03344903 0.98667354 0.16002922] [ 0. 0. 0. 1. ]] SLAMing on 49.136502481 meters Centerline goodness [0,1] 0.5119174836221716 Centerline is valid? [False, False] Translation: X:2.79, Y:0.46, Z:0.16 [[ 0.98707294 0.03058356 -0.15732662 2.78880037] [-0.02472767 0.99893143 0.03904531 0.4604817 ] [ 0.15835265 -0.03465025 0.98677444 0.16334381] [ 0. 0. 0. 1. ]] SLAMing on 49.166502481 meters Centerline goodness [0,1] 0.49506778868630197 Centerline is valid? [False, False] Translation: X:2.79, Y:0.47, Z:0.16 [[ 0.98702305 0.02964269 -0.15781891 2.79051883] [-0.02400432 0.99900774 0.03751425 0.46606462] [ 0.15877433 -0.03323909 0.98675522 0.162939 ] [ 0. 0. 0. 1. ]] SLAMing on 49.196502481 meters Centerline goodness [0,1] 0.5072953319258737 Centerline is valid? [False, False] Translation: X:2.79, Y:0.47, Z:0.16 [[ 0.98695607 0.02927021 -0.15830655 2.79180418] [-0.0237214 0.99904003 0.03682811 0.46875062] [ 0.15923255 -0.03259248 0.98670296 0.16275594] [ 0. 0. 0. 1. ]] SLAMing on 49.226502481 meters Centerline goodness [0,1] 0.49519049415314975 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:0.17 [[ 0.98707352 0.02476741 -0.15834282 2.81145067] [-0.01917936 0.99914145 0.03672225 0.4750024 ] [ 0.15911639 -0.03321065 0.98670108 0.16622021] [ 0. 0. 0. 1. ]] SLAMing on 49.256502481 meters Centerline goodness [0,1] 0.4855075901328273 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:0.17 [[ 0.98698495 0.02445048 -0.15894303 2.81225306] [-0.01894593 0.99917017 0.03605593 0.47794734] [ 0.15969271 -0.03257533 0.98662915 0.16680087] [ 0. 0. 0. 1. ]] SLAMing on 49.286502481 meters Centerline goodness [0,1] 0.48684713071708197 Centerline is valid? [False, False] Translation: X:2.82, Y:0.49, Z:0.17 [[ 0.98698144 0.01910355 -0.15969559 2.82397702] [-0.01260125 0.99905359 0.04163091 0.48598569] [ 0.16033975 -0.03907657 0.98628808 0.16740539] [ 0. 0. 0. 1. ]] SLAMing on 49.316502481 meters Centerline goodness [0,1] 0.4755605704134057 Centerline is valid? [False, False] Translation: X:2.82, Y:0.49, Z:0.17 [[ 0.98692512 0.01861773 -0.16010055 2.82471954] [-0.01222432 0.99909147 0.04082644 0.48898768] [ 0.16071519 -0.03833551 0.98625606 0.16760276] [ 0. 0. 0. 1. ]] SLAMing on 49.346502481 meters Centerline goodness [0,1] 0.46746004924443585 Centerline is valid? [False, False] Translation: X:2.82, Y:0.49, Z:0.17 [[ 0.98697244 0.01672735 -0.16001752 2.82460131] [-0.01067656 0.99919776 0.03859867 0.49452549] [ 0.1605348 -0.03638739 0.98635923 0.16761305] [ 0. 0. 0. 1. ]] SLAMing on 49.376502481 meters Centerline goodness [0,1] 0.4653540049163969 Centerline is valid? [False, False] Translation: X:2.82, Y:0.50, Z:0.17 [[ 0.9869737 0.01473318 -0.16020567 2.82441451] [-0.00901525 0.99929811 0.03635962 0.50058299] [ 0.16062892 -0.0344417 0.98641377 0.16813113] [ 0. 0. 0. 1. ]] SLAMing on 49.406502481 meters Centerline goodness [0,1] 0.4653960661818537 Centerline is valid? [False, False] Translation: X:2.83, Y:0.50, Z:0.17 [[ 0.98692816 0.01405424 -0.16054684 2.82501718] [-0.00845823 0.99933437 0.03548631 0.50332805] [ 0.16093871 -0.03366449 0.9863901 0.16830978] [ 0. 0. 0. 1. ]] SLAMing on 49.436502481 meters Centerline goodness [0,1] 0.4641452865428094 Centerline is valid? [False, False] Translation: X:2.83, Y:0.51, Z:0.17 [[ 0.98683617 0.01313282 -0.161189 2.8255345 ] [-0.00771305 0.99938513 0.03420352 0.50713559] [ 0.16153907 -0.03251001 0.98633069 0.16923691] [ 0. 0. 0. 1. ]] SLAMing on 49.466502481 meters Centerline goodness [0,1] 0.45865556216537773 Centerline is valid? [False, False] Translation: X:2.84, Y:0.52, Z:0.17 [[ 0.98689044 0.00884593 -0.16114906 2.84333468] [-0.00306077 0.99934305 0.03611241 0.51601151] [ 0.16136264 -0.03514575 0.98626917 0.17242443] [ 0. 0. 0. 1. ]] SLAMing on 49.496502481 meters Centerline goodness [0,1] 0.45700983705038667 Centerline is valid? [False, False] Translation: X:2.84, Y:0.52, Z:0.17 [[ 9.86827023e-01 7.25270703e-03 -1.61616287e-01 2.84373478e+00] [-1.81689553e-03 9.99428435e-01 3.37564990e-02 5.23743613e-01] [ 1.61768739e-01 -3.30181855e-02 9.86276165e-01 1.73275093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.526502481 meters Centerline goodness [0,1] 0.4558368742614336 Centerline is valid? [False, False] Translation: X:2.84, Y:0.53, Z:0.17 [[ 9.86786322e-01 6.47875226e-03 -1.61897438e-01 2.84403576e+00] [-1.23015414e-03 9.99471027e-01 3.24985124e-02 5.27166029e-01] [ 1.62022348e-01 -3.18699287e-02 9.86272308e-01 1.73769846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.556502481 meters Centerline goodness [0,1] 0.4553932156015754 Centerline is valid? [False, False] Translation: X:2.85, Y:0.54, Z:0.17 [[ 9.86671242e-01 7.50071140e-03 -1.62553377e-01 2.84621318e+00] [-2.22590326e-03 9.99465753e-01 3.26075627e-02 5.35776301e-01] [ 1.62711113e-01 -3.18111163e-02 9.86160812e-01 1.73212630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.586502481 meters Centerline goodness [0,1] 0.45380260764876146 Centerline is valid? [False, False] Translation: X:2.85, Y:0.54, Z:0.17 [[ 9.86501153e-01 7.39789701e-03 -1.63587123e-01 2.84804529e+00] [-2.18807476e-03 9.99485324e-01 3.20046659e-02 5.41730001e-01] [ 1.63739696e-01 -3.12146989e-02 9.86009612e-01 1.73631088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.616502481 meters Centerline goodness [0,1] 0.45467264295152476 Centerline is valid? [False, False] Translation: X:2.85, Y:0.55, Z:0.17 [[ 0.98648366 0.01060513 -0.16351612 2.84822865] [-0.00508468 0.99940404 0.03414252 0.5500554 ] [ 0.16378075 -0.03284961 0.98594968 0.17336952] [ 0. 0. 0. 1. ]] SLAMing on 49.646502481 meters Centerline goodness [0,1] 0.45421169118604343 Centerline is valid? [False, False] Translation: X:2.85, Y:0.55, Z:0.17 [[ 0.9863547 0.01032956 -0.1643098 2.84980097] [-0.00497286 0.99944367 0.03297921 0.55467301] [ 0.16455905 -0.03171211 0.98585732 0.17394577] [ 0. 0. 0. 1. ]] SLAMing on 49.676502481 meters Centerline goodness [0,1] 0.46061594298187936 Centerline is valid? [False, False] Translation: X:2.85, Y:0.56, Z:0.17 [[ 0.98635211 0.01248409 -0.16417569 2.85091931] [-0.00706693 0.99941243 0.03353894 0.5635479 ] [ 0.16449793 -0.03192098 0.98586078 0.17335883] [ 0. 0. 0. 1. ]] SLAMing on 49.706502481 meters Centerline goodness [0,1] 0.4686479165006773 Centerline is valid? [False, False] Translation: X:2.85, Y:0.57, Z:0.17 [[ 0.98631503 0.01550393 -0.16414108 2.85201874] [-0.00989071 0.99933978 0.03495974 0.57243295] [ 0.16457472 -0.03285785 0.98581718 0.17290664] [ 0. 0. 0. 1. ]] SLAMing on 49.736502481 meters Centerline goodness [0,1] 0.4729715292986486 Centerline is valid? [False, False] Translation: X:2.85, Y:0.58, Z:0.17 [[ 0.98617658 0.01542932 -0.16497786 2.85396838] [-0.00994749 0.99937224 0.03400244 0.57740623] [ 0.16539893 -0.0318913 0.98571098 0.17324371] [ 0. 0. 0. 1. ]] SLAMing on 49.766502480999996 meters Centerline goodness [0,1] 0.47884885859569404 Centerline is valid? [False, False] Translation: X:2.86, Y:0.58, Z:0.17 [[ 0.98598503 0.01969832 -0.16566683 2.85702015] [-0.01374152 0.99921981 0.03702626 0.58451019] [ 0.16626693 -0.03423082 0.98548646 0.17211407] [ 0. 0. 0. 1. ]] SLAMing on 49.796502481 meters Centerline goodness [0,1] 0.4807535475452618 Centerline is valid? [False, False] Translation: X:2.86, Y:0.59, Z:0.17 [[ 0.98577898 0.01983431 -0.16687239 2.85958181] [-0.01396686 0.99924472 0.0362618 0.58912509] [ 0.16746558 -0.03341544 0.98531147 0.17270785] [ 0. 0. 0. 1. ]] SLAMing on 49.826502481 meters Centerline goodness [0,1] 0.47908933432318734 Centerline is valid? [False, False] Translation: X:2.86, Y:0.60, Z:0.17 [[ 0.9856605 0.02381347 -0.16705178 2.86156884] [-0.01751832 0.99908341 0.03905694 0.59543074] [ 0.16782874 -0.03557042 0.98517423 0.17163565] [ 0. 0. 0. 1. ]] SLAMing on 49.856502481 meters Centerline goodness [0,1] 0.4887902269530927 Centerline is valid? [False, False] Translation: X:2.86, Y:0.60, Z:0.17 [[ 0.98546733 0.02392693 -0.1681715 2.8636637 ] [-0.01773891 0.99911256 0.03820251 0.5998615 ] [ 0.16893632 -0.03466415 0.98501722 0.17257491] [ 0. 0. 0. 1. ]] SLAMing on 49.886502481 meters Centerline goodness [0,1] 0.5024254251463618 Centerline is valid? [False, False] Translation: X:2.86, Y:0.61, Z:0.17 [[ 0.98544329 0.02737044 -0.16778674 2.8639282 ] [-0.02087393 0.99896709 0.04036132 0.60597779] [ 0.16871814 -0.03627142 0.98499674 0.17214803] [ 0. 0. 0. 1. ]] SLAMing on 49.916502481 meters Centerline goodness [0,1] 0.5216462386146408 Centerline is valid? [False, False] Translation: X:2.87, Y:0.61, Z:0.17 [[ 0.98528278 0.02765429 -0.1686804 2.8668949 ] [-0.02127091 0.99899181 0.03953361 0.61336312] [ 0.16960362 -0.0353638 0.98487767 0.17186115] [ 0. 0. 0. 1. ]] SLAMing on 49.946502481 meters Centerline goodness [0,1] 0.5287262260849935 Centerline is valid? [False, False] Translation: X:2.87, Y:0.62, Z:0.17 [[ 0.9851194 0.02751975 -0.16965387 2.86915246] [-0.02126588 0.99902957 0.03857038 0.61725708] [ 0.17055068 -0.03438859 0.98474864 0.17226571] [ 0. 0. 0. 1. ]] SLAMing on 49.976502481 meters Centerline goodness [0,1] 0.5311823053243644 Centerline is valid? [False, False] Translation: X:2.87, Y:0.62, Z:0.17 [[ 0.98497664 0.03125119 -0.16983635 2.87103172] [-0.02461768 0.9988548 0.04102513 0.6244464 ] [ 0.17092394 -0.03622782 0.98461797 0.17145895] [ 0. 0. 0. 1. ]] SLAMing on 50.006502481 meters Centerline goodness [0,1] 0.5485940095069011 Centerline is valid? [False, False] Translation: X:2.87, Y:0.63, Z:0.17 [[ 0.98479079 0.03110853 -0.17093672 2.87273429] [-0.02466989 0.99890852 0.03966317 0.62974591] [ 0.17198401 -0.03484293 0.98448335 0.17305619] [ 0. 0. 0. 1. ]] SLAMing on 50.036502481 meters Centerline goodness [0,1] 0.5761518400463634 Centerline is valid? [False, False] Translation: X:2.87, Y:0.64, Z:0.17 [[ 0.98468082 0.03450494 -0.17091838 2.87414847] [-0.02779985 0.99875294 0.04146968 0.6378734 ] [ 0.17213614 -0.0360829 0.9844121 0.17264606] [ 0. 0. 0. 1. ]] SLAMing on 50.066502481 meters Centerline goodness [0,1] 0.5953784346500103 Centerline is valid? [False, False] Translation: X:2.88, Y:0.65, Z:0.17 [[ 0.98455963 0.03801375 -0.17087217 2.87533841] [-0.03098248 0.99856722 0.04363016 0.64534411] [ 0.1722859 -0.03766245 0.98432673 0.17219086] [ 0. 0. 0. 1. ]] SLAMing on 50.096502481 meters Centerline goodness [0,1] 0.5986376503892428 Centerline is valid? [False, False] Translation: X:2.88, Y:0.65, Z:0.17 [[ 0.98440458 0.03762393 -0.17184894 2.87654042] [-0.03078162 0.99863026 0.04230944 0.65030509] [ 0.1732054 -0.03635982 0.98421433 0.17378016] [ 0. 0. 0. 1. ]] SLAMing on 50.126502481 meters Centerline goodness [0,1] 0.5899815024762813 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.984214 0.03837091 -0.17277292 2.87840098] [-0.03161324 0.99863003 0.04169721 0.65971638] [ 0.17413619 -0.03557707 0.98407869 0.17479918] [ 0. 0. 0. 1. ]] SLAMing on 50.156502481 meters Centerline goodness [0,1] 0.5947153740027593 Centerline is valid? [False, False] Translation: X:2.88, Y:0.66, Z:0.17 [[ 0.98410255 0.03829665 -0.17342302 2.88027563] [-0.03163991 0.99865853 0.04098852 0.66250594] [ 0.1747601 -0.03484982 0.9839941 0.17490036] [ 0. 0. 0. 1. ]] SLAMing on 50.186502481 meters Centerline goodness [0,1] 0.572270854014379 Centerline is valid? [False, False] Translation: X:2.90, Y:0.66, Z:0.18 [[ 0.98475359 0.03122816 -0.1711291 2.89557127] [-0.02404736 0.99874756 0.04387517 0.66343479] [ 0.17228491 -0.03909103 0.9842712 0.17522856] [ 0. 0. 0. 1. ]] SLAMing on 50.216502481 meters Centerline goodness [0,1] 0.5375993783250643 Centerline is valid? [False, False] Translation: X:2.91, Y:0.66, Z:0.18 [[ 0.98537843 0.02249186 -0.16888892 2.91058957] [-0.01506053 0.9988665 0.04515421 0.66417728] [ 0.16971309 -0.04195043 0.98460024 0.17690215] [ 0. 0. 0. 1. ]] SLAMing on 50.246502481 meters Centerline goodness [0,1] 0.516584417526544 Centerline is valid? [False, False] Translation: X:2.91, Y:0.67, Z:0.18 [[ 0.9852588 0.0136334 -0.17052634 2.91294523] [-0.00747069 0.99929734 0.03672899 0.66630843] [ 0.17090726 -0.03491361 0.98466834 0.1785604 ] [ 0. 0. 0. 1. ]] SLAMing on 50.276502481 meters Centerline goodness [0,1] 0.5090752201856701 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.18 [[ 0.98516675 0.00927363 -0.17134896 2.91522055] [-0.00379385 0.99947166 0.03228003 0.6673038 ] [ 0.17155778 -0.03115114 0.98468144 0.17877732] [ 0. 0. 0. 1. ]] SLAMing on 50.306502481 meters Centerline goodness [0,1] 0.5219641316955655 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.18 [[ 9.85051826e-01 4.84196684e-03 -1.72190170e-01 2.91717003e+00] [-1.18638314e-04 9.99623703e-01 2.74306015e-02 6.69648147e-01] [ 1.72258194e-01 -2.70001357e-02 9.84681729e-01 1.79628422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.336502481 meters Centerline goodness [0,1] 0.506540329549179 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.18 [[ 9.84933735e-01 4.85460467e-03 -1.72864026e-01 2.91776000e+00] [-1.84303312e-04 9.99634795e-01 2.70230036e-02 6.71072514e-01] [ 1.72932081e-01 -2.65840085e-02 9.84574926e-01 1.80837006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.366502481 meters Centerline goodness [0,1] 0.5116000239793778 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.18 [[ 0.98482722 0.0097459 -0.17326384 2.91885291] [-0.00437036 0.99949798 0.03137962 0.67167018] [ 0.17348268 -0.03014628 0.98437542 0.18054061] [ 0. 0. 0. 1. ]] SLAMing on 50.396502481 meters Centerline goodness [0,1] 0.5199470883564321 Centerline is valid? [False, False] Translation: X:2.92, Y:0.67, Z:0.18 [[ 0.9846653 0.01027388 -0.17415133 2.92098676] [-0.00490362 0.99949991 0.03123905 0.67293659] [ 0.17438519 -0.02990604 0.98422326 0.18101034] [ 0. 0. 0. 1. ]] SLAMing on 50.426502481 meters Centerline goodness [0,1] 0.5259290489670542 Centerline is valid? [False, False] Translation: X:2.92, Y:0.68, Z:0.18 [[ 0.98450405 0.01078772 -0.1750297 2.92298282] [-0.00552015 0.99951787 0.03055428 0.67572163] [ 0.17527492 -0.02911462 0.98408894 0.18208321] [ 0. 0. 0. 1. ]] SLAMing on 50.456502481 meters Centerline goodness [0,1] 0.5348451494225144 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.18 [[ 0.98436847 0.01121926 -0.17576359 2.92502531] [-0.0060495 0.99953395 0.02992143 0.67722486] [ 0.17601737 -0.02839043 0.98397757 0.18283422] [ 0. 0. 0. 1. ]] SLAMing on 50.486502481 meters Centerline goodness [0,1] 0.5329223702897894 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.18 [[ 0.98427432 0.01155834 -0.17626817 2.92648214] [-0.00638328 0.99953258 0.02989784 0.67718718] [ 0.17653135 -0.02830251 0.98388803 0.18294485] [ 0. 0. 0. 1. ]] SLAMing on 50.516502480999996 meters Centerline goodness [0,1] 0.5346660608814175 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.18 [[ 0.98414651 0.01215208 -0.17694057 2.92846862] [-0.00698204 0.99953112 0.02981249 0.67743019] [ 0.17721989 -0.02810445 0.98376992 0.18324253] [ 0. 0. 0. 1. ]] SLAMing on 50.546502481 meters Centerline goodness [0,1] 0.5425593163843521 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.18 [[ 0.98403861 0.01237363 -0.17752437 2.92952971] [-0.00727618 0.99954311 0.02933647 0.67825893] [ 0.17780626 -0.02757652 0.98367905 0.18421076] [ 0. 0. 0. 1. ]] SLAMing on 50.576502481 meters Centerline goodness [0,1] 0.5496531580868931 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.19 [[ 0.9838489 0.0127639 -0.17854531 2.93126676] [-0.00782195 0.9995673 0.02835555 0.68035785] [ 0.17882998 -0.026501 0.98352302 0.18612896] [ 0. 0. 0. 1. ]] SLAMing on 50.606502481 meters Centerline goodness [0,1] 0.5672471961338561 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.19 [[ 0.98371377 0.01317186 -0.17925882 2.93285997] [-0.00825266 0.99956936 0.02816 0.68118722] [ 0.17955254 -0.02622201 0.98339885 0.18673191] [ 0. 0. 0. 1. ]] SLAMing on 50.636502481 meters Centerline goodness [0,1] 0.5785570408350119 Centerline is valid? [False, False] Translation: X:2.93, Y:0.68, Z:0.19 [[ 0.98348623 0.01372746 -0.18046162 2.93463595] [-0.00893412 0.99958606 0.02734759 0.68323455] [ 0.18076233 -0.02528371 0.98320177 0.18896971] [ 0. 0. 0. 1. ]] SLAMing on 50.666502481 meters Centerline goodness [0,1] 0.5817276863415677 Centerline is valid? [False, False] Translation: X:2.94, Y:0.68, Z:0.19 [[ 0.98336049 0.01390156 -0.18113225 2.93521649] [-0.00920016 0.99959928 0.02677005 0.6845044 ] [ 0.18143181 -0.02465817 0.98309434 0.19054568] [ 0. 0. 0. 1. ]] SLAMing on 50.696502480999996 meters Centerline goodness [0,1] 0.6104992657856094 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.19 [[ 0.98328407 0.01414247 -0.18152806 2.93511962] [-0.00973727 0.99963663 0.0251357 0.68782177] [ 0.18181758 -0.02294794 0.98306447 0.1934877 ] [ 0. 0. 0. 1. ]] SLAMing on 50.726502481 meters Centerline goodness [0,1] 0.6343397844194023 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98320628 0.01446178 -0.18192381 2.93551305] [-0.01027362 0.99966054 0.02394294 0.69007044] [ 0.18220831 -0.02167184 0.98302109 0.1955745 ] [ 0. 0. 0. 1. ]] SLAMing on 50.756502481 meters Centerline goodness [0,1] 0.6407312144038214 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98306327 0.01469625 -0.18267627 2.93663033] [-0.01058221 0.99966841 0.02347539 0.69098013] [ 0.1829607 -0.02114468 0.98289282 0.19681983] [ 0. 0. 0. 1. ]] SLAMing on 50.786502481 meters Centerline goodness [0,1] 0.6407312144038214 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98306327 0.01469625 -0.18267627 2.93663033] [-0.01058221 0.99966841 0.02347539 0.69098013] [ 0.1829607 -0.02114468 0.98289282 0.19681983] [ 0. 0. 0. 1. ]] SLAMing on 50.816502481 meters Centerline goodness [0,1] 0.6486494782074892 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98276761 0.01572556 -0.18417526 2.93986506] [-0.01165142 0.99966335 0.02318245 0.69250569] [ 0.18447781 -0.02063706 0.98261999 0.19823436] [ 0. 0. 0. 1. ]] SLAMing on 50.846502481 meters Centerline goodness [0,1] 0.6499984651748165 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98260328 0.01621155 -0.18500807 2.94171364] [-0.01214371 0.99965941 0.02309946 0.69308284] [ 0.18531954 -0.02045092 0.98246548 0.19881833] [ 0. 0. 0. 1. ]] SLAMing on 50.876502481 meters Centerline goodness [0,1] 0.6441218890968792 Centerline is valid? [False, False] Translation: X:2.94, Y:0.69, Z:0.20 [[ 0.98234799 0.016989 -0.18628955 2.94413431] [-0.01298675 0.99965834 0.02268348 0.69487363] [ 0.18661127 -0.01986378 0.982233 0.20037729] [ 0. 0. 0. 1. ]] SLAMing on 50.906502481 meters Centerline goodness [0,1] 0.6407942792253629 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.20 [[ 0.98218618 0.01714307 -0.18712675 2.94523522] [-0.01326687 0.9996711 0.02194713 0.69634893] [ 0.18744145 -0.01907358 0.98209058 0.20199735] [ 0. 0. 0. 1. ]] SLAMing on 50.936502481 meters Centerline goodness [0,1] 0.6415359686936317 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.20 [[ 0.98203307 0.0178146 -0.18786612 2.94773576] [-0.01401709 0.99967008 0.02152316 0.69708535] [ 0.18818757 -0.01850312 0.98195879 0.20244794] [ 0. 0. 0. 1. ]] SLAMing on 50.966502481 meters Centerline goodness [0,1] 0.6465899025686448 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.20 [[ 0.98199629 0.01818254 -0.18802307 2.94918053] [-0.01433898 0.99965991 0.02178209 0.69622927] [ 0.18835518 -0.01869387 0.98192304 0.20162969] [ 0. 0. 0. 1. ]] SLAMing on 50.996502481 meters Centerline goodness [0,1] 0.6445827232796486 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.20 [[ 0.98181404 0.01909891 -0.18888203 2.95199563] [-0.01524262 0.9996451 0.02184815 0.69600548] [ 0.18923227 -0.01857176 0.98175671 0.20179226] [ 0. 0. 0. 1. ]] SLAMing on 51.026502481 meters Centerline goodness [0,1] 0.6383418429370289 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.20 [[ 0.98167589 0.02053537 -0.18944852 2.95299068] [-0.0167257 0.99962491 0.02168637 0.69775208] [ 0.18982279 -0.01812033 0.98165114 0.20372059] [ 0. 0. 0. 1. ]] SLAMing on 51.056502481 meters Centerline goodness [0,1] 0.6287341695449312 Centerline is valid? [False, False] Translation: X:2.95, Y:0.70, Z:0.21 [[ 0.98142546 0.02112456 -0.19067727 2.95456466] [-0.0174102 0.99962504 0.02113428 0.69969803] [ 0.19105222 -0.01742199 0.98142525 0.20596292] [ 0. 0. 0. 1. ]] SLAMing on 51.086502481 meters Centerline goodness [0,1] 0.6220949712162286 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.21 [[ 0.98123787 0.02643679 -0.19097994 2.95537508] [-0.02208815 0.99944681 0.02486353 0.70073786] [ 0.1915316 -0.02017865 0.981279 0.20702629] [ 0. 0. 0. 1. ]] SLAMing on 51.116502481 meters Centerline goodness [0,1] 0.6185390858607434 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.21 [[ 0.98110324 0.02659941 -0.19164789 2.95626055] [-0.02236784 0.99945663 0.02421001 0.70205405] [ 0.19218772 -0.01946577 0.98116511 0.20844189] [ 0. 0. 0. 1. ]] SLAMing on 51.146502481 meters Centerline goodness [0,1] 0.6116374714394517 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.21 [[ 0.98107105 0.02697328 -0.19176038 2.95767803] [-0.02281931 0.99945536 0.02383823 0.70243174] [ 0.19229894 -0.01901116 0.98115223 0.20823148] [ 0. 0. 0. 1. ]] SLAMing on 51.176502481 meters Centerline goodness [0,1] 0.6066062412555508 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.21 [[ 0.98101593 0.02702206 -0.19203528 2.95871078] [-0.02292691 0.99946054 0.02351557 0.70273657] [ 0.19256712 -0.01866638 0.98110625 0.20830254] [ 0. 0. 0. 1. ]] SLAMing on 51.206502481 meters Centerline goodness [0,1] 0.6007767225947389 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:0.21 [[ 0.98085449 0.02750988 -0.19278918 2.96053852] [-0.02340298 0.99944874 0.02354798 0.70287585] [ 0.19333071 -0.0185853 0.98095761 0.20866552] [ 0. 0. 0. 1. ]] SLAMing on 51.236502481 meters Centerline goodness [0,1] 0.5997868777591719 Centerline is valid? [False, False] Translation: X:2.98, Y:0.71, Z:0.21 [[ 0.98154263 0.02326994 -0.18982246 2.97581732] [-0.01842469 0.99945883 0.02725035 0.70519811] [ 0.19035385 -0.02324996 0.98144019 0.21096166] [ 0. 0. 0. 1. ]] SLAMing on 51.266502480999996 meters Centerline goodness [0,1] 0.6034372623574145 Centerline is valid? [False, False] Translation: X:2.98, Y:0.70, Z:0.21 [[ 0.98144932 0.02358793 -0.19026518 2.97675718] [-0.01869299 0.99944753 0.02748101 0.70488274] [ 0.19080829 -0.02341459 0.98134803 0.21111115] [ 0. 0. 0. 1. ]] SLAMing on 51.296502481 meters Centerline goodness [0,1] 0.6007462686567164 Centerline is valid? [False, False] Translation: X:2.98, Y:0.71, Z:0.21 [[ 0.98119585 0.01977569 -0.19199904 2.98024191] [-0.01552664 0.99960066 0.0236101 0.70538363] [ 0.19238927 -0.02018504 0.98111107 0.21211506] [ 0. 0. 0. 1. ]] SLAMing on 51.326502481 meters Centerline goodness [0,1] 0.603375015175428 Centerline is valid? [False, False] Translation: X:2.98, Y:0.71, Z:0.21 [[ 0.98099823 0.01545136 -0.19340043 2.98209473] [-0.01196555 0.99974446 0.01917899 0.70650403] [ 0.19364735 -0.01650041 0.98093243 0.21399358] [ 0. 0. 0. 1. ]] SLAMing on 51.356502481 meters Centerline goodness [0,1] 0.6092665258074252 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.21 [[ 0.98162555 0.00861705 -0.19062275 2.99757003] [-0.00461845 0.99976009 0.02141089 0.70659107] [ 0.19076152 -0.02013709 0.98142984 0.21498983] [ 0. 0. 0. 1. ]] SLAMing on 51.386502481 meters Centerline goodness [0,1] 0.6094052224371374 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.21 [[ 0.98155036 0.00896927 -0.19099333 2.9984143 ] [-0.0048855 0.9997495 0.02184191 0.70518718] [ 0.19114139 -0.02050584 0.9813483 0.21499919] [ 0. 0. 0. 1. ]] SLAMing on 51.416502481 meters Centerline goodness [0,1] 0.6087482972604813 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 9.81403435e-01 4.73997305e-03 -1.91897971e-01 2.99930570e+00] [-1.35509084e-03 9.99841247e-01 1.77663670e-02 7.06129403e-01] [ 1.91951718e-01 -1.71759344e-02 9.81254057e-01 2.16479385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.446502480999996 meters Centerline goodness [0,1] 0.6143867924528301 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 9.81364991e-01 4.76695177e-03 -1.92093809e-01 2.99926692e+00] [-1.38950791e-03 9.99842144e-01 1.77131417e-02 7.05668641e-01] [ 1.92147923e-01 -1.71161413e-02 9.81216700e-01 2.17074600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.476502481 meters Centerline goodness [0,1] 0.6166671691741792 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 9.81331777e-01 4.44468136e-03 -1.92271131e-01 2.99835036e+00] [-1.20976127e-03 9.99855795e-01 1.69389092e-02 7.06245217e-01] [ 1.92318692e-01 -1.63900877e-02 9.81195641e-01 2.18876420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506502481 meters Centerline goodness [0,1] 0.6207300585849482 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 9.81271650e-01 4.63112300e-03 -1.92573366e-01 2.99923566e+00] [-1.40518780e-03 9.99856452e-01 1.68849272e-02 7.05999232e-01] [ 1.92623918e-01 -1.62980987e-02 9.81137298e-01 2.19026981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.536502481 meters Centerline goodness [0,1] 0.6174095752663965 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 9.81176024e-01 4.93846147e-03 -1.93052381e-01 3.00009403e+00] [-1.68445503e-03 9.99853797e-01 1.70160686e-02 7.05512882e-01] [ 1.93108190e-01 -1.63705705e-02 9.81040892e-01 2.19450159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566502481 meters Centerline goodness [0,1] 0.6246481825258998 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.22 [[ 9.81114331e-01 5.12087961e-03 -1.93360924e-01 3.00030833e+00] [-1.84176769e-03 9.99851498e-01 1.71344572e-02 7.04868278e-01] [ 1.93419953e-01 -1.64547356e-02 9.80978065e-01 2.20050423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.596502481 meters Centerline goodness [0,1] 0.6263179966450995 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.22 [[ 9.81030392e-01 5.33990280e-03 -1.93780432e-01 3.00081823e+00] [-2.06345528e-03 9.99851553e-01 1.71059469e-02 7.04726122e-01] [ 1.93843010e-01 -1.63815965e-02 9.80895780e-01 2.20745551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626502481 meters Centerline goodness [0,1] 0.6298165959734752 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.22 [[ 9.80931144e-01 5.62767576e-03 -1.94274085e-01 3.00173728e+00] [-2.38896505e-03 9.99854312e-01 1.69010996e-02 7.04791648e-01] [ 1.94340896e-01 -1.61147009e-02 9.80801679e-01 2.21516543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.656502481 meters Centerline goodness [0,1] 0.630494423570108 Centerline is valid? [False, False] Translation: X:3.00, Y:0.70, Z:0.22 [[ 9.80869748e-01 5.94766894e-03 -1.94574311e-01 3.00257570e+00] [-2.70881112e-03 9.99853385e-01 1.69077101e-02 7.04430634e-01] [ 1.94646345e-01 -1.60571963e-02 9.80742049e-01 2.21782124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686502481 meters Centerline goodness [0,1] 0.629653937947494 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 0.98072421 0.00614902 -0.1953003 3.00328379] [-0.0030119 0.9998617 0.01635597 0.70557738] [ 0.19537386 -0.01545247 0.9806071 0.22340764] [ 0. 0. 0. 1. ]] SLAMing on 51.716502481 meters Centerline goodness [0,1] 0.6229522898481406 Centerline is valid? [False, False] Translation: X:3.00, Y:0.71, Z:0.22 [[ 0.98054943 0.00644481 -0.19616647 3.00463032] [-0.00333143 0.99986327 0.01619692 0.70620719] [ 0.19624403 -0.01522837 0.98043683 0.2243969 ] [ 0. 0. 0. 1. ]] SLAMing on 51.746502481 meters Centerline goodness [0,1] 0.6136499402628435 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:0.22 [[ 0.98035375 0.00729323 -0.19711247 3.00774269] [-0.004044 0.99984932 0.01688164 0.70523975] [ 0.19720589 -0.01575285 0.98023553 0.22374162] [ 0. 0. 0. 1. ]] SLAMing on 51.776502481 meters Centerline goodness [0,1] 0.6184253706852829 Centerline is valid? [False, False] Translation: X:3.01, Y:0.70, Z:0.22 [[ 0.98026801 0.00787495 -0.19751612 3.00985369] [-0.00448934 0.99983533 0.01758282 0.70373537] [ 0.19762206 -0.01634915 0.98014194 0.22264999] [ 0. 0. 0. 1. ]] SLAMing on 51.806502481 meters Centerline goodness [0,1] 0.6144416607015033 Centerline is valid? [False, False] Translation: X:3.01, Y:0.70, Z:0.22 [[ 0.98010398 0.00856493 -0.19829987 3.01212422] [-0.00502342 0.9998189 0.01835558 0.70170067] [ 0.19842117 -0.01699423 0.97996951 0.22224383] [ 0. 0. 0. 1. ]] SLAMing on 51.836502481 meters Centerline goodness [0,1] 0.6211574584811712 Centerline is valid? [False, False] Translation: X:3.01, Y:0.70, Z:0.22 [[ 0.98008424 0.00853868 -0.19839854 3.01190199] [-0.00501361 0.99982064 0.01826317 0.701319 ] [ 0.1985189 -0.01690476 0.97995126 0.22280372] [ 0. 0. 0. 1. ]] SLAMing on 51.866502481 meters Centerline goodness [0,1] 0.622026825633383 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.81160926e-01 4.34762494e-03 -1.93143304e-01 3.02400262e+00] [-1.54106541e-04 9.99764045e-01 2.17216734e-02 7.01966144e-01] [ 1.93192168e-01 -2.12826926e-02 9.80930086e-01 2.25173727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.896502481 meters Centerline goodness [0,1] 0.6249626397274195 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.81139256e-01 3.97093966e-03 -1.93261460e-01 3.02278140e+00] [ 1.05169796e-04 9.99777864e-01 2.10763377e-02 7.02225104e-01] [ 1.93302222e-01 -2.06991476e-02 9.80920892e-01 2.26951074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926502481 meters Centerline goodness [0,1] 0.6233475575184269 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.81089273e-01 4.19736978e-03 -1.93510257e-01 3.02383220e+00] [-5.61110629e-05 9.99770966e-01 2.14012350e-02 7.00860320e-01] [ 1.93555765e-01 -2.09856640e-02 9.80864806e-01 2.26560325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.956502481 meters Centerline goodness [0,1] 0.6305717271234512 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 9.80867887e-01 3.02027987e-05 -1.94674568e-01 3.02600749e+00] [ 3.38372115e-03 9.99846275e-01 1.72040015e-02 7.02056587e-01] [ 1.94645161e-01 -1.75335771e-02 9.80717000e-01 2.27674230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986502481 meters Centerline goodness [0,1] 0.6305616229316897 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 9.80826361e-01 1.14012853e-04 -1.94883651e-01 3.02611961e+00] [ 3.31217415e-03 9.99845640e-01 1.72547207e-02 7.01745245e-01] [ 1.94855536e-01 -1.75693735e-02 9.80674583e-01 2.28078543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016502480999996 meters Centerline goodness [0,1] 0.6403782647853498 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.80786070e-01 -3.05980076e-04 -1.95086112e-01 3.02463023e+00] [ 3.56908175e-03 9.99859548e-01 1.63751716e-02 7.03187340e-01] [ 1.95053701e-01 -1.67568185e-02 9.80649409e-01 2.30385213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046502481 meters Centerline goodness [0,1] 0.6347945944326252 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.80703410e-01 -3.28983575e-04 -1.95501187e-01 3.02452173e+00] [ 3.53492029e-03 9.99864944e-01 1.60498730e-02 7.03741089e-01] [ 1.95469503e-01 -1.64312463e-02 9.80572122e-01 2.31655872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076502481 meters Centerline goodness [0,1] 0.6336458145544138 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:0.23 [[ 9.80642220e-01 -5.71812230e-04 -1.95807326e-01 3.02444320e+00] [ 3.70400626e-03 9.99870976e-01 1.56305003e-02 7.04684900e-01] [ 1.95773125e-01 -1.60532000e-02 9.80517811e-01 2.32550780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106502481 meters Centerline goodness [0,1] 0.6407693928539178 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 9.80571122e-01 -2.11318629e-04 -1.96163784e-01 3.02604975e+00] [ 3.39845869e-03 9.99867638e-01 1.59108870e-02 7.04232041e-01] [ 1.96134457e-01 -1.62684108e-02 9.80442050e-01 2.31962077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.136502481 meters Centerline goodness [0,1] 0.6374815839321688 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 0.98028278 -0.00365753 -0.19756594 3.03100943] [ 0.00634057 0.99989605 0.01294961 0.70499184] [ 0.19749804 -0.01394696 0.98020406 0.23046486] [ 0. 0. 0. 1. ]] SLAMing on 52.166502481 meters Centerline goodness [0,1] 0.6424112662464944 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 0.98025826 -0.00331822 -0.19769355 3.03280479] [ 0.00616004 0.99988633 0.01376162 0.70321945] [ 0.19762542 -0.01470775 0.98016727 0.22872888] [ 0. 0. 0. 1. ]] SLAMing on 52.196502480999996 meters Centerline goodness [0,1] 0.6432707968872534 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:0.23 [[ 0.9801774 -0.00315499 -0.19809674 3.03316337] [ 0.00597034 0.99988947 0.01361635 0.70358778] [ 0.19803188 -0.01452915 0.98008789 0.22955516] [ 0. 0. 0. 1. ]] SLAMing on 52.226502481 meters Centerline goodness [0,1] 0.6389275134514237 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.23 [[ 0.9800678 -0.00304503 -0.19863998 3.03231997] [ 0.00571746 0.99990068 0.01288145 0.70640684] [ 0.19858102 -0.01376041 0.97998787 0.23212926] [ 0. 0. 0. 1. ]] SLAMing on 52.256502481 meters Centerline goodness [0,1] 0.6381751758702938 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.23 [[ 9.79940949e-01 -2.71318518e-03 -1.99269605e-01 3.03305565e+00] [ 5.36583700e-03 9.99904024e-01 1.27730399e-02 7.06934688e-01] [ 1.99215824e-01 -1.35860731e-02 9.79861456e-01 2.33176388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.286502481 meters Centerline goodness [0,1] 0.6400751105457629 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.23 [[ 9.79934035e-01 -2.95528618e-03 -1.99300158e-01 3.03185250e+00] [ 5.47813123e-03 9.99911686e-01 1.21082797e-02 7.07839861e-01] [ 1.99246773e-01 -1.29571078e-02 9.79863683e-01 2.34799076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.316502481 meters Centerline goodness [0,1] 0.6374078104219563 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.24 [[ 9.79878606e-01 -2.93082966e-03 -1.99572863e-01 3.03179128e+00] [ 5.38617055e-03 9.99916329e-01 1.17611624e-02 7.07446606e-01] [ 1.99521695e-01 -1.25994449e-02 9.79812404e-01 2.35949506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346502481 meters Centerline goodness [0,1] 0.6417054169937798 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.24 [[ 9.79826442e-01 -2.51876037e-03 -1.99834430e-01 3.03309445e+00] [ 5.02376025e-03 9.99915025e-01 1.20292924e-02 7.06549326e-01] [ 1.99787150e-01 -1.27905391e-02 9.79755835e-01 2.35559357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.376502481 meters Centerline goodness [0,1] 0.6405412769049132 Centerline is valid? [False, False] Translation: X:3.03, Y:0.71, Z:0.24 [[ 9.79776518e-01 -2.29533889e-03 -2.00081750e-01 3.03416842e+00] [ 4.82751277e-03 9.99914305e-01 1.21687333e-02 7.05914894e-01] [ 2.00036673e-01 -1.28885363e-02 9.79703636e-01 2.35257426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406502481 meters Centerline goodness [0,1] 0.6254054873427315 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.79478106e-01 -1.24418201e-03 -2.01546746e-01 3.03750534e+00] [ 3.81214711e-03 9.99916424e-01 1.23536432e-02 7.06462700e-01] [ 2.01514532e-01 -1.28684489e-02 9.79400989e-01 2.36046112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.436502481 meters Centerline goodness [0,1] 0.6231131359149582 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.79392681e-01 3.92096284e-03 -2.01927219e-01 3.03864210e+00] [-5.26699863e-04 9.99857716e-01 1.68603271e-02 7.05433791e-01] [ 2.01964596e-01 -1.64065259e-02 9.79255395e-01 2.35801002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466502481 meters Centerline goodness [0,1] 0.6237732065266932 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.79254570e-01 4.23868340e-03 -2.02589539e-01 3.03969332e+00] [-8.94258710e-04 9.99861859e-01 1.65970611e-02 7.06448683e-01] [ 2.02631902e-01 -1.60715804e-02 9.79123085e-01 2.36754896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.496502481 meters Centerline goodness [0,1] 0.6195317970105635 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.79147717e-01 4.65098424e-03 -2.03096326e-01 3.04108475e+00] [-1.33116969e-03 9.99863317e-01 1.64795535e-02 7.06734809e-01] [ 2.03145212e-01 -1.58655615e-02 9.79020075e-01 2.37133075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526502481 meters Centerline goodness [0,1] 0.6189129178453021 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.79106509e-01 5.10602350e-03 -2.03283969e-01 3.04256105e+00] [-1.69020552e-03 9.99854515e-01 1.69732490e-02 7.05248379e-01] [ 2.03341060e-01 -1.62750269e-02 9.78972695e-01 2.36275150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.556502481 meters Centerline goodness [0,1] 0.618677986658581 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.78914134e-01 1.05911024e-03 -2.04269423e-01 3.04397368e+00] [ 1.57466499e-03 9.99917722e-01 1.27306617e-02 7.05936111e-01] [ 2.04266099e-01 -1.27838806e-02 9.78831923e-01 2.37928447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters Centerline goodness [0,1] 0.6199496099323073 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.78783089e-01 1.34540105e-03 -2.04894742e-01 3.04440083e+00] [ 1.29071506e-03 9.99918118e-01 1.27315173e-02 7.05674625e-01] [ 2.04895094e-01 -1.27258546e-02 9.78701207e-01 2.39138105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616502481 meters Centerline goodness [0,1] 0.6197815533980582 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.78720372e-01 1.64023922e-03 -2.05191965e-01 3.04500874e+00] [ 1.01495014e-03 9.99917124e-01 1.28341071e-02 7.05517278e-01] [ 2.05196010e-01 -1.27692617e-02 9.78637595e-01 2.39435024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646502481 meters Centerline goodness [0,1] 0.6117329450662784 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.78593022e-01 1.68962521e-03 -2.05798064e-01 3.04470599e+00] [ 8.74383341e-04 9.99923140e-01 1.23672727e-02 7.06513207e-01] [ 2.05803142e-01 -1.22824732e-02 9.78516330e-01 2.41446506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676502481 meters Centerline goodness [0,1] 0.6117329450662784 Centerline is valid? [False, False] Translation: X:3.04, Y:0.71, Z:0.24 [[ 9.78593022e-01 1.68962521e-03 -2.05798064e-01 3.04470599e+00] [ 8.74383341e-04 9.99923140e-01 1.23672727e-02 7.06513207e-01] [ 2.05803142e-01 -1.22824732e-02 9.78516330e-01 2.41446506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706502481 meters Centerline goodness [0,1] 0.616597434886753 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.78466709e-01 1.82303198e-03 -2.06396649e-01 3.04511343e+00] [ 6.95364525e-04 9.99926205e-01 1.21285326e-02 7.07056732e-01] [ 2.06403529e-01 -1.20108863e-02 9.78393235e-01 2.42676735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.736502481 meters Centerline goodness [0,1] 0.611825738729446 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.78335724e-01 2.29345331e-03 -2.07011957e-01 3.04713804e+00] [ 3.22709317e-04 9.99920526e-01 1.26030840e-02 7.06024633e-01] [ 2.07024410e-01 -1.23968520e-02 9.78257232e-01 2.42192399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.766502480999996 meters Centerline goodness [0,1] 0.6166903688462586 Centerline is valid? [False, False] Translation: X:3.05, Y:0.70, Z:0.24 [[ 9.78290334e-01 2.27142569e-03 -2.07226599e-01 3.04843324e+00] [ 3.70827020e-04 9.99919146e-01 1.27108129e-02 7.04924991e-01] [ 2.07238715e-01 -1.25117106e-02 9.78210393e-01 2.41488550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796502481 meters Centerline goodness [0,1] 0.6195307545973368 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.78160372e-01 -2.17083589e-03 -2.07840260e-01 3.04947891e+00] [ 4.02008526e-03 9.99956002e-01 8.47548841e-03 7.05929058e-01] [ 2.07812716e-01 -9.12592246e-03 9.78126062e-01 2.42272914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826502481 meters Centerline goodness [0,1] 0.6294309139136725 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.78025385e-01 -1.77741599e-03 -2.08478267e-01 3.05056017e+00] [ 3.63777018e-03 9.99956913e-01 8.54042106e-03 7.05599906e-01] [ 2.08454104e-01 -9.11114461e-03 9.77989710e-01 2.42976809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856502481 meters Centerline goodness [0,1] 0.6251666464670949 Centerline is valid? [False, False] Translation: X:3.05, Y:0.70, Z:0.24 [[ 9.78100722e-01 2.81096860e-03 -2.08113133e-01 3.04961003e+00] [-1.50936663e-04 9.99918111e-01 1.27964396e-02 7.04195600e-01] [ 2.08132062e-01 -1.24847949e-02 9.78021050e-01 2.42813031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886502481 meters Centerline goodness [0,1] 0.6267942583732058 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.24 [[ 9.77947874e-01 2.97126492e-03 -2.08827986e-01 3.04978685e+00] [-4.26255349e-04 9.99925107e-01 1.22310564e-02 7.05841358e-01] [ 2.08848688e-01 -1.18723216e-02 9.77875899e-01 2.44749487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.916502481 meters Centerline goodness [0,1] 0.6235440805279324 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.25 [[ 9.77884813e-01 3.64124838e-03 -2.09112489e-01 3.04942728e+00] [-1.18585713e-03 9.99928892e-01 1.18661386e-02 7.08066766e-01] [ 2.09140827e-01 -1.13557392e-02 9.77819596e-01 2.46585902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946502480999996 meters Centerline goodness [0,1] 0.6185877909101987 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.25 [[ 9.77766317e-01 3.97387199e-03 -2.09659814e-01 3.05037439e+00] [-1.57835529e-03 9.99931567e-01 1.15918132e-02 7.08745940e-01] [ 2.09691531e-01 -1.10031668e-02 9.77705678e-01 2.47479463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.976502481 meters Centerline goodness [0,1] 0.6175842936406317 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.25 [[ 9.77686534e-01 4.34704029e-03 -2.10024151e-01 3.05170555e+00] [-1.93357166e-03 9.99929737e-01 1.16953592e-02 7.08232374e-01] [ 2.10060234e-01 -1.10282985e-02 9.77626245e-01 2.47422679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006502481 meters Centerline goodness [0,1] 0.6158048069919884 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.25 [[ 9.77432791e-01 3.65593228e-04 -2.11246316e-01 3.05414632e+00] [ 1.28733665e-03 9.99969625e-01 7.68707929e-03 7.08433498e-01] [ 2.11242710e-01 -7.78554849e-03 9.77402631e-01 2.48494816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.036502481 meters Centerline goodness [0,1] 0.6186448413302097 Centerline is valid? [False, False] Translation: X:3.05, Y:0.71, Z:0.25 [[ 9.77404976e-01 6.18617138e-04 -2.11374384e-01 3.05498820e+00] [ 1.10760380e-03 9.99967000e-01 8.04815681e-03 7.07013066e-01] [ 2.11372388e-01 -8.10042758e-03 9.77372036e-01 2.48067600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066502481 meters Centerline goodness [0,1] 0.6206300597313605 Centerline is valid? [False, False] Translation: X:3.06, Y:0.71, Z:0.25 [[ 9.77266444e-01 1.05153760e-03 -2.12012242e-01 3.05619936e+00] [ 7.87060620e-04 9.99962817e-01 8.58755331e-03 7.05207770e-01] [ 2.12013389e-01 -8.55919418e-03 9.77229279e-01 2.48295430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.096502481 meters Centerline goodness [0,1] 0.6195889414332485 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.77110907e-01 1.54344850e-03 -2.12724923e-01 3.05724742e+00] [ 3.50606138e-04 9.99960637e-01 8.86576336e-03 7.04349901e-01] [ 2.12730233e-01 -8.73741675e-03 9.77071904e-01 2.49122564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126502481 meters Centerline goodness [0,1] 0.6211982968369829 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.77103650e-01 1.68765008e-03 -2.12757162e-01 3.05752735e+00] [ 2.58015490e-04 9.99958407e-01 9.11690935e-03 7.03742687e-01] [ 2.12763699e-01 -8.96306004e-03 9.77062573e-01 2.48885435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.156502481 meters Centerline goodness [0,1] 0.6228876551075513 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.77014430e-01 2.10272774e-03 -2.13162807e-01 3.05840764e+00] [-1.05703724e-04 9.99956006e-01 9.37950291e-03 7.02899202e-01] [ 2.13173151e-01 -9.14137759e-03 9.76971669e-01 2.49136847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186502481 meters Centerline goodness [0,1] 0.6243373420980884 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76929311e-01 2.38009112e-03 -2.13549660e-01 3.05874068e+00] [-3.30042985e-04 9.99953528e-01 9.63500409e-03 7.02071296e-01] [ 2.13562668e-01 -9.34223733e-03 9.76884696e-01 2.49719367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.216502481 meters Centerline goodness [0,1] 0.6243925995231341 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76882163e-01 2.47085506e-03 -2.13764204e-01 3.05887494e+00] [-3.61651258e-04 9.99950874e-01 9.90550789e-03 7.00447025e-01] [ 2.13778178e-01 -9.59920588e-03 9.76835066e-01 2.49986888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246502481 meters Centerline goodness [0,1] 0.6300493954362254 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76953255e-01 2.42635038e-03 -2.13439572e-01 3.05846654e+00] [-2.54883690e-04 9.99947940e-01 1.02006136e-02 6.99540902e-01] [ 2.13453211e-01 -9.91112043e-03 9.76903013e-01 2.49422049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.276502481 meters Centerline goodness [0,1] 0.6321061098127295 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76958546e-01 2.17733754e-03 -2.13418039e-01 3.05769177e+00] [-2.40624182e-05 9.99949079e-01 1.00915494e-02 6.99153760e-01] [ 2.13429144e-01 -9.85389007e-03 9.76908850e-01 2.50046171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306502481 meters Centerline goodness [0,1] 0.632895692158761 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76952096e-01 2.28551068e-03 -2.13446429e-01 3.05816250e+00] [-7.97632231e-05 9.99946517e-01 1.03420029e-02 6.98222410e-01] [ 2.13458650e-01 -1.00866163e-02 9.76900028e-01 2.49640568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.336502481 meters Centerline goodness [0,1] 0.6378417658279589 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76935255e-01 1.85298835e-03 -2.13527689e-01 3.05956530e+00] [ 4.12214580e-04 9.99944120e-01 1.05634626e-02 6.95952732e-01] [ 2.13535331e-01 -1.04078383e-02 9.76879900e-01 2.48129523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366502481 meters Centerline goodness [0,1] 0.6421113162434551 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76911898e-01 1.64079499e-03 -2.13636261e-01 3.05911176e+00] [ 6.10026976e-04 9.99945008e-01 1.04694183e-02 6.95824067e-01] [ 2.13641691e-01 -1.03580232e-02 9.76857175e-01 2.48717287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.396502481 meters Centerline goodness [0,1] 0.6338456901748041 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76832471e-01 1.63940857e-03 -2.13999148e-01 3.05901693e+00] [ 5.39447521e-04 9.99948617e-01 1.01228168e-02 6.96433450e-01] [ 2.14004748e-01 -1.00037375e-02 9.76781395e-01 2.49888291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426502481 meters Centerline goodness [0,1] 0.637776431384429 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76822997e-01 1.50747395e-03 -2.14043362e-01 3.05863961e+00] [ 5.76374063e-04 9.99953050e-01 9.67289338e-03 6.97321110e-01] [ 2.14047894e-01 -9.57207374e-03 9.76776266e-01 2.50718623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.456502481 meters Centerline goodness [0,1] 0.6474650190805016 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76746504e-01 1.71140152e-03 -2.14390618e-01 3.05943933e+00] [ 3.62056101e-04 9.99953548e-01 9.63176032e-03 6.97459811e-01] [ 2.14397143e-01 -9.48540966e-03 9.76700513e-01 2.50971675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486502481 meters Centerline goodness [0,1] 0.6421439193905734 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76608947e-01 1.98901135e-03 -2.15013974e-01 3.06023566e+00] [ 6.16906287e-05 9.99954583e-01 9.53039745e-03 6.98501800e-01] [ 2.15023165e-01 -9.32073576e-03 9.76564469e-01 2.51844286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.516502480999996 meters Centerline goodness [0,1] 0.6424172205622294 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76475885e-01 2.30243913e-03 -2.15614343e-01 3.06094246e+00] [-2.36215387e-04 9.99953812e-01 9.60823905e-03 6.98875758e-01] [ 2.15626507e-01 -9.33128230e-03 9.76431327e-01 2.52612332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.546502481 meters Centerline goodness [0,1] 0.6386843546522242 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76397486e-01 2.72419924e-03 -2.15964183e-01 3.06186172e+00] [-5.86511174e-04 9.99950208e-01 9.96181649e-03 6.98293992e-01] [ 2.15980568e-01 -9.60002717e-03 9.76350467e-01 2.52625126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.576502481 meters Centerline goodness [0,1] 0.6411333272467208 Centerline is valid? [False, False] Translation: X:3.06, Y:0.70, Z:0.25 [[ 9.76413490e-01 3.08795312e-03 -2.15886919e-01 3.06279792e+00] [-8.26284440e-04 9.99943841e-01 1.05656444e-02 6.96399955e-01] [ 2.15907421e-01 -1.01380537e-02 9.76361206e-01 2.51542004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606502481 meters Centerline goodness [0,1] 0.6455627048682773 Centerline is valid? [False, False] Translation: X:3.06, Y:0.69, Z:0.25 [[ 9.76411003e-01 3.42213952e-03 -2.15893126e-01 3.06417281e+00] [-1.05883669e-03 9.99938261e-01 1.10613454e-02 6.94386709e-01] [ 2.15917651e-01 -1.05718238e-02 9.76354344e-01 2.50351806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.636502481 meters Centerline goodness [0,1] 0.6334377756821707 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.25 [[ 9.76161163e-01 4.22577420e-03 -2.17005823e-01 3.06621408e+00] [-1.87033735e-03 9.99937104e-01 1.10584946e-02 6.95258095e-01] [ 2.17038905e-01 -1.03889989e-02 9.76107670e-01 2.51499982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666502481 meters Centerline goodness [0,1] 0.6339266697094172 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.25 [[ 9.75970202e-01 4.53005112e-03 -2.17856931e-01 3.06735673e+00] [-2.23842817e-03 9.99939555e-01 1.07645788e-02 6.96664983e-01] [ 2.17892527e-01 -1.00182511e-02 9.75921350e-01 2.52668316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.696502480999996 meters Centerline goodness [0,1] 0.631231469878045 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.25 [[ 0.97593267 0.00543502 -0.21800432 3.06718308] [-0.00320701 0.99993897 0.01057255 0.69897971] [ 0.21804847 -0.00961896 0.97589054 0.25411339] [ 0. 0. 0. 1. ]] SLAMing on 53.726502481 meters Centerline goodness [0,1] 0.6273766583114263 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.9758208 0.00546091 -0.21850389 3.06736867] [-0.00334515 0.99994389 0.0100517 0.69990518] [ 0.21854652 -0.00907773 0.97578431 0.25548428] [ 0. 0. 0. 1. ]] SLAMing on 53.756502481 meters Centerline goodness [0,1] 0.6336089835525311 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.97573537 0.00584195 -0.21887521 3.06862811] [-0.00372147 0.99994208 0.01009907 0.69942542] [ 0.21892154 -0.00903948 0.97570059 0.2555481 ] [ 0. 0. 0. 1. ]] SLAMing on 53.786502481 meters Centerline goodness [0,1] 0.627059685097034 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.97565743 0.00628149 -0.2192102 3.06987935] [-0.00406901 0.99993614 0.010543 0.69823352] [ 0.21926243 -0.00939439 0.97562069 0.2551919 ] [ 0. 0. 0. 1. ]] SLAMing on 53.816502481 meters Centerline goodness [0,1] 0.6287691697917619 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.97551053 0.00661314 -0.21985331 3.07083177] [-0.00433949 0.99993201 0.01082302 0.69711774] [ 0.21990993 -0.00960392 0.9754729 0.25576193] [ 0. 0. 0. 1. ]] SLAMing on 53.846502481 meters Centerline goodness [0,1] 0.627355475052513 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.9753865 0.00677477 -0.22039799 3.07130194] [-0.00456208 0.99993397 0.01054698 0.69715491] [ 0.22045489 -0.00928191 0.97535301 0.25696804] [ 0. 0. 0. 1. ]] SLAMing on 53.876502481 meters Centerline goodness [0,1] 0.619024449580343 Centerline is valid? [False, False] Translation: X:3.07, Y:0.70, Z:0.26 [[ 0.97527102 0.00735655 -0.22088984 3.07334385] [-0.00506288 0.99992725 0.01094813 0.69614508] [ 0.22095431 -0.00955905 0.97523731 0.25643049] [ 0. 0. 0. 1. ]] SLAMing on 53.906502481 meters Centerline goodness [0,1] 0.6210682762595165 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97513844 0.00816603 -0.221446 3.07603276] [-0.00574278 0.99991641 0.01158447 0.6950312 ] [ 0.22152209 -0.01002474 0.97510382 0.25545955] [ 0. 0. 0. 1. ]] SLAMing on 53.936502481 meters Centerline goodness [0,1] 0.6247413268411443 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97497434 0.00851239 -0.22215438 3.07690413] [-0.00611898 0.99991561 0.01145971 0.69539536] [ 0.22223318 -0.00981356 0.97494416 0.25658401] [ 0. 0. 0. 1. ]] SLAMing on 53.966502481 meters Centerline goodness [0,1] 0.6262288096904769 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97489525 0.00875515 -0.22249178 3.07585508] [-0.00645454 0.99991795 0.01106528 0.69576026] [ 0.2225704 -0.00935141 0.97487177 0.2589478 ] [ 0. 0. 0. 1. ]] SLAMing on 53.996502481 meters Centerline goodness [0,1] 0.6263783125190374 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97483371 0.00901752 -0.22275082 3.07611582] [-0.0067645 0.99991798 0.01087548 0.6959802 ] [ 0.22283062 -0.00909498 0.97481475 0.25973263] [ 0. 0. 0. 1. ]] SLAMing on 54.026502481 meters Centerline goodness [0,1] 0.6133353584447145 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97481351 0.0094867 -0.22281969 3.07630709] [-0.00732221 0.99991766 0.01053826 0.69646386] [ 0.22290132 -0.0086413 0.97480271 0.26059193] [ 0. 0. 0. 1. ]] SLAMing on 54.056502481 meters Centerline goodness [0,1] 0.5893671347802298 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97456776 0.01042277 -0.22385049 3.07877076] [-0.00827566 0.99991034 0.01052777 0.69737414] [ 0.22394015 -0.00840751 0.97456663 0.26136195] [ 0. 0. 0. 1. ]] SLAMing on 54.086502481 meters Centerline goodness [0,1] 0.5780017661926369 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97435236 0.01115623 -0.224751 3.0810795 ] [-0.00896941 0.999902 0.01074863 0.69755649] [ 0.22484889 -0.00845706 0.97435694 0.26159349] [ 0. 0. 0. 1. ]] SLAMing on 54.116502481 meters Centerline goodness [0,1] 0.5759387487417259 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97415268 0.0120892 -0.22556686 3.08380043] [-0.00984723 0.99989033 0.01106177 0.69797995] [ 0.22567585 -0.00855464 0.97416489 0.26140778] [ 0. 0. 0. 1. ]] SLAMing on 54.146502481 meters Centerline goodness [0,1] 0.5668964675736685 Centerline is valid? [False, False] Translation: X:3.08, Y:0.70, Z:0.26 [[ 0.97405863 0.01250039 -0.22595028 3.08486879] [-0.01021711 0.99988427 0.01127185 0.6976693 ] [ 0.22606503 -0.00867089 0.97407362 0.2614622 ] [ 0. 0. 0. 1. ]] SLAMing on 54.176502481 meters Centerline goodness [0,1] 0.5573280463626659 Centerline is valid? [False, False] Translation: X:3.09, Y:0.70, Z:0.26 [[ 0.9739123 0.01297929 -0.22655325 3.08642079] [-0.01068453 0.99987847 0.01135236 0.69736485] [ 0.22667306 -0.00863559 0.97393262 0.26173713] [ 0. 0. 0. 1. ]] SLAMing on 54.206502481 meters Centerline goodness [0,1] 0.5512836148545643 Centerline is valid? [False, False] Translation: X:3.09, Y:0.70, Z:0.26 [[ 0.97377238 0.01336545 -0.2271315 3.08773552] [-0.0110507 0.99987327 0.01145983 0.69700708] [ 0.22725589 -0.0086493 0.97379667 0.26205345] [ 0. 0. 0. 1. ]] SLAMing on 54.236502481 meters Centerline goodness [0,1] 0.5481294020794585 Centerline is valid? [False, False] Translation: X:3.09, Y:0.70, Z:0.26 [[ 0.9736313 0.01377609 -0.22771102 3.08877002] [-0.01145363 0.99986807 0.01151751 0.69684284] [ 0.22783965 -0.00860569 0.97366064 0.26266956] [ 0. 0. 0. 1. ]] SLAMing on 54.266502480999996 meters Centerline goodness [0,1] 0.5511933428841406 Centerline is valid? [False, False] Translation: X:3.09, Y:0.70, Z:0.26 [[ 0.97355592 0.01410751 -0.22801283 3.08937769] [-0.01176559 0.99986318 0.01162704 0.69641882] [ 0.22814566 -0.00863687 0.9735887 0.26303804] [ 0. 0. 0. 1. ]] SLAMing on 54.296502481 meters Centerline goodness [0,1] 0.5479672330097087 Centerline is valid? [False, False] Translation: X:3.09, Y:0.70, Z:0.26 [[ 0.9735701 0.01394117 -0.22796252 3.08844252] [-0.01163563 0.99986669 0.01145454 0.69537581] [ 0.22809182 -0.00849931 0.97360253 0.26392152] [ 0. 0. 0. 1. ]] SLAMing on 54.326502481 meters Centerline goodness [0,1] 0.5649661099007504 Centerline is valid? [False, False] Translation: X:3.10, Y:0.70, Z:0.27 [[ 0.97464545 0.00946333 -0.22355469 3.10172667] [-0.00621901 0.99986495 0.01521206 0.6951559 ] [ 0.22366845 -0.01343607 0.97457267 0.2654964 ] [ 0. 0. 0. 1. ]] SLAMing on 54.356502481 meters Centerline goodness [0,1] 0.5692735572417547 Centerline is valid? [False, False] Translation: X:3.10, Y:0.69, Z:0.27 [[ 0.97456512 0.00962902 -0.22389754 3.10185143] [-0.00634108 0.99986131 0.0153994 0.69439424] [ 0.22401477 -0.01358797 0.97449102 0.26610183] [ 0. 0. 0. 1. ]] SLAMing on 54.386502481 meters Centerline goodness [0,1] 0.585500180570603 Centerline is valid? [False, False] Translation: X:3.10, Y:0.69, Z:0.27 [[ 9.74289043e-01 5.36953116e-03 -2.25237717e-01 3.10368814e+00] [-2.85925080e-03 9.99930132e-01 1.14697454e-02 6.94530474e-01] [ 2.25283568e-01 -1.05308361e-02 9.74236324e-01 2.67556990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.416502481 meters Centerline goodness [0,1] 0.5958106359286123 Centerline is valid? [False, False] Translation: X:3.11, Y:0.70, Z:0.27 [[ 9.74074862e-01 9.76232910e-04 -2.26223804e-01 3.10561627e+00] [ 7.25156586e-04 9.99972078e-01 7.43760127e-03 6.95381675e-01] [ 2.26224748e-01 -7.40882812e-03 9.74046956e-01 2.68117598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters Centerline goodness [0,1] 0.6123334830115252 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 0.97395365 -0.00342558 -0.2267213 3.1071638 ] [ 0.00441968 0.99998272 0.0038772 0.69407412] [ 0.2267041 -0.00477824 0.97395196 0.26783007] [ 0. 0. 0. 1. ]] SLAMing on 54.476502481 meters Centerline goodness [0,1] 0.619900170367935 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 0.97399631 -0.00339186 -0.2265385 3.10672283] [ 0.00445512 0.99998133 0.00418239 0.6928076 ] [ 0.22652008 -0.00508289 0.97399323 0.26769566] [ 0. 0. 0. 1. ]] SLAMing on 54.506502481 meters Centerline goodness [0,1] 0.620401937914947 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 0.9739834 -0.0035375 -0.22659176 3.10538787] [ 0.00463377 0.99997999 0.00430635 0.69179788] [ 0.226572 -0.00524429 0.9739803 0.26878072] [ 0. 0. 0. 1. ]] SLAMing on 54.536502481 meters Centerline goodness [0,1] 0.627416415190176 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 0.9739102 -0.00327472 -0.22691012 3.10569401] [ 0.00441326 0.99998009 0.00451044 0.69130201] [ 0.22689084 -0.00539417 0.97390526 0.26925501] [ 0. 0. 0. 1. ]] SLAMing on 54.566502481 meters Centerline goodness [0,1] 0.6317076808351976 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 0.97383462 -0.00311204 -0.22723656 3.10566148] [ 0.0042613 0.99998049 0.00456715 0.69084694] [ 0.22721791 -0.00541597 0.97382888 0.27008955] [ 0. 0. 0. 1. ]] SLAMing on 54.596502481 meters Centerline goodness [0,1] 0.6347014257591124 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73799240e-01 -2.65210285e-03 -2.27393944e-01 3.10676804e+00] [ 3.92491580e-03 9.99979060e-01 5.14539963e-03 6.89671736e-01] [ 2.27375536e-01 -5.90308834e-03 9.73789258e-01 2.69375787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626502481 meters Centerline goodness [0,1] 0.6347014257591124 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73799240e-01 -2.65210285e-03 -2.27393944e-01 3.10676804e+00] [ 3.92491580e-03 9.99979060e-01 5.14539963e-03 6.89671736e-01] [ 2.27375536e-01 -5.90308834e-03 9.73789258e-01 2.69375787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.656502481 meters Centerline goodness [0,1] 0.6226488326267391 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73679593e-01 -2.17433512e-03 -2.27910779e-01 3.10830474e+00] [ 3.50712040e-03 9.99979037e-01 5.44301604e-03 6.89193400e-01] [ 2.27894166e-01 -6.09906418e-03 9.73666807e-01 2.69274372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686502481 meters Centerline goodness [0,1] 0.6281322887387117 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73500096e-01 -1.83110396e-03 -2.28679274e-01 3.10974508e+00] [ 3.16519735e-03 9.99980045e-01 5.46727512e-03 6.89862956e-01] [ 2.28664700e-01 -6.04620789e-03 9.73486465e-01 2.69748017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.716502481 meters Centerline goodness [0,1] 0.6251984543030884 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73374590e-01 -1.48855826e-03 -2.29215383e-01 3.11084594e+00] [ 2.82732727e-03 9.99980810e-01 5.51236488e-03 6.90184425e-01] [ 2.29202779e-01 -6.01366281e-03 9.73360119e-01 2.70140542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746502481 meters Centerline goodness [0,1] 0.6223535056678462 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.73148134e-01 -9.83868358e-04 -2.30177629e-01 3.11278623e+00] [ 2.29345670e-03 9.99982671e-01 5.42199433e-03 6.91081761e-01] [ 2.30168306e-01 -5.80430609e-03 9.73133527e-01 2.70877745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.776502481 meters Centerline goodness [0,1] 0.6143637782982045 Centerline is valid? [False, False] Translation: X:3.11, Y:0.69, Z:0.27 [[ 9.72980799e-01 -4.44217467e-04 -2.30885614e-01 3.11471421e+00] [ 1.80096477e-03 9.99982329e-01 5.66555230e-03 6.91318030e-01] [ 2.30879018e-01 -5.92829046e-03 9.72964406e-01 2.70857921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806502481 meters Centerline goodness [0,1] 0.6084972226392433 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.72786900e-01 2.45210446e-04 -2.31701505e-01 3.11737298e+00] [ 1.17086717e-03 9.99981469e-01 5.97410943e-03 6.92010669e-01] [ 2.31698676e-01 -6.08282708e-03 9.72768586e-01 2.70448621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.836502481 meters Centerline goodness [0,1] 0.6038626996781084 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.72720865e-01 2.28771349e-04 -2.31978588e-01 3.11690348e+00] [ 1.04538081e-03 9.99985037e-01 5.36959753e-03 6.93319642e-01] [ 2.31976346e-01 -5.46562553e-03 9.72706072e-01 2.72005996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.866502481 meters Centerline goodness [0,1] 0.5990362897154042 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.72637748e-01 1.69776763e-04 -2.32326885e-01 3.11651076e+00] [ 9.70785895e-04 9.99988033e-01 4.79495836e-03 6.94516777e-01] [ 2.32324919e-01 -4.88929716e-03 9.72625944e-01 2.73570217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.896502481 meters Centerline goodness [0,1] 0.5943362084564812 Centerline is valid? [False, False] Translation: X:3.12, Y:0.70, Z:0.28 [[ 9.72526480e-01 9.42788149e-06 -2.32792279e-01 3.11617090e+00] [ 9.47432667e-04 9.99991557e-01 3.99854824e-03 6.96401134e-01] [ 2.32790351e-01 -4.10924906e-03 9.72518260e-01 2.75390810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.926502481 meters Centerline goodness [0,1] 0.5900758056235088 Centerline is valid? [False, False] Translation: X:3.12, Y:0.70, Z:0.28 [[ 9.72433860e-01 2.78857457e-04 -2.33178707e-01 3.11709506e+00] [ 6.97268226e-04 9.99991337e-01 4.10372921e-03 6.96218240e-01] [ 2.33177832e-01 -4.15319334e-03 9.72425241e-01 2.75570561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.956502481 meters Centerline goodness [0,1] 0.5941146320137486 Centerline is valid? [False, False] Translation: X:3.12, Y:0.70, Z:0.28 [[ 9.72361788e-01 4.80807993e-04 -2.33478741e-01 3.11782620e+00] [ 5.00526863e-04 9.99991289e-01 4.14383338e-03 6.95974570e-01] [ 2.33478699e-01 -4.14616762e-03 9.72353077e-01 2.75776835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.986502481 meters Centerline goodness [0,1] 0.6087364533510928 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.72231851e-01 7.92631578e-04 -2.34018373e-01 3.11956821e+00] [ 2.77379703e-04 9.99989658e-01 4.53939043e-03 6.94985853e-01] [ 2.34019551e-01 -4.47825191e-03 9.72221577e-01 2.75389611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.016502480999996 meters Centerline goodness [0,1] 0.6068781948519404 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.72085384e-01 1.46225174e-03 -2.34622823e-01 3.12166738e+00] [-2.45864101e-04 9.99986379e-01 5.21360586e-03 6.94046408e-01] [ 2.34627251e-01 -5.01038472e-03 9.72072502e-01 2.74821910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.046502481 meters Centerline goodness [0,1] 0.6185488997184975 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.71909401e-01 2.10856182e-03 -2.35345852e-01 3.12430635e+00] [-7.05094416e-04 9.99981466e-01 6.04741846e-03 6.93057409e-01] [ 2.35354241e-01 -5.71160181e-03 9.71892874e-01 2.73852321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.076502481 meters Centerline goodness [0,1] 0.627211585070286 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.71973875e-01 1.94195201e-03 -2.35080869e-01 3.12341908e+00] [-4.79507947e-04 9.99980178e-01 6.27802816e-03 6.91440746e-01] [ 2.35088401e-01 -5.98935621e-03 9.71955540e-01 2.73936148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106502481 meters Centerline goodness [0,1] 0.6328819297503174 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.27 [[ 9.71971291e-01 2.15531861e-03 -2.35089693e-01 3.12358543e+00] [-6.34680915e-04 9.99978388e-01 6.54380200e-03 6.89975136e-01] [ 2.35098716e-01 -6.21118074e-03 9.71951653e-01 2.73944160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.136502481 meters Centerline goodness [0,1] 0.6444136351306549 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71932948e-01 -2.59811831e-03 -2.35243691e-01 3.12282713e+00] [ 3.19198736e-03 9.99992608e-01 2.14372837e-03 6.90357442e-01] [ 2.35236382e-01 -2.83445512e-03 9.71934057e-01 2.75485273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166502481 meters Centerline goodness [0,1] 0.6495435509626104 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71882529e-01 -2.53058154e-03 -2.35452639e-01 3.12278549e+00] [ 3.10883066e-03 9.99992995e-01 2.08472663e-03 6.89925543e-01] [ 2.35445714e-01 -2.75809177e-03 9.71883588e-01 2.76161577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.196502480999996 meters Centerline goodness [0,1] 0.6494839138045512 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71971109e-01 2.16160673e-03 -2.35090387e-01 3.12157932e+00] [-7.00629303e-04 9.99979923e-01 6.29788360e-03 6.88215403e-01] [ 2.35099281e-01 -5.95664970e-03 9.71953109e-01 2.76361807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.226502481 meters Centerline goodness [0,1] 0.6523357134212755 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71875376e-01 2.49848551e-03 -2.35482505e-01 3.12216463e+00] [-1.05814503e-03 9.99979954e-01 6.24271568e-03 6.88813511e-01] [ 2.35493382e-01 -5.81796700e-03 9.71858538e-01 2.77013034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.256502481 meters Centerline goodness [0,1] 0.6558245083207261 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71867833e-01 2.88918032e-03 -2.35509166e-01 3.12310566e+00] [-1.34984930e-03 9.99976663e-01 6.69713965e-03 6.87626047e-01] [ 2.35523019e-01 -6.19083272e-03 9.71849053e-01 2.76327154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286502481 meters Centerline goodness [0,1] 0.6583509513742072 Centerline is valid? [False, False] Translation: X:3.12, Y:0.69, Z:0.28 [[ 9.71840407e-01 3.47500997e-03 -2.35614405e-01 3.12478463e+00] [-1.77789293e-03 9.99970928e-01 7.41499974e-03 6.85417585e-01] [ 2.35633322e-01 -6.78729918e-03 9.71818332e-01 2.75169789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.316502481 meters Centerline goodness [0,1] 0.6577938735476083 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.28 [[ 9.71720237e-01 4.02204809e-03 -2.36100836e-01 3.12624502e+00] [-2.23135344e-03 9.99966690e-01 7.85114893e-03 6.84548801e-01] [ 2.36124549e-01 -7.10229589e-03 9.71696843e-01 2.75042680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346502481 meters Centerline goodness [0,1] 0.6581606491116943 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.27 [[ 9.71578546e-01 4.80472836e-03 -2.36668635e-01 3.12870996e+00] [-2.88552507e-03 9.99960093e-01 8.45495377e-03 6.83804599e-01] [ 2.36699814e-01 -7.53173842e-03 9.71553638e-01 2.74248517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.376502481 meters Centerline goodness [0,1] 0.6484109052568158 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.27 [[ 0.97146646 0.00547098 -0.23711387 3.13036496] [-0.00345951 0.99995442 0.00889841 0.68329242] [ 0.23715175 -0.00782421 0.97144111 0.27397769] [ 0. 0. 0. 1. ]] SLAMing on 55.406502481 meters Centerline goodness [0,1] 0.6452458423716558 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.27 [[ 0.97129423 0.00602502 -0.23780498 3.13165811] [-0.00403989 0.99995282 0.00883417 0.68433135] [ 0.23784699 -0.00761988 0.97127275 0.2747743 ] [ 0. 0. 0. 1. ]] SLAMing on 55.436502481 meters Centerline goodness [0,1] 0.6412837125207171 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.28 [[ 0.9711708 0.00625708 -0.23830261 3.13216133] [-0.0043022 0.9999527 0.00872257 0.68476032] [ 0.23834592 -0.00744588 0.97115178 0.27562528] [ 0. 0. 0. 1. ]] SLAMing on 55.466502481 meters Centerline goodness [0,1] 0.6372711145855257 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.28 [[ 0.9710767 0.00662667 -0.23867579 3.13292332] [-0.00462934 0.99994943 0.00892797 0.68389818] [ 0.23872288 -0.00756483 0.97105827 0.2759548 ] [ 0. 0. 0. 1. ]] SLAMing on 55.496502481 meters Centerline goodness [0,1] 0.6422649444277561 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.28 [[ 0.97109682 0.00682645 -0.23858826 3.13360588] [-0.00474645 0.99994557 0.00929138 0.68188421] [ 0.2386387 -0.00789038 0.97107637 0.27523289] [ 0. 0. 0. 1. ]] SLAMing on 55.526502481 meters Centerline goodness [0,1] 0.6440906637884511 Centerline is valid? [False, False] Translation: X:3.13, Y:0.68, Z:0.27 [[ 0.97107168 0.0071235 -0.23868192 3.13457914] [-0.00495247 0.99994074 0.00969439 0.68054329] [ 0.23873683 -0.00823188 0.97104941 0.27465204] [ 0. 0. 0. 1. ]] SLAMing on 55.556502481 meters Centerline goodness [0,1] 0.6476318541760048 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70749238e-01 3.28297593e-03 -2.40073194e-01 3.13629172e+00] [-1.88792249e-03 9.99979973e-01 6.04070297e-03 6.81884177e-01] [ 2.40088218e-01 -5.41076822e-03 9.70735995e-01 2.76338013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.586502481 meters Centerline goodness [0,1] 0.6470870007783964 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70680903e-01 3.67069845e-03 -2.40343732e-01 3.13716574e+00] [-2.19476180e-03 9.99977058e-01 6.40832550e-03 6.81303970e-01] [ 2.40361741e-01 -5.69294194e-03 9.70666690e-01 2.76204242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.616502481 meters Centerline goodness [0,1] 0.652011365335726 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70690708e-01 4.00643639e-03 -2.40298767e-01 3.13793350e+00] [-2.41710612e-03 9.99973216e-01 6.90834434e-03 6.79572598e-01] [ 2.40320008e-01 -6.12503804e-03 9.70674393e-01 2.75441212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.646502481 meters Centerline goodness [0,1] 0.651455875765268 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.27 [[ 9.70735292e-01 4.12513665e-03 -2.40116590e-01 3.13821396e+00] [-2.48021073e-03 9.99971346e-01 7.15231866e-03 6.78470920e-01] [ 2.40139214e-01 -6.34746840e-03 9.70717708e-01 2.74856595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.676502481 meters Centerline goodness [0,1] 0.6595140611458115 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70724346e-01 3.86965220e-03 -2.40165087e-01 3.13734942e+00] [-2.36979014e-03 9.99975848e-01 6.53361309e-03 6.78987564e-01] [ 2.40184569e-01 -5.77319644e-03 9.70710071e-01 2.76169921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.706502481 meters Centerline goodness [0,1] 0.6606225355478552 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70626479e-01 3.98322090e-03 -2.40558461e-01 3.13734918e+00] [-2.56330756e-03 9.99977400e-01 6.21519062e-03 6.79754853e-01] [ 2.40577781e-01 -5.41600327e-03 9.70614753e-01 2.77361790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.736502481 meters Centerline goodness [0,1] 0.6611745708988697 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70487203e-01 4.24785926e-03 -2.41115209e-01 3.13760822e+00] [-2.93853725e-03 9.99978923e-01 5.78958473e-03 6.81088108e-01] [ 2.41134720e-01 -4.91019187e-03 9.70479230e-01 2.78876909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.766502480999996 meters Centerline goodness [0,1] 0.6564789616914382 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 0.97038966 0.00462234 -0.24150059 3.13839575] [-0.00333788 0.99997803 0.0057275 0.68183397] [ 0.24152176 -0.00475181 0.97038377 0.27939371] [ 0. 0. 0. 1. ]] SLAMing on 55.796502481 meters Centerline goodness [0,1] 0.6614900314795382 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 0.97033248 0.00507903 -0.24172107 3.13940105] [-0.00373355 0.99997489 0.00602397 0.68115296] [ 0.2417456 -0.00494277 0.97032708 0.27918269] [ 0. 0. 0. 1. ]] SLAMing on 55.826502481 meters Centerline goodness [0,1] 0.662045216349753 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70112294e-01 1.29388636e-03 -2.42652967e-01 3.14231558e+00] [-7.33972597e-04 9.99996856e-01 2.39785428e-03 6.81867440e-01] [ 2.42655307e-01 -2.14808729e-03 9.70110194e-01 2.79124482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.856502481 meters Centerline goodness [0,1] 0.6618244858919178 Centerline is valid? [False, False] Translation: X:3.14, Y:0.68, Z:0.28 [[ 9.70044508e-01 1.93465095e-03 -2.42919554e-01 3.14397724e+00] [-1.24014536e-03 9.99994695e-01 3.01187978e-03 6.80805043e-01] [ 2.42924092e-01 -2.62040188e-03 9.70041761e-01 2.78311230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886502481 meters Centerline goodness [0,1] 0.66025277122113 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69878217e-01 2.63141481e-03 -2.43576108e-01 3.14560975e+00] [-1.90661773e-03 9.99993026e-01 3.21135542e-03 6.81345469e-01] [ 2.43582860e-01 -2.65021714e-03 9.69876470e-01 2.78650705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.916502481 meters Centerline goodness [0,1] 0.6552747549240039 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69748598e-01 3.08698435e-03 -2.44086312e-01 3.14680139e+00] [-2.34954586e-03 9.99991754e-01 3.31231229e-03 6.81781841e-01] [ 2.44094524e-01 -2.63861821e-03 9.69747854e-01 2.78940662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.946502480999996 meters Centerline goodness [0,1] 0.6491080545378101 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69509930e-01 3.83638601e-03 -2.45021996e-01 3.14868922e+00] [-3.11570906e-03 9.99989606e-01 3.32882467e-03 6.83255734e-01] [ 2.45032220e-01 -2.46391132e-03 9.69511805e-01 2.79738887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.976502481 meters Centerline goodness [0,1] 0.639954172696575 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69360523e-01 3.95956652e-03 -2.45610462e-01 3.14922670e+00] [-3.37074827e-03 9.99990349e-01 2.81770571e-03 6.84877535e-01] [ 2.45619249e-01 -1.90348164e-03 9.69364514e-01 2.80977412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006502481 meters Centerline goodness [0,1] 0.6392588128954504 Centerline is valid? [False, False] Translation: X:3.15, Y:0.69, Z:0.28 [[ 9.69243351e-01 4.35945806e-03 -2.46065686e-01 3.15049722e+00] [-3.76805292e-03 9.99988770e-01 2.87422794e-03 6.85134009e-01] [ 2.46075452e-01 -1.85863780e-03 9.69248893e-01 2.81137488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.036502481 meters Centerline goodness [0,1] 0.6377796487851817 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69273265e-01 4.74869875e-03 -2.45940619e-01 3.15164606e+00] [-4.01370382e-03 9.99985856e-01 3.48968697e-03 6.83486757e-01] [ 2.45953712e-01 -2.39532748e-03 9.69278615e-01 2.79808889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066502481 meters Centerline goodness [0,1] 0.6381452001929571 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69285245e-01 5.02775080e-03 -2.45887851e-01 3.15232196e+00] [-4.20482492e-03 9.99983665e-01 3.87165901e-03 6.82331856e-01] [ 2.45903300e-01 -2.71882659e-03 9.69290552e-01 2.79121916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.096502481 meters Centerline goodness [0,1] 0.6441096715878276 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.69218860e-01 5.40491337e-03 -2.46141398e-01 3.15329666e+00] [-4.47648649e-03 9.99980600e-01 4.33130466e-03 6.81914473e-01] [ 2.46160033e-01 -3.09613353e-03 9.69224253e-01 2.78705036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126502481 meters Centerline goodness [0,1] 0.64146458872375 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 0.96908939 0.00597146 -0.24663759 3.15453774] [-0.00496422 0.99997661 0.00470547 0.68161454] [ 0.24665992 -0.00333566 0.96909636 0.27883532] [ 0. 0. 0. 1. ]] SLAMing on 56.156502481 meters Centerline goodness [0,1] 0.645522162423656 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.68936212e-01 6.01761746e-03 -2.47237549e-01 3.15460239e+00] [-5.10383876e-03 9.99977572e-01 4.33667259e-03 6.82692995e-01] [ 2.47258100e-01 -2.94009853e-03 9.68945193e-01 2.80354251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186502481 meters Centerline goodness [0,1] 0.6462611741966658 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.68914381e-01 5.71581593e-03 -2.47330247e-01 3.15416308e+00] [-4.95739292e-03 9.99980907e-01 3.68906561e-03 6.83782013e-01] [ 2.47346611e-01 -2.34827551e-03 9.68924218e-01 2.81351005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.216502481 meters Centerline goodness [0,1] 0.6608900428718072 Centerline is valid? [False, False] Translation: X:3.15, Y:0.68, Z:0.28 [[ 9.68770939e-01 9.17673930e-04 -2.47955693e-01 3.15498403e+00] [-1.17597037e-03 9.99998909e-01 -8.93599119e-04 6.84637668e-01] [ 2.47954602e-01 1.15728140e-03 9.68770962e-01 2.82571557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246502481 meters Centerline goodness [0,1] 0.6631065916543819 Centerline is valid? [False, False] Translation: X:3.16, Y:0.68, Z:0.28 [[ 9.68758771e-01 1.24547759e-03 -2.48001800e-01 3.15566602e+00] [-1.38911886e-03 9.99998953e-01 -4.04209940e-04 6.82843644e-01] [ 2.48001037e-01 7.36085902e-04 9.68759487e-01 2.82076422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.276502481 meters Centerline goodness [0,1] 0.6625401880953097 Centerline is valid? [False, False] Translation: X:3.17, Y:0.68, Z:0.28 [[ 9.69467034e-01 -1.83116489e-03 -2.45214839e-01 3.17124771e+00] [ 3.18652146e-03 9.99981761e-01 5.13058678e-03 6.81807562e-01] [ 2.45200972e-01 -5.75531709e-03 9.69455187e-01 2.82850050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306502481 meters Centerline goodness [0,1] 0.6625420470927439 Centerline is valid? [False, False] Translation: X:3.17, Y:0.68, Z:0.28 [[ 9.69435847e-01 -1.47156448e-03 -2.45340525e-01 3.17168618e+00] [ 2.90690651e-03 9.99980714e-01 5.48838509e-03 6.81129319e-01] [ 2.45327717e-01 -6.03381922e-03 9.69421428e-01 2.82770922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336502481 meters Centerline goodness [0,1] 0.6678781689294726 Centerline is valid? [False, False] Translation: X:3.17, Y:0.68, Z:0.28 [[ 9.69401590e-01 -1.01716211e-03 -2.45478152e-01 3.17255480e+00] [ 2.58546431e-03 9.99978256e-01 6.06658151e-03 6.79911062e-01] [ 2.45466644e-01 -6.51562876e-03 9.69383141e-01 2.82242015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.366502481 meters Centerline goodness [0,1] 0.6684691180004807 Centerline is valid? [False, False] Translation: X:3.17, Y:0.68, Z:0.28 [[ 9.69352112e-01 -6.07070508e-04 -2.45674813e-01 3.17342168e+00] [ 2.25768023e-03 9.99976733e-01 6.43708933e-03 6.79465476e-01] [ 2.45665189e-01 -6.79446131e-03 9.69330929e-01 2.81972384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.396502481 meters Centerline goodness [0,1] 0.6644140085300655 Centerline is valid? [False, False] Translation: X:3.17, Y:0.68, Z:0.28 [[ 9.69208335e-01 -5.99561278e-05 -2.46242158e-01 3.17495440e+00] [ 1.80152377e-03 9.99974934e-01 6.84731340e-03 6.79524754e-01] [ 2.46235575e-01 -7.08008432e-03 9.69184149e-01 2.81870554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426502481 meters Centerline goodness [0,1] 0.6652124202671802 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.69094367e-01 2.76380695e-04 -2.46690154e-01 3.17604667e+00] [ 1.46895416e-03 9.99975178e-01 6.89094804e-03 6.79673408e-01] [ 2.46685935e-01 -7.04035545e-03 9.69069906e-01 2.82131808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.456502481 meters Centerline goodness [0,1] 0.6632041670430253 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.69024932e-01 6.81307330e-04 -2.46961976e-01 3.17763291e+00] [ 1.07781198e-03 9.99975004e-01 6.98778416e-03 6.80314845e-01] [ 2.46960563e-01 -7.03751564e-03 9.68999976e-01 2.81581196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486502481 meters Centerline goodness [0,1] 0.6635919696147585 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68931089e-01 1.07211376e-03 -2.47328516e-01 3.17895456e+00] [ 6.90893338e-04 9.99974971e-01 7.04130273e-03 6.80520634e-01] [ 2.47329875e-01 -6.99341475e-03 9.68906097e-01 2.81577114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.516502480999996 meters Centerline goodness [0,1] 0.6635919696147585 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68931089e-01 1.07211376e-03 -2.47328516e-01 3.17895456e+00] [ 6.90893338e-04 9.99974971e-01 7.04130273e-03 6.80520634e-01] [ 2.47329875e-01 -6.99341475e-03 9.68906097e-01 2.81577114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.546502481 meters Centerline goodness [0,1] 0.6646269781461944 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68867497e-01 1.30842382e-03 -2.47576376e-01 3.17949490e+00] [ 4.73261051e-04 9.99974420e-01 7.13685864e-03 6.80445809e-01] [ 2.47579381e-01 -7.03183862e-03 9.68842094e-01 2.81729175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.576502481 meters Centerline goodness [0,1] 0.6602999305995594 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68765495e-01 1.54480583e-03 -2.47973846e-01 3.17989791e+00] [ 2.34321095e-04 9.99974447e-01 7.14498150e-03 6.80347006e-01] [ 2.47978547e-01 -6.97991704e-03 9.68740378e-01 2.82436036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.606502481 meters Centerline goodness [0,1] 0.6647159965008598 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68764240e-01 1.60955633e-03 -2.47978338e-01 3.17969425e+00] [ 2.14492551e-04 9.99973123e-01 7.32848600e-03 6.79368435e-01] [ 2.47983469e-01 -7.15276468e-03 9.68737858e-01 2.82632698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.636502481 meters Centerline goodness [0,1] 0.6566437141053012 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68725552e-01 2.01226113e-03 -2.48126492e-01 3.18051834e+00] [-1.00844165e-04 9.99970227e-01 7.71586655e-03 6.78167375e-01] [ 2.48134631e-01 -7.44953497e-03 9.68696913e-01 2.82356687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666502481 meters Centerline goodness [0,1] 0.6592741935483871 Centerline is valid? [False, False] Translation: X:3.18, Y:0.68, Z:0.28 [[ 9.68647540e-01 2.60907859e-03 -2.48425315e-01 3.18252223e+00] [-4.93118340e-04 9.99963075e-01 8.57933655e-03 6.75845616e-01] [ 2.48438526e-01 -8.18785016e-03 9.68613059e-01 2.81126033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.696502480999996 meters Centerline goodness [0,1] 0.6560587882423515 Centerline is valid? [False, False] Translation: X:3.18, Y:0.67, Z:0.28 [[ 9.68552583e-01 3.31386794e-03 -2.48786882e-01 3.18423600e+00] [-1.03917147e-03 9.99956456e-01 9.27392717e-03 6.74537893e-01] [ 2.48806782e-01 -8.72375388e-03 9.68513852e-01 2.80481361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.726502481 meters Centerline goodness [0,1] 0.6541472926353682 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.28 [[ 9.68385465e-01 4.05686583e-03 -2.49425607e-01 3.18614163e+00] [-1.62196963e-03 9.99949015e-01 9.96676806e-03 6.73601248e-01] [ 2.49453324e-01 -9.24711256e-03 9.68342672e-01 2.80161890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.756502481 meters Centerline goodness [0,1] 0.6490996794199598 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.28 [[ 9.68222160e-01 4.57815253e-03 -2.50049776e-01 3.18718131e+00] [-2.10927756e-03 9.99946358e-01 1.01406117e-02 6.73347832e-01] [ 2.50082788e-01 -9.29094059e-03 9.68179879e-01 2.80857519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786502481 meters Centerline goodness [0,1] 0.6500284797793567 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.28 [[ 9.68101322e-01 4.83212124e-03 -2.50512437e-01 3.18764315e+00] [-2.38935725e-03 9.99946600e-01 1.00542844e-02 6.73567985e-01] [ 2.50547643e-01 -9.13500232e-03 9.68061171e-01 2.81727453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.816502481 meters Centerline goodness [0,1] 0.6512943288942092 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.28 [[ 9.68001379e-01 4.84185189e-03 -2.50898161e-01 3.18697658e+00] [-2.52890092e-03 9.99951293e-01 9.54027113e-03 6.73982064e-01] [ 2.50932133e-01 -8.60049902e-03 9.67966475e-01 2.83587671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846502481 meters Centerline goodness [0,1] 0.6482869858717405 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.28 [[ 9.67903922e-01 5.05535656e-03 -2.51269656e-01 3.18717585e+00] [-2.78190129e-03 9.99951928e-01 9.40225097e-03 6.73712358e-01] [ 2.51305109e-01 -8.40146822e-03 9.67871457e-01 2.84582396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.876502481 meters Centerline goodness [0,1] 0.6453788534423588 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.29 [[ 9.67764498e-01 5.23344293e-03 -2.51802477e-01 3.18737659e+00] [-2.99509514e-03 9.99952531e-01 9.27174264e-03 6.73504637e-01] [ 2.51839047e-01 -8.21869099e-03 9.67734234e-01 2.85804223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906502481 meters Centerline goodness [0,1] 0.6537577945520183 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.29 [[ 9.67456506e-01 1.29925589e-03 -2.53034032e-01 3.18990125e+00] [ 9.96776531e-05 9.99984783e-01 5.51573992e-03 6.73775983e-01] [ 2.53037348e-01 -5.36146031e-03 9.67441655e-01 2.86687106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.936502481 meters Centerline goodness [0,1] 0.6471884679533 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.29 [[ 9.67375061e-01 2.02593306e-03 -2.53340458e-01 3.19168789e+00] [-4.11003426e-04 9.99979260e-01 6.42730574e-03 6.71737281e-01] [ 2.53348225e-01 -6.11349148e-03 9.67355830e-01 2.85724100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966502481 meters Centerline goodness [0,1] 0.6520922746781116 Centerline is valid? [False, False] Translation: X:3.19, Y:0.67, Z:0.29 [[ 9.67252972e-01 2.82478442e-03 -2.53798559e-01 3.19351841e+00] [-9.99156470e-04 9.99972696e-01 7.32183129e-03 6.69855820e-01] [ 2.53812312e-01 -6.82847861e-03 9.67229385e-01 2.85097389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.996502481 meters Centerline goodness [0,1] 0.6459649541065682 Centerline is valid? [False, False] Translation: X:3.20, Y:0.67, Z:0.28 [[ 9.66932786e-01 3.91901162e-03 -2.55001231e-01 3.19664102e+00] [-1.81251082e-03 9.99962272e-01 8.49520457e-03 6.68158701e-01] [ 2.55024903e-01 -7.75209933e-03 9.66903410e-01 2.84743556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026502481 meters Centerline goodness [0,1] 0.6417476016513707 Centerline is valid? [False, False] Translation: X:3.20, Y:0.67, Z:0.28 [[ 9.66673988e-01 4.97158567e-03 -2.55962272e-01 3.19959889e+00] [-2.65440055e-03 9.99952319e-01 9.39751252e-03 6.67166977e-01] [ 2.55996788e-01 -8.40490450e-03 9.66641093e-01 2.84290510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.056502481 meters Centerline goodness [0,1] 0.641559988091694 Centerline is valid? [False, False] Translation: X:3.20, Y:0.67, Z:0.28 [[ 9.66541897e-01 5.43503475e-03 -2.56451209e-01 3.20088126e+00] [-3.06783986e-03 9.99948927e-01 9.62975148e-03 6.66764220e-01] [ 2.56490449e-01 -8.52080702e-03 9.66509206e-01 2.84459073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.086502481 meters Centerline goodness [0,1] 0.6470588235294117 Centerline is valid? [False, False] Translation: X:3.20, Y:0.67, Z:0.29 [[ 9.66556803e-01 4.89558226e-03 -2.56405890e-01 3.19966155e+00] [-2.71102908e-03 9.99956962e-01 8.87268214e-03 6.66594278e-01] [ 2.56438292e-01 -7.88082746e-03 9.66528476e-01 2.85797933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.116502481 meters Centerline goodness [0,1] 0.6513306403706784 Centerline is valid? [False, False] Translation: X:3.20, Y:0.67, Z:0.29 [[ 9.66491350e-01 4.80609752e-03 -2.56654186e-01 3.19928867e+00] [-2.69209115e-03 9.99959503e-01 8.58750880e-03 6.66358677e-01] [ 2.56685065e-01 -7.60881651e-03 9.66465149e-01 2.86866331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146502481 meters Centerline goodness [0,1] 0.6530128338125019 Centerline is valid? [False, False] Translation: X:3.21, Y:0.67, Z:0.29 [[ 9.67480171e-01 9.33263331e-04 -2.52945148e-01 3.21367661e+00] [ 2.29072947e-03 9.99919859e-01 1.24510152e-02 6.66755262e-01] [ 2.52936497e-01 -1.26255392e-02 9.67400498e-01 2.89306204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.176502481 meters Centerline goodness [0,1] 0.6544704590640672 Centerline is valid? [False, False] Translation: X:3.21, Y:0.66, Z:0.29 [[ 9.67370168e-01 1.19829998e-03 -2.53364406e-01 3.21499937e+00] [ 2.15483978e-03 9.99913739e-01 1.29565332e-02 6.64889093e-01] [ 2.53358077e-01 -1.30797234e-02 9.67284139e-01 2.88992068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206502481 meters Centerline goodness [0,1] 0.65461883141933 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.67294008e-01 1.75319301e-03 -2.53651785e-01 3.21669476e+00] [ 1.74467742e-03 9.99906477e-01 1.35644425e-02 6.63769521e-01] [ 2.53651844e-01 -1.35633445e-02 9.67200485e-01 2.88221235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.236502481 meters Centerline goodness [0,1] 0.653039988107626 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.67094319e-01 2.37657839e-03 -2.54407016e-01 3.21901557e+00] [ 1.25254139e-03 9.99899776e-01 1.41020713e-02 6.63235446e-01] [ 2.54415033e-01 -1.39566883e-02 9.66994417e-01 2.87873506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.266502480999996 meters Centerline goodness [0,1] 0.6535805702720401 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.66962015e-01 2.76667762e-03 -2.54905488e-01 3.22024549e+00] [ 9.04864578e-04 9.99897553e-01 1.42851528e-02 6.63454255e-01] [ 2.54918896e-01 -1.40438551e-02 9.66860448e-01 2.88015617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.296502481 meters Centerline goodness [0,1] 0.6504493245253824 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.66795211e-01 2.75102543e-03 -2.55537574e-01 3.22071125e+00] [ 7.95394334e-04 9.99904819e-01 1.37738922e-02 6.64940425e-01] [ 2.55551144e-01 -1.35197862e-02 9.66701002e-01 2.89372956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326502481 meters Centerline goodness [0,1] 0.650798865163506 Centerline is valid? [False, False] Translation: X:3.22, Y:0.67, Z:0.29 [[ 9.66722530e-01 2.87009391e-03 -2.55811089e-01 3.22105483e+00] [ 6.35353326e-04 9.99907047e-01 1.36195718e-02 6.65319729e-01] [ 2.55826400e-01 -1.33288774e-02 9.66630847e-01 2.89935729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.356502481 meters Centerline goodness [0,1] 0.6557553312227465 Centerline is valid? [False, False] Translation: X:3.22, Y:0.67, Z:0.29 [[ 9.66715001e-01 2.69571260e-03 -2.55841434e-01 3.22049194e+00] [ 7.16645676e-04 9.99912043e-01 1.32436235e-02 6.65571571e-01] [ 2.55854632e-01 -1.29861572e-02 9.66628040e-01 2.90765651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386502481 meters Centerline goodness [0,1] 0.6555216923628541 Centerline is valid? [False, False] Translation: X:3.22, Y:0.67, Z:0.29 [[ 9.66678999e-01 2.77109552e-03 -2.55976629e-01 3.22036610e+00] [ 6.33826331e-04 9.99912434e-01 1.32182359e-02 6.65484735e-01] [ 2.55990844e-01 -1.29400357e-02 9.66592594e-01 2.91268027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.416502481 meters Centerline goodness [0,1] 0.6528158930915166 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.66615309e-01 3.02981360e-03 -2.56214097e-01 3.22146555e+00] [ 4.79579043e-04 9.99906944e-01 1.36335203e-02 6.64506521e-01] [ 2.56231562e-01 -1.33012444e-02 9.66523907e-01 2.90774129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.446502480999996 meters Centerline goodness [0,1] 0.6534464221717835 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:0.29 [[ 9.66564939e-01 3.71666575e-03 -2.56395017e-01 3.22332204e+00] [ 1.89838239e-05 9.99893912e-01 1.45658859e-02 6.62459443e-01] [ 2.56421953e-01 -1.40837419e-02 9.66462327e-01 2.89494325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.476502481 meters Centerline goodness [0,1] 0.655634075796881 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.66173612e-01 -3.07021855e-04 -2.57892335e-01 3.22610522e+00] [ 3.26276184e-03 9.99933809e-01 1.10332587e-02 6.63283154e-01] [ 2.57871877e-01 -1.15014847e-02 9.66110662e-01 2.90397158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506502481 meters Centerline goodness [0,1] 0.6531781557743956 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.66028862e-01 2.33905543e-04 -2.58434099e-01 3.22716441e+00] [ 2.83453717e-03 9.99929849e-01 1.15005484e-02 6.62719395e-01] [ 2.58418660e-01 -1.18424027e-02 9.65960431e-01 2.90673782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.536502481 meters Centerline goodness [0,1] 0.6541503745933199 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.65942235e-01 5.26644973e-04 -2.58757263e-01 3.22767929e+00] [ 2.66108841e-03 9.99924828e-01 1.19689899e-02 6.61798596e-01] [ 2.58744115e-01 -1.22499288e-02 9.65868222e-01 2.90782242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566502481 meters Centerline goodness [0,1] 0.6552299758547709 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.65905570e-01 8.03645370e-04 -2.58893385e-01 3.22840494e+00] [ 2.45069071e-03 9.99921997e-01 1.22471978e-02 6.61076883e-01] [ 2.58883033e-01 -1.24641042e-02 9.65828257e-01 2.90567606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.596502481 meters Centerline goodness [0,1] 0.6577710341544687 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.65966348e-01 7.61596752e-04 -2.58666646e-01 3.22852008e+00] [ 2.49920664e-03 9.99921510e-01 1.22771395e-02 6.60066305e-01] [ 2.58655693e-01 -1.25057650e-02 9.65888626e-01 2.90179752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.626502480999996 meters Centerline goodness [0,1] 0.6604144923214552 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.66014332e-01 8.04214662e-04 -2.58487258e-01 3.22850095e+00] [ 2.45449342e-03 9.99921538e-01 1.22838836e-02 6.59165636e-01] [ 2.58476856e-01 -1.25008629e-02 9.65936563e-01 2.90053052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.656502481 meters Centerline goodness [0,1] 0.6631993085153944 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.66075339e-01 5.59199403e-04 -2.58259805e-01 3.22740421e+00] [ 2.60530344e-03 9.99925670e-01 1.19107859e-02 6.58610643e-01] [ 2.58247269e-01 -1.21795617e-02 9.66002074e-01 2.90864709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686502481 meters Centerline goodness [0,1] 0.6621109486437289 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.66160486e-01 5.37825501e-03 -2.57885612e-01 3.22677502e+00] [-1.23063988e-03 9.99867335e-01 1.62418750e-02 6.56770358e-01] [ 2.57938752e-01 -1.53748935e-02 9.66038929e-01 2.90438679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.716502481 meters Centerline goodness [0,1] 0.6604314826988585 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.65923482e-01 5.94644597e-03 -2.58759476e-01 3.22848388e+00] [-1.80760695e-03 9.99866652e-01 1.62299101e-02 6.57635568e-01] [ 2.58821481e-01 -1.52091158e-02 9.65805427e-01 2.91257985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746502481 meters Centerline goodness [0,1] 0.6569476491564532 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 9.65646102e-01 6.79373166e-03 -2.59771922e-01 3.23077955e+00] [-2.68664910e-03 9.99865775e-01 1.61621299e-02 6.59754580e-01] [ 2.59846855e-01 -1.49089817e-02 9.65534740e-01 2.92081692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.776502481 meters Centerline goodness [0,1] 0.6529071683192044 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:0.29 [[ 0.96545979 0.0073277 -0.26044903 3.23263812] [-0.00324176 0.9998649 0.01611419 0.66034746] [ 0.26053192 -0.01471329 0.96535311 0.29246233] [ 0. 0. 0. 1. ]] SLAMing on 57.806502481 meters Centerline goodness [0,1] 0.6494749474947494 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.29 [[ 0.96526931 0.00806331 -0.26113242 3.23502414] [-0.00407211 0.99986654 0.01582167 0.66162379] [ 0.26122514 -0.01420882 0.96517332 0.29283934] [ 0. 0. 0. 1. ]] SLAMing on 57.836502481 meters Centerline goodness [0,1] 0.6489062031765058 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.29 [[ 0.96511266 0.00856321 -0.2616949 3.23677205] [-0.0045998 0.99986532 0.01575397 0.66201826] [ 0.26179456 -0.01400062 0.96502207 0.29308373] [ 0. 0. 0. 1. ]] SLAMing on 57.866502481 meters Centerline goodness [0,1] 0.6484092065487415 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.29 [[ 0.96499754 0.00927854 -0.26209476 3.23818251] [-0.0053911 0.9998646 0.01554739 0.66272001] [ 0.26220353 -0.01359022 0.96491689 0.29365652] [ 0. 0. 0. 1. ]] SLAMing on 57.896502481 meters Centerline goodness [0,1] 0.6480007183048007 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.29 [[ 0.96478028 0.00976315 -0.2628758 3.239222 ] [-0.0059382 0.99986469 0.01534101 0.66349913] [ 0.26299001 -0.01323969 0.96470771 0.29494021] [ 0. 0. 0. 1. ]] SLAMing on 57.926502481 meters Centerline goodness [0,1] 0.624783102973733 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.30 [[ 0.96467664 0.01076377 -0.26321687 3.23906667] [-0.00695876 0.99985745 0.01538379 0.66480907] [ 0.26334494 -0.01300872 0.96461402 0.29658785] [ 0. 0. 0. 1. ]] SLAMing on 57.956502481 meters Centerline goodness [0,1] 0.6381641933939683 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.30 [[ 0.96452014 0.01133521 -0.26376584 3.24001802] [-0.00750199 0.99985117 0.01553538 0.66457908] [ 0.26390268 -0.01300542 0.96446163 0.29730329] [ 0. 0. 0. 1. ]] SLAMing on 57.986502481 meters Centerline goodness [0,1] 0.6367223700337807 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.30 [[ 0.96444045 0.01204352 -0.2640257 3.24125349] [-0.00808237 0.99983798 0.01608405 0.66326077] [ 0.26417663 -0.01337816 0.96438153 0.2969895 ] [ 0. 0. 0. 1. ]] SLAMing on 58.016502480999996 meters Centerline goodness [0,1] 0.6329344355247843 Centerline is valid? [False, False] Translation: X:3.24, Y:0.66, Z:0.30 [[ 0.96440102 0.0125724 -0.26414504 3.24243511] [-0.00848344 0.99982597 0.01661503 0.66170235] [ 0.26430796 -0.01378269 0.96433985 0.29636836] [ 0. 0. 0. 1. ]] SLAMing on 58.046502481 meters Centerline goodness [0,1] 0.639164211090276 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 0.96405311 0.00883618 -0.26556267 3.24583438] [-0.00555059 0.99989852 0.01312014 0.6611342 ] [ 0.26565165 -0.01117449 0.96400432 0.29689748] [ 0. 0. 0. 1. ]] SLAMing on 58.076502481 meters Centerline goodness [0,1] 0.6412012332503261 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 9.63666368e-01 4.92277019e-03 -2.67063472e-01 3.24795313e+00] [-2.52886065e-03 9.99953491e-01 9.30701328e-03 6.61901462e-01] [ 2.67096867e-01 -8.29348938e-03 9.63633998e-01 2.98714000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106502481 meters Centerline goodness [0,1] 0.6417132877482757 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 9.63540976e-01 5.56292958e-03 -2.67502975e-01 3.24928787e+00] [-3.01245123e-03 9.99946021e-01 9.94384867e-03 6.60518409e-01] [ 2.67543852e-01 -8.77546599e-03 9.63505723e-01 2.98556588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.136502481 meters Centerline goodness [0,1] 0.6466948876587431 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 0.96350002 0.00601027 -0.26764077 3.25011055] [-0.00327767 0.99993786 0.01065554 0.65799266] [ 0.26768818 -0.00938937 0.96345985 0.2980996 ] [ 0. 0. 0. 1. ]] SLAMing on 58.166502481 meters Centerline goodness [0,1] 0.6507556265341732 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 0.96346056 0.00624305 -0.26777747 3.25031768] [-0.00346601 0.99993522 0.01084214 0.65705943] [ 0.26782781 -0.00951785 0.96341978 0.29833907] [ 0. 0. 0. 1. ]] SLAMing on 58.196502480999996 meters Centerline goodness [0,1] 0.6523743388197748 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 9.63248221e-01 1.87138350e-03 -2.68606333e-01 3.25011577e+00] [-1.77869219e-04 9.99979956e-01 6.32901602e-03 6.58452757e-01] [ 2.68612793e-01 -6.04863662e-03 9.63229247e-01 3.01150659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.226502481 meters Centerline goodness [0,1] 0.6593367618372052 Centerline is valid? [False, False] Translation: X:3.25, Y:0.66, Z:0.30 [[ 9.63194539e-01 2.35944877e-03 -2.68794927e-01 3.25089617e+00] [-5.38415129e-04 9.99976405e-01 6.84832341e-03 6.56391617e-01] [ 2.68804743e-01 -6.45154446e-03 9.63173083e-01 3.01045987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.256502481 meters Centerline goodness [0,1] 0.6575981115373266 Centerline is valid? [False, False] Translation: X:3.25, Y:0.65, Z:0.30 [[ 9.63138346e-01 2.76318467e-03 -2.68992362e-01 3.25130259e+00] [-8.23707454e-04 9.99972849e-01 7.32275592e-03 6.54781435e-01] [ 2.69005293e-01 -6.83125601e-03 9.63114472e-01 3.01151045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286502481 meters Centerline goodness [0,1] 0.6617405100481843 Centerline is valid? [False, False] Translation: X:3.27, Y:0.65, Z:0.30 [[ 9.64032841e-01 -4.75978277e-04 -2.65782720e-01 3.26571306e+00] [ 3.88116032e-03 9.99916982e-01 1.22868306e-02 6.53559321e-01] [ 2.65754807e-01 -1.28764535e-02 9.63954656e-01 3.03318828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.316502481 meters Centerline goodness [0,1] 0.6663725922658432 Centerline is valid? [False, False] Translation: X:3.27, Y:0.65, Z:0.30 [[ 9.64091495e-01 -3.70845786e-04 -2.65570049e-01 3.26565512e+00] [ 3.93063264e-03 9.99909414e-01 1.28729776e-02 6.50685939e-01] [ 2.65541218e-01 -1.34545866e-02 9.64005620e-01 3.02740784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346502481 meters Centerline goodness [0,1] 0.6633585104514316 Centerline is valid? [False, False] Translation: X:3.27, Y:0.65, Z:0.30 [[ 9.64088577e-01 2.04286231e-04 -2.65580823e-01 3.26655695e+00] [ 3.53840168e-03 9.99901065e-01 1.36139298e-02 6.48550041e-01] [ 2.65557329e-01 -1.40647658e-02 9.63992473e-01 3.02021332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.376502480999996 meters Centerline goodness [0,1] 0.6676914968376668 Centerline is valid? [False, False] Translation: X:3.27, Y:0.65, Z:0.30 [[ 9.64115825e-01 5.05594499e-04 -2.65481488e-01 3.26682764e+00] [ 3.39201242e-03 9.99893100e-01 1.42225860e-02 6.45924291e-01] [ 2.65460299e-01 -1.46127368e-02 9.64011046e-01 3.01554405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.406502481 meters Centerline goodness [0,1] 0.6676914968376668 Centerline is valid? [False, False] Translation: X:3.27, Y:0.65, Z:0.30 [[ 9.64115825e-01 5.05594499e-04 -2.65481488e-01 3.26682764e+00] [ 3.39201242e-03 9.99893100e-01 1.42225860e-02 6.45924291e-01] [ 2.65460299e-01 -1.46127368e-02 9.64011046e-01 3.01554405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.436502481 meters Centerline goodness [0,1] 0.668605160875537 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.64108524e-01 8.57031071e-04 -2.65507100e-01 3.26726690e+00] [ 3.16075448e-03 9.99886882e-01 1.47048590e-02 6.44339989e-01] [ 2.65489669e-01 -1.50162827e-02 9.63996757e-01 3.01230830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466502481 meters Centerline goodness [0,1] 0.6690343803673837 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.64035925e-01 1.48008727e-03 -2.65767840e-01 3.26857041e+00] [ 2.77669390e-03 9.99873825e-01 1.56404672e-02 6.40746592e-01] [ 2.65757456e-01 -1.58159282e-02 9.63910178e-01 3.00627338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.496502481 meters Centerline goodness [0,1] 0.6682202155549082 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.63910034e-01 2.37542743e-03 -2.66217586e-01 3.27015748e+00] [ 2.17534246e-03 9.99856537e-01 1.67979927e-02 6.38175354e-01] [ 2.66219296e-01 -1.67708682e-02 9.63766582e-01 3.00052386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526502481 meters Centerline goodness [0,1] 0.6701938492931059 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.63776522e-01 2.92669123e-03 -2.66695052e-01 3.27117638e+00] [ 1.74119667e-03 9.99849440e-01 1.72645687e-02 6.37345280e-01] [ 2.66705427e-01 -1.71035545e-02 9.63626320e-01 3.00273634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.556502481 meters Centerline goodness [0,1] 0.6709998255103822 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.63775154e-01 3.28665859e-03 -2.66695803e-01 3.27095433e+00] [ 1.46717893e-03 9.99843614e-01 1.76237314e-02 6.36259960e-01] [ 2.66712019e-01 -1.73766049e-02 9.63619610e-01 3.00547691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586502481 meters Centerline goodness [0,1] 0.672783319277634 Centerline is valid? [False, False] Translation: X:3.27, Y:0.64, Z:0.30 [[ 9.63724840e-01 3.38966568e-03 -2.66876270e-01 3.27065441e+00] [ 1.36378630e-03 9.99843754e-01 1.76240877e-02 6.35680257e-01] [ 2.66894312e-01 -1.73487333e-02 9.63569638e-01 3.01302461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.616502481 meters Centerline goodness [0,1] 0.6769855072463768 Centerline is valid? [False, False] Translation: X:3.27, Y:0.63, Z:0.30 [[ 9.63724328e-01 3.39360136e-03 -2.66878068e-01 3.26993651e+00] [ 1.37947671e-03 9.99842473e-01 1.76953546e-02 6.34351210e-01] [ 2.66896078e-01 -1.74215958e-02 9.63567834e-01 3.02005680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.646502481 meters Centerline goodness [0,1] 0.6733610006674986 Centerline is valid? [False, False] Translation: X:3.27, Y:0.63, Z:0.30 [[ 9.63606830e-01 3.88879065e-03 -2.67295257e-01 3.27136971e+00] [ 9.96346546e-04 9.99834994e-01 1.81381270e-02 6.33119795e-01] [ 2.67321687e-01 -1.77443417e-02 9.63443955e-01 3.01805979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.676502481 meters Centerline goodness [0,1] 0.676256077795786 Centerline is valid? [False, False] Translation: X:3.27, Y:0.63, Z:0.30 [[ 9.63209892e-01 -2.87804061e-04 -2.68750108e-01 3.27468222e+00] [ 4.23914253e-03 9.99891287e-01 1.41224548e-02 6.34222935e-01] [ 2.68716827e-01 -1.47421581e-02 9.63106399e-01 3.02545092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706502481 meters Centerline goodness [0,1] 0.6665314401622717 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.63196752e-01 -5.49852308e-05 -2.68797346e-01 3.27561754e+00] [ 4.10202568e-03 9.99886535e-01 1.44944840e-02 6.33379260e-01] [ 2.68766050e-01 -1.50636535e-02 9.63087689e-01 3.01827942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.736502481 meters Centerline goodness [0,1] 0.6698675305142593 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.63080701e-01 2.33754001e-04 -2.69212757e-01 3.27677572e+00] [ 3.81650832e-03 9.99887276e-01 1.45213518e-02 6.33058603e-01] [ 2.69185804e-01 -1.50126864e-02 9.62971247e-01 3.01987973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.766502480999996 meters Centerline goodness [0,1] 0.6735611510791366 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62880743e-01 7.29604320e-04 -2.69926180e-01 3.27761408e+00] [ 3.29102234e-03 9.99890287e-01 1.44424165e-02 6.33707944e-01] [ 2.69907103e-01 -1.47946578e-02 9.62772701e-01 3.03184007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.796502481 meters Centerline goodness [0,1] 0.672906946416669 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62752615e-01 9.68552443e-04 -2.70382072e-01 3.27791826e+00] [ 3.03395352e-03 9.99891930e-01 1.43848090e-02 6.34315415e-01] [ 2.70366784e-01 -1.46693391e-02 9.62645632e-01 3.04058960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.826502481 meters Centerline goodness [0,1] 0.6765185012799628 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62765405e-01 1.03650259e-03 -2.70336273e-01 3.27727180e+00] [ 2.94176219e-03 9.99893274e-01 1.43103949e-02 6.33987682e-01] [ 2.70322254e-01 -1.45728182e-02 9.62659603e-01 3.04709469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.856502481 meters Centerline goodness [0,1] 0.6803262036741446 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62766663e-01 1.39025200e-03 -2.70330204e-01 3.27786460e+00] [ 2.69665793e-03 9.99887632e-01 1.47462180e-02 6.32444384e-01] [ 2.70320329e-01 -1.49261552e-02 9.62654730e-01 3.04265020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886502481 meters Centerline goodness [0,1] 0.673283681571855 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62685780e-01 1.93358533e-03 -2.70614763e-01 3.27913585e+00] [ 2.31185315e-03 9.99879225e-01 1.53684888e-02 6.30900404e-01] [ 2.70611796e-01 -1.54206472e-02 9.62565042e-01 3.03806049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.916502481 meters Centerline goodness [0,1] 0.6746375337769126 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62525101e-01 2.45764698e-03 -2.71181472e-01 3.28057651e+00] [ 1.86596156e-03 9.99875248e-01 1.56846085e-02 6.30722807e-01] [ 2.71186189e-01 -1.56028436e-02 9.62400438e-01 3.03934252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.946502480999996 meters Centerline goodness [0,1] 0.6747362608619838 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62483880e-01 2.87936898e-03 -2.71323589e-01 3.28186853e+00] [ 1.56401408e-03 9.99868211e-01 1.61590368e-02 6.29074508e-01] [ 2.71334359e-01 -1.59771663e-02 9.62352532e-01 3.03271152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.976502481 meters Centerline goodness [0,1] 0.6751496573064577 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62494119e-01 2.91356539e-03 -2.71286901e-01 3.28163548e+00] [ 1.51745064e-03 9.99868879e-01 1.61221226e-02 6.28198819e-01] [ 2.71298303e-01 -1.59291126e-02 9.62363494e-01 3.03576733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006502481 meters Centerline goodness [0,1] 0.6751575782108368 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.30 [[ 9.62383631e-01 2.91499670e-03 -2.71678577e-01 3.28126390e+00] [ 1.44312845e-03 9.99873493e-01 1.58403035e-02 6.28735604e-01] [ 2.71690382e-01 -1.56365159e-02 9.62257676e-01 3.04872269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.036502481 meters Centerline goodness [0,1] 0.6757006912908917 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.31 [[ 9.62278105e-01 2.97373236e-03 -2.72051477e-01 3.28031087e+00] [ 1.33968258e-03 9.99876351e-01 1.56680343e-02 6.28315644e-01] [ 2.72064431e-01 -1.54414690e-02 9.62155136e-01 3.06664699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066502481 meters Centerline goodness [0,1] 0.6736546858282971 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.31 [[ 9.62192824e-01 3.36163363e-03 -2.72348432e-01 3.28117936e+00] [ 1.04192987e-03 9.99871087e-01 1.60226283e-02 6.27527817e-01] [ 2.72367185e-01 -1.57006260e-02 9.62065282e-01 3.06589528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.096502481 meters Centerline goodness [0,1] 0.6715510251361057 Centerline is valid? [False, False] Translation: X:3.28, Y:0.63, Z:0.31 [[ 9.62152597e-01 3.74001683e-03 -2.72485583e-01 3.28204563e+00] [ 7.67809028e-04 9.99864644e-01 1.64348513e-02 6.26469809e-01] [ 2.72510167e-01 -1.60220518e-02 9.62019492e-01 3.06219746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.126502480999996 meters Centerline goodness [0,1] 0.6694408322496749 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:0.30 [[ 9.62097964e-01 4.53226261e-03 -2.72666403e-01 3.28398536e+00] [ 2.27650374e-04 9.99848187e-01 1.74227425e-02 6.24539055e-01] [ 2.72703973e-01 -1.68244577e-02 9.61950872e-01 3.04906183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.156502481 meters Centerline goodness [0,1] 0.6772009679649689 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.30 [[ 9.62056115e-01 5.01906313e-03 -2.72805500e-01 3.28504588e+00] [-1.02851204e-04 9.99837400e-01 1.80322552e-02 6.23440281e-01] [ 2.72851647e-01 -1.73199830e-02 9.61900201e-01 3.04245369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186502481 meters Centerline goodness [0,1] 0.6749080036798528 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.30 [[ 9.61931457e-01 5.55057617e-03 -2.73234447e-01 3.28648407e+00] [-4.95544731e-04 9.99827510e-01 1.85662486e-02 6.22214223e-01] [ 2.73290370e-01 -1.77240587e-02 9.61768284e-01 3.03985415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.216502481 meters Centerline goodness [0,1] 0.675696683555965 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.30 [[ 9.61761463e-01 5.88906892e-03 -2.73825139e-01 3.28755398e+00] [-8.06854753e-04 9.99825394e-01 1.86689902e-02 6.22409658e-01] [ 2.73887270e-01 -1.77341782e-02 9.61598285e-01 3.04432774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.246502481 meters Centerline goodness [0,1] 0.6704506265087942 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.30 [[ 9.61616729e-01 6.28852381e-03 -2.74324118e-01 3.28858213e+00] [-1.16810574e-03 9.99822113e-01 1.88249403e-02 6.22269546e-01] [ 2.74393701e-01 -1.77819379e-02 9.61453015e-01 3.04811667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.276502481 meters Centerline goodness [0,1] 0.6744406468104662 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61527267e-01 6.54733735e-03 -2.74631476e-01 3.28926989e+00] [-1.41269749e-03 9.99820568e-01 1.88900976e-02 6.22015989e-01] [ 2.74705878e-01 -1.77753728e-02 9.61363988e-01 3.05088982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306502481 meters Centerline goodness [0,1] 0.6708136995747616 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61370560e-01 6.77107265e-03 -2.75174124e-01 3.29019179e+00] [-1.64040020e-03 9.99820580e-01 1.88710524e-02 6.22152037e-01] [ 2.75252530e-01 -1.76906785e-02 9.61209179e-01 3.05613240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336502481 meters Centerline goodness [0,1] 0.6682576193214491 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61221425e-01 7.15063857e-03 -2.75685037e-01 3.29143856e+00] [-1.98766876e-03 9.99817458e-01 1.90026398e-02 6.22083330e-01] [ 2.75770594e-01 -1.77177740e-02 9.61060175e-01 3.05821199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.366502481 meters Centerline goodness [0,1] 0.6734424346827448 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61218249e-01 7.31972719e-03 -2.75691676e-01 3.29169180e+00] [-2.11273057e-03 9.99813828e-01 1.91792852e-02 6.21292581e-01] [ 2.75780737e-01 -1.78530167e-02 9.61054762e-01 3.05722171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.396502481 meters Centerline goodness [0,1] 0.6748868648679613 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61223199e-01 7.11331319e-03 -2.75679819e-01 3.29063431e+00] [-1.92851073e-03 9.99816218e-01 1.90738540e-02 6.20135593e-01] [ 2.75764833e-01 -1.78025795e-02 9.61060261e-01 3.06594824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.426502481 meters Centerline goodness [0,1] 0.6741241513649775 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.61144103e-01 7.30335894e-03 -2.75950492e-01 3.29076429e+00] [-2.07769431e-03 9.99813032e-01 1.92245710e-02 6.19505224e-01] [ 2.76039302e-01 -1.79042423e-02 9.60979574e-01 3.07111690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.456502481 meters Centerline goodness [0,1] 0.6777062777062777 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.60823197e-01 3.32389176e-03 -2.77142085e-01 3.29224561e+00] [ 1.04652754e-03 9.99877450e-01 1.56201912e-02 6.20526484e-01] [ 2.77160041e-01 -1.52982789e-02 9.60701970e-01 3.08525216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486502481 meters Centerline goodness [0,1] 0.6809315115579617 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.60729170e-01 3.80773058e-03 -2.77461642e-01 3.29347047e+00] [ 6.96328669e-04 9.99869616e-01 1.61327431e-02 6.19543443e-01] [ 2.77486895e-01 -1.56924013e-02 9.60601255e-01 3.08185943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.516502480999996 meters Centerline goodness [0,1] 0.6789745934668915 Centerline is valid? [False, False] Translation: X:3.29, Y:0.62, Z:0.31 [[ 9.60655524e-01 4.12565323e-03 -2.77711980e-01 3.29417158e+00] [ 4.41045296e-04 9.99865749e-01 1.63795309e-02 6.19131380e-01] [ 2.77742273e-01 -1.58575704e-02 9.60524735e-01 3.08215468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.546502481 meters Centerline goodness [0,1] 0.681763698630137 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.60551884e-01 4.54891350e-03 -2.78063635e-01 3.29527521e+00] [ 8.52807846e-05 9.99861349e-01 1.66515820e-02 6.18477700e-01] [ 2.78100828e-01 -1.60184219e-02 9.60418315e-01 3.08216687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.576502481 meters Centerline goodness [0,1] 0.6831979478409577 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.60553488e-01 4.79856067e-03 -2.78053900e-01 3.29594613e+00] [-1.28922118e-04 9.99858696e-01 1.68098560e-02 6.17146080e-01] [ 2.78095273e-01 -1.61109185e-02 9.60418376e-01 3.07890155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.606502481 meters Centerline goodness [0,1] 0.6822019395322305 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.60364755e-01 4.95974168e-03 -2.78702238e-01 3.29588739e+00] [-3.57455180e-04 9.99862782e-01 1.65616673e-02 6.18260324e-01] [ 2.78746137e-01 -1.58056180e-02 9.60234749e-01 3.09484837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.636502481 meters Centerline goodness [0,1] 0.6836950314106225 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.60156429e-01 5.14437068e-03 -2.79415760e-01 3.29622004e+00] [-6.03502189e-04 9.99866395e-01 1.63348941e-02 6.19255364e-01] [ 2.79462461e-01 -1.55154256e-02 9.60031252e-01 3.10913370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666502481 meters Centerline goodness [0,1] 0.6872716894977169 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.60058712e-01 5.27136597e-03 -2.79748963e-01 3.29620502e+00] [-6.99859543e-04 9.99864628e-01 1.64388317e-02 6.18766572e-01] [ 2.79797748e-01 -1.55864586e-02 9.59932436e-01 3.11647022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696502480999996 meters Centerline goodness [0,1] 0.6857990528898271 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59991694e-01 5.68397230e-03 -2.79970785e-01 3.29715774e+00] [-9.73927809e-04 9.99855701e-01 1.69595892e-02 6.17117641e-01] [ 2.80026783e-01 -1.60083934e-02 9.59858704e-01 3.11342558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.726502481 meters Centerline goodness [0,1] 0.681379821958457 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59721015e-01 1.27334172e-03 -2.80951866e-01 3.29936134e+00] [ 2.55504336e-03 9.99908821e-01 1.32597604e-02 6.17541403e-01] [ 2.80943133e-01 -1.34435149e-02 9.59630256e-01 3.11630053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.756502481 meters Centerline goodness [0,1] 0.6868952130848058 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59628902e-01 1.69661743e-03 -2.81264097e-01 3.30066122e+00] [ 2.26621888e-03 9.99902710e-01 1.37635110e-02 6.16356419e-01] [ 2.81260085e-01 -1.38452690e-02 9.59531695e-01 3.11208193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786502481 meters Centerline goodness [0,1] 0.687380524408685 Centerline is valid? [False, False] Translation: X:3.30, Y:0.61, Z:0.31 [[ 9.59657260e-01 1.60905281e-03 -2.81167839e-01 3.30089738e+00] [ 2.42536589e-03 9.99899051e-01 1.40002156e-02 6.14996781e-01] [ 2.81161982e-01 -1.41173435e-02 9.59556481e-01 3.10668042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.816502481 meters Centerline goodness [0,1] 0.6840909090909091 Centerline is valid? [False, False] Translation: X:3.30, Y:0.61, Z:0.31 [[ 9.59598605e-01 1.75340905e-03 -2.81367096e-01 3.30145586e+00] [ 2.29352025e-03 9.99898619e-01 1.40531362e-02 6.14743401e-01] [ 2.81363212e-01 -1.41306910e-02 9.59497299e-01 3.10759731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846502481 meters Centerline goodness [0,1] 0.6871529063309885 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59467456e-01 1.80567002e-03 -2.81813663e-01 3.30196651e+00] [ 2.17817626e-03 9.99902092e-01 1.38225465e-02 6.15458745e-01] [ 2.81811030e-01 -1.38761234e-02 9.59369583e-01 3.11437779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.876502480999996 meters Centerline goodness [0,1] 0.6841864977458199 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59294690e-01 1.87717708e-03 -2.82400732e-01 3.30204932e+00] [ 2.00323991e-03 9.99907518e-01 1.34514555e-02 6.16917766e-01] [ 2.82399866e-01 -1.34696262e-02 9.59202213e-01 3.12834730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.906502481 meters Centerline goodness [0,1] 0.682854367822659 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59166416e-01 1.90451343e-03 -2.82835924e-01 3.30212978e+00] [ 1.90005623e-03 9.99911380e-01 1.31765963e-02 6.17897948e-01] [ 2.82835954e-01 -1.31759528e-02 9.59077795e-01 3.13830591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.936502481 meters Centerline goodness [0,1] 0.682323998054753 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59073855e-01 1.92637124e-03 -2.83149484e-01 3.30249284e+00] [ 1.77571573e-03 9.99916276e-01 1.28174434e-02 6.18825524e-01] [ 2.83150468e-01 -1.27956679e-02 9.58990137e-01 3.14517530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.966502481 meters Centerline goodness [0,1] 0.6776717884274861 Centerline is valid? [False, False] Translation: X:3.30, Y:0.62, Z:0.31 [[ 9.59042901e-01 2.23433031e-03 -2.83252046e-01 3.30344731e+00] [ 1.53952062e-03 9.99913006e-01 1.31000016e-02 6.18413434e-01] [ 2.83256675e-01 -1.29995359e-02 9.58956030e-01 3.14014708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.996502481 meters Centerline goodness [0,1] 0.6818493934538796 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.31 [[ 9.58902508e-01 2.82664582e-03 -2.83721677e-01 3.30563957e+00] [ 1.11238495e-03 9.99905239e-01 1.37213579e-02 6.17727682e-01] [ 2.83733577e-01 -1.34730523e-02 9.58808497e-01 3.13150223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026502481 meters Centerline goodness [0,1] 0.6768303137680745 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.31 [[ 9.58744352e-01 3.24998208e-03 -2.84251130e-01 3.30719469e+00] [ 7.63838414e-04 9.99901582e-01 1.40086972e-02 6.17519132e-01] [ 2.84268682e-01 -1.36478812e-02 9.58647512e-01 3.13084582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.056502481 meters Centerline goodness [0,1] 0.672411812018844 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.31 [[ 9.58498404e-01 3.83271559e-03 -2.85072131e-01 3.30935468e+00] [ 2.45882938e-04 9.99898147e-01 1.42700853e-02 6.17948742e-01] [ 2.85097789e-01 -1.37479483e-02 9.58399835e-01 3.13174160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086502481 meters Centerline goodness [0,1] 0.6774119404700338 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.31 [[ 9.58351093e-01 4.06470266e-03 -2.85563760e-01 3.31029142e+00] [-1.69849936e-05 9.99899522e-01 1.41755265e-02 6.18431205e-01] [ 2.85592687e-01 -1.35802810e-02 9.58254869e-01 3.13686219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.116502481 meters Centerline goodness [0,1] 0.678916216526836 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.31 [[ 9.58363518e-01 3.73261250e-03 -2.85526593e-01 3.30923807e+00] [ 1.49928708e-04 9.99907847e-01 1.35747591e-02 6.19106584e-01] [ 2.85550950e-01 -1.30523626e-02 9.58274643e-01 3.14715906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146502481 meters Centerline goodness [0,1] 0.6826572503086155 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.58367699e-01 3.65908467e-03 -2.85513509e-01 3.30879170e+00] [ 1.50316116e-04 9.99911284e-01 1.33192232e-02 6.18966536e-01] [ 2.85536915e-01 -1.28076306e-02 9.58282127e-01 3.15288197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.176502481 meters Centerline goodness [0,1] 0.6825565377109402 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.58402966e-01 3.69414480e-03 -2.85394653e-01 3.30835802e+00] [ 7.26279643e-05 9.99913048e-01 1.31867588e-02 6.18700512e-01] [ 2.85418551e-01 -1.26589563e-02 9.58319363e-01 3.15658098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206502481 meters Centerline goodness [0,1] 0.6868683968764355 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.58300025e-01 3.79920712e-03 -2.85738740e-01 3.30842884e+00] [-6.82403142e-05 9.99914633e-01 1.30660900e-02 6.18886144e-01] [ 2.85763988e-01 -1.25017355e-02 9.58218477e-01 3.16468196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.236502481 meters Centerline goodness [0,1] 0.6767091873297979 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.58140227e-01 3.84035467e-03 -2.86273569e-01 3.30748483e+00] [-2.18156167e-04 9.99919534e-01 1.26837467e-02 6.20052902e-01] [ 2.86299244e-01 -1.20903556e-02 9.58063968e-01 3.18527248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266502480999996 meters Centerline goodness [0,1] 0.6792853860294117 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.57969543e-01 4.29964498e-03 -2.86837703e-01 3.30845475e+00] [-5.81098130e-04 9.99914705e-01 1.30478103e-02 6.19498937e-01] [ 2.86869338e-01 -1.23327240e-02 9.57890331e-01 3.18923402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.296502481 meters Centerline goodness [0,1] 0.6792853860294117 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.57969543e-01 4.29964498e-03 -2.86837703e-01 3.30845475e+00] [-5.81098130e-04 9.99914705e-01 1.30478103e-02 6.19498937e-01] [ 2.86869338e-01 -1.23327240e-02 9.57890331e-01 3.18923402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326502481 meters Centerline goodness [0,1] 0.6766076687730536 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:0.32 [[ 9.57547643e-01 7.55687819e-04 -2.88274070e-01 3.31337467e+00] [ 2.23124446e-03 9.99947182e-01 1.00327122e-02 6.19214175e-01] [ 2.88266426e-01 -1.02500098e-02 9.57495381e-01 3.18147497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.356502481 meters Centerline goodness [0,1] 0.6720613044348498 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.57197497e-01 -2.95591446e-03 -2.89420479e-01 3.31766940e+00] [ 5.19803183e-03 9.99962139e-01 6.97856809e-03 6.18899813e-01] [ 2.89388893e-01 -8.18428477e-03 9.57176622e-01 3.17205870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.386502481 meters Centerline goodness [0,1] 0.6792474409561389 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.57199556e-01 -2.53373551e-03 -2.89417674e-01 3.31867269e+00] [ 4.91156101e-03 9.99959888e-01 7.48990243e-03 6.18271204e-01] [ 2.89387087e-01 -8.59082384e-03 9.57173606e-01 3.16365134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.416502481 meters Centerline goodness [0,1] 0.6825659773791843 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.57198017e-01 -2.36750398e-03 -2.89424172e-01 3.31855470e+00] [ 4.75633121e-03 9.99960182e-01 7.55065161e-03 6.18041738e-01] [ 2.89394771e-01 -8.60406597e-03 9.57171164e-01 3.16616085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446502480999996 meters Centerline goodness [0,1] 0.675491593046452 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.57109160e-01 -2.39509843e-03 -2.89717655e-01 3.31823111e+00] [ 4.70298272e-03 9.99962514e-01 7.27004087e-03 6.18333396e-01] [ 2.89689382e-01 -8.32075983e-03 9.57084545e-01 3.17663220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.476502481 meters Centerline goodness [0,1] 0.6751563258430174 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.57060944e-01 -2.48169879e-03 -2.89876165e-01 3.31748559e+00] [ 4.69240338e-03 9.99964967e-01 6.93159494e-03 6.19076907e-01] [ 2.89848807e-01 -7.99417469e-03 9.57039060e-01 3.18744363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506502481 meters Centerline goodness [0,1] 0.6841399766135242 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.56992520e-01 -2.86882184e-03 -2.90098408e-01 3.31539539e+00] [ 4.85070977e-03 9.99969551e-01 6.11295490e-03 6.20351425e-01] [ 2.90072038e-01 -7.25723529e-03 9.56977296e-01 3.21215954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.536502481 meters Centerline goodness [0,1] 0.6888483049880151 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.56971430e-01 -2.68902406e-03 -2.90169694e-01 3.31527231e+00] [ 4.73250657e-03 9.99968698e-01 6.34088854e-03 6.19188824e-01] [ 2.90143560e-01 -7.44127916e-03 9.56954200e-01 3.21509788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566502481 meters Centerline goodness [0,1] 0.6904958795517409 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:0.32 [[ 9.56879700e-01 -2.10653293e-03 -2.90476853e-01 3.31670849e+00] [ 4.31669545e-03 9.99966405e-01 6.96818372e-03 6.17844252e-01] [ 2.90452416e-01 -7.92161366e-03 9.56856647e-01 3.20983848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.596502481 meters Centerline goodness [0,1] 0.6843798946319237 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56733261e-01 -1.03462988e-03 -2.90964598e-01 3.32097250e+00] [ 3.61679042e-03 9.99958707e-01 8.33680989e-03 6.14956899e-01] [ 2.90943958e-01 -9.02846128e-03 9.56697497e-01 3.18476571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.626502480999996 meters Centerline goodness [0,1] 0.6793912672450576 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56691397e-01 -3.19715384e-04 -2.91103880e-01 3.32290807e+00] [ 3.13696614e-03 9.99952656e-01 9.21117327e-03 6.13333808e-01] [ 2.91087153e-01 -9.72543324e-03 9.56647106e-01 3.17155384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.656502481 meters Centerline goodness [0,1] 0.6811832841244606 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56590402e-01 2.74415689e-04 -2.91435631e-01 3.32397816e+00] [ 2.63082431e-03 9.99950681e-01 9.57680924e-03 6.12403438e-01] [ 2.91423885e-01 -9.92779975e-03 9.56542502e-01 3.17240578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686502481 meters Centerline goodness [0,1] 0.6801011852315039 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56436741e-01 5.83765382e-04 -2.91939067e-01 3.32435575e+00] [ 2.31826227e-03 9.99951284e-01 9.59449579e-03 6.12573427e-01] [ 2.91930446e-01 -9.85331962e-03 9.56388795e-01 3.18137384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.716502481 meters Centerline goodness [0,1] 0.6781481797254668 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56482745e-01 5.96935898e-03 -2.91727826e-01 3.32389666e+00] [-1.88723297e-03 9.99896364e-01 1.42723258e-02 6.10559404e-01] [ 2.91782789e-01 -1.31006750e-02 9.56394885e-01 3.17917348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746502481 meters Centerline goodness [0,1] 0.681747225612352 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56355108e-01 6.18636159e-03 -2.92141467e-01 3.32414610e+00] [-2.14581345e-03 9.99897593e-01 1.41492012e-02 6.10864881e-01] [ 2.92199082e-01 -1.29047798e-02 9.56270445e-01 3.18826424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.776502481 meters Centerline goodness [0,1] 0.6834176567562958 Centerline is valid? [False, False] Translation: X:3.32, Y:0.61, Z:0.32 [[ 9.56249981e-01 6.55003942e-03 -2.92477469e-01 3.32447504e+00] [-2.52173565e-03 9.99896733e-01 1.41479389e-02 6.10694635e-01] [ 2.92539935e-01 -1.27914154e-02 9.56167750e-01 3.19547250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806502481 meters Centerline goodness [0,1] 0.6859623324472598 Centerline is valid? [False, False] Translation: X:3.33, Y:0.61, Z:0.32 [[ 9.56019619e-01 2.63551579e-03 -2.93290882e-01 3.32704495e+00] [ 4.57511922e-04 9.99945012e-01 1.04768386e-02 6.10605342e-01] [ 2.93302366e-01 -1.01502474e-02 9.55965844e-01 3.19679399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.836502481 meters Centerline goodness [0,1] 0.6819195483415668 Centerline is valid? [False, False] Translation: X:3.33, Y:0.61, Z:0.32 [[ 9.55903613e-01 3.34909402e-03 -2.93661483e-01 3.32874984e+00] [-7.23863882e-05 9.99937630e-01 1.11682700e-02 6.09102944e-01] [ 2.93680571e-01 -1.06545325e-02 9.55844236e-01 3.19155067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.866502481 meters Centerline goodness [0,1] 0.6752938517179023 Centerline is valid? [False, False] Translation: X:3.33, Y:0.61, Z:0.32 [[ 9.55717523e-01 3.93135930e-03 -2.94259343e-01 3.32932033e+00] [-5.74202627e-04 9.99933773e-01 1.14943621e-02 6.08950054e-01] [ 2.94285043e-01 -1.08163988e-02 9.55656486e-01 3.20008826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.896502481 meters Centerline goodness [0,1] 0.6781644855595668 Centerline is valid? [False, False] Translation: X:3.33, Y:0.61, Z:0.32 [[ 9.55586880e-01 4.28607248e-03 -2.94678373e-01 3.32973970e+00] [-8.81360941e-04 9.99931330e-01 1.16858294e-02 6.08724537e-01] [ 2.94708224e-01 -1.09071073e-02 9.55525038e-01 3.20598187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926502481 meters Centerline goodness [0,1] 0.6773521713433339 Centerline is valid? [False, False] Translation: X:3.33, Y:0.61, Z:0.32 [[ 9.55574892e-01 4.72671777e-03 -2.94710510e-01 3.33006294e+00] [-1.17048088e-03 9.99924378e-01 1.22421090e-02 6.06337539e-01] [ 2.94746088e-01 -1.13532990e-02 9.55508161e-01 3.20453357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.956502481 meters Centerline goodness [0,1] 0.6770845054574097 Centerline is valid? [False, False] Translation: X:3.33, Y:0.60, Z:0.32 [[ 9.55539288e-01 4.96980225e-03 -2.94821929e-01 3.32976638e+00] [-1.32752525e-03 9.99920327e-01 1.25530139e-02 6.04400047e-01] [ 2.94860825e-01 -1.16035144e-02 9.55469755e-01 3.20973747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986502481 meters Centerline goodness [0,1] 0.6788599640933572 Centerline is valid? [False, False] Translation: X:3.33, Y:0.60, Z:0.32 [[ 9.55492230e-01 5.25473577e-03 -2.94969465e-01 3.32996927e+00] [-1.55377953e-03 9.99917127e-01 1.27798856e-02 6.03466115e-01] [ 2.95012175e-01 -1.17527639e-02 9.55421210e-01 3.21224599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.016502480999996 meters Centerline goodness [0,1] 0.6821926223785988 Centerline is valid? [False, False] Translation: X:3.33, Y:0.60, Z:0.32 [[ 9.55178213e-01 7.09763954e-04 -2.96030536e-01 3.33108198e+00] [ 1.95589530e-03 9.99960168e-01 8.70844036e-03 6.03413897e-01] [ 2.96024925e-01 -8.89711723e-03 9.55138778e-01 3.22798598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.046502481 meters Centerline goodness [0,1] 0.6800658335193037 Centerline is valid? [False, False] Translation: X:3.33, Y:0.60, Z:0.32 [[ 9.55036621e-01 1.46182907e-03 -2.96484259e-01 3.33259660e+00] [ 1.40915377e-03 9.99954170e-01 9.46949271e-03 6.01676850e-01] [ 2.96484514e-01 -9.46150423e-03 9.54990792e-01 3.22545518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.076502481 meters Centerline goodness [0,1] 0.6799016457570761 Centerline is valid? [False, False] Translation: X:3.33, Y:0.60, Z:0.32 [[ 9.54769818e-01 2.26593639e-03 -2.97337284e-01 3.33393040e+00] [ 7.63535226e-04 9.99948983e-01 1.00721347e-02 6.01260216e-01] [ 2.97344937e-01 -9.84359773e-03 9.54719379e-01 3.23225831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106502481 meters Centerline goodness [0,1] 0.6749119570685896 Centerline is valid? [False, False] Translation: X:3.34, Y:0.60, Z:0.32 [[ 9.54558810e-01 2.83712874e-03 -2.98009110e-01 3.33519873e+00] [ 2.71536962e-04 9.99945991e-01 1.03895264e-02 6.01234631e-01] [ 2.98022491e-01 -9.99833443e-03 9.54506484e-01 3.23731941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.136502481 meters Centerline goodness [0,1] 0.6721960467255848 Centerline is valid? [False, False] Translation: X:3.34, Y:0.60, Z:0.32 [[ 9.54459504e-01 3.59013919e-03 -2.98318900e-01 3.33707318e+00] [-2.75259985e-04 9.99937764e-01 1.11531359e-02 5.99717018e-01] [ 2.98340375e-01 -1.05631013e-02 9.54401090e-01 3.22920155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166502481 meters Centerline goodness [0,1] 0.6740124972104441 Centerline is valid? [False, False] Translation: X:3.34, Y:0.60, Z:0.32 [[ 9.54458161e-01 3.88850921e-03 -2.98319456e-01 3.33765692e+00] [-4.72224308e-04 9.99933497e-01 1.15229905e-02 5.98608338e-01] [ 2.98344424e-01 -1.08573387e-02 9.54396523e-01 3.22512765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196502480999996 meters Centerline goodness [0,1] 0.6745210674548954 Centerline is valid? [False, False] Translation: X:3.35, Y:0.60, Z:0.33 [[ 9.55570934e-01 2.62309282e-04 -2.94761127e-01 3.35210565e+00] [ 4.49764722e-03 9.99870209e-01 1.54704803e-02 5.97851943e-01] [ 2.94726927e-01 -1.61088728e-02 9.55445730e-01 3.25058913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.226502481 meters Centerline goodness [0,1] 0.6765467145361943 Centerline is valid? [False, False] Translation: X:3.35, Y:0.60, Z:0.33 [[ 9.55533134e-01 2.11984766e-04 -2.94883681e-01 3.35237183e+00] [ 4.56261551e-03 9.99869406e-01 1.55033584e-02 5.97170134e-01] [ 2.94848457e-01 -1.61594134e-02 9.55407379e-01 3.25160446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.256502481 meters Centerline goodness [0,1] 0.6798651359786001 Centerline is valid? [False, False] Translation: X:3.35, Y:0.60, Z:0.32 [[ 9.55499343e-01 3.99437654e-04 -2.94992959e-01 3.35351488e+00] [ 4.50695283e-03 9.99862599e-01 1.59521545e-02 5.95595802e-01] [ 2.94958798e-01 -1.65717925e-02 9.55366256e-01 3.24414044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.286502481 meters Centerline goodness [0,1] 0.6773636414284918 Centerline is valid? [False, False] Translation: X:3.35, Y:0.59, Z:0.32 [[ 9.55406015e-01 9.13482009e-04 -2.95293942e-01 3.35481034e+00] [ 4.12177327e-03 9.99856543e-01 1.64287757e-02 5.94881101e-01] [ 2.95266587e-01 -1.69132858e-02 9.55265190e-01 3.24083843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.316502481 meters Centerline goodness [0,1] 0.6779538303026929 Centerline is valid? [False, False] Translation: X:3.36, Y:0.59, Z:0.32 [[ 9.55322703e-01 1.23974062e-03 -2.95562170e-01 3.35551818e+00] [ 3.85886174e-03 9.99853656e-01 1.66666032e-02 5.94685119e-01] [ 2.95539579e-01 -1.70625180e-02 9.55178113e-01 3.24161538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346502481 meters Centerline goodness [0,1] 0.6855582490456686 Centerline is valid? [False, False] Translation: X:3.36, Y:0.59, Z:0.32 [[ 9.55207118e-01 1.43780084e-03 -2.95934612e-01 3.35557133e+00] [ 3.66270465e-03 9.99854168e-01 1.66801466e-02 5.94655052e-01] [ 2.95915438e-01 -1.70169158e-02 9.55062552e-01 3.24981884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.376502480999996 meters Centerline goodness [0,1] 0.6829642011422203 Centerline is valid? [False, False] Translation: X:3.35, Y:0.60, Z:0.33 [[ 9.55056550e-01 1.35922820e-03 -2.96420544e-01 3.35467964e+00] [ 3.62574325e-03 9.99861112e-01 1.62668525e-02 5.96265758e-01] [ 2.96401485e-01 -1.66105088e-02 9.54918976e-01 3.26749166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.406502481 meters Centerline goodness [0,1] 0.6874231414197876 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54880977e-01 1.82010774e-03 -2.96983175e-01 3.35626336e+00] [ 3.21115550e-03 9.99859492e-01 1.64525256e-02 5.96912776e-01] [ 2.96971392e-01 -1.66638629e-02 9.54740964e-01 3.26782591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.436502481 meters Centerline goodness [0,1] 0.6864949520373633 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54795266e-01 2.25399830e-03 -2.97255647e-01 3.35805506e+00] [ 2.85916170e-03 9.99855364e-01 1.67653210e-02 5.96616051e-01] [ 2.97250442e-01 -1.68573511e-02 9.54650724e-01 3.26059493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.466502481 meters Centerline goodness [0,1] 0.6798803500041933 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.32 [[ 9.54746349e-01 2.54325396e-03 -2.97410392e-01 3.36026170e+00] [ 2.61273357e-03 9.99853137e-01 1.69374656e-02 5.96523624e-01] [ 2.97409790e-01 -1.69480376e-02 9.54599487e-01 3.24829605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.496502481 meters Centerline goodness [0,1] 0.6802903405918481 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.32 [[ 9.54693138e-01 2.73234899e-03 -2.97579479e-01 3.36113210e+00] [ 2.41825633e-03 9.99853604e-01 1.69388082e-02 5.96923349e-01] [ 2.97582197e-01 -1.68909874e-02 9.54546767e-01 3.24622101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.526502481 meters Centerline goodness [0,1] 0.6730294876107187 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54590037e-01 2.94308789e-03 -2.97908038e-01 3.36194637e+00] [ 2.08471766e-03 9.99860735e-01 1.65578907e-02 5.98744940e-01] [ 2.97915281e-01 -1.64270516e-02 9.54450961e-01 3.25033117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.556502481 meters Centerline goodness [0,1] 0.6763963660834456 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54458973e-01 2.97511182e-03 -2.98327367e-01 3.36220199e+00] [ 1.96412997e-03 9.99865945e-01 1.62552786e-02 5.99820883e-01] [ 2.98335736e-01 -1.61009503e-02 9.54325180e-01 3.25849017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.586502481 meters Centerline goodness [0,1] 0.6753873792948575 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54357099e-01 2.96210141e-03 -2.98653231e-01 3.36108836e+00] [ 1.80590764e-03 9.99875308e-01 1.56878022e-02 6.02003480e-01] [ 2.98662461e-01 -1.55111056e-02 9.54232749e-01 3.27676350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.616502481 meters Centerline goodness [0,1] 0.6734040761327269 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54266067e-01 2.83388650e-03 -2.98945215e-01 3.36052352e+00] [ 1.82156822e-03 9.99881394e-01 1.52931403e-02 6.02713907e-01] [ 2.98953097e-01 -1.51382740e-02 9.54147723e-01 3.28863937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.646502481 meters Centerline goodness [0,1] 0.6774674010791366 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54291619e-01 2.65418326e-03 -2.98865290e-01 3.35995486e+00] [ 1.91344313e-03 9.99885819e-01 1.49895725e-02 6.02823180e-01] [ 2.98870951e-01 -1.48762851e-02 9.54177578e-01 3.29315441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.676502481 meters Centerline goodness [0,1] 0.6760868952692232 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 9.54224637e-01 2.97273915e-03 -2.99076087e-01 3.36131640e+00] [ 1.67483356e-03 9.99881817e-01 1.52822491e-02 6.02240514e-01] [ 2.99086172e-01 -1.50836013e-02 9.54106884e-01 3.28744087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706502481 meters Centerline goodness [0,1] 0.6700219310577518 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53837411e-01 -4.90570327e-04 -3.00323081e-01 3.36563805e+00] [ 4.41577750e-03 9.99913474e-01 1.23913416e-02 6.03218676e-01] [ 3.00291016e-01 -1.31454851e-02 9.53757046e-01 3.28005040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.736502481 meters Centerline goodness [0,1] 0.6697805289814294 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53754210e-01 5.64298566e-05 -3.00587599e-01 3.36689485e+00] [ 4.03693994e-03 9.99907389e-01 1.29967873e-02 6.02329634e-01] [ 3.00560494e-01 -1.36091947e-02 9.53665654e-01 3.27494504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.766502480999996 meters Centerline goodness [0,1] 0.6638942145032142 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53603659e-01 3.48674112e-04 -3.01064679e-01 3.36731564e+00] [ 3.87232099e-03 9.99902405e-01 1.34233599e-02 6.01986550e-01] [ 3.01039977e-01 -1.39663842e-02 9.53509241e-01 3.27952605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.796502481 meters Centerline goodness [0,1] 0.673510307822649 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53516061e-01 1.30631386e-04 -3.01342170e-01 3.36716458e+00] [ 4.11730268e-03 9.99900912e-01 1.34615499e-02 6.01786260e-01] [ 3.01314070e-01 -1.40765210e-02 9.53421042e-01 3.28425332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.826502481 meters Centerline goodness [0,1] 0.6795728013075211 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95327659 -0.00449383 -0.30206548 3.36740696] [ 0.00763667 0.99992829 0.00922433 0.60400464] [ 0.30200236 -0.01110011 0.95324255 0.3299741 ] [ 0. 0. 0. 1. ]] SLAMing on 61.856502481 meters Centerline goodness [0,1] 0.6788304751194827 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:0.33 [[ 0.95318377 -0.01020163 -0.30221952 3.36639491] [ 0.01204312 0.99991853 0.0042304 0.60561228] [ 0.30215174 -0.00767201 0.95322897 0.33140254] [ 0. 0. 0. 1. ]] SLAMing on 61.886502481 meters Centerline goodness [0,1] 0.6815664445756375 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:0.33 [[ 0.95317835 -0.01033952 -0.30223191 3.36629915] [ 0.01219043 0.99991671 0.00423845 0.60523591] [ 0.30216292 -0.00772433 0.953225 0.33143416] [ 0. 0. 0. 1. ]] SLAMing on 61.916502481 meters Centerline goodness [0,1] 0.6817862264840696 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95315937 -0.01058405 -0.30228331 3.36623871] [ 0.01251396 0.9999118 0.00444842 0.60465119] [ 0.30220956 -0.00802282 0.95320775 0.33125857] [ 0. 0. 0. 1. ]] SLAMing on 61.946502480999996 meters Centerline goodness [0,1] 0.6831727663399152 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95305905 -0.01048617 -0.30260284 3.36660726] [ 0.01245283 0.99991201 0.00457048 0.60435213] [ 0.30252829 -0.0081242 0.95310578 0.33162098] [ 0. 0. 0. 1. ]] SLAMing on 61.976502481 meters Centerline goodness [0,1] 0.6800112850895754 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.9530114 -0.01101578 -0.30273408 3.36500633] [ 0.012956 0.99990638 0.00440144 0.60461696] [ 0.30265725 -0.00811685 0.9530649 0.33277417] [ 0. 0. 0. 1. ]] SLAMing on 62.006502481 meters Centerline goodness [0,1] 0.6765268248790912 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 0.95293959 -0.01106234 -0.30295834 3.36478568] [ 0.01301391 0.99990553 0.00442362 0.60435657] [ 0.30288078 -0.00815812 0.95299353 0.33336503] [ 0. 0. 0. 1. ]] SLAMing on 62.036502481 meters Centerline goodness [0,1] 0.6792097571942446 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95294864 -0.01134304 -0.30291951 3.3655639 ] [ 0.01344538 0.99989782 0.00485566 0.6025801 ] [ 0.30283348 -0.00870007 0.95300377 0.33229252] [ 0. 0. 0. 1. ]] SLAMing on 62.066502481 meters Centerline goodness [0,1] 0.6794555150154364 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95297525 -0.01093247 -0.30285087 3.36699606] [ 0.01326721 0.99989601 0.00565291 0.60078821] [ 0.30275758 -0.00940507 0.95302119 0.33088185] [ 0. 0. 0. 1. ]] SLAMing on 62.096502481 meters Centerline goodness [0,1] 0.6756848061709975 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95302187 -0.01104258 -0.30270013 3.36758773] [ 0.01349548 0.99989085 0.00601292 0.6000518 ] [ 0.30260069 -0.00981553 0.95306688 0.32980998] [ 0. 0. 0. 1. ]] SLAMing on 62.126502480999996 meters Centerline goodness [0,1] 0.675953864809227 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95327858 -0.00645963 -0.30202354 3.36637631] [ 0.01000685 0.99989792 0.01019902 0.59868423] [ 0.30192683 -0.01274481 0.95324591 0.32900622] [ 0. 0. 0. 1. ]] SLAMing on 62.156502481 meters Centerline goodness [0,1] 0.6796239837398375 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:0.33 [[ 0.95315464 -0.00715663 -0.30239876 3.36496833] [ 0.01034108 0.99990665 0.00893088 0.60207809] [ 0.30230661 -0.01163964 0.95313967 0.33122367] [ 0. 0. 0. 1. ]] SLAMing on 62.186502481 meters Centerline goodness [0,1] 0.6781391937258442 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95315958 -0.00706314 -0.3023854 3.36538088] [ 0.01024844 0.99990744 0.00894853 0.60202897] [ 0.30229421 -0.01162836 0.95314374 0.33099077] [ 0. 0. 0. 1. ]] SLAMing on 62.216502481 meters Centerline goodness [0,1] 0.6781391937258442 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.95315958 -0.00706314 -0.3023854 3.36538088] [ 0.01024844 0.99990744 0.00894853 0.60202897] [ 0.30229421 -0.01162836 0.95314374 0.33099077] [ 0. 0. 0. 1. ]] SLAMing on 62.246502481 meters Centerline goodness [0,1] 0.679599887292195 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 0.9530822 -0.00674326 -0.30263651 3.36688805] [ 0.00994784 0.99990958 0.00904869 0.60240385] [ 0.30254812 -0.01163473 0.9530631 0.33052087] [ 0. 0. 0. 1. ]] SLAMing on 62.276502481 meters Centerline goodness [0,1] 0.677083039019015 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53157892e-01 -1.71239501e-03 -3.02468347e-01 3.36763120e+00] [ 6.10190823e-03 9.99889333e-01 1.35679536e-02 6.00781613e-01] [ 3.02411640e-01 -1.47780361e-02 9.53062857e-01 3.29294368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306502481 meters Centerline goodness [0,1] 0.6767181521893155 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.53023942e-01 4.02783442e-03 -3.02868194e-01 3.37005000e+00] [ 1.57630506e-03 9.99832088e-01 1.82568347e-02 6.00682364e-01] [ 3.02890874e-01 -1.78766132e-02 9.52857568e-01 3.28258713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.336502481 meters Centerline goodness [0,1] 0.6702442635085122 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:0.33 [[ 9.52715905e-01 5.06240567e-03 -3.03820303e-01 3.37362186e+00] [ 6.32899535e-04 9.99825981e-01 1.86442384e-02 6.03334960e-01] [ 3.03861818e-01 -1.79549502e-02 9.52546910e-01 3.27828473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.366502481 meters Centerline goodness [0,1] 0.6728188399576502 Centerline is valid? [False, False] Translation: X:3.38, Y:0.61, Z:0.33 [[ 9.52578791e-01 5.62647343e-03 -3.04240020e-01 3.37581944e+00] [-2.85860186e-05 9.99830689e-01 1.84009006e-02 6.05596883e-01] [ 3.04292041e-01 -1.75196107e-02 9.52417670e-01 3.27620978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.396502481 meters Centerline goodness [0,1] 0.6744086267555276 Centerline is valid? [False, False] Translation: X:3.38, Y:0.61, Z:0.33 [[ 9.52424662e-01 5.37356215e-03 -3.04726743e-01 3.37599955e+00] [-3.43765566e-05 9.99846444e-01 1.75238834e-02 6.08033459e-01] [ 3.04774116e-01 -1.66797033e-02 9.52278597e-01 3.28867397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426502481 meters Centerline goodness [0,1] 0.6642612770606331 Centerline is valid? [False, False] Translation: X:3.38, Y:0.61, Z:0.33 [[ 0.95233727 0.0101675 -0.30487761 3.37628508] [-0.0040983 0.99978062 0.02054039 0.61075595] [ 0.30501957 -0.0183119 0.95217002 0.32965196] [ 0. 0. 0. 1. ]] SLAMing on 62.456502481 meters Centerline goodness [0,1] 0.6609386281588447 Centerline is valid? [False, False] Translation: X:3.38, Y:0.61, Z:0.33 [[ 0.9521158 0.01034322 -0.30556263 3.37777852] [-0.00444705 0.99979037 0.01998589 0.61283865] [ 0.30570529 -0.01767003 0.95196221 0.33040111] [ 0. 0. 0. 1. ]] SLAMing on 62.486502481 meters Centerline goodness [0,1] 0.6553022622599427 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95211741 0.01097281 -0.30553566 3.37869456] [-0.00529902 0.99979789 0.01939318 0.61652429] [ 0.30568671 -0.01684555 0.95198312 0.33067604] [ 0. 0. 0. 1. ]] SLAMing on 62.516502480999996 meters Centerline goodness [0,1] 0.6607692754633665 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95195953 0.01087039 -0.30603086 3.37868184] [-0.00544838 0.99981279 0.01856584 0.61884855] [ 0.30617538 -0.01600655 0.95184055 0.33220297] [ 0. 0. 0. 1. ]] SLAMing on 62.546502481 meters Centerline goodness [0,1] 0.6588842252535851 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95194892 0.0155014 -0.30586427 3.37719385] [-0.00928271 0.99971979 0.02177563 0.62045786] [ 0.30611612 -0.01789004 0.95182607 0.33346802] [ 0. 0. 0. 1. ]] SLAMing on 62.576502481 meters Centerline goodness [0,1] 0.6474607949069883 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95157065 0.01638477 -0.30699322 3.3798933 ] [-0.0101621 0.99970945 0.02185733 0.62182898] [ 0.30726215 -0.01767909 0.95146068 0.33418095] [ 0. 0. 0. 1. ]] SLAMing on 62.606502481 meters Centerline goodness [0,1] 0.6455614722921177 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95139338 0.01700193 -0.30750865 3.38207214] [-0.0106945 0.99969668 0.02218505 0.6217277 ] [ 0.30779257 -0.01781806 0.95128663 0.33380239] [ 0. 0. 0. 1. ]] SLAMing on 62.636502481 meters Centerline goodness [0,1] 0.647010694874642 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95126376 0.01752161 -0.30788026 3.38394474] [-0.01111035 0.99968365 0.0225646 0.62142502] [ 0.30817823 -0.01804422 0.9511575 0.33326049] [ 0. 0. 0. 1. ]] SLAMing on 62.666502481 meters Centerline goodness [0,1] 0.6432081432081432 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95124918 0.0177244 -0.30791369 3.38442169] [-0.01122094 0.99967527 0.02287892 0.62032743] [ 0.30821922 -0.01830848 0.95113917 0.33294833] [ 0. 0. 0. 1. ]] SLAMing on 62.696502480999996 meters Centerline goodness [0,1] 0.646843844107242 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95116008 0.01781957 -0.30818332 3.38459831] [-0.01130129 0.99967336 0.02292277 0.61970786] [ 0.30849113 -0.01832035 0.95105078 0.33344165] [ 0. 0. 0. 1. ]] SLAMing on 62.726502481 meters Centerline goodness [0,1] 0.6511062982907985 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95112095 0.01756755 -0.30831853 3.3839665 ] [-0.01110622 0.99968065 0.02269921 0.6195108 ] [ 0.30861883 -0.01816544 0.95101232 0.33420549] [ 0. 0. 0. 1. ]] SLAMing on 62.756502481 meters Centerline goodness [0,1] 0.6489701444434678 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.33 [[ 0.95110826 0.01766402 -0.30835218 3.38386043] [-0.01117455 0.99967762 0.02279899 0.61885349] [ 0.3086555 -0.01823861 0.95099902 0.3344126 ] [ 0. 0. 0. 1. ]] SLAMing on 62.786502481 meters Centerline goodness [0,1] 0.6587774661056569 Centerline is valid? [False, False] Translation: X:3.38, Y:0.62, Z:0.34 [[ 0.95102263 0.01240962 -0.30887208 3.38291687] [-0.00713915 0.9998091 0.01818796 0.61916374] [ 0.30903882 -0.01509208 0.95092967 0.33642049] [ 0. 0. 0. 1. ]] SLAMing on 62.816502481 meters Centerline goodness [0,1] 0.6634023015227246 Centerline is valid? [False, False] Translation: X:3.40, Y:0.62, Z:0.34 [[ 9.51842476e-01 6.27127302e-03 -3.06523362e-01 3.39752649e+00] [ 2.64700567e-04 9.99773590e-01 2.12767025e-02 6.17443435e-01] [ 3.06587394e-01 -2.03332061e-02 9.51625310e-01 3.38889855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846502481 meters Centerline goodness [0,1] 0.6638951071314358 Centerline is valid? [False, False] Translation: X:3.40, Y:0.62, Z:0.34 [[ 9.51668769e-01 6.79757943e-03 -3.07051049e-01 3.39867099e+00] [-2.07132600e-05 9.99756457e-01 2.20686813e-02 6.15451983e-01] [ 3.07126283e-01 -2.09957148e-02 9.51437137e-01 3.38897140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.876502480999996 meters Centerline goodness [0,1] 0.6698933456990495 Centerline is valid? [False, False] Translation: X:3.40, Y:0.62, Z:0.34 [[ 9.51343640e-01 2.41620740e-03 -3.08122443e-01 3.39979344e+00] [ 3.46232022e-03 9.99822302e-01 1.85304073e-02 6.15310470e-01] [ 3.08112464e-01 -1.86956037e-02 9.51166223e-01 3.40167904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.906502481 meters Centerline goodness [0,1] 0.6705361278369615 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 9.51330853e-01 2.88324382e-03 -3.08157906e-01 3.40077131e+00] [ 3.22269221e-03 9.99808475e-01 1.93035389e-02 6.13254404e-01] [ 3.08154543e-01 -1.93571502e-02 9.51139358e-01 3.39370298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.936502481 meters Centerline goodness [0,1] 0.672856977818854 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 9.51118389e-01 -1.56336832e-03 -3.08822548e-01 3.40217482e+00] [ 6.74444498e-03 9.99853842e-01 1.57100764e-02 6.12600095e-01] [ 3.08752851e-01 -1.70249792e-02 9.50989920e-01 3.39764466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.966502481 meters Centerline goodness [0,1] 0.67895647160565 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.95097871 -0.00603645 -0.30919743 3.40069065] [ 0.01011427 0.99988171 0.01158715 0.61384367] [ 0.30909091 -0.01414644 0.95092728 0.34208243] [ 0. 0. 0. 1. ]] SLAMing on 62.996502481 meters Centerline goodness [0,1] 0.6783468881582742 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.95093321 -0.00601723 -0.30933771 3.40028368] [ 0.01008975 0.99988219 0.01156716 0.61378185] [ 0.30923166 -0.01412074 0.9508819 0.34269724] [ 0. 0. 0. 1. ]] SLAMing on 63.026502481 meters Centerline goodness [0,1] 0.6824201506102311 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.95080653 -0.00596355 -0.30972791 3.40031788] [ 0.01000762 0.99988414 0.01146961 0.61373826] [ 0.30962363 -0.01400502 0.95075605 0.34356688] [ 0. 0. 0. 1. ]] SLAMing on 63.056502481 meters Centerline goodness [0,1] 0.687652934910902 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.95086038 -0.00602059 -0.30956144 3.40052406] [ 0.01012389 0.99988088 0.01165046 0.61222669] [ 0.30945442 -0.01421192 0.95080807 0.34307883] [ 0. 0. 0. 1. ]] SLAMing on 63.086502481 meters Centerline goodness [0,1] 0.6887285894930452 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.95055813 -0.01030781 -0.31037558 3.40286298] [ 0.01340877 0.99987921 0.00785903 0.61246752] [ 0.31025708 -0.01163222 0.95058153 0.34337033] [ 0. 0. 0. 1. ]] SLAMing on 63.116502481 meters Centerline goodness [0,1] 0.6803639819160883 Centerline is valid? [False, False] Translation: X:3.40, Y:0.61, Z:0.34 [[ 0.9504167 -0.00980934 -0.31082451 3.40406148] [ 0.01302105 0.99988111 0.00825948 0.61228908] [ 0.31070653 -0.0118972 0.95043143 0.34337351] [ 0. 0. 0. 1. ]] SLAMing on 63.146502481 meters Centerline goodness [0,1] 0.681260240894587 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.95007117 -0.00885474 -0.31190761 3.40541858] [ 0.01218222 0.99988776 0.00872125 0.61328438] [ 0.31179538 -0.01208554 0.95007241 0.34460498] [ 0. 0. 0. 1. ]] SLAMing on 63.176502481 meters Centerline goodness [0,1] 0.6812620548694476 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94994878 -0.00840346 -0.31229265 3.40634849] [ 0.01180974 0.9998896 0.00901757 0.6130574 ] [ 0.31218239 -0.01225433 0.94994315 0.34476117] [ 0. 0. 0. 1. ]] SLAMing on 63.206502481 meters Centerline goodness [0,1] 0.6830096389008775 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94999402 -0.00807623 -0.31216363 3.40711688] [ 0.01159211 0.99988854 0.00940889 0.61205075] [ 0.31205285 -0.01255702 0.94998176 0.34395957] [ 0. 0. 0. 1. ]] SLAMing on 63.236502481 meters Centerline goodness [0,1] 0.6863388922492007 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94997473 -0.00783243 -0.31222855 3.40779671] [ 0.01140889 0.99988855 0.0096295 0.61157177] [ 0.31211833 -0.01270996 0.94995821 0.34360629] [ 0. 0. 0. 1. ]] SLAMing on 63.266502480999996 meters Centerline goodness [0,1] 0.6801381692573403 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94994153 -0.00777289 -0.31233103 3.40784305] [ 0.011251 0.99989313 0.00933538 0.61229911] [ 0.31222509 -0.0123821 0.94992746 0.34407452] [ 0. 0. 0. 1. ]] SLAMing on 63.296502481 meters Centerline goodness [0,1] 0.6850765159360257 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94987299 -0.00773864 -0.31254027 3.40795632] [ 0.01115043 0.99989615 0.00913054 0.61264724] [ 0.31243715 -0.01215781 0.94986063 0.34459519] [ 0. 0. 0. 1. ]] SLAMing on 63.326502481 meters Centerline goodness [0,1] 0.6843148520540074 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94983987 -0.00740267 -0.31264904 3.40889212] [ 0.01083035 0.99989877 0.00922816 0.61270084] [ 0.31254908 -0.01215138 0.94982389 0.34429467] [ 0. 0. 0. 1. ]] SLAMing on 63.356502481 meters Centerline goodness [0,1] 0.6875841714662312 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 0.94978035 -0.00708328 -0.3128372 3.40947364] [ 0.01055778 0.99989995 0.00941385 0.61277134] [ 0.31273922 -0.01224396 0.94976011 0.34427682] [ 0. 0. 0. 1. ]] SLAMing on 63.386502481 meters Centerline goodness [0,1] 0.6842467324008255 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 9.50025387e-01 -1.86221360e-03 -3.12167097e-01 3.40917227e+00] [ 6.55877091e-03 9.99880544e-01 1.39957342e-02 6.10988930e-01] [ 3.12103744e-01 -1.53437353e-02 9.49924114e-01 3.42968069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.416502481 meters Centerline goodness [0,1] 0.6836111190797212 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 9.49903838e-01 -1.27255943e-03 -3.12539724e-01 3.41072907e+00] [ 6.06473585e-03 9.99878477e-01 1.43614099e-02 6.10676815e-01] [ 3.12483467e-01 -1.55374292e-02 9.49796121e-01 3.42712450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.446502480999996 meters Centerline goodness [0,1] 0.6800011478749964 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.49539937e-01 3.88575115e-04 -3.13645910e-01 3.41516706e+00] [ 4.73428584e-03 9.99867550e-01 1.55714357e-02 6.10291551e-01] [ 3.13610418e-01 -1.62705895e-02 9.49412331e-01 3.41785412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.476502481 meters Centerline goodness [0,1] 0.6787188897809382 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 9.49405871e-01 8.48352240e-04 -3.14050590e-01 3.41479786e+00] [ 4.18536746e-03 9.99873364e-01 1.53537596e-02 6.12180831e-01] [ 3.14023845e-01 -1.58913666e-02 9.49282091e-01 3.43240080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.506502481 meters Centerline goodness [0,1] 0.679255029127328 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:0.34 [[ 9.49373576e-01 8.48859134e-04 -3.14148201e-01 3.41471003e+00] [ 4.09356347e-03 9.99878020e-01 1.50727477e-02 6.12408370e-01] [ 3.14122675e-01 -1.55956540e-02 9.49254297e-01 3.43783792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.536502481 meters Centerline goodness [0,1] 0.6818259726903959 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.49435606e-01 7.29841726e-04 -3.13960982e-01 3.41508042e+00] [ 4.06786423e-03 9.99884762e-01 1.46258071e-02 6.11763267e-01] [ 3.13935476e-01 -1.51634127e-02 9.49323226e-01 3.43626168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.566502481 meters Centerline goodness [0,1] 0.684739471805853 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.49370240e-01 1.12183646e-03 -3.14157426e-01 3.41633243e+00] [ 3.74335301e-03 9.99882238e-01 1.48827687e-02 6.10925916e-01] [ 3.14137126e-01 -1.53052598e-02 9.49254242e-01 3.43252252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.596502481 meters Centerline goodness [0,1] 0.6810019444126729 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.49258851e-01 1.72435875e-03 -3.14491114e-01 3.41780953e+00] [ 3.19524222e-03 9.99880477e-01 1.51268650e-02 6.10534400e-01] [ 3.14479609e-01 -1.53641857e-02 9.49139883e-01 3.43142441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.626502480999996 meters Centerline goodness [0,1] 0.6833133115954465 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.49111547e-01 2.27393364e-03 -3.14931898e-01 3.41882591e+00] [ 2.70981544e-03 9.99877955e-01 1.53860986e-02 6.10449652e-01] [ 3.14928450e-01 -1.54565312e-02 9.48989551e-01 3.43449409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.656502481 meters Centerline goodness [0,1] 0.6761755037873374 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.48901882e-01 3.24936159e-03 -3.15554528e-01 3.42012959e+00] [ 1.85582684e-03 9.99872236e-01 1.58766349e-02 6.10165415e-01] [ 3.15565801e-01 -1.56509833e-02 9.48774616e-01 3.44021035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.686502481 meters Centerline goodness [0,1] 0.675642454906669 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.35 [[ 9.48809981e-01 3.88067047e-03 -3.15823622e-01 3.42004165e+00] [ 1.23257054e-03 9.99871411e-01 1.59888189e-02 6.10375573e-01] [ 3.15845058e-01 -1.55596258e-02 9.48683191e-01 3.45042162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.716502481 meters Centerline goodness [0,1] 0.6689822755860492 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.35 [[ 9.48711836e-01 4.26170248e-03 -3.16113414e-01 3.42029307e+00] [ 8.85181631e-04 9.99869408e-01 1.61363865e-02 6.10051881e-01] [ 3.16140901e-01 -1.55885986e-02 9.48584169e-01 3.45611586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.746502481 meters Centerline goodness [0,1] 0.6782166914031282 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.48737399e-01 5.04813440e-03 -3.16025099e-01 3.42182656e+00] [ 3.65022557e-04 9.99854276e-01 1.70673448e-02 6.07220742e-01] [ 3.16065205e-01 -1.63077846e-02 9.48597303e-01 3.44329400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.776502481 meters Centerline goodness [0,1] 0.673900676944081 Centerline is valid? [False, False] Translation: X:3.42, Y:0.61, Z:0.34 [[ 9.48415448e-01 9.42445534e-04 -3.17028785e-01 3.42423843e+00] [ 3.47812613e-03 9.99904468e-01 1.33775362e-02 6.07658177e-01] [ 3.17011106e-01 -1.37901281e-02 9.48321565e-01 3.44837273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806502481 meters Centerline goodness [0,1] 0.6755996362396272 Centerline is valid? [False, False] Translation: X:3.43, Y:0.61, Z:0.34 [[ 9.48323995e-01 1.62769110e-03 -3.17299466e-01 3.42609678e+00] [ 3.02765479e-03 9.99894901e-01 1.41781446e-02 6.05615412e-01] [ 3.17289196e-01 -1.44061480e-02 9.48219399e-01 3.43977651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.836502481 meters Centerline goodness [0,1] 0.6753467789975321 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.48260518e-01 2.08638184e-03 -3.17486435e-01 3.42673969e+00] [ 2.72961627e-03 9.99887876e-01 1.47235747e-02 6.03974733e-01] [ 3.17481556e-01 -1.48284007e-02 9.48148501e-01 3.43838712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.866502481 meters Centerline goodness [0,1] 0.6761562818048173 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.48289025e-01 2.23527337e-03 -3.17400265e-01 3.42644500e+00] [ 2.69901531e-03 9.99882264e-01 1.51053963e-02 6.01795262e-01] [ 3.17396661e-01 -1.51809497e-02 9.48171345e-01 3.43857051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.896502481 meters Centerline goodness [0,1] 0.6813675791370959 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.48249146e-01 2.66763692e-03 -3.17516049e-01 3.42701184e+00] [ 2.42916842e-03 9.99874500e-01 1.56551426e-02 6.00077050e-01] [ 3.17517963e-01 -1.56162756e-02 9.48123660e-01 3.43649804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926502481 meters Centerline goodness [0,1] 0.6751414815440493 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.48079997e-01 3.31506458e-03 -3.18014670e-01 3.42804459e+00] [ 2.03119445e-03 9.99862160e-01 1.64783042e-02 5.97741829e-01] [ 3.18025461e-01 -1.62687002e-02 9.47942580e-01 3.43755921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.956502481 meters Centerline goodness [0,1] 0.6795914347618109 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.47975839e-01 3.86575049e-03 -3.18318809e-01 3.42904644e+00] [ 1.64608044e-03 9.99853375e-01 1.70446358e-02 5.96599131e-01] [ 3.18338026e-01 -1.66818813e-02 9.47830478e-01 3.43605382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986502481 meters Centerline goodness [0,1] 0.6770039643489751 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:0.34 [[ 9.47818358e-01 4.40133820e-03 -3.18780472e-01 3.43021043e+00] [ 1.26838640e-03 9.99844727e-01 1.75759032e-02 5.95279137e-01] [ 3.18808331e-01 -1.70631005e-02 9.47665605e-01 3.43667983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01650248099999 meters Centerline goodness [0,1] 0.6827184357228899 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47764927e-01 4.83848897e-03 -3.18932958e-01 3.43036011e+00] [ 9.88875308e-04 9.99835566e-01 1.81069863e-02 5.93370401e-01] [ 3.18968125e-01 -1.74765515e-02 9.47604298e-01 3.43894273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04650248099999 meters Centerline goodness [0,1] 0.6814008174234365 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47646435e-01 5.14453381e-03 -3.19280079e-01 3.43080417e+00] [ 7.55704501e-04 9.99831281e-01 1.83531855e-02 5.92795538e-01] [ 3.19320629e-01 -1.76336122e-02 9.47482660e-01 3.44293410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07650248099999 meters Centerline goodness [0,1] 0.6800301726546348 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47599015e-01 5.51865566e-03 -3.19414545e-01 3.43215956e+00] [ 5.59783432e-04 9.99820560e-01 1.89350038e-02 5.91141337e-01] [ 3.19461725e-01 -1.81215939e-02 9.47425888e-01 3.43492277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10650248099999 meters Centerline goodness [0,1] 0.6800301726546348 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47599015e-01 5.51865566e-03 -3.19414545e-01 3.43215956e+00] [ 5.59783432e-04 9.99820560e-01 1.89350038e-02 5.91141337e-01] [ 3.19461725e-01 -1.81215939e-02 9.47425888e-01 3.43492277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.136502481 meters Centerline goodness [0,1] 0.6818865192939474 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47424925e-01 1.07802148e-03 -3.19976327e-01 3.43316636e+00] [ 3.89802165e-03 9.99881236e-01 1.49104041e-02 5.92302735e-01] [ 3.19954398e-01 -1.53737631e-02 9.47308202e-01 3.44236057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.166502481 meters Centerline goodness [0,1] 0.6812380078418286 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47445042e-01 1.40883689e-03 -3.19915469e-01 3.43349105e+00] [ 3.71202942e-03 9.99874575e-01 1.53965798e-02 5.90471251e-01] [ 3.19897035e-01 -1.57749489e-02 9.47320979e-01 3.43873579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.196502481 meters Centerline goodness [0,1] 0.6835264120614157 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47339579e-01 1.80794523e-03 -3.20225630e-01 3.43387652e+00] [ 3.39501971e-03 9.99871160e-01 1.56887781e-02 5.89770517e-01] [ 3.20212736e-01 -1.59497727e-02 9.47211385e-01 3.44294262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.226502481 meters Centerline goodness [0,1] 0.6825576891151569 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47370433e-01 2.13059673e-03 -3.20132352e-01 3.43369801e+00] [ 3.18340340e-03 9.99865719e-01 1.60751416e-02 5.88165954e-01] [ 3.20123614e-01 -1.62482243e-02 9.47236437e-01 3.44309820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.256502481 meters Centerline goodness [0,1] 0.6837812430878124 Centerline is valid? [False, False] Translation: X:3.43, Y:0.59, Z:0.34 [[ 9.47262045e-01 2.67777086e-03 -3.20448821e-01 3.43472469e+00] [ 2.77275071e-03 9.99859170e-01 1.65515206e-02 5.87095666e-01] [ 3.20448013e-01 -1.65671519e-02 9.47121217e-01 3.44244160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28650248099999 meters Centerline goodness [0,1] 0.6733764082173626 Centerline is valid? [False, False] Translation: X:3.44, Y:0.59, Z:0.34 [[ 9.47030053e-01 3.96021387e-03 -3.21120530e-01 3.43719458e+00] [ 1.84491084e-03 9.99840374e-01 1.77714198e-02 5.85395104e-01] [ 3.21139649e-01 -1.74225074e-02 9.46871576e-01 3.43734996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31650248099999 meters Centerline goodness [0,1] 0.6786995639454656 Centerline is valid? [False, False] Translation: X:3.44, Y:0.58, Z:0.34 [[ 9.46860716e-01 4.75216003e-03 -3.21608770e-01 3.43882054e+00] [ 1.26257486e-03 9.99828232e-01 1.84908710e-02 5.84292542e-01] [ 3.21641400e-01 -1.79143346e-02 9.46692076e-01 3.43558496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34650248099999 meters Centerline goodness [0,1] 0.6785202337633698 Centerline is valid? [False, False] Translation: X:3.44, Y:0.58, Z:0.34 [[ 9.46595021e-01 7.06475623e-04 -3.22424204e-01 3.44018878e+00] [ 4.34198991e-03 9.99878989e-01 1.49383827e-02 5.84664746e-01] [ 3.22395741e-01 -1.55405613e-02 9.46477404e-01 3.44468406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37650248099999 meters Centerline goodness [0,1] 0.6804457619675011 Centerline is valid? [False, False] Translation: X:3.44, Y:0.58, Z:0.34 [[ 9.46552043e-01 1.03724599e-03 -3.22549461e-01 3.44066937e+00] [ 4.14057115e-03 9.99873359e-01 1.53662657e-02 5.82958026e-01] [ 3.22524551e-01 -1.58805092e-02 9.46427875e-01 3.44406078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40650248099999 meters Centerline goodness [0,1] 0.6877801919744768 Centerline is valid? [False, False] Translation: X:3.45, Y:0.58, Z:0.35 [[ 9.47904510e-01 -2.85360764e-03 -3.18541830e-01 3.45440414e+00] [ 9.39977469e-03 9.99775009e-01 1.90151579e-02 5.81681657e-01] [ 3.18415899e-01 -2.10187754e-02 9.47718063e-01 3.47331749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43650248099999 meters Centerline goodness [0,1] 0.6856547602730338 Centerline is valid? [False, False] Translation: X:3.45, Y:0.58, Z:0.35 [[ 9.47984602e-01 -3.41288726e-03 -3.18297891e-01 3.45260273e+00] [ 9.91784705e-03 9.99773727e-01 1.88183819e-02 5.80529573e-01] [ 3.18161643e-01 -2.09963661e-02 9.47803947e-01 3.48174982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46650248099999 meters Centerline goodness [0,1] 0.6894720915518142 Centerline is valid? [False, False] Translation: X:3.45, Y:0.58, Z:0.35 [[ 9.47915535e-01 -3.00614916e-03 -3.18507615e-01 3.45366594e+00] [ 9.68321481e-03 9.99765252e-01 1.93823507e-02 5.78950726e-01] [ 3.18374580e-01 -2.14570090e-02 9.47722124e-01 3.47791263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.496502481 meters Centerline goodness [0,1] 0.6888296410312792 Centerline is valid? [False, False] Translation: X:3.46, Y:0.58, Z:0.35 [[ 0.94751159 -0.00732462 -0.31963749 3.45618094] [ 0.0129824 0.99979444 0.01557345 0.57961048] [ 0.31945772 -0.01890569 0.94741192 0.34842785] [ 0. 0. 0. 1. ]] SLAMing on 64.526502481 meters Centerline goodness [0,1] 0.6832264078521686 Centerline is valid? [False, False] Translation: X:3.46, Y:0.58, Z:0.35 [[ 0.94719526 -0.0112865 -0.32045866 3.45972741] [ 0.01614175 0.99979159 0.01249846 0.57831635] [ 0.32025081 -0.01701124 0.94718004 0.3475967 ] [ 0. 0. 0. 1. ]] SLAMing on 64.556502481 meters Centerline goodness [0,1] 0.677367268746579 Centerline is valid? [False, False] Translation: X:3.46, Y:0.58, Z:0.35 [[ 0.94708721 -0.01080556 -0.32079441 3.46072767] [ 0.01582145 0.99978989 0.01303328 0.57756978] [ 0.32058617 -0.01741909 0.94705917 0.34744843] [ 0. 0. 0. 1. ]] SLAMing on 64.586502481 meters Centerline goodness [0,1] 0.6839530601588479 Centerline is valid? [False, False] Translation: X:3.46, Y:0.58, Z:0.35 [[ 0.94715528 -0.00603123 -0.32071872 3.46008566] [ 0.01230795 0.99977028 0.01754712 0.57526892] [ 0.32053921 -0.02056724 0.94701193 0.34724798] [ 0. 0. 0. 1. ]] SLAMing on 64.616502481 meters Centerline goodness [0,1] 0.6825505750597018 Centerline is valid? [False, False] Translation: X:3.46, Y:0.57, Z:0.35 [[ 0.94705333 -0.00572585 -0.32102525 3.46042953] [ 0.01209091 0.99976779 0.01783728 0.57439466] [ 0.32084857 -0.02077435 0.94690265 0.34766216] [ 0. 0. 0. 1. ]] SLAMing on 64.646502481 meters Centerline goodness [0,1] 0.6885021990329718 Centerline is valid? [False, False] Translation: X:3.46, Y:0.57, Z:0.35 [[ 0.94714762 -0.00763755 -0.3207071 3.45908241] [ 0.01361552 0.99977278 0.01640157 0.5713945 ] [ 0.32050896 -0.01990131 0.9470364 0.34821731] [ 0. 0. 0. 1. ]] SLAMing on 64.67650248099999 meters Centerline goodness [0,1] 0.693777680573022 Centerline is valid? [False, False] Translation: X:3.46, Y:0.57, Z:0.35 [[ 0.9473196 -0.00786793 -0.32019317 3.45818882] [ 0.01390951 0.99976569 0.01658582 0.57006718] [ 0.31998765 -0.0201658 0.94720708 0.34774647] [ 0. 0. 0. 1. ]] SLAMing on 64.70650248099999 meters Centerline goodness [0,1] 0.6961693768416457 Centerline is valid? [False, False] Translation: X:3.46, Y:0.57, Z:0.35 [[ 0.9473157 -0.00774809 -0.32020764 3.45823379] [ 0.01398814 0.99975435 0.01719195 0.5677054 ] [ 0.31999578 -0.02076531 0.94719138 0.34759443] [ 0. 0. 0. 1. ]] SLAMing on 64.73650248099999 meters Centerline goodness [0,1] 0.6938508860277105 Centerline is valid? [False, False] Translation: X:3.46, Y:0.57, Z:0.35 [[ 0.9472503 -0.0071845 -0.32041419 3.45942381] [ 0.01365697 0.99974547 0.01795767 0.56584051] [ 0.32020362 -0.0213863 0.94710732 0.34705423] [ 0. 0. 0. 1. ]] SLAMing on 64.76650248099999 meters Centerline goodness [0,1] 0.6938819884217107 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.94723077 -0.00673737 -0.32048163 3.46068198] [ 0.01339892 0.99973749 0.01858537 0.56405287] [ 0.32027228 -0.02189874 0.94707239 0.34628973] [ 0. 0. 0. 1. ]] SLAMing on 64.79650248099999 meters Centerline goodness [0,1] 0.6921615975255718 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.9471178 -0.00608254 -0.32082843 3.4627231 ] [ 0.0130078 0.99972627 0.01944667 0.56146416] [ 0.32062232 -0.02259156 0.94693767 0.34544567] [ 0. 0. 0. 1. ]] SLAMing on 64.82650248099999 meters Centerline goodness [0,1] 0.6942442144057233 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.94705282 -0.00575111 -0.32102631 3.46325086] [ 0.01276086 0.99972379 0.01973574 0.56095411] [ 0.32082414 -0.02278736 0.94686462 0.34547645] [ 0. 0. 0. 1. ]] SLAMing on 64.85650248099999 meters Centerline goodness [0,1] 0.6908282017198817 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.94689879 -0.00541322 -0.3214862 3.46287325] [ 0.01244485 0.99972608 0.01982132 0.56151854] [ 0.32129085 -0.02276964 0.94670678 0.34672277] [ 0. 0. 0. 1. ]] SLAMing on 64.886502481 meters Centerline goodness [0,1] 0.6950004073540994 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.94683737 -0.00520042 -0.32167056 3.46290132] [ 0.01225876 0.9997264 0.01992118 0.56177494] [ 0.32147895 -0.0228054 0.94664206 0.34710843] [ 0. 0. 0. 1. ]] SLAMing on 64.916502481 meters Centerline goodness [0,1] 0.6954058815557664 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.9468427 -0.00476985 -0.32166154 3.46336084] [ 0.01196319 0.99972052 0.02039021 0.56027763] [ 0.32147438 -0.02315442 0.94663514 0.34682794] [ 0. 0. 0. 1. ]] SLAMing on 64.946502481 meters Centerline goodness [0,1] 0.6962333585885918 Centerline is valid? [False, False] Translation: X:3.46, Y:0.56, Z:0.35 [[ 0.9468367 -0.004314 -0.32168564 3.46433407] [ 0.01166692 0.9997128 0.02093318 0.55867626] [ 0.32150294 -0.02357338 0.9466151 0.3462082 ] [ 0. 0. 0. 1. ]] SLAMing on 64.976502481 meters Centerline goodness [0,1] 0.6986120112335278 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 0.94668786 -0.00373793 -0.32213059 3.46566269] [ 0.01131044 0.99970187 0.02163916 0.55709541] [ 0.32195367 -0.02412897 0.9464479 0.34604105] [ 0. 0. 0. 1. ]] SLAMing on 65.006502481 meters Centerline goodness [0,1] 0.6954490209318028 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 9.46580422e-01 -3.44819313e-03 -3.22449397e-01 3.46622193e+00] [ 1.11083522e-02 9.99698033e-01 2.19190884e-02 5.56734233e-01] [ 3.22276447e-01 -2.43300614e-02 9.46332891e-01 3.46248482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03650248099999 meters Centerline goodness [0,1] 0.700115868610385 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 9.46474687e-01 -3.04387033e-03 -3.22763693e-01 3.46724471e+00] [ 1.08431554e-02 9.99690983e-01 2.23688182e-02 5.55850192e-01] [ 3.22595866e-01 -2.46712971e-02 9.46215216e-01 3.46124877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06650248099999 meters Centerline goodness [0,1] 0.6986791488445915 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.34 [[ 9.46583140e-01 -3.01890337e-03 -3.22445725e-01 3.46816780e+00] [ 1.09681739e-02 9.99678987e-01 2.28390507e-02 5.53611554e-01] [ 3.22273266e-01 -2.51557011e-02 9.46312386e-01 3.44733685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09650248099999 meters Centerline goodness [0,1] 0.6972255081191525 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.34 [[ 9.46585499e-01 -2.80154548e-03 -3.22440761e-01 3.46884794e+00] [ 1.08232885e-02 9.99674846e-01 2.30880654e-02 5.52873074e-01] [ 3.22271236e-01 -2.53446973e-02 9.46308035e-01 3.44288053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12650248099999 meters Centerline goodness [0,1] 0.6978355443364306 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.34 [[ 9.46448454e-01 -2.55403180e-03 -3.22844855e-01 3.46918847e+00] [ 1.06421494e-02 9.99672107e-01 2.32899840e-02 5.53172959e-01] [ 3.22679513e-01 -2.54785325e-02 9.46165301e-01 3.44788800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15650248099999 meters Centerline goodness [0,1] 0.6976044687936406 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.35 [[ 9.46292291e-01 -2.48069846e-03 -3.23302872e-01 3.46944461e+00] [ 1.05371350e-02 9.99675980e-01 2.31711984e-02 5.53784839e-01] [ 3.23140635e-01 -2.53334124e-02 9.46011812e-01 3.45577335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18650248099999 meters Centerline goodness [0,1] 0.695377076546135 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.35 [[ 9.46303280e-01 -2.57896757e-03 -3.23269934e-01 3.46936592e+00] [ 1.05867046e-02 9.99679062e-01 2.30151111e-02 5.54249815e-01] [ 3.23106829e-01 -2.52016384e-02 9.46026878e-01 3.45628724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21650248099999 meters Centerline goodness [0,1] 0.6985830828681838 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 0.94621826 -0.00570478 -0.32347867 3.47104673] [ 0.01299345 0.99970793 0.02037699 0.55553785] [ 0.32326795 -0.02348418 0.94601603 0.34505909] [ 0. 0. 0. 1. ]] SLAMing on 65.246502481 meters Centerline goodness [0,1] 0.6951543267812609 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.34 [[ 0.94617347 -0.00519155 -0.32361832 3.47313162] [ 0.01271962 0.99969537 0.02115146 0.55405109] [ 0.32340992 -0.02412926 0.94595127 0.34370286] [ 0. 0. 0. 1. ]] SLAMing on 65.276502481 meters Centerline goodness [0,1] 0.6921710101227654 Centerline is valid? [False, False] Translation: X:3.47, Y:0.55, Z:0.34 [[ 0.94606342 -0.00492937 -0.32394397 3.47380818] [ 0.01251538 0.99969397 0.02133852 0.55465326] [ 0.32373965 -0.02424187 0.94583559 0.3438178 ] [ 0. 0. 0. 1. ]] SLAMing on 65.306502481 meters Centerline goodness [0,1] 0.691747311827957 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.34 [[ 0.94588371 -0.00486603 -0.3244693 3.47406809] [ 0.01241692 0.99969804 0.02120508 0.55593616] [ 0.32426814 -0.02408645 0.94565851 0.34464982] [ 0. 0. 0. 1. ]] SLAMing on 65.336502481 meters Centerline goodness [0,1] 0.691792656587473 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 0.94595983 -0.00530502 -0.32424044 3.47266842] [ 0.01261969 0.99971101 0.02046084 0.55780431] [ 0.32403819 -0.02344694 0.9457534 0.34542052] [ 0. 0. 0. 1. ]] SLAMing on 65.366502481 meters Centerline goodness [0,1] 0.6950427258268863 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.34 [[ 0.94609671 -0.00539914 -0.32383926 3.47271377] [ 0.01267421 0.99971237 0.02036026 0.55716186] [ 0.32363619 -0.02336718 0.94589301 0.34475946] [ 0. 0. 0. 1. ]] SLAMing on 65.396502481 meters Centerline goodness [0,1] 0.69423159939564 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.34 [[ 0.94614508 -0.00534608 -0.32369878 3.47287768] [ 0.01257689 0.99971583 0.0202503 0.55708957] [ 0.32349854 -0.02323085 0.94594346 0.34452221] [ 0. 0. 0. 1. ]] SLAMing on 65.42650248099999 meters Centerline goodness [0,1] 0.6917854352453054 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 0.94595992 -0.00503387 -0.32424448 3.47352408] [ 0.0122732 0.99971889 0.02028562 0.55805813] [ 0.32405122 -0.0231689 0.94575579 0.34518692] [ 0. 0. 0. 1. ]] SLAMing on 65.45650248099999 meters Centerline goodness [0,1] 0.6939321832242713 Centerline is valid? [False, False] Translation: X:3.47, Y:0.56, Z:0.35 [[ 0.94581321 -0.00490199 -0.32467421 3.47362696] [ 0.01209782 0.99972381 0.0201483 0.55956251] [ 0.32448577 -0.02298438 0.94561129 0.34597193] [ 0. 0. 0. 1. ]] SLAMing on 65.48650248099999 meters Centerline goodness [0,1] 0.6890956295975768 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.35 [[ 0.94565697 -0.00436768 -0.32513661 3.47536098] [ 0.01162448 0.99972472 0.02038004 0.56005568] [ 0.3249581 -0.02305207 0.94544743 0.34578278] [ 0. 0. 0. 1. ]] SLAMing on 65.51650248099999 meters Centerline goodness [0,1] 0.6881932795844381 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94569099 -0.00402755 -0.32504204 3.47648258] [ 0.0113831 0.99972028 0.02073109 0.55901053] [ 0.32486763 -0.02330519 0.94547231 0.34486816] [ 0. 0. 0. 1. ]] SLAMing on 65.54650248099999 meters Centerline goodness [0,1] 0.6894507034661204 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.9456808 -0.00358625 -0.32507686 3.47762203] [ 0.01108913 0.99971311 0.02123055 0.5583259 ] [ 0.32490746 -0.02368215 0.94544926 0.3440737 ] [ 0. 0. 0. 1. ]] SLAMing on 65.57650248099999 meters Centerline goodness [0,1] 0.6884707529139411 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 9.45559531e-01 -3.30761799e-03 -3.25432380e-01 3.47808119e+00] [ 1.08685397e-02 9.99711525e-01 2.14182360e-02 5.58693901e-01] [ 3.25267657e-01 -2.37891920e-02 9.45322710e-01 3.44431302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60650248099999 meters Centerline goodness [0,1] 0.6880961362289163 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 9.45397836e-01 -2.99839629e-03 -3.25904804e-01 3.47904559e+00] [ 1.06386687e-02 9.99708712e-01 2.16635390e-02 5.58995578e-01] [ 3.25744916e-01 -2.39478561e-02 9.45154352e-01 3.44644456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.636502481 meters Centerline goodness [0,1] 0.6906645143933279 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 9.45343756e-01 -2.94702073e-03 -3.26062107e-01 3.48019901e+00] [ 1.06496948e-02 9.99704737e-01 2.18408450e-02 5.58201097e-01] [ 3.25901467e-01 -2.41195684e-02 9.45096016e-01 3.44091010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666502481 meters Centerline goodness [0,1] 0.6875873186458893 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94507168 -0.00773547 -0.32677161 3.48133769] [ 0.0143004 0.9997412 0.01769259 0.55918714] [ 0.32655018 -0.02139373 0.94493772 0.34486034] [ 0. 0. 0. 1. ]] SLAMing on 65.696502481 meters Centerline goodness [0,1] 0.6885567592269025 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.35 [[ 0.94501794 -0.00773746 -0.32692694 3.48119383] [ 0.01430869 0.99974096 0.0176997 0.5590314 ] [ 0.3267053 -0.02140443 0.94488385 0.3452591 ] [ 0. 0. 0. 1. ]] SLAMing on 65.726502481 meters Centerline goodness [0,1] 0.6926161132339487 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.35 [[ 0.94496141 -0.00749055 -0.32709604 3.48153258] [ 0.01412487 0.9997398 0.01791173 0.55893493] [ 0.32687676 -0.02154608 0.94482133 0.34534321] [ 0. 0. 0. 1. ]] SLAMing on 65.756502481 meters Centerline goodness [0,1] 0.6862027190738995 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94487624 -0.00689976 -0.32735499 3.48350949] [ 0.01376389 0.99973121 0.0186564 0.55802336] [ 0.32713828 -0.02213366 0.94471723 0.34430706] [ 0. 0. 0. 1. ]] SLAMing on 65.78650248099999 meters Centerline goodness [0,1] 0.6856658230574552 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94489343 -0.00672761 -0.32730894 3.48378882] [ 0.01368467 0.99972664 0.01895697 0.55723682] [ 0.32709193 -0.02239144 0.9447272 0.34397104] [ 0. 0. 0. 1. ]] SLAMing on 65.81650248099999 meters Centerline goodness [0,1] 0.6923737455052863 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94499448 -0.00717666 -0.32700752 3.48215997] [ 0.01406394 0.99972618 0.01870189 0.55686032] [ 0.32678377 -0.0222722 0.94483666 0.34456086] [ 0. 0. 0. 1. ]] SLAMing on 65.84650248099999 meters Centerline goodness [0,1] 0.6976087365844474 Centerline is valid? [False, False] Translation: X:3.48, Y:0.56, Z:0.34 [[ 0.94509704 -0.00725968 -0.32670917 3.4813804 ] [ 0.0141712 0.99972321 0.01877967 0.55645879] [ 0.3264824 -0.02237847 0.94493833 0.34448498] [ 0. 0. 0. 1. ]] SLAMing on 65.87650248099999 meters Centerline goodness [0,1] 0.6984958366908407 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94521805 -0.00757183 -0.32635182 3.48073877] [ 0.01452894 0.99971608 0.01888558 0.55473689] [ 0.32611616 -0.02259254 0.94505969 0.34414077] [ 0. 0. 0. 1. ]] SLAMing on 65.90650248099999 meters Centerline goodness [0,1] 0.700797979526586 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94526279 -0.007476 -0.3262244 3.4807495 ] [ 0.01451719 0.99971113 0.01915467 0.5536421 ] [ 0.32598697 -0.02284205 0.94509827 0.3438299 ] [ 0. 0. 0. 1. ]] SLAMing on 65.93650248099999 meters Centerline goodness [0,1] 0.6971664698937426 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94512812 -0.00698223 -0.3266253 3.48172782] [ 0.01414029 0.99970896 0.01954591 0.55293866] [ 0.32639376 -0.02309196 0.94495178 0.3439712 ] [ 0. 0. 0. 1. ]] SLAMing on 65.96650248099999 meters Centerline goodness [0,1] 0.6957956588232137 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94499106 -0.00651662 -0.32703125 3.48265751] [ 0.01374497 0.99970954 0.01979673 0.5531229 ] [ 0.32680725 -0.02320276 0.94480614 0.3441577 ] [ 0. 0. 0. 1. ]] SLAMing on 65.996502481 meters Centerline goodness [0,1] 0.6950326060703647 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94487197 -0.00614015 -0.32738242 3.48346443] [ 0.01340724 0.99971117 0.01994532 0.55351426] [ 0.3271654 -0.02323507 0.94468139 0.34435267] [ 0. 0. 0. 1. ]] SLAMing on 66.026502481 meters Centerline goodness [0,1] 0.6950326060703647 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94487197 -0.00614015 -0.32738242 3.48346443] [ 0.01340724 0.99971117 0.01994532 0.55351426] [ 0.3271654 -0.02323507 0.94468139 0.34435267] [ 0. 0. 0. 1. ]] SLAMing on 66.056502481 meters Centerline goodness [0,1] 0.6931681340148251 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.94484895 -0.00573271 -0.32745627 3.48408535] [ 0.01301958 0.9997139 0.02006518 0.55325987] [ 0.32724755 -0.02322191 0.94465326 0.3442977 ] [ 0. 0. 0. 1. ]] SLAMing on 66.086502481 meters Centerline goodness [0,1] 0.6945289564985322 Centerline is valid? [False, False] Translation: X:3.48, Y:0.55, Z:0.34 [[ 0.9448528 -0.00528235 -0.32745273 3.48476139] [ 0.01263807 0.99971325 0.02033966 0.5521799 ] [ 0.32725139 -0.02335635 0.94464862 0.34398442] [ 0. 0. 0. 1. ]] SLAMing on 66.116502481 meters Centerline goodness [0,1] 0.6929096007477633 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 0.94475122 -0.00494028 -0.327751 3.48524127] [ 0.01232944 0.99971442 0.02047098 0.55236756] [ 0.32755627 -0.02338097 0.94454233 0.3443033 ] [ 0. 0. 0. 1. ]] SLAMing on 66.146502481 meters Centerline goodness [0,1] 0.6887433155080214 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 0.94457336 -0.00443585 -0.32827046 3.48616197] [ 0.01188411 0.99971537 0.02068668 0.5528575 ] [ 0.32808526 -0.02344129 0.94435722 0.34471798] [ 0. 0. 0. 1. ]] SLAMing on 66.17650248099999 meters Centerline goodness [0,1] 0.6853713828510468 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.44274664e-01 -3.36263949e-03 -3.29141386e-01 3.48875796e+00] [ 1.09675267e-02 9.99714007e-01 2.12512922e-02 5.53424753e-01] [ 3.28975793e-01 -2.36769238e-02 9.44041488e-01 3.44741154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20650248099999 meters Centerline goodness [0,1] 0.6866689852591027 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.44303313e-01 -3.24232687e-03 -3.29060392e-01 3.48914459e+00] [ 1.08680584e-02 9.99713256e-01 2.13375616e-02 5.53434856e-01] [ 3.28896852e-01 -2.37253777e-02 9.44067777e-01 3.44358771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23650248099999 meters Centerline goodness [0,1] 0.6851639409865806 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.44177332e-01 -2.78682737e-03 -3.29425863e-01 3.49022038e+00] [ 1.05305658e-02 9.99708528e-01 2.17247863e-02 5.52017930e-01] [ 3.29269302e-01 -2.39810915e-02 9.43931478e-01 3.44450760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26650248099999 meters Centerline goodness [0,1] 0.6820994239385534 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.44157074e-01 -2.62891376e-03 -3.29485217e-01 3.49084962e+00] [ 1.04441559e-02 9.99704476e-01 2.19517796e-02 5.51061531e-01] [ 3.29330136e-01 -2.41671230e-02 9.43905510e-01 3.44159881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29650248099999 meters Centerline goodness [0,1] 0.6869718215989976 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.44010290e-01 -2.15231274e-03 -3.29908989e-01 3.49242386e+00] [ 1.01149671e-02 9.99697442e-01 2.24212488e-02 5.49474860e-01] [ 3.29760914e-01 -2.45029082e-02 9.43746442e-01 3.43938274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32650248099999 meters Centerline goodness [0,1] 0.6846885237169414 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.43856159e-01 -1.75031519e-03 -3.30352065e-01 3.49357633e+00] [ 9.76998102e-03 9.99696456e-01 2.26173034e-02 5.49365752e-01] [ 3.30212201e-01 -2.45750145e-02 9.43586758e-01 3.44099507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35650248099999 meters Centerline goodness [0,1] 0.6849735675762268 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.34 [[ 9.43772059e-01 -1.47696487e-03 -3.30593586e-01 3.49439181e+00] [ 9.53881496e-03 9.99695337e-01 2.27649672e-02 5.49685636e-01] [ 3.30459243e-01 -2.46384110e-02 9.43498616e-01 3.44029254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.386502481 meters Centerline goodness [0,1] 0.6779290681872685 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.34 [[ 9.43526734e-01 -5.06054399e-04 -3.31296011e-01 3.49682113e+00] [ 8.74945714e-03 9.99688098e-01 2.33913174e-02 5.49468746e-01] [ 3.31180842e-01 -2.49689936e-02 9.43236873e-01 3.43798806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.416502481 meters Centerline goodness [0,1] 0.6754906679501578 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.34 [[ 9.43383024e-01 -2.49130308e-04 -3.31705302e-01 3.49735374e+00] [ 8.51379809e-03 9.99688459e-01 2.34627540e-02 5.49489840e-01] [ 3.31596117e-01 -2.49584358e-02 9.43091242e-01 3.44317636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446502481 meters Centerline goodness [0,1] 0.6799818065068493 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.35 [[ 9.43360671e-01 -4.45852823e-04 -3.31768661e-01 3.49485670e+00] [ 8.49827331e-03 9.99703452e-01 2.28207697e-02 5.50967942e-01] [ 3.31660101e-01 -2.43476774e-02 9.43084709e-01 3.46597432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.476502481 meters Centerline goodness [0,1] 0.6843401225811632 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.35 [[ 9.43375525e-01 -1.00394761e-03 -3.31725205e-01 3.49290041e+00] [ 8.85854904e-03 9.99715040e-01 2.21667715e-02 5.51517140e-01] [ 3.31608422e-01 -2.38501937e-02 9.43115594e-01 3.48094559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506502481 meters Centerline goodness [0,1] 0.6898604651162791 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.35 [[ 0.94332298 -0.00675338 -0.33180741 3.49123663] [ 0.01318609 0.99976616 0.0171393 0.55182397] [ 0.33161407 -0.02054314 0.94319144 0.3499163 ] [ 0. 0. 0. 1. ]] SLAMing on 66.53650248099999 meters Centerline goodness [0,1] 0.6896661875099824 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:0.35 [[ 0.94340088 -0.00681766 -0.33158452 3.49176536] [ 0.01333613 0.99975989 0.0173871 0.54982005] [ 0.33138637 -0.02082506 0.94326528 0.3491064 ] [ 0. 0. 0. 1. ]] SLAMing on 66.56650248099999 meters Centerline goodness [0,1] 0.6806321595248197 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94278087 -0.00795242 -0.33331814 3.4975984 ] [ 0.01433026 0.99975818 0.01668016 0.54944971] [ 0.33310489 -0.02050227 0.94266685 0.34820242] [ 0. 0. 0. 1. ]] SLAMing on 66.59650248099999 meters Centerline goodness [0,1] 0.6815027518545107 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94259702 -0.00714291 -0.33385603 3.49988414] [ 0.01374203 0.99975401 0.01740883 0.54904627] [ 0.33364955 -0.02099737 0.94246331 0.34761745] [ 0. 0. 0. 1. ]] SLAMing on 66.62650248099999 meters Centerline goodness [0,1] 0.6742595598605604 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94228278 -0.00575419 -0.33476867 3.50240169] [ 0.01266793 0.99974911 0.01847256 0.54886411] [ 0.33457838 -0.0216472 0.94211926 0.34760663] [ 0. 0. 0. 1. ]] SLAMing on 66.65650248099999 meters Centerline goodness [0,1] 0.6763675916591501 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94216956 -0.00541134 -0.33509287 3.50284493] [ 0.01234756 0.99975127 0.01857247 0.54905477] [ 0.33490902 -0.02163599 0.94200204 0.34806266] [ 0. 0. 0. 1. ]] SLAMing on 66.68650248099999 meters Centerline goodness [0,1] 0.6793142736016533 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94229117 -0.00523519 -0.33475355 3.50157939] [ 0.01212209 0.99975561 0.01848711 0.54857432] [ 0.33457496 -0.02147815 0.94212435 0.34864207] [ 0. 0. 0. 1. ]] SLAMing on 66.71650248099999 meters Centerline goodness [0,1] 0.6826594646119628 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94222266 -0.00509412 -0.33494851 3.50132844] [ 0.01196918 0.99975787 0.01846478 0.54827161] [ 0.33477334 -0.02140699 0.94205549 0.34936011] [ 0. 0. 0. 1. ]] SLAMing on 66.746502481 meters Centerline goodness [0,1] 0.6793800253914515 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.94205038 -0.00489921 -0.33543564 3.50109789] [ 0.01175348 0.99976149 0.01840691 0.54882073] [ 0.33526546 -0.02128278 0.94188328 0.3505895 ] [ 0. 0. 0. 1. ]] SLAMing on 66.776502481 meters Centerline goodness [0,1] 0.67807548866612 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:0.35 [[ 0.9418901 -0.00447529 -0.33589136 3.50223855] [ 0.01143521 0.99975889 0.01874564 0.5483037 ] [ 0.33572649 -0.02149732 0.94171418 0.35071119] [ 0. 0. 0. 1. ]] SLAMing on 66.806502481 meters Centerline goodness [0,1] 0.6792607260726072 Centerline is valid? [False, False] Translation: X:3.51, Y:0.55, Z:0.35 [[ 0.94153184 -0.008604 -0.33681414 3.50579077] [ 0.01460403 0.99977653 0.01528462 0.54718359] [ 0.33660736 -0.01930979 0.94144709 0.35032074] [ 0. 0. 0. 1. ]] SLAMing on 66.836502481 meters Centerline goodness [0,1] 0.6777789490328361 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94151802 -0.00806487 -0.33686611 3.50752383] [ 0.01429193 0.99976969 0.01600963 0.54476804] [ 0.33665941 -0.01988783 0.94141644 0.34921923] [ 0. 0. 0. 1. ]] SLAMing on 66.866502481 meters Centerline goodness [0,1] 0.6760500329163923 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94124504 -0.00739121 -0.33764351 3.50852754] [ 0.01381891 0.99976609 0.01663735 0.54417156] [ 0.33744156 -0.02032569 0.94112702 0.34991716] [ 0. 0. 0. 1. ]] SLAMing on 66.896502481 meters Centerline goodness [0,1] 0.6712177412990292 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94102986 -0.00708539 -0.3382493 3.50863799] [ 0.01356899 0.99976667 0.01680738 0.54446243] [ 0.33805129 -0.02040595 0.94090644 0.35102732] [ 0. 0. 0. 1. ]] SLAMing on 66.92650248099999 meters Centerline goodness [0,1] 0.6805781438539427 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94095934 -0.00669948 -0.33845329 3.50867902] [ 0.01332152 0.99976252 0.01724647 0.54301236] [ 0.33825737 -0.02073694 0.94082513 0.35143144] [ 0. 0. 0. 1. ]] SLAMing on 66.95650248099999 meters Centerline goodness [0,1] 0.6760777728214951 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94097674 -0.00652899 -0.33840825 3.50922822] [ 0.01324683 0.99975831 0.0175455 0.5414227 ] [ 0.3382119 -0.02099275 0.94083581 0.35101714] [ 0. 0. 0. 1. ]] SLAMing on 66.98650248099999 meters Centerline goodness [0,1] 0.6762849886098818 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94103161 -0.00633519 -0.33825932 3.50983552] [ 0.01317694 0.99975234 0.01793387 0.53959389] [ 0.33806193 -0.02133356 0.94088204 0.3503513 ] [ 0. 0. 0. 1. ]] SLAMing on 67.01650248099999 meters Centerline goodness [0,1] 0.6808871493803 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94080646 -0.01077794 -0.33877284 3.51033133] [ 0.01653554 0.99976366 0.01411373 0.54034408] [ 0.33854066 -0.01888008 0.94076233 0.35126385] [ 0. 0. 0. 1. ]] SLAMing on 67.04650248099999 meters Centerline goodness [0,1] 0.677677547189488 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94077085 -0.01055573 -0.3388787 3.51035467] [ 0.0164046 0.99976174 0.01439971 0.53980211] [ 0.33864596 -0.019106 0.94071987 0.35144918] [ 0. 0. 0. 1. ]] SLAMing on 67.07650248099999 meters Centerline goodness [0,1] 0.6877150902075295 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94077873 -0.01051665 -0.33885805 3.50981696] [ 0.01651506 0.99975373 0.01482317 0.53806334] [ 0.33861871 -0.01954158 0.94072073 0.35167474] [ 0. 0. 0. 1. ]] SLAMing on 67.10650248099999 meters Centerline goodness [0,1] 0.6888778989562456 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94071558 -0.01035649 -0.33903827 3.50989669] [ 0.01647587 0.99974909 0.0151759 0.53651686] [ 0.33879603 -0.01986216 0.94065017 0.35191014] [ 0. 0. 0. 1. ]] SLAMing on 67.136502481 meters Centerline goodness [0,1] 0.688435585201272 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:0.35 [[ 0.94044691 -0.01511339 -0.33960447 3.51067264] [ 0.0201928 0.99973079 0.01142783 0.53595258] [ 0.33934033 -0.01760484 0.94049891 0.35259552] [ 0. 0. 0. 1. ]] SLAMing on 67.166502481 meters Centerline goodness [0,1] 0.6884346701164294 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:0.35 [[ 0.94053599 -0.01499507 -0.33936293 3.51083161] [ 0.02025626 0.99972321 0.01196603 0.5341102 ] [ 0.33908957 -0.01812871 0.9405794 0.35188637] [ 0. 0. 0. 1. ]] SLAMing on 67.196502481 meters Centerline goodness [0,1] 0.6935900749547687 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:0.35 [[ 0.94049836 -0.0144016 -0.33949289 3.51176602] [ 0.02005699 0.99971229 0.01315522 0.53138509] [ 0.33920576 -0.01918167 0.94051662 0.35117739] [ 0. 0. 0. 1. ]] SLAMing on 67.226502481 meters Centerline goodness [0,1] 0.6943812674454668 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:0.35 [[ 0.94037556 -0.01385072 -0.33985579 3.51253265] [ 0.01971857 0.99971008 0.01381809 0.53052425] [ 0.33956587 -0.01969566 0.94037604 0.35122577] [ 0. 0. 0. 1. ]] SLAMing on 67.256502481 meters Centerline goodness [0,1] 0.6954915385609095 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:0.35 [[ 0.94121809 -0.01772895 -0.33733394 3.52253595] [ 0.02637714 0.99942998 0.0210705 0.53116514] [ 0.33676809 -0.02872984 0.94114922 0.35125977] [ 0. 0. 0. 1. ]] SLAMing on 67.28650248099999 meters Centerline goodness [0,1] 0.6964899139912699 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:0.35 [[ 0.94129564 -0.01796698 -0.3371049 3.52168449] [ 0.02664679 0.99942139 0.02113858 0.53028543] [ 0.33653005 -0.02888042 0.94122975 0.35135046] [ 0. 0. 0. 1. ]] SLAMing on 67.31650248099999 meters Centerline goodness [0,1] 0.6964216808581791 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:0.35 [[ 0.94127494 -0.02359399 -0.33681571 3.52086189] [ 0.0311077 0.99937268 0.01692828 0.5290607 ] [ 0.33620501 -0.02641173 0.94141841 0.35158647] [ 0. 0. 0. 1. ]] SLAMing on 67.34650248099999 meters Centerline goodness [0,1] 0.6978531944980075 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:0.35 [[ 0.94142464 -0.02410932 -0.3363605 3.52032401] [ 0.03168142 0.99935274 0.01704109 0.52732769] [ 0.33573194 -0.02669928 0.94157911 0.35090106] [ 0. 0. 0. 1. ]] SLAMing on 67.37650248099999 meters Centerline goodness [0,1] 0.6946184987493875 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:0.35 [[ 0.94148214 -0.02435337 -0.33618194 3.52015769] [ 0.03201095 0.99933858 0.01725399 0.5261831 ] [ 0.33553939 -0.02700583 0.941639 0.35051692] [ 0. 0. 0. 1. ]] SLAMing on 67.40650248099999 meters Centerline goodness [0,1] 0.6920633280818203 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94168929 -0.02959461 -0.33517972 3.52767182] [ 0.0399348 0.99891406 0.02399818 0.52844381] [ 0.33410551 -0.03598417 0.94184853 0.35213499] [ 0. 0. 0. 1. ]] SLAMing on 67.43650248099999 meters Centerline goodness [0,1] 0.6935558885845693 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94155422 -0.02942218 -0.3355741 3.52825673] [ 0.0398368 0.99891329 0.02419227 0.52857163] [ 0.33449764 -0.03614653 0.94170311 0.35242324] [ 0. 0. 0. 1. ]] SLAMing on 67.46650248099999 meters Centerline goodness [0,1] 0.6846364670596752 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94164911 -0.02996194 -0.33525996 3.52787227] [ 0.0403523 0.99889561 0.02406745 0.5279246 ] [ 0.33416859 -0.03619161 0.9418182 0.35204376] [ 0. 0. 0. 1. ]] SLAMing on 67.496502481 meters Centerline goodness [0,1] 0.6938490214352283 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94173222 -0.03029081 -0.33499684 3.52715669] [ 0.04061832 0.99888971 0.02386412 0.52769323] [ 0.33390204 -0.03608062 0.94191699 0.35206613] [ 0. 0. 0. 1. ]] SLAMing on 67.526502481 meters Centerline goodness [0,1] 0.6937004610682278 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94173357 -0.03056607 -0.33496805 3.52662904] [ 0.04080882 0.99888867 0.02358117 0.52833204] [ 0.33387501 -0.03587684 0.94193436 0.35237091] [ 0. 0. 0. 1. ]] SLAMing on 67.556502481 meters Centerline goodness [0,1] 0.682951614163996 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94198652 -0.02591496 -0.3346488 3.52569061] [ 0.03731031 0.99892065 0.02766729 0.5285708 ] [ 0.3335706 -0.03854807 0.94193668 0.3518613 ] [ 0. 0. 0. 1. ]] SLAMing on 67.586502481 meters Centerline goodness [0,1] 0.6837468301482315 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94211579 -0.02148769 -0.33459845 3.52597728] [ 0.03395692 0.998928 0.0314607 0.52874454] [ 0.33356374 -0.04100155 0.9418355 0.35119175] [ 0. 0. 0. 1. ]] SLAMing on 67.616502481 meters Centerline goodness [0,1] 0.6853531910430541 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.9421442 -0.02166659 -0.33450689 3.52612311] [ 0.03410451 0.99892634 0.03135373 0.5286426 ] [ 0.33346841 -0.04094793 0.94187159 0.35093167] [ 0. 0. 0. 1. ]] SLAMing on 67.646502481 meters Centerline goodness [0,1] 0.684305519225739 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94221351 -0.0218383 -0.33430045 3.52655584] [ 0.03427666 0.99892048 0.03135265 0.52767816] [ 0.33325488 -0.04099959 0.94194491 0.35028982] [ 0. 0. 0. 1. ]] SLAMing on 67.67650248099999 meters Centerline goodness [0,1] 0.6820945591781109 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94216125 -0.02191305 -0.3344428 3.5273387 ] [ 0.03429612 0.99892568 0.03116518 0.52811038] [ 0.33340058 -0.04083271 0.9419006 0.35007686] [ 0. 0. 0. 1. ]] SLAMing on 67.70650248099999 meters Centerline goodness [0,1] 0.688339390109022 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94238452 -0.01707328 -0.33409569 3.52674386] [ 0.03059635 0.99890985 0.03525595 0.52754371] [ 0.33312954 -0.04344677 0.94187955 0.34955393] [ 0. 0. 0. 1. ]] SLAMing on 67.73650248099999 meters Centerline goodness [0,1] 0.6796178175369876 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94216009 -0.01192319 -0.33495104 3.52699881] [ 0.02644018 0.99889658 0.03881417 0.53014397] [ 0.33411866 -0.04542533 0.94143574 0.35099622] [ 0. 0. 0. 1. ]] SLAMing on 67.76650248099999 meters Centerline goodness [0,1] 0.6826304503216583 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94204284 -0.01173696 -0.33528723 3.52788453] [ 0.02620669 0.99890854 0.03866437 0.53107726] [ 0.33446748 -0.04521026 0.94132223 0.35115257] [ 0. 0. 0. 1. ]] SLAMing on 67.79650248099999 meters Centerline goodness [0,1] 0.6881482067928113 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94216493 -0.01196484 -0.33493594 3.52818098] [ 0.0262176 0.99893129 0.03806475 0.53096722] [ 0.33412255 -0.04464449 0.94147171 0.35079639] [ 0. 0. 0. 1. ]] SLAMing on 67.82650248099999 meters Centerline goodness [0,1] 0.6925775480059084 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94213428 -0.01196344 -0.33502219 3.52790157] [ 0.02614059 0.99894185 0.03783977 0.53167329] [ 0.334215 -0.04440782 0.9414501 0.35126226] [ 0. 0. 0. 1. ]] SLAMing on 67.85650248099999 meters Centerline goodness [0,1] 0.6957372023573561 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94221702 -0.00677088 -0.33493468 3.52779343] [ 0.02205842 0.99887994 0.04186047 0.53185965] [ 0.3342761 -0.04682977 0.94131103 0.35118272] [ 0. 0. 0. 1. ]] SLAMing on 67.886502481 meters Centerline goodness [0,1] 0.6942131281888598 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94202429 -0.00623059 -0.33548683 3.52938042] [ 0.0215724 0.99888374 0.0420228 0.53227953] [ 0.33485051 -0.04682375 0.94110715 0.35130529] [ 0. 0. 0. 1. ]] SLAMing on 67.916502481 meters Centerline goodness [0,1] 0.6942131281888598 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94202429 -0.00623059 -0.33548683 3.52938042] [ 0.0215724 0.99888374 0.0420228 0.53227953] [ 0.33485051 -0.04682375 0.94110715 0.35130529] [ 0. 0. 0. 1. ]] SLAMing on 67.946502481 meters Centerline goodness [0,1] 0.6852882966090513 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94162014 -0.00483331 -0.33664247 3.53335209] [ 0.02039251 0.99887987 0.04269842 0.53270655] [ 0.33605901 -0.04707068 0.94066396 0.35104207] [ 0. 0. 0. 1. ]] SLAMing on 67.976502481 meters Centerline goodness [0,1] 0.6822316234796404 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94151811 -0.00485626 -0.3369274 3.53367425] [ 0.02030233 0.99889714 0.04233584 0.53386626] [ 0.33635022 -0.04670037 0.94057833 0.35150498] [ 0. 0. 0. 1. ]] SLAMing on 68.006502481 meters Centerline goodness [0,1] 0.6866892571610101 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94160499 -0.0051463 -0.33668021 3.5322495 ] [ 0.02023986 0.99894027 0.04133627 0.53603544] [ 0.33611069 -0.04573679 0.9407113 0.35253832] [ 0. 0. 0. 1. ]] SLAMing on 68.03650248099999 meters Centerline goodness [0,1] 0.6904925847457627 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94159972 -0.00540258 -0.33669093 3.53186501] [ 0.02032168 0.99896054 0.04080277 0.53684726] [ 0.33612051 -0.045262 0.94073076 0.35302178] [ 0. 0. 0. 1. ]] SLAMing on 68.06650248099999 meters Centerline goodness [0,1] 0.6868107164581736 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94144647 -0.00491008 -0.33712672 3.5332969 ] [ 0.01982243 0.99897045 0.04080582 0.53748995] [ 0.33657927 -0.04509917 0.94057454 0.35312094] [ 0. 0. 0. 1. ]] SLAMing on 68.09650248099999 meters Centerline goodness [0,1] 0.684100251955974 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94135925 -0.00473649 -0.33737269 3.53402059] [ 0.01966368 0.99897211 0.04084198 0.5377601 ] [ 0.33683246 -0.04508096 0.94048477 0.35313214] [ 0. 0. 0. 1. ]] SLAMing on 68.12650248099999 meters Centerline goodness [0,1] 0.6788084744862741 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94129907 -0.00438599 -0.33754528 3.5346711 ] [ 0.01938248 0.99896822 0.04107078 0.53779384] [ 0.33701688 -0.04520235 0.94041287 0.35301801] [ 0. 0. 0. 1. ]] SLAMing on 68.15650248099999 meters Centerline goodness [0,1] 0.6779804836656766 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.941284 -0.00426331 -0.33758888 3.53460078] [ 0.01929249 0.9989656 0.04117673 0.53711121] [ 0.33706413 -0.04527193 0.94039259 0.35323416] [ 0. 0. 0. 1. ]] SLAMing on 68.18650248099999 meters Centerline goodness [0,1] 0.6844449157035308 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94137459 -0.00436819 -0.33733485 3.53382368] [ 0.01941677 0.9989602 0.04124926 0.53610234] [ 0.3368039 -0.04538096 0.94048057 0.35327735] [ 0. 0. 0. 1. ]] SLAMing on 68.21650248099999 meters Centerline goodness [0,1] 0.6871568834459459 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94135097 -0.00908831 -0.33730663 3.53313744] [ 0.02309495 0.99902838 0.0375355 0.53499245] [ 0.33663776 -0.04312416 0.94064623 0.35388345] [ 0. 0. 0. 1. ]] SLAMing on 68.246502481 meters Centerline goodness [0,1] 0.6857961565761455 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94143108 -0.00912897 -0.33708185 3.53237998] [ 0.02331289 0.99900367 0.03805485 0.53202766] [ 0.33639861 -0.04368437 0.94070593 0.35385851] [ 0. 0. 0. 1. ]] SLAMing on 68.276502481 meters Centerline goodness [0,1] 0.6868365738307936 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94141496 -0.00916442 -0.33712592 3.53215512] [ 0.02340728 0.99899564 0.03820751 0.53133081] [ 0.33643718 -0.04386032 0.94068395 0.35404581] [ 0. 0. 0. 1. ]] SLAMing on 68.306502481 meters Centerline goodness [0,1] 0.6893778650949574 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94141688 -0.00897743 -0.33712559 3.53240703] [ 0.02334307 0.99898272 0.03858284 0.5300594 ] [ 0.33643626 -0.04419208 0.94066875 0.35384852] [ 0. 0. 0. 1. ]] SLAMing on 68.336502481 meters Centerline goodness [0,1] 0.6914832285115304 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94130319 -0.01355333 -0.33729011 3.53331597] [ 0.02695498 0.99902087 0.03508182 0.52894129] [ 0.33648438 -0.04211428 0.94074686 0.35372883] [ 0. 0. 0. 1. ]] SLAMing on 68.366502481 meters Centerline goodness [0,1] 0.6896479627838905 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94138249 -0.01360516 -0.33706661 3.53317882] [ 0.02710899 0.99900588 0.03538854 0.52718596] [ 0.33625006 -0.04245168 0.94081547 0.35334695] [ 0. 0. 0. 1. ]] SLAMing on 68.396502481 meters Centerline goodness [0,1] 0.6912507524405245 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94150655 -0.01344461 -0.3367264 3.53320815] [ 0.02717245 0.9989791 0.03608909 0.52521125] [ 0.33589743 -0.04312779 0.94091068 0.35251315] [ 0. 0. 0. 1. ]] SLAMing on 68.42650248099999 meters Centerline goodness [0,1] 0.6883830455259027 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94154594 -0.01342507 -0.336617 3.53301311] [ 0.02721084 0.99897151 0.03626968 0.52476313] [ 0.33578387 -0.0433092 0.94094288 0.35239317] [ 0. 0. 0. 1. ]] SLAMing on 68.45650248099999 meters Centerline goodness [0,1] 0.6924622328906516 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94173761 -0.01365794 -0.33607102 3.53184831] [ 0.02748423 0.99895861 0.03641854 0.52343876] [ 0.33522364 -0.04353337 0.94113227 0.35213606] [ 0. 0. 0. 1. ]] SLAMing on 68.48650248099999 meters Centerline goodness [0,1] 0.696111602727604 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94183825 -0.01395688 -0.3357766 3.5310257 ] [ 0.0277772 0.9989515 0.0363914 0.52236535] [ 0.33491663 -0.04360174 0.94123841 0.35213558] [ 0. 0. 0. 1. ]] SLAMing on 68.51650248099999 meters Centerline goodness [0,1] 0.692371799880199 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94189449 -0.0144667 -0.3355972 3.53032438] [ 0.02833517 0.99893315 0.03646477 0.52091766] [ 0.33471165 -0.04385517 0.94129955 0.35207384] [ 0. 0. 0. 1. ]] SLAMing on 68.54650248099999 meters Centerline goodness [0,1] 0.6890738759426946 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94185114 -0.0145192 -0.33571658 3.53051697] [ 0.02844892 0.99892455 0.03661143 0.52043434] [ 0.33482397 -0.04403329 0.94125128 0.35205288] [ 0. 0. 0. 1. ]] SLAMing on 68.57650248099999 meters Centerline goodness [0,1] 0.6845343622901241 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94181341 -0.01500827 -0.33580091 3.5306886 ] [ 0.02899711 0.99890618 0.0366825 0.51897475] [ 0.33488307 -0.04428533 0.94121843 0.35188457] [ 0. 0. 0. 1. ]] SLAMing on 68.60650248099999 meters Centerline goodness [0,1] 0.6817258618893864 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94188937 -0.01508211 -0.33558448 3.5307485 ] [ 0.02911061 0.99889812 0.03681186 0.51809811] [ 0.33465951 -0.04444177 0.94129057 0.35144268] [ 0. 0. 0. 1. ]] SLAMing on 68.636502481 meters Centerline goodness [0,1] 0.6813646520812764 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94193398 -0.0151519 -0.3354561 3.5307296 ] [ 0.02921674 0.99889102 0.03692031 0.51760095] [ 0.33452468 -0.04457743 0.94133208 0.35114598] [ 0. 0. 0. 1. ]] SLAMing on 68.666502481 meters Centerline goodness [0,1] 0.6834076507862004 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94204108 -0.0155601 -0.33513652 3.52982341] [ 0.02959944 0.9988833 0.03682429 0.51768287] [ 0.33418928 -0.04460985 0.94144967 0.35101642] [ 0. 0. 0. 1. ]] SLAMing on 68.696502481 meters Centerline goodness [0,1] 0.6846809177860241 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94205838 -0.01577261 -0.33507794 3.52923739] [ 0.02972655 0.99888938 0.03655584 0.51869028] [ 0.33412922 -0.04439844 0.94148099 0.35129584] [ 0. 0. 0. 1. ]] SLAMing on 68.726502481 meters Centerline goodness [0,1] 0.6836914036882558 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94202194 -0.01598624 -0.33517025 3.52872231] [ 0.02976226 0.99890832 0.0360053 0.52112776] [ 0.33422877 -0.0438932 0.94146934 0.35195922] [ 0. 0. 0. 1. ]] SLAMing on 68.756502481 meters Centerline goodness [0,1] 0.6880729125627085 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94204991 -0.01603593 -0.33508926 3.52851806] [ 0.02978065 0.99891084 0.03591995 0.52132497] [ 0.33414829 -0.04381756 0.94150143 0.35200224] [ 0. 0. 0. 1. ]] SLAMing on 68.78650248099999 meters Centerline goodness [0,1] 0.6875574101776762 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.9421546 -0.01642627 -0.33477587 3.52781072] [ 0.03004751 0.99891612 0.03554895 0.52159961] [ 0.33382908 -0.04355179 0.94162699 0.35203683] [ 0. 0. 0. 1. ]] SLAMing on 68.81650248099999 meters Centerline goodness [0,1] 0.686540483701367 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94207483 -0.01618598 -0.33501198 3.52863023] [ 0.02988421 0.99891298 0.03577418 0.5215031 ] [ 0.33406877 -0.04371353 0.94153448 0.35191396] [ 0. 0. 0. 1. ]] SLAMing on 68.84650248099999 meters Centerline goodness [0,1] 0.6846522150899716 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94204731 -0.01597999 -0.33509924 3.52958988] [ 0.02974456 0.99890961 0.03598403 0.52166525] [ 0.33415883 -0.04386604 0.94149543 0.35138517] [ 0. 0. 0. 1. ]] SLAMing on 68.87650248099999 meters Centerline goodness [0,1] 0.6836128350719661 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94196525 -0.01574956 -0.33534075 3.53122716] [ 0.02949637 0.99891857 0.03593965 0.52296433] [ 0.33441206 -0.04374524 0.94141114 0.3507767 ] [ 0. 0. 0. 1. ]] SLAMing on 68.90650248099999 meters Centerline goodness [0,1] 0.6842550268185061 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:0.35 [[ 0.94193218 -0.01578085 -0.33543215 3.53161619] [ 0.02946344 0.99892667 0.03574091 0.52384846] [ 0.3345081 -0.04354849 0.94138614 0.35070751] [ 0. 0. 0. 1. ]] SLAMing on 68.93650248099999 meters Centerline goodness [0,1] 0.6875958335536403 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94179848 -0.01541345 -0.33582442 3.53253221] [ 0.02901299 0.99894788 0.03551604 0.52600683] [ 0.33492367 -0.04319222 0.94125478 0.35102022] [ 0. 0. 0. 1. ]] SLAMing on 68.96650248099999 meters Centerline goodness [0,1] 0.6859743154319677 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94177397 -0.0155743 -0.33588574 3.53220403] [ 0.02904043 0.99896159 0.03510538 0.52751616] [ 0.33499021 -0.0428156 0.94124831 0.35144493] [ 0. 0. 0. 1. ]] SLAMing on 68.996502481 meters Centerline goodness [0,1] 0.693319137609795 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94202538 -0.01137108 -0.33534889 3.53050014] [ 0.02572548 0.99893151 0.03839324 0.5281859 ] [ 0.334554 -0.04479442 0.94131136 0.35152158] [ 0. 0. 0. 1. ]] SLAMing on 69.026502481 meters Centerline goodness [0,1] 0.6930893766836477 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94189114 -0.01134205 -0.33572673 3.53105385] [ 0.0256309 0.99894286 0.03816037 0.52914366] [ 0.33493901 -0.04454789 0.94118614 0.35195779] [ 0. 0. 0. 1. ]] SLAMing on 69.056502481 meters Centerline goodness [0,1] 0.6918957800511509 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94168603 -0.01099383 -0.33631318 3.53310936] [ 0.0252829 0.99895259 0.03813777 0.53026651] [ 0.33554165 -0.04441677 0.94097766 0.35177062] [ 0. 0. 0. 1. ]] SLAMing on 69.086502481 meters Centerline goodness [0,1] 0.6889962368891618 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:0.35 [[ 0.94163068 -0.01097721 -0.33646868 3.53387052] [ 0.02522771 0.99895883 0.03801067 0.53109641] [ 0.33570111 -0.04428034 0.94092721 0.3515712 ] [ 0. 0. 0. 1. ]] SLAMing on 69.116502481 meters Centerline goodness [0,1] 0.6859148913449731 Centerline is valid? [False, False] Translation: X:3.54, Y:0.53, Z:0.35 [[ 0.94140411 -0.01055815 -0.33711546 3.53559167] [ 0.02474026 0.99897899 0.03780072 0.53335816] [ 0.33637216 -0.04392608 0.94070414 0.35181418] [ 0. 0. 0. 1. ]] SLAMing on 69.146502481 meters Centerline goodness [0,1] 0.6879166778226994 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94133313 -0.01077322 -0.3373068 3.53538027] [ 0.02479524 0.99899682 0.03729001 0.53507936] [ 0.33656669 -0.04346593 0.94065593 0.35239647] [ 0. 0. 0. 1. ]] SLAMing on 69.17650248099999 meters Centerline goodness [0,1] 0.6897621786469061 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94123681 -0.01104475 -0.3375667 3.53462492] [ 0.02477934 0.99902985 0.03640523 0.53776232] [ 0.33683712 -0.04263063 0.94059736 0.35376666] [ 0. 0. 0. 1. ]] SLAMing on 69.20650248099999 meters Centerline goodness [0,1] 0.6948585499023098 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.35 [[ 0.94120355 -0.01118043 -0.33765497 3.53427842] [ 0.02479388 0.99904302 0.03603194 0.53886486] [ 0.33692899 -0.04228517 0.94058004 0.35428428] [ 0. 0. 0. 1. ]] SLAMing on 69.23650248099999 meters Centerline goodness [0,1] 0.6941053365887688 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.36 [[ 0.94112381 -0.01134046 -0.33787183 3.53406437] [ 0.02466393 0.99907707 0.03516665 0.54152827] [ 0.3371612 -0.04142942 0.94053492 0.35524283] [ 0. 0. 0. 1. ]] SLAMing on 69.26650248099999 meters Centerline goodness [0,1] 0.6927312775330396 Centerline is valid? [False, False] Translation: X:3.53, Y:0.54, Z:0.36 [[ 0.94103865 -0.01114697 -0.33811537 3.53462921] [ 0.02442996 0.99908673 0.03505533 0.542542 ] [ 0.33741582 -0.04124857 0.94045155 0.35543066] [ 0. 0. 0. 1. ]] SLAMing on 69.29650248099999 meters Centerline goodness [0,1] 0.6896209192439863 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.9408646 -0.01084469 -0.3386092 3.53584851] [ 0.02412657 0.99909463 0.03504029 0.54328926] [ 0.33792263 -0.04113764 0.94027442 0.35564892] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099999 meters Centerline goodness [0,1] 0.6878884912412884 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94075455 -0.01030538 -0.33893166 3.53777716] [ 0.02367124 0.9990955 0.03532501 0.54415332] [ 0.33826106 -0.0412551 0.94014758 0.35499474] [ 0. 0. 0. 1. ]] SLAMing on 69.35650248099999 meters Centerline goodness [0,1] 0.6875118131497233 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.9407229 -0.01005956 -0.33902689 3.53839302] [ 0.02349667 0.99909153 0.03555305 0.54392148] [ 0.33836125 -0.04141157 0.94010465 0.35475348] [ 0. 0. 0. 1. ]] SLAMing on 69.386502481 meters Centerline goodness [0,1] 0.6895400193902833 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94080085 -0.01022888 -0.33880546 3.53801797] [ 0.02362681 0.99909235 0.03544373 0.54348107] [ 0.33813539 -0.04135038 0.9401886 0.35465671] [ 0. 0. 0. 1. ]] SLAMing on 69.416502481 meters Centerline goodness [0,1] 0.6910012400927374 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94083217 -0.0103132 -0.3387159 3.5376394 ] [ 0.0236704 0.99909543 0.03532754 0.54331089] [ 0.33804516 -0.04125483 0.94022524 0.35482992] [ 0. 0. 0. 1. ]] SLAMing on 69.446502481 meters Centerline goodness [0,1] 0.6886527882644806 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94077262 -0.01014125 -0.33888647 3.53817483] [ 0.02349622 0.99909949 0.03532891 0.54394726] [ 0.33822302 -0.04119903 0.94016372 0.35483909] [ 0. 0. 0. 1. ]] SLAMing on 69.476502481 meters Centerline goodness [0,1] 0.6864838631400145 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94066698 -0.00973946 -0.33919135 3.53944531] [ 0.02318965 0.99909621 0.03562318 0.54415258] [ 0.33853784 -0.04137528 0.94004267 0.35455227] [ 0. 0. 0. 1. ]] SLAMing on 69.506502481 meters Centerline goodness [0,1] 0.6823561199675763 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94061341 -0.00954599 -0.33934539 3.54030198] [ 0.02305508 0.999093 0.03580006 0.54407219] [ 0.33869586 -0.04149765 0.93998035 0.35426146] [ 0. 0. 0. 1. ]] SLAMing on 69.53650248099999 meters Centerline goodness [0,1] 0.6842346101047079 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94053027 -0.00927201 -0.33958333 3.54189972] [ 0.02286406 0.99908853 0.03604645 0.54293967] [ 0.33893959 -0.04166703 0.939885 0.35380684] [ 0. 0. 0. 1. ]] SLAMing on 69.56650248099999 meters Centerline goodness [0,1] 0.6853878209436752 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94053395 -0.00954623 -0.33956555 3.54107931] [ 0.02301634 0.99909878 0.03566327 0.54305053] [ 0.33891908 -0.04135807 0.93990604 0.35452785] [ 0. 0. 0. 1. ]] SLAMing on 69.59650248099999 meters Centerline goodness [0,1] 0.6855491329479768 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94053347 -0.00965555 -0.33956379 3.54061514] [ 0.0231006 0.99909998 0.03557513 0.54285052] [ 0.33891468 -0.04130373 0.93991002 0.35489345] [ 0. 0. 0. 1. ]] SLAMing on 69.62650248099999 meters Centerline goodness [0,1] 0.6885210604225542 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.35 [[ 0.94056495 -0.00977677 -0.3394731 3.54014016] [ 0.02323767 0.99909556 0.03560992 0.54242866] [ 0.33881791 -0.04138201 0.93994146 0.3549859 ] [ 0. 0. 0. 1. ]] SLAMing on 69.65650248099999 meters Centerline goodness [0,1] 0.6916214327941097 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.94036024 -0.00952827 -0.3400468 3.54076071] [ 0.02308322 0.99909095 0.03583897 0.54218601] [ 0.33939619 -0.04155092 0.93972536 0.3556319 ] [ 0. 0. 0. 1. ]] SLAMing on 69.68650248099999 meters Centerline goodness [0,1] 0.6906323940632394 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.94022465 -0.00912513 -0.34043257 3.54178795] [ 0.02281129 0.9990834 0.03622148 0.54154377] [ 0.33979 -0.04182203 0.939571 0.35569625] [ 0. 0. 0. 1. ]] SLAMing on 69.71650248099999 meters Centerline goodness [0,1] 0.6858953700719734 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.94011232 -0.00917925 -0.34074119 3.54283639] [ 0.02295145 0.99907336 0.03640945 0.5404846 ] [ 0.34009124 -0.04204948 0.93945186 0.35547286] [ 0. 0. 0. 1. ]] SLAMing on 69.746502481 meters Centerline goodness [0,1] 0.6858569855804086 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.94001994 -0.00910109 -0.34099807 3.54311297] [ 0.02291387 0.99907087 0.03650126 0.54005861] [ 0.34034903 -0.0421255 0.93935509 0.35581883] [ 0. 0. 0. 1. ]] SLAMing on 69.776502481 meters Centerline goodness [0,1] 0.6945468241370961 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.93996539 -0.00909385 -0.34114861 3.54342876] [ 0.02293019 0.9990688 0.03654774 0.53967238] [ 0.34049858 -0.04217621 0.93929861 0.35596205] [ 0. 0. 0. 1. ]] SLAMing on 69.806502481 meters Centerline goodness [0,1] 0.6857188988455639 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.9395122 -0.01378416 -0.34223796 3.54576705] [ 0.02650972 0.99911902 0.03253348 0.54087684] [ 0.341488 -0.03963823 0.93904992 0.35667708] [ 0. 0. 0. 1. ]] SLAMing on 69.836502481 meters Centerline goodness [0,1] 0.6857188988455639 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.9395122 -0.01378416 -0.34223796 3.54576705] [ 0.02650972 0.99911902 0.03253348 0.54087684] [ 0.341488 -0.03963823 0.93904992 0.35667708] [ 0. 0. 0. 1. ]] SLAMing on 69.866502481 meters Centerline goodness [0,1] 0.6828973518826879 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.9393826 -0.01315936 -0.3426181 3.54771781] [ 0.02610873 0.9991073 0.03321036 0.53947812] [ 0.34187522 -0.04014256 0.93888759 0.35608373] [ 0. 0. 0. 1. ]] SLAMing on 69.89650248099998 meters Centerline goodness [0,1] 0.6857720291026678 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93928172 -0.01333191 -0.3428879 3.54755566] [ 0.02621922 0.99911216 0.03297627 0.54052474] [ 0.34214384 -0.03996426 0.93879734 0.35669865] [ 0. 0. 0. 1. ]] SLAMing on 69.92650248099999 meters Centerline goodness [0,1] 0.6875758147559101 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93916864 -0.01348527 -0.34319151 3.54671457] [ 0.02626256 0.99912304 0.03261016 0.54182194] [ 0.34245079 -0.03963952 0.93869919 0.35793988] [ 0. 0. 0. 1. ]] SLAMing on 69.95650248099999 meters Centerline goodness [0,1] 0.6925969002731871 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.93912274 -0.01432049 -0.34328327 3.54401745] [ 0.02675905 0.99914472 0.03152436 0.54392962] [ 0.34253822 -0.03879117 0.93870273 0.36019285] [ 0. 0. 0. 1. ]] SLAMing on 69.98650248099999 meters Centerline goodness [0,1] 0.699689231184975 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.93913111 -0.01449448 -0.34325306 3.54360881] [ 0.02685456 0.99914976 0.03128244 0.54383591] [ 0.34250779 -0.03859622 0.93872187 0.36059129] [ 0. 0. 0. 1. ]] SLAMing on 70.01650248099999 meters Centerline goodness [0,1] 0.6953057476231633 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:0.36 [[ 0.93914068 -0.01454766 -0.34322464 3.54355346] [ 0.02688001 0.99915164 0.03120051 0.54361821] [ 0.34247956 -0.03852755 0.93873499 0.36068462] [ 0. 0. 0. 1. ]] SLAMing on 70.04650248099999 meters Centerline goodness [0,1] 0.6915923222492566 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93884174 -0.01428643 -0.34405243 3.54517184] [ 0.0266549 0.99915624 0.03124628 0.54470605] [ 0.34331574 -0.03850599 0.93843039 0.3611589 ] [ 0. 0. 0. 1. ]] SLAMing on 70.07650248099999 meters Centerline goodness [0,1] 0.6867848815140176 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93865937 -0.01381927 -0.34456874 3.54697819] [ 0.02632903 0.99915209 0.03165245 0.54486694] [ 0.34383916 -0.03878303 0.93822732 0.36088666] [ 0. 0. 0. 1. ]] SLAMing on 70.10650248099999 meters Centerline goodness [0,1] 0.6834080717488789 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93852909 -0.01332371 -0.34494293 3.54973788] [ 0.02607705 0.99913608 0.03235859 0.54353652] [ 0.34421379 -0.03936458 0.93806572 0.35965109] [ 0. 0. 0. 1. ]] SLAMing on 70.136502481 meters Centerline goodness [0,1] 0.6808131048278099 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93845728 -0.01298188 -0.34515128 3.55077885] [ 0.02581038 0.99913522 0.03259813 0.54281145] [ 0.34442961 -0.03950044 0.93798079 0.35950308] [ 0. 0. 0. 1. ]] SLAMing on 70.166502481 meters Centerline goodness [0,1] 0.6789522108567407 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93841886 -0.0129872 -0.34525552 3.5509415 ] [ 0.02573026 0.99914529 0.03235186 0.54386301] [ 0.34454026 -0.03924311 0.93795095 0.35975899] [ 0. 0. 0. 1. ]] SLAMing on 70.196502481 meters Centerline goodness [0,1] 0.6801115291952031 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93826103 -0.01280622 -0.34569095 3.55130422] [ 0.02552952 0.99915285 0.03227732 0.54494831] [ 0.34498475 -0.03910988 0.93779312 0.3604094 ] [ 0. 0. 0. 1. ]] SLAMing on 70.226502481 meters Centerline goodness [0,1] 0.6849940236879278 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93848458 -0.00814647 -0.34522504 3.54984048] [ 0.02193553 0.99910905 0.03605457 0.54495237] [ 0.34462374 -0.04140936 0.93782714 0.36037425] [ 0. 0. 0. 1. ]] SLAMing on 70.256502481 meters Centerline goodness [0,1] 0.6839602130666377 Centerline is valid? [False, False] Translation: X:3.55, Y:0.55, Z:0.36 [[ 0.93841681 -0.0082574 -0.34540659 3.54945993] [ 0.02194943 0.99911977 0.03574797 0.54531812] [ 0.34480736 -0.04112798 0.93777203 0.3611463 ] [ 0. 0. 0. 1. ]] SLAMing on 70.28650248099999 meters Centerline goodness [0,1] 0.690471664811144 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93860947 -0.00874671 -0.34487064 3.54876879] [ 0.02230295 0.99912573 0.03536021 0.54475673] [ 0.34425984 -0.04088106 0.93798396 0.36072035] [ 0. 0. 0. 1. ]] SLAMing on 70.31650248099999 meters Centerline goodness [0,1] 0.6944240545904359 Centerline is valid? [False, False] Translation: X:3.55, Y:0.54, Z:0.36 [[ 0.93864179 -0.0088878 -0.34477906 3.5489245 ] [ 0.02241317 0.99912671 0.03526288 0.54475928] [ 0.34416456 -0.04082681 0.93802128 0.36045147] [ 0. 0. 0. 1. ]] SLAMing on 70.34650248099999 meters Centerline goodness [0,1] 0.6887274903432893 Centerline is valid? [False, False] Translation: X:3.55, Y:0.55, Z:0.36 [[ 0.93837074 -0.00817385 -0.34553369 3.55146604] [ 0.02186968 0.9991212 0.03575686 0.54537017] [ 0.34493777 -0.04110991 0.93772486 0.36015412] [ 0. 0. 0. 1. ]] SLAMing on 70.37650248099999 meters Centerline goodness [0,1] 0.6885397663844038 Centerline is valid? [False, False] Translation: X:3.55, Y:0.55, Z:0.36 [[ 0.93824045 -0.00751337 -0.34590232 3.5535079 ] [ 0.02137882 0.9991127 0.03628704 0.54518065] [ 0.34532276 -0.04144095 0.93756858 0.3595403 ] [ 0. 0. 0. 1. ]] SLAMing on 70.40650248099999 meters Centerline goodness [0,1] 0.685666820991857 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93819567 -0.0067094 -0.34604027 3.55604624] [ 0.02078827 0.99909938 0.03699023 0.5447997 ] [ 0.34548043 -0.04189766 0.93749019 0.35812411] [ 0. 0. 0. 1. ]] SLAMing on 70.43650248099999 meters Centerline goodness [0,1] 0.6846279640228945 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93825425 -0.00671606 -0.34588127 3.55580258] [ 0.02074531 0.99910454 0.03687485 0.54523128] [ 0.34532389 -0.0417734 0.93755341 0.35805721] [ 0. 0. 0. 1. ]] SLAMing on 70.46650248099999 meters Centerline goodness [0,1] 0.6895902667903322 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93819538 -0.00661121 -0.34604296 3.55545435] [ 0.02054971 0.99911772 0.03662626 0.54596858] [ 0.34549551 -0.04147367 0.93750349 0.35885283] [ 0. 0. 0. 1. ]] SLAMing on 70.496502481 meters Centerline goodness [0,1] 0.6935008192244675 Centerline is valid? [False, False] Translation: X:3.55, Y:0.55, Z:0.36 [[ 0.93820176 -0.00626062 -0.34603217 3.55427367] [ 0.02000963 0.99914512 0.03617523 0.54820457] [ 0.34550988 -0.04086364 0.93752498 0.36017745] [ 0. 0. 0. 1. ]] SLAMing on 70.526502481 meters Centerline goodness [0,1] 0.690062315513283 Centerline is valid? [False, False] Translation: X:3.55, Y:0.55, Z:0.36 [[ 0.93811932 -0.00597249 -0.3462607 3.55480941] [ 0.01973344 0.99914864 0.03622968 0.54825241] [ 0.34574952 -0.04082067 0.9374385 0.36042778] [ 0. 0. 0. 1. ]] SLAMing on 70.556502481 meters Centerline goodness [0,1] 0.6913546481415639 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93802791 -0.00569887 -0.34651285 3.55561209] [ 0.01943396 0.99915644 0.03617624 0.54811632] [ 0.34601438 -0.04066844 0.93734739 0.36067934] [ 0. 0. 0. 1. ]] SLAMing on 70.586502481 meters Centerline goodness [0,1] 0.6928516819571866 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.9379197 -0.00544617 -0.3468097 3.55626235] [ 0.01919336 0.99915964 0.03621651 0.54811047] [ 0.34632102 -0.04062462 0.93723604 0.36096088] [ 0. 0. 0. 1. ]] SLAMing on 70.616502481 meters Centerline goodness [0,1] 0.6898687347565153 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.9378522 -0.00523177 -0.3469955 3.55680903] [ 0.01896224 0.99916515 0.036186 0.5484651 ] [ 0.34651649 -0.04051693 0.93716845 0.36112597] [ 0. 0. 0. 1. ]] SLAMing on 70.64650248099998 meters Centerline goodness [0,1] 0.6936759434091344 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93781096 -0.00500242 -0.34711031 3.55746689] [ 0.01880801 0.99915974 0.03641534 0.54767513] [ 0.34663649 -0.04067916 0.93711704 0.36096747] [ 0. 0. 0. 1. ]] SLAMing on 70.67650248099999 meters Centerline goodness [0,1] 0.6905685107312545 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93770886 -0.00463229 -0.3473912 3.55933841] [ 0.01863953 0.99914177 0.0369904 0.54596317] [ 0.34692171 -0.04116144 0.93699043 0.36013002] [ 0. 0. 0. 1. ]] SLAMing on 70.70650248099999 meters Centerline goodness [0,1] 0.6878410827330277 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93759953 -0.00429527 -0.34769049 3.56034171] [ 0.01841891 0.99913337 0.03732634 0.54523245] [ 0.34722884 -0.04140124 0.93686609 0.36003039] [ 0. 0. 0. 1. ]] SLAMing on 70.73650248099999 meters Centerline goodness [0,1] 0.6869781149375103 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93743716 -0.0040163 -0.34813135 3.56045508] [ 0.01818918 0.99913286 0.03745252 0.54511724] [ 0.34767905 -0.04144161 0.93669732 0.36089828] [ 0. 0. 0. 1. ]] SLAMing on 70.76650248099999 meters Centerline goodness [0,1] 0.6893931139681848 Centerline is valid? [False, False] Translation: X:3.56, Y:0.55, Z:0.36 [[ 0.93734402 -0.00396376 -0.34838267 3.56006241] [ 0.01811396 0.99913735 0.0373689 0.54502903] [ 0.34793401 -0.0413381 0.93660722 0.36177077] [ 0. 0. 0. 1. ]] SLAMing on 70.79650248099999 meters Centerline goodness [0,1] 0.6883925899730693 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93731018 -0.00392436 -0.34847413 3.56001808] [ 0.01807686 0.99913797 0.03737049 0.54435633] [ 0.34802708 -0.04132706 0.93657313 0.36209776] [ 0. 0. 0. 1. ]] SLAMing on 70.82650248099999 meters Centerline goodness [0,1] 0.6896317987093976 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.9372464 -0.00874892 -0.34855795 3.56072464] [ 0.02172267 0.9992083 0.03333019 0.54420207] [ 0.34799039 -0.03881021 0.93669443 0.3621562 ] [ 0. 0. 0. 1. ]] SLAMing on 70.85650248099999 meters Centerline goodness [0,1] 0.6874662052557586 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93724361 -0.00823911 -0.34857787 3.56204106] [ 0.02144712 0.99919001 0.03404904 0.54242352] [ 0.34801499 -0.03938824 0.93666116 0.36126725] [ 0. 0. 0. 1. ]] SLAMing on 70.886502481 meters Centerline goodness [0,1] 0.6894302341318176 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93715347 -0.00806191 -0.34882428 3.56210655] [ 0.02132151 0.9991879 0.0341896 0.54263942] [ 0.34826537 -0.03947836 0.9365643 0.36165218] [ 0. 0. 0. 1. ]] SLAMing on 70.916502481 meters Centerline goodness [0,1] 0.687063599458728 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.9370702 -0.00775073 -0.34905496 3.56220851] [ 0.02106164 0.99918774 0.03435504 0.54262253] [ 0.34850516 -0.03954476 0.9364723 0.36214074] [ 0. 0. 0. 1. ]] SLAMing on 70.946502481 meters Centerline goodness [0,1] 0.6910819424188408 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93719163 -0.00800737 -0.34872299 3.5609165 ] [ 0.02120547 0.99919527 0.03404613 0.54249282] [ 0.34816975 -0.03930258 0.93660725 0.3625838 ] [ 0. 0. 0. 1. ]] SLAMing on 70.976502481 meters Centerline goodness [0,1] 0.6926569552174265 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93722064 -0.00782102 -0.34864924 3.56141981] [ 0.02107036 0.99919198 0.03422601 0.54189975] [ 0.34809985 -0.03942348 0.93662815 0.36217418] [ 0. 0. 0. 1. ]] SLAMing on 71.006502481 meters Centerline goodness [0,1] 0.6921417399277278 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:0.36 [[ 0.93702232 -0.00696759 -0.34919997 3.56442747] [ 0.0204077 0.99918507 0.03482404 0.54103555] [ 0.34867276 -0.03975727 0.93640091 0.36133427] [ 0. 0. 0. 1. ]] SLAMing on 71.03650248099999 meters Centerline goodness [0,1] 0.6891709788702027 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93695344 -0.00654443 -0.34939293 3.56562665] [ 0.02005115 0.99918422 0.03505481 0.54100327] [ 0.34887849 -0.03985045 0.93632032 0.36100065] [ 0. 0. 0. 1. ]] SLAMing on 71.06650248099999 meters Centerline goodness [0,1] 0.6825615284974094 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93688034 -0.00572678 -0.34960326 3.56601771] [ 0.01916815 0.99920348 0.03499981 0.5426658 ] [ 0.34912436 -0.03949188 0.93624386 0.36166693] [ 0. 0. 0. 1. ]] SLAMing on 71.09650248099999 meters Centerline goodness [0,1] 0.6855293324342548 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93666604 -0.00535526 -0.35018289 3.56689671] [ 0.0187559 0.99921524 0.03488737 0.54357499] [ 0.34972125 -0.03924581 0.93603142 0.36240184] [ 0. 0. 0. 1. ]] SLAMing on 71.12650248099999 meters Centerline goodness [0,1] 0.6781379793947894 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93656609 -0.00475163 -0.35045881 3.56802171] [ 0.01813027 0.99922622 0.03490349 0.54338159] [ 0.35002178 -0.03904334 0.93592754 0.36262919] [ 0. 0. 0. 1. ]] SLAMing on 71.15650248099999 meters Centerline goodness [0,1] 0.6780612933711354 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93656083 -0.0047046 -0.35047352 3.56814514] [ 0.01805172 0.99923035 0.03482589 0.54332596] [ 0.35003994 -0.03894322 0.93592493 0.36266023] [ 0. 0. 0. 1. ]] SLAMing on 71.18650248099999 meters Centerline goodness [0,1] 0.6746117342536669 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93641633 -0.00420605 -0.35086574 3.56895401] [ 0.01760992 0.99923144 0.03502022 0.54361137] [ 0.35044878 -0.03897222 0.93577071 0.36297624] [ 0. 0. 0. 1. ]] SLAMing on 71.21650248099999 meters Centerline goodness [0,1] 0.6703955901426719 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 9.36483017e-01 1.13166929e-03 -3.50711105e-01 3.56889298e+00] [ 1.35892524e-02 9.99126743e-01 3.95105400e-02 5.42287978e-01] [ 3.50449557e-01 -4.17668515e-02 9.35649848e-01 3.62564932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246502481 meters Centerline goodness [0,1] 0.6720692537957444 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 9.36782165e-01 -1.10293078e-03 -3.49911358e-01 3.56853972e+00] [ 1.51818165e-02 9.99181473e-01 3.74952874e-02 5.40511516e-01] [ 3.49583592e-01 -4.04372066e-02 9.36032128e-01 3.61954149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.276502481 meters Centerline goodness [0,1] 0.6733016359094206 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93658175 -0.00566385 -0.3504034 3.56973952] [ 0.01859039 0.99926454 0.03353773 0.54097765] [ 0.34995574 -0.03792496 0.93599823 0.36240016] [ 0. 0. 0. 1. ]] SLAMing on 71.306502481 meters Centerline goodness [0,1] 0.6719093296179197 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93659761 -0.0053993 -0.35036518 3.57081392] [ 0.01848882 0.99924993 0.03402546 0.5392268 ] [ 0.34991866 -0.03834601 0.93599493 0.36156832] [ 0. 0. 0. 1. ]] SLAMing on 71.336502481 meters Centerline goodness [0,1] 0.6695843036483846 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.9364889 -0.00480616 -0.35066427 3.57101881] [ 0.01808442 0.99923757 0.03460108 0.5382515 ] [ 0.35023062 -0.03874509 0.93586181 0.36199674] [ 0. 0. 0. 1. ]] SLAMing on 71.366502481 meters Centerline goodness [0,1] 0.6713247475017368 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93635108 -0.00494122 -0.35103026 3.56934298] [ 0.0181536 0.99924471 0.03435789 0.5384546 ] [ 0.35059536 -0.03854351 0.93573356 0.3639642 ] [ 0. 0. 0. 1. ]] SLAMing on 71.39650248099998 meters Centerline goodness [0,1] 0.6685815053303765 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93639428 -0.00502621 -0.35091378 3.56926669] [ 0.01826668 0.99924012 0.03443131 0.53726119] [ 0.35047407 -0.03865131 0.93577455 0.36382762] [ 0. 0. 0. 1. ]] SLAMing on 71.42650248099999 meters Centerline goodness [0,1] 0.6705591317763473 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93607012 -0.0094317 -0.35168703 3.57092392] [ 0.02156027 0.99929957 0.03058636 0.53772348] [ 0.35115222 -0.03621345 0.93561782 0.36451239] [ 0. 0. 0. 1. ]] SLAMing on 71.45650248099999 meters Centerline goodness [0,1] 0.6722889018135674 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93580872 -0.0138014 -0.35223793 3.57274928] [ 0.02492211 0.99932319 0.02705635 0.53709156] [ 0.35162612 -0.03409808 0.93551932 0.36456594] [ 0. 0. 0. 1. ]] SLAMing on 71.48650248099999 meters Centerline goodness [0,1] 0.670683472207573 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93574605 -0.01353965 -0.35241454 3.57316463] [ 0.02475081 0.99932012 0.02732586 0.53635224] [ 0.35180495 -0.03429261 0.93544497 0.36465587] [ 0. 0. 0. 1. ]] SLAMing on 71.51650248099999 meters Centerline goodness [0,1] 0.6734785478547856 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.36 [[ 0.93575912 -0.01322153 -0.3523919 3.57355962] [ 0.0245917 0.99931073 0.0278085 0.53515231] [ 0.35178134 -0.03468798 0.93543927 0.36428907] [ 0. 0. 0. 1. ]] SLAMing on 71.54650248099999 meters Centerline goodness [0,1] 0.6763534716911475 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:0.36 [[ 0.93578211 -0.01282733 -0.35234542 3.5741643 ] [ 0.02434476 0.99930365 0.0282762 0.53384555] [ 0.35173736 -0.03503812 0.93544276 0.36382624] [ 0. 0. 0. 1. ]] SLAMing on 71.57650248099999 meters Centerline goodness [0,1] 0.6768425757934317 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:0.36 [[ 0.93571303 -0.01228615 -0.35254813 3.57371443] [ 0.02388368 0.99930656 0.0285653 0.53339673] [ 0.3519527 -0.03514907 0.9353576 0.36468657] [ 0. 0. 0. 1. ]] SLAMing on 71.60650248099999 meters Centerline goodness [0,1] 0.6739050131926121 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:0.37 [[ 0.93562297 -0.01225324 -0.3527882 3.57283909] [ 0.02375233 0.99931768 0.02828423 0.53448013] [ 0.35220091 -0.03484292 0.93527562 0.36585843] [ 0. 0. 0. 1. ]] SLAMing on 71.636502481 meters Centerline goodness [0,1] 0.6736034182623833 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:0.37 [[ 0.93549557 -0.01200994 -0.35313426 3.57302659] [ 0.02348541 0.99932555 0.02822908 0.53500408] [ 0.35255706 -0.03470168 0.93514668 0.36655067] [ 0. 0. 0. 1. ]] SLAMing on 71.666502481 meters Centerline goodness [0,1] 0.6680996966899644 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.37 [[ 0.93549928 -0.01166628 -0.35313595 3.57513776] [ 0.02322415 0.99932369 0.02850967 0.53355805] [ 0.35256452 -0.03487206 0.93513753 0.36536754] [ 0. 0. 0. 1. ]] SLAMing on 71.696502481 meters Centerline goodness [0,1] 0.6623133343886867 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.36 [[ 0.93548989 -0.01106916 -0.35318003 3.57799421] [ 0.02281707 0.99931556 0.02911703 0.53170688] [ 0.35261599 -0.03529722 0.93510217 0.36365604] [ 0. 0. 0. 1. ]] SLAMing on 71.726502481 meters Centerline goodness [0,1] 0.6623133343886867 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.36 [[ 0.93548989 -0.01106916 -0.35318003 3.57799421] [ 0.02281707 0.99931556 0.02911703 0.53170688] [ 0.35261599 -0.03529722 0.93510217 0.36365604] [ 0. 0. 0. 1. ]] SLAMing on 71.756502481 meters Centerline goodness [0,1] 0.6627704485488126 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.36 [[ 0.93541565 -0.01071392 -0.35338758 3.57867984] [ 0.02254253 0.9993143 0.02937302 0.5314497 ] [ 0.35283056 -0.03544223 0.93501575 0.36364983] [ 0. 0. 0. 1. ]] SLAMing on 71.78650248099999 meters Centerline goodness [0,1] 0.661636282088489 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.36 [[ 0.93513733 -0.0100685 -0.35414234 3.57901752] [ 0.02199528 0.99931775 0.0296688 0.53163643] [ 0.35360201 -0.03553386 0.93472079 0.36494131] [ 0. 0. 0. 1. ]] SLAMing on 71.81650248099999 meters Centerline goodness [0,1] 0.6614698744328373 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.37 [[ 0.93503288 -0.00976463 -0.35442654 3.57922319] [ 0.02177172 0.99931559 0.02990557 0.53123258] [ 0.35389195 -0.03567916 0.93460552 0.36538068] [ 0. 0. 0. 1. ]] SLAMing on 71.84650248099999 meters Centerline goodness [0,1] 0.6649541574454632 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.37 [[ 0.93494567 -0.00939536 -0.35466649 3.57955396] [ 0.02153925 0.99930851 0.03030781 0.53000672] [ 0.35413649 -0.03597541 0.93450153 0.36565417] [ 0. 0. 0. 1. ]] SLAMing on 71.87650248099999 meters Centerline goodness [0,1] 0.6670425342214297 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.37 [[ 0.93510809 -0.01071283 -0.35420063 3.57811607] [ 0.02258253 0.99931275 0.02939473 0.52691831] [ 0.35364231 -0.03548599 0.93470737 0.36598047] [ 0. 0. 0. 1. ]] SLAMing on 71.90650248099999 meters Centerline goodness [0,1] 0.6753151645132605 Centerline is valid? [False, False] Translation: X:3.58, Y:0.53, Z:0.37 [[ 0.93508378 -0.01039703 -0.35427421 3.57850006] [ 0.0224313 0.9993018 0.02987903 0.52504659] [ 0.3537162 -0.03588623 0.93466412 0.36589204] [ 0. 0. 0. 1. ]] SLAMing on 71.93650248099999 meters Centerline goodness [0,1] 0.672348435335024 Centerline is valid? [False, False] Translation: X:3.58, Y:0.52, Z:0.37 [[ 0.93512549 -0.01074279 -0.3541538 3.57767255] [ 0.02283079 0.99928998 0.02997142 0.5228693 ] [ 0.35358037 -0.03611265 0.9347068 0.36617365] [ 0. 0. 0. 1. ]] SLAMing on 71.96650248099999 meters Centerline goodness [0,1] 0.6751406543029799 Centerline is valid? [False, False] Translation: X:3.58, Y:0.52, Z:0.37 [[ 0.93500618 -0.01050086 -0.35447591 3.57855342] [ 0.02280021 0.99927352 0.03053834 0.52077594] [ 0.35389771 -0.03663567 0.93456634 0.36611457] [ 0. 0. 0. 1. ]] SLAMing on 71.996502481 meters Centerline goodness [0,1] 0.6744464392579295 Centerline is valid? [False, False] Translation: X:3.58, Y:0.52, Z:0.37 [[ 0.93498926 -0.01035123 -0.35452495 3.57913774] [ 0.02278163 0.99926263 0.03090611 0.51928328] [ 0.35394362 -0.03697354 0.93453564 0.36579676] [ 0. 0. 0. 1. ]] SLAMing on 72.026502481 meters Centerline goodness [0,1] 0.6749655656332025 Centerline is valid? [False, False] Translation: X:3.58, Y:0.52, Z:0.37 [[ 0.93500075 -0.01021808 -0.35449849 3.57984572] [ 0.02277274 0.99925179 0.03126131 0.51765159] [ 0.35391382 -0.03730225 0.93453387 0.36529415] [ 0. 0. 0. 1. ]] SLAMing on 72.056502481 meters Centerline goodness [0,1] 0.6766905618384618 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.36 [[ 0.93499515 -0.01003467 -0.35451851 3.58053164] [ 0.02281272 0.99923126 0.03188219 0.51499945] [ 0.35392605 -0.03789723 0.9345053 0.36478491] [ 0. 0. 0. 1. ]] SLAMing on 72.086502481 meters Centerline goodness [0,1] 0.6761506059901284 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93487205 -0.00981992 -0.35484902 3.57990917] [ 0.02271801 0.99922322 0.03219999 0.51407597] [ 0.35425718 -0.03816433 0.93436895 0.36582598] [ 0. 0. 0. 1. ]] SLAMing on 72.116502481 meters Centerline goodness [0,1] 0.6807625739453902 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93473626 -0.00955732 -0.35521372 3.57994111] [ 0.02253689 0.9992202 0.03242044 0.51364241] [ 0.35462687 -0.03830998 0.93422274 0.3665513 ] [ 0. 0. 0. 1. ]] SLAMing on 72.14650248099998 meters Centerline goodness [0,1] 0.6808034566123142 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93451241 -0.01400811 -0.35565478 3.57968879] [ 0.02588867 0.99925371 0.02866722 0.51416602] [ 0.35498778 -0.0359973 0.93417764 0.36790144] [ 0. 0. 0. 1. ]] SLAMing on 72.17650248099999 meters Centerline goodness [0,1] 0.6874018383583511 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93461689 -0.01416719 -0.35537384 3.57950696] [ 0.02611309 0.99924287 0.0288408 0.51280911] [ 0.35469618 -0.03623501 0.93427921 0.36742758] [ 0. 0. 0. 1. ]] SLAMing on 72.20650248099999 meters Centerline goodness [0,1] 0.6898071767374716 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93464433 -0.01419313 -0.35530061 3.57981637] [ 0.02623613 0.99923214 0.02909992 0.51129548] [ 0.35461477 -0.03651979 0.93429902 0.36706867] [ 0. 0. 0. 1. ]] SLAMing on 72.23650248099999 meters Centerline goodness [0,1] 0.6913792660691815 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93443759 -0.01888786 -0.3556257 3.58121751] [ 0.02995376 0.99922249 0.02563579 0.51013599] [ 0.354865 -0.03460737 0.93427681 0.36688159] [ 0. 0. 0. 1. ]] SLAMing on 72.26650248099999 meters Centerline goodness [0,1] 0.6900323524880604 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93446514 -0.01860708 -0.3555681 3.5820106 ] [ 0.02989559 0.99920751 0.02627923 0.50810274] [ 0.35479734 -0.03518695 0.93428086 0.36619476] [ 0. 0. 0. 1. ]] SLAMing on 72.29650248099999 meters Centerline goodness [0,1] 0.6887705213318923 Centerline is valid? [False, False] Translation: X:3.58, Y:0.51, Z:0.37 [[ 0.93442632 -0.01802453 -0.3557001 3.58327758] [ 0.0297234 0.99918113 0.02745165 0.50546452] [ 0.35491403 -0.03622416 0.9341969 0.36532096] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099999 meters Centerline goodness [0,1] 0.6896073903002309 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93430546 -0.01752948 -0.35604216 3.58405429] [ 0.0294219 0.99917445 0.02801362 0.50465872] [ 0.35525716 -0.03664872 0.9340499 0.36543339] [ 0. 0. 0. 1. ]] SLAMing on 72.35650248099999 meters Centerline goodness [0,1] 0.6930272108843538 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93437455 -0.01768127 -0.35585331 3.5829968 ] [ 0.02963377 0.99916394 0.02816484 0.50383393] [ 0.3550578 -0.03686179 0.93411732 0.36575853] [ 0. 0. 0. 1. ]] SLAMing on 72.386502481 meters Centerline goodness [0,1] 0.6967773563485307 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93438047 -0.01744584 -0.35584937 3.58318663] [ 0.02951769 0.99915724 0.02852222 0.50268693] [ 0.35505188 -0.03715446 0.93410798 0.36567024] [ 0. 0. 0. 1. ]] SLAMing on 72.416502481 meters Centerline goodness [0,1] 0.6993244985303976 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93435273 -0.01746306 -0.35592137 3.58318056] [ 0.02957689 0.99915265 0.02862144 0.50176831] [ 0.35511996 -0.03726956 0.93407751 0.36587452] [ 0. 0. 0. 1. ]] SLAMing on 72.446502481 meters Centerline goodness [0,1] 0.6994395022368489 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93439379 -0.01800421 -0.35578658 3.58190778] [ 0.03005338 0.99914567 0.02836777 0.50099541] [ 0.35497188 -0.03719926 0.9341366 0.36650317] [ 0. 0. 0. 1. ]] SLAMing on 72.476502481 meters Centerline goodness [0,1] 0.7028165036329559 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93425853 -0.01784455 -0.35614964 3.58284702] [ 0.02995818 0.99914403 0.02852569 0.50099573] [ 0.35533576 -0.03731996 0.93399342 0.36659658] [ 0. 0. 0. 1. ]] SLAMing on 72.506502481 meters Centerline goodness [0,1] 0.701868483534634 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93423487 -0.01776335 -0.35621577 3.58346716] [ 0.02989573 0.99914428 0.02858234 0.50092988] [ 0.35540323 -0.03735195 0.93396647 0.36637365] [ 0. 0. 0. 1. ]] SLAMing on 72.53650248099999 meters Centerline goodness [0,1] 0.7050367126111039 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.9341844 -0.01742635 -0.35636473 3.58506801] [ 0.0296128 0.99914734 0.02876919 0.50082398] [ 0.35555953 -0.03742869 0.93390391 0.36573765] [ 0. 0. 0. 1. ]] SLAMing on 72.56650248099999 meters Centerline goodness [0,1] 0.7027646801164618 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93412444 -0.01730251 -0.35652791 3.58542122] [ 0.0294538 0.99915457 0.02868117 0.50174533] [ 0.35573024 -0.03729289 0.93384433 0.36589416] [ 0. 0. 0. 1. ]] SLAMing on 72.59650248099999 meters Centerline goodness [0,1] 0.7029787454103532 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93419988 -0.01228885 -0.3565383 3.58456439] [ 0.0256061 0.9991386 0.03265553 0.50162052] [ 0.35582988 -0.03963635 0.93370983 0.36636444] [ 0. 0. 0. 1. ]] SLAMing on 72.62650248099999 meters Centerline goodness [0,1] 0.7058671957535623 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93410026 -0.01224545 -0.35680073 3.58466269] [ 0.02551757 0.99914548 0.03251391 0.50220103] [ 0.35609769 -0.03947594 0.93361453 0.36688144] [ 0. 0. 0. 1. ]] SLAMing on 72.65650248099999 meters Centerline goodness [0,1] 0.7034994588465702 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:0.37 [[ 0.93414446 -0.01224651 -0.35668496 3.58490968] [ 0.02549595 0.99914753 0.03246795 0.50140754] [ 0.35598328 -0.03942377 0.93366036 0.36666716] [ 0. 0. 0. 1. ]] SLAMing on 72.68650248099999 meters Centerline goodness [0,1] 0.7039504140733501 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93402341 -0.01168021 -0.3570208 3.58648246] [ 0.02508412 0.99914262 0.03293635 0.50046884] [ 0.35633 -0.03971887 0.93351558 0.3663525 ] [ 0. 0. 0. 1. ]] SLAMing on 72.71650248099999 meters Centerline goodness [0,1] 0.7049920066010005 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93393995 -0.01146083 -0.35724616 3.58731869] [ 0.0249178 0.99914176 0.03308851 0.50053811] [ 0.35656034 -0.03980447 0.93342398 0.3661906 ] [ 0. 0. 0. 1. ]] SLAMing on 72.746502481 meters Centerline goodness [0,1] 0.6993815820115403 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93349531 -0.0091296 -0.35847338 3.59101803] [ 0.02312069 0.99912812 0.03476246 0.50166014] [ 0.35784347 -0.04073874 0.93289249 0.36611186] [ 0. 0. 0. 1. ]] SLAMing on 72.776502481 meters Centerline goodness [0,1] 0.6961792989349602 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93331619 -0.00839412 -0.35895743 3.59198487] [ 0.02244358 0.9991356 0.03499047 0.50268672] [ 0.35835343 -0.04071346 0.93269783 0.36657293] [ 0. 0. 0. 1. ]] SLAMing on 72.806502481 meters Centerline goodness [0,1] 0.703048512004973 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93337958 -0.00868754 -0.35878558 3.59121796] [ 0.02262942 0.99914233 0.0346774 0.50267105] [ 0.3581766 -0.04048628 0.93277564 0.36683219] [ 0. 0. 0. 1. ]] SLAMing on 72.836502481 meters Centerline goodness [0,1] 0.7021117113391403 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93349255 -0.00884849 -0.35848761 3.5906044 ] [ 0.02272652 0.99914566 0.03451754 0.501989 ] [ 0.35787591 -0.04036904 0.93289612 0.36681959] [ 0. 0. 0. 1. ]] SLAMing on 72.866502481 meters Centerline goodness [0,1] 0.7035214714443958 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93353761 -0.00901753 -0.35836603 3.59042477] [ 0.02286713 0.99914557 0.03442709 0.50091304] [ 0.35774938 -0.04033379 0.93294618 0.36679967] [ 0. 0. 0. 1. ]] SLAMing on 72.89650248099998 meters Centerline goodness [0,1] 0.6995324567974582 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.9334016 -0.00882798 -0.35872485 3.59101802] [ 0.02272986 0.99914429 0.0345548 0.50119867] [ 0.35811283 -0.04040727 0.93280354 0.36703579] [ 0. 0. 0. 1. ]] SLAMing on 72.92650248099999 meters Centerline goodness [0,1] 0.6987895716945997 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93309913 -0.00770648 -0.35953668 3.59369296] [ 0.02189417 0.99913317 0.03540565 0.50161549] [ 0.35895217 -0.04090874 0.93245902 0.36674302] [ 0. 0. 0. 1. ]] SLAMing on 72.95650248099999 meters Centerline goodness [0,1] 0.6974149730134545 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93303788 -0.00726494 -0.35970478 3.59517571] [ 0.02161185 0.9991224 0.03587973 0.50059749] [ 0.35912844 -0.04125103 0.93237606 0.36611366] [ 0. 0. 0. 1. ]] SLAMing on 72.98650248099999 meters Centerline goodness [0,1] 0.7001287995878414 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93291875 -0.01179023 -0.35989387 3.59612775] [ 0.0249981 0.99917306 0.03206699 0.50004165] [ 0.35921819 -0.03891256 0.93244201 0.36623602] [ 0. 0. 0. 1. ]] SLAMing on 73.01650248099999 meters Centerline goodness [0,1] 0.6996251412139263 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93288289 -0.01152086 -0.35999554 3.59625209] [ 0.02481482 0.99916921 0.03232825 0.49910098] [ 0.35932401 -0.03909169 0.93239375 0.36639127] [ 0. 0. 0. 1. ]] SLAMing on 73.04650248099999 meters Centerline goodness [0,1] 0.7000824444787963 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93303436 -0.00664828 -0.35972585 3.59446636] [ 0.02115626 0.99911302 0.03640866 0.4980231 ] [ 0.35916472 -0.04158098 0.93234743 0.36689363] [ 0. 0. 0. 1. ]] SLAMing on 73.07650248099999 meters Centerline goodness [0,1] 0.6994766557529196 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.9328841 -0.00662593 -0.36011576 3.59433924] [ 0.02104741 0.99912506 0.03614021 0.49919959] [ 0.35956122 -0.04129413 0.93220734 0.3677969 ] [ 0. 0. 0. 1. ]] SLAMing on 73.10650248099999 meters Centerline goodness [0,1] 0.6994304564080097 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:0.37 [[ 0.93281021 -0.00659886 -0.36030761 3.59453253] [ 0.02097807 0.99913115 0.03601208 0.49931063] [ 0.35975692 -0.04115099 0.93213816 0.36816473] [ 0. 0. 0. 1. ]] SLAMing on 73.136502481 meters Centerline goodness [0,1] 0.6972608706792733 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93266721 -0.01136289 -0.36055896 3.59567654] [ 0.02446401 0.99919505 0.03179241 0.49937485] [ 0.35990748 -0.03847246 0.93219444 0.36841164] [ 0. 0. 0. 1. ]] SLAMing on 73.166502481 meters Centerline goodness [0,1] 0.699720777723698 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93271738 -0.01141622 -0.36042747 3.59628594] [ 0.02455294 0.99918977 0.03188985 0.49823306] [ 0.35977138 -0.03859377 0.93224196 0.36775865] [ 0. 0. 0. 1. ]] SLAMing on 73.196502481 meters Centerline goodness [0,1] 0.6990191810289637 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93254924 -0.01098645 -0.36087562 3.59721056] [ 0.02422368 0.99918857 0.03217796 0.49843819] [ 0.36022928 -0.03874927 0.93205867 0.36801484] [ 0. 0. 0. 1. ]] SLAMing on 73.226502481 meters Centerline goodness [0,1] 0.70282340862423 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93232149 -0.0104801 -0.36147865 3.59772127] [ 0.02392725 0.99917731 0.03274442 0.49844485] [ 0.3608381 -0.03917752 0.93180523 0.368653 ] [ 0. 0. 0. 1. ]] SLAMing on 73.256502481 meters Centerline goodness [0,1] 0.7011120221379523 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93223489 -0.01022994 -0.36170908 3.5983206 ] [ 0.0238168 0.99916742 0.03312448 0.49736082] [ 0.36106907 -0.03949455 0.93170237 0.3687118 ] [ 0. 0. 0. 1. ]] SLAMing on 73.28650248099999 meters Centerline goodness [0,1] 0.7050649817640109 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93228963 -0.01036511 -0.36156411 3.59821126] [ 0.0240311 0.99915576 0.03332075 0.49585938] [ 0.36091349 -0.03975338 0.93175164 0.36846132] [ 0. 0. 0. 1. ]] SLAMing on 73.31650248099999 meters Centerline goodness [0,1] 0.7069830543183331 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93214387 -0.01537884 -0.36176139 3.59941705] [ 0.02796776 0.99917083 0.02958824 0.49483212] [ 0.3610064 -0.03769815 0.93180107 0.36814675] [ 0. 0. 0. 1. ]] SLAMing on 73.34650248099999 meters Centerline goodness [0,1] 0.7159913076824748 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93220978 -0.01573815 -0.36157605 3.59912145] [ 0.0284239 0.99915189 0.02979243 0.49310529] [ 0.36080052 -0.0380502 0.9318665 0.36784106] [ 0. 0. 0. 1. ]] SLAMing on 73.37650248099999 meters Centerline goodness [0,1] 0.7136822161913052 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93220147 -0.0158805 -0.36159125 3.59840745] [ 0.02856964 0.99914831 0.02977309 0.49307019] [ 0.36081047 -0.03808505 0.93186122 0.36831809] [ 0. 0. 0. 1. ]] SLAMing on 73.40650248099999 meters Centerline goodness [0,1] 0.7160971361237769 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93219843 -0.01612075 -0.36158845 3.5971046 ] [ 0.02879496 0.9991443 0.02969028 0.49303867] [ 0.36080041 -0.03808916 0.93186495 0.36916379] [ 0. 0. 0. 1. ]] SLAMing on 73.43650248099999 meters Centerline goodness [0,1] 0.7177060563199177 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93226652 -0.01629863 -0.36140489 3.59678132] [ 0.02898085 0.99913868 0.02969879 0.49241973] [ 0.36060955 -0.03816101 0.93193588 0.36902244] [ 0. 0. 0. 1. ]] SLAMing on 73.46650248099999 meters Centerline goodness [0,1] 0.7186653722344285 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93204625 -0.02121752 -0.36171757 3.59762012] [ 0.03272972 0.99913303 0.02572859 0.49235522] [ 0.36085807 -0.03581915 0.93193264 0.36933758] [ 0. 0. 0. 1. ]] SLAMing on 73.496502481 meters Centerline goodness [0,1] 0.7163773430087951 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93202457 -0.02099519 -0.36178641 3.59813865] [ 0.0326289 0.99912731 0.02607634 0.49158127] [ 0.36092321 -0.03610848 0.93189625 0.36908043] [ 0. 0. 0. 1. ]] SLAMing on 73.526502481 meters Centerline goodness [0,1] 0.7150784882974077 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93169759 -0.02014337 -0.36267595 3.60010503] [ 0.03201667 0.99912912 0.02675676 0.49199396] [ 0.36182113 -0.03654089 0.93153112 0.36933252] [ 0. 0. 0. 1. ]] SLAMing on 73.556502481 meters Centerline goodness [0,1] 0.717008307399501 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93163669 -0.0199481 -0.36284314 3.60075171] [ 0.03186302 0.99913067 0.02688216 0.49232966] [ 0.36199146 -0.03660568 0.9314624 0.36921103] [ 0. 0. 0. 1. ]] SLAMing on 73.586502481 meters Centerline goodness [0,1] 0.7182378628307218 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93159975 -0.01970702 -0.36295116 3.60170434] [ 0.03157603 0.99914206 0.02679728 0.49308659] [ 0.36211168 -0.0364249 0.93142276 0.36896064] [ 0. 0. 0. 1. ]] SLAMing on 73.616502481 meters Centerline goodness [0,1] 0.7149378125400692 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93151484 -0.01954387 -0.36317785 3.60224309] [ 0.03135382 0.99915296 0.0266515 0.49347251] [ 0.36234935 -0.03621328 0.93133858 0.36921127] [ 0. 0. 0. 1. ]] SLAMing on 73.64650248099998 meters Centerline goodness [0,1] 0.7149378125400692 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93151484 -0.01954387 -0.36317785 3.60224309] [ 0.03135382 0.99915296 0.0266515 0.49347251] [ 0.36234935 -0.03621328 0.93133858 0.36921127] [ 0. 0. 0. 1. ]] SLAMing on 73.67650248099999 meters Centerline goodness [0,1] 0.7183138486892928 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.93182572 -0.0150805 -0.3625926 3.60108574] [ 0.02780046 0.99916657 0.02988824 0.49415643] [ 0.36183968 -0.03793088 0.93146835 0.36892877] [ 0. 0. 0. 1. ]] SLAMing on 73.70650248099999 meters Centerline goodness [0,1] 0.7171688532618501 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93167355 -0.01488689 -0.36299142 3.6015062 ] [ 0.0274386 0.99918967 0.02944694 0.49642274] [ 0.3622589 -0.03739491 0.93132707 0.36961344] [ 0. 0. 0. 1. ]] SLAMing on 73.73650248099999 meters Centerline goodness [0,1] 0.7128938050810224 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93165347 -0.00939802 -0.3632265 3.60314155] [ 0.02310892 0.99917418 0.0334206 0.49755213] [ 0.36261245 -0.03953019 0.93110127 0.36898395] [ 0. 0. 0. 1. ]] SLAMing on 73.76650248099999 meters Centerline goodness [0,1] 0.7100790411737357 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93138713 -0.00889794 -0.36392146 3.60483728] [ 0.02259657 0.99918654 0.03340131 0.49873653] [ 0.36332823 -0.03933293 0.93083055 0.36932625] [ 0. 0. 0. 1. ]] SLAMing on 73.79650248099999 meters Centerline goodness [0,1] 0.7104079416783 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93128922 -0.00877982 -0.36417482 3.60558667] [ 0.02240187 0.99919771 0.03319792 0.49982726] [ 0.36359117 -0.03907506 0.93073874 0.3694039 ] [ 0. 0. 0. 1. ]] SLAMing on 73.82650248099999 meters Centerline goodness [0,1] 0.7082545030452247 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93119473 -0.00832104 -0.36442713 3.60681904] [ 0.02187725 0.99921304 0.03308614 0.50101319] [ 0.36386503 -0.03878231 0.93064396 0.36933396] [ 0. 0. 0. 1. ]] SLAMing on 73.85650248099999 meters Centerline goodness [0,1] 0.7067015246033184 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93108497 -0.0080272 -0.36471405 3.60775854] [ 0.02159147 0.99921784 0.03312888 0.50156191] [ 0.36416286 -0.03872052 0.93053003 0.36935285] [ 0. 0. 0. 1. ]] SLAMing on 73.886502481 meters Centerline goodness [0,1] 0.7054588771493682 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93104655 -0.00750799 -0.36482317 3.60903769] [ 0.02115945 0.99921684 0.03343626 0.50205237] [ 0.36428642 -0.03885018 0.93047626 0.36878705] [ 0. 0. 0. 1. ]] SLAMing on 73.916502481 meters Centerline goodness [0,1] 0.7031067810224652 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93106933 -0.00756253 -0.36476391 3.60905181] [ 0.02120777 0.99921646 0.03341695 0.50185946] [ 0.36422538 -0.03884933 0.93050019 0.36869631] [ 0. 0. 0. 1. ]] SLAMing on 73.946502481 meters Centerline goodness [0,1] 0.7077881940867415 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.9309163 -0.01216637 -0.3650299 3.60859592] [ 0.02457381 0.99926668 0.02936392 0.50318152] [ 0.36440496 -0.03630553 0.93053261 0.36985965] [ 0. 0. 0. 1. ]] SLAMing on 73.976502481 meters Centerline goodness [0,1] 0.7086357882772338 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93092099 -0.01242779 -0.36500912 3.60814856] [ 0.02477684 0.9992674 0.02916805 0.50316125] [ 0.36437922 -0.03619692 0.93054692 0.37009807] [ 0. 0. 0. 1. ]] SLAMing on 74.006502481 meters Centerline goodness [0,1] 0.7064884218118126 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93081385 -0.01235065 -0.36528486 3.60883652] [ 0.024706 0.99926912 0.02916919 0.50318111] [ 0.36465763 -0.03617581 0.93043867 0.37023062] [ 0. 0. 0. 1. ]] SLAMing on 74.03650248099999 meters Centerline goodness [0,1] 0.7061103216638678 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93077599 -0.01217691 -0.36538717 3.60937538] [ 0.02459457 0.99926658 0.02934986 0.50295828] [ 0.36476179 -0.03630468 0.93039282 0.37007076] [ 0. 0. 0. 1. ]] SLAMing on 74.06650248099999 meters Centerline goodness [0,1] 0.7010508920963618 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93078104 -0.012252 -0.36537179 3.60953249] [ 0.02467567 0.99926449 0.02935273 0.50291577] [ 0.36474342 -0.03633676 0.93039877 0.36990862] [ 0. 0. 0. 1. ]] SLAMing on 74.09650248099999 meters Centerline goodness [0,1] 0.7057836735747284 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93080356 -0.01245332 -0.36530759 3.60953801] [ 0.02488285 0.99925983 0.02933676 0.50277721] [ 0.36467186 -0.03639665 0.93042448 0.36969597] [ 0. 0. 0. 1. ]] SLAMing on 74.12650248099999 meters Centerline goodness [0,1] 0.7108992527699047 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93102473 -0.01363818 -0.36470119 3.60689573] [ 0.02587721 0.99925327 0.02869288 0.50180684] [ 0.36403753 -0.03615123 0.93068242 0.37022243] [ 0. 0. 0. 1. ]] SLAMing on 74.15650248099999 meters Centerline goodness [0,1] 0.7162518074777938 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93116418 -0.01420521 -0.36432333 3.60549265] [ 0.02640662 0.99924406 0.02853075 0.50084852] [ 0.36364264 -0.03618736 0.93083538 0.37034063] [ 0. 0. 0. 1. ]] SLAMing on 74.18650248099999 meters Centerline goodness [0,1] 0.7161751057027947 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93116832 -0.01426753 -0.36431032 3.60532321] [ 0.02656518 0.99923309 0.02876686 0.49963907] [ 0.36362049 -0.03646476 0.93083321 0.37034778] [ 0. 0. 0. 1. ]] SLAMing on 74.21650248099999 meters Centerline goodness [0,1] 0.7186187346991367 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.93117338 -0.01472954 -0.36427897 3.60490522] [ 0.02710744 0.99921499 0.02888926 0.49850145] [ 0.36356748 -0.03677558 0.93084168 0.37031719] [ 0. 0. 0. 1. ]] SLAMing on 74.246502481 meters Centerline goodness [0,1] 0.7201620603339269 Centerline is valid? [False, False] Translation: X:3.60, Y:0.50, Z:0.37 [[ 0.9312281 -0.01516614 -0.36412114 3.60498224] [ 0.02763315 0.99919584 0.02905303 0.49712203] [ 0.36338771 -0.03711681 0.93089834 0.36972018] [ 0. 0. 0. 1. ]] SLAMing on 74.276502481 meters Centerline goodness [0,1] 0.7175739766986287 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93127318 -0.01519501 -0.36400462 3.60545331] [ 0.02777871 0.99918285 0.02935944 0.49567418] [ 0.36326106 -0.03745323 0.93093429 0.36910436] [ 0. 0. 0. 1. ]] SLAMing on 74.306502481 meters Centerline goodness [0,1] 0.7179045365703116 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.9313634 -0.01527175 -0.36377051 3.60570206] [ 0.02797475 0.999168 0.02967698 0.49394726] [ 0.36301463 -0.03781644 0.93101573 0.36840655] [ 0. 0. 0. 1. ]] SLAMing on 74.336502481 meters Centerline goodness [0,1] 0.7171688605512134 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93145279 -0.01555609 -0.36352952 3.60567147] [ 0.02839227 0.99914679 0.02999272 0.492449 ] [ 0.36275279 -0.03825823 0.93109974 0.36771274] [ 0. 0. 0. 1. ]] SLAMing on 74.366502481 meters Centerline goodness [0,1] 0.716477170185887 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93136229 -0.01548986 -0.36376414 3.60585281] [ 0.02838037 0.99914337 0.03011793 0.49267263] [ 0.36298601 -0.03837447 0.93100406 0.36793055] [ 0. 0. 0. 1. ]] SLAMing on 74.39650248099998 meters Centerline goodness [0,1] 0.7150533467669018 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93131819 -0.01530291 -0.36388494 3.60608218] [ 0.02829799 0.99913694 0.03040722 0.49282087] [ 0.36310557 -0.03861601 0.93094745 0.36787799] [ 0. 0. 0. 1. ]] SLAMing on 74.42650248099999 meters Centerline goodness [0,1] 0.716800454275611 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93144251 -0.0154575 -0.36356006 3.60593923] [ 0.02845323 0.99913223 0.03041714 0.49248372] [ 0.3627744 -0.03867627 0.93107405 0.36733643] [ 0. 0. 0. 1. ]] SLAMing on 74.45650248099999 meters Centerline goodness [0,1] 0.7178635778635778 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93163491 -0.01584758 -0.36304992 3.60526939] [ 0.0287864 0.99912756 0.0302566 0.49206529] [ 0.36225369 -0.038639 0.93127831 0.36682399] [ 0. 0. 0. 1. ]] SLAMing on 74.48650248099999 meters Centerline goodness [0,1] 0.7150098563784849 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93153601 -0.01596326 -0.36329855 3.60516974] [ 0.02885145 0.99913112 0.03007657 0.49280537] [ 0.36250276 -0.0384991 0.93118718 0.36734115] [ 0. 0. 0. 1. ]] SLAMing on 74.51650248099999 meters Centerline goodness [0,1] 0.714127466639188 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:0.37 [[ 0.9315233 -0.01634929 -0.36331398 3.60485906] [ 0.0291093 0.99913569 0.0296736 0.49403968] [ 0.36251483 -0.03821747 0.93119409 0.36753511] [ 0. 0. 0. 1. ]] SLAMing on 74.54650248099999 meters Centerline goodness [0,1] 0.7095419650677521 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93142452 -0.01635369 -0.36356695 3.60589624] [ 0.02912009 0.99913576 0.0296606 0.49408792] [ 0.36276768 -0.03821371 0.93109576 0.36733102] [ 0. 0. 0. 1. ]] SLAMing on 74.57650248099999 meters Centerline goodness [0,1] 0.7064563595528823 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93138322 -0.01641136 -0.36367013 3.6071097 ] [ 0.0291817 0.99913433 0.02964827 0.49421932] [ 0.36286874 -0.03822641 0.93105586 0.36669136] [ 0. 0. 0. 1. ]] SLAMing on 74.60650248099999 meters Centerline goodness [0,1] 0.7064236737639842 Centerline is valid? [False, False] Translation: X:3.61, Y:0.49, Z:0.37 [[ 0.93123139 -0.01619785 -0.3640683 3.60802009] [ 0.02898972 0.99913843 0.02969838 0.4949632 ] [ 0.36327358 -0.0382103 0.93089864 0.36685086] [ 0. 0. 0. 1. ]] SLAMing on 74.636502481 meters Centerline goodness [0,1] 0.7073707655651094 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93111199 -0.01635187 -0.36436668 3.60803393] [ 0.0290389 0.99914678 0.02936754 0.49661494] [ 0.36357558 -0.03792528 0.93079239 0.36737876] [ 0. 0. 0. 1. ]] SLAMing on 74.666502481 meters Centerline goodness [0,1] 0.7079962663347853 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93101196 -0.01665864 -0.36460831 3.60728738] [ 0.02911753 0.99916391 0.02869943 0.49924041] [ 0.36382537 -0.03733601 0.9307186 0.36840367] [ 0. 0. 0. 1. ]] SLAMing on 74.696502481 meters Centerline goodness [0,1] 0.7093026278169106 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93112175 -0.01700069 -0.36431204 3.60647137] [ 0.02933408 0.99916764 0.02834676 0.49983068] [ 0.36352689 -0.03708104 0.93084542 0.36842122] [ 0. 0. 0. 1. ]] SLAMing on 74.726502481 meters Centerline goodness [0,1] 0.7127952245003892 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93135988 -0.01780378 -0.36366439 3.6050805 ] [ 0.02987837 0.99917232 0.02760368 0.50001154] [ 0.36287195 -0.03657466 0.93112096 0.36829233] [ 0. 0. 0. 1. ]] SLAMing on 74.756502481 meters Centerline goodness [0,1] 0.7091701697026311 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93116828 -0.01739044 -0.3641747 3.60673468] [ 0.02953366 0.99917708 0.0278017 0.50093283] [ 0.36339153 -0.03664347 0.9309156 0.36815144] [ 0. 0. 0. 1. ]] SLAMing on 74.78650248099999 meters Centerline goodness [0,1] 0.7088122605363985 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93100106 -0.01736103 -0.36460337 3.60737172] [ 0.02944661 0.99918487 0.02761343 0.50230082] [ 0.36382677 -0.03644447 0.9307534 0.36854508] [ 0. 0. 0. 1. ]] SLAMing on 74.81650248099999 meters Centerline goodness [0,1] 0.7063295107233354 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93085535 -0.01714184 -0.36498557 3.60811489] [ 0.0292417 0.99918987 0.02764995 0.5033885 ] [ 0.36421592 -0.03641091 0.9306025 0.36873745] [ 0. 0. 0. 1. ]] SLAMing on 74.84650248099999 meters Centerline goodness [0,1] 0.7030033951423348 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:0.37 [[ 0.93059085 -0.01661877 -0.36568359 3.61024662] [ 0.02875071 0.9992012 0.0277553 0.5047726 ] [ 0.36493023 -0.03634249 0.93032529 0.36875427] [ 0. 0. 0. 1. ]] SLAMing on 74.87650248099999 meters Centerline goodness [0,1] 0.7032697476579421 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93054494 -0.01678691 -0.36579273 3.61058473] [ 0.02882575 0.99920679 0.02747474 0.50555278] [ 0.36504137 -0.03611073 0.93029072 0.36879462] [ 0. 0. 0. 1. ]] SLAMing on 74.90650248099999 meters Centerline goodness [0,1] 0.7028085195239089 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93051899 -0.01702146 -0.36584789 3.61065552] [ 0.02890371 0.99921678 0.02702578 0.50650089] [ 0.36510133 -0.03572236 0.93028218 0.36900943] [ 0. 0. 0. 1. ]] SLAMing on 74.93650248099999 meters Centerline goodness [0,1] 0.700990254226217 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93045449 -0.01720672 -0.36600323 3.61052212] [ 0.02899215 0.99922223 0.02672799 0.5073926 ] [ 0.36525867 -0.0354804 0.93022968 0.36941845] [ 0. 0. 0. 1. ]] SLAMing on 74.96650248099999 meters Centerline goodness [0,1] 0.7004055998953291 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93030952 -0.01716177 -0.36637369 3.61135031] [ 0.02888583 0.99923028 0.02654174 0.50897649] [ 0.36563618 -0.03527504 0.93008917 0.36963518] [ 0. 0. 0. 1. ]] SLAMing on 74.996502481 meters Centerline goodness [0,1] 0.6960815129131961 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93024603 -0.01696146 -0.36654418 3.61204546] [ 0.02874003 0.99923025 0.02670045 0.50929213] [ 0.36580916 -0.03537248 0.93001745 0.36948022] [ 0. 0. 0. 1. ]] SLAMing on 75.026502481 meters Centerline goodness [0,1] 0.6978311609976136 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93009527 -0.01709986 -0.36692014 3.61200411] [ 0.02876037 0.99923935 0.02633551 0.51091908] [ 0.36619071 -0.03504729 0.92987959 0.37026153] [ 0. 0. 0. 1. ]] SLAMing on 75.056502481 meters Centerline goodness [0,1] 0.6957025184873287 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93006228 -0.01742585 -0.36698842 3.61133341] [ 0.02896095 0.99924368 0.02594854 0.51185146] [ 0.36625868 -0.03476209 0.92986352 0.37085387] [ 0. 0. 0. 1. ]] SLAMing on 75.086502481 meters Centerline goodness [0,1] 0.697517346911854 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93015019 -0.01828033 -0.36672396 3.6094924 ] [ 0.02952171 0.99924975 0.02506792 0.51338265] [ 0.36599058 -0.03414325 0.92999201 0.37161882] [ 0. 0. 0. 1. ]] SLAMing on 75.116502481 meters Centerline goodness [0,1] 0.6978709916001902 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.93009126 -0.01843921 -0.36686542 3.60959102] [ 0.02960625 0.99925307 0.02483492 0.51403393] [ 0.36613346 -0.03396025 0.92994247 0.37184618] [ 0. 0. 0. 1. ]] SLAMing on 75.14650248099998 meters Centerline goodness [0,1] 0.6948902027027026 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:0.37 [[ 0.92993972 -0.01821872 -0.3672604 3.61069226] [ 0.02940734 0.99925752 0.02489202 0.5145675 ] [ 0.36653421 -0.03394823 0.92978502 0.37193412] [ 0. 0. 0. 1. ]] SLAMing on 75.17650248099999 meters Centerline goodness [0,1] 0.6973708548024838 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92973935 -0.01766537 -0.36779434 3.61331037] [ 0.02892281 0.99926601 0.02511805 0.51587036] [ 0.36708066 -0.03399089 0.92956786 0.37134905] [ 0. 0. 0. 1. ]] SLAMing on 75.20650248099999 meters Centerline goodness [0,1] 0.6962870696737604 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92963433 -0.01749329 -0.36806793 3.61445981] [ 0.02875494 0.99927045 0.02513408 0.51656252] [ 0.36735973 -0.03394928 0.92945913 0.37115861] [ 0. 0. 0. 1. ]] SLAMing on 75.23650248099999 meters Centerline goodness [0,1] 0.6968312571383037 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92966313 -0.01772162 -0.36798426 3.61462672] [ 0.02884348 0.9992776 0.02474536 0.51794352] [ 0.3672799 -0.0336188 0.92950269 0.37097166] [ 0. 0. 0. 1. ]] SLAMing on 75.26650248099999 meters Centerline goodness [0,1] 0.6995586045522229 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92970156 -0.01796451 -0.36787536 3.61407255] [ 0.02894742 0.9992841 0.02435829 0.51890877] [ 0.36717441 -0.03329498 0.92955602 0.37126284] [ 0. 0. 0. 1. ]] SLAMing on 75.29650248099999 meters Centerline goodness [0,1] 0.6984333856424715 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92987481 -0.01303837 -0.36764499 3.61322638] [ 0.02512553 0.99928902 0.02810998 0.51940191] [ 0.36701709 -0.03537604 0.92954128 0.37129567] [ 0. 0. 0. 1. ]] SLAMing on 75.32650248099999 meters Centerline goodness [0,1] 0.6975112699725252 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.93006709 -0.00829534 -0.36729606 3.61236752] [ 0.0215449 0.99925602 0.03198793 0.51915323] [ 0.36675745 -0.03766428 0.92955386 0.3710013 ] [ 0. 0. 0. 1. ]] SLAMing on 75.35650248099999 meters Centerline goodness [0,1] 0.6967669414409592 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:0.37 [[ 0.92991231 -0.00825537 -0.36768865 3.6126138 ] [ 0.02136554 0.99927223 0.03159934 0.5213757 ] [ 0.3671602 -0.03724048 0.92941193 0.37172177] [ 0. 0. 0. 1. ]] SLAMing on 75.386502481 meters Centerline goodness [0,1] 0.6929937329262414 Centerline is valid? [False, False] Translation: X:3.62, Y:0.52, Z:0.37 [[ 0.92960539 -0.00765223 -0.36847694 3.61565156] [ 0.02069387 0.99929093 0.03145468 0.52338779] [ 0.36797497 -0.03686565 0.92910459 0.37164112] [ 0. 0. 0. 1. ]] SLAMing on 75.416502481 meters Centerline goodness [0,1] 0.689845889491489 Centerline is valid? [False, False] Translation: X:3.62, Y:0.52, Z:0.37 [[ 0.92964399 -0.00778743 -0.36837672 3.61649399] [ 0.0207498 0.99929652 0.03123969 0.5238429 ] [ 0.36787429 -0.03668553 0.92915159 0.37098893] [ 0. 0. 0. 1. ]] SLAMing on 75.446502481 meters Centerline goodness [0,1] 0.6850143859743473 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92944794 -0.00752195 -0.36887661 3.61802884] [ 0.02041684 0.99930878 0.03106632 0.52526047] [ 0.36838795 -0.03640582 0.92895906 0.37115066] [ 0. 0. 0. 1. ]] SLAMing on 75.476502481 meters Centerline goodness [0,1] 0.6879103066324463 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92917791 -0.00717901 -0.36956309 3.61860942] [ 0.02002261 0.999321 0.0309296 0.52760513] [ 0.36909011 -0.03613872 0.92869074 0.37220261] [ 0. 0. 0. 1. ]] SLAMing on 75.506502481 meters Centerline goodness [0,1] 0.686701181038667 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92905094 -0.00706559 -0.36988435 3.61914512] [ 0.01988655 0.99932585 0.03086042 0.52814565] [ 0.36941695 -0.03602663 0.92856513 0.37259954] [ 0. 0. 0. 1. ]] SLAMing on 75.53650248099999 meters Centerline goodness [0,1] 0.686701181038667 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92905094 -0.00706559 -0.36988435 3.61914512] [ 0.01988655 0.99932585 0.03086042 0.52814565] [ 0.36941695 -0.03602663 0.92856513 0.37259954] [ 0. 0. 0. 1. ]] SLAMing on 75.56650248099999 meters Centerline goodness [0,1] 0.6875707737934753 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92899003 -0.00696844 -0.37003915 3.61946912] [ 0.01977806 0.99932882 0.03083419 0.52812251] [ 0.36957592 -0.03596331 0.92850432 0.37281187] [ 0. 0. 0. 1. ]] SLAMing on 75.59650248099999 meters Centerline goodness [0,1] 0.6847799626734468 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92908069 -0.00763061 -0.36979838 3.61832183] [ 0.02031578 0.9993307 0.03042061 0.52807353] [ 0.36931875 -0.03577594 0.92861388 0.37306078] [ 0. 0. 0. 1. ]] SLAMing on 75.62650248099999 meters Centerline goodness [0,1] 0.6858319559975072 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92909683 -0.00820949 -0.36974542 3.61728503] [ 0.02082528 0.99932867 0.03014163 0.52807561] [ 0.36924975 -0.03570455 0.92864407 0.3735221 ] [ 0. 0. 0. 1. ]] SLAMing on 75.65650248099999 meters Centerline goodness [0,1] 0.6838263229308006 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92896376 -0.0081686 -0.37008055 3.61771239] [ 0.02081614 0.99932727 0.03019432 0.5277825 ] [ 0.36958494 -0.03575308 0.92850885 0.37395664] [ 0. 0. 0. 1. ]] SLAMing on 75.68650248099999 meters Centerline goodness [0,1] 0.6818967379563621 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92888217 -0.00824122 -0.37028366 3.61808463] [ 0.02090735 0.99932501 0.03020604 0.52745167] [ 0.36978479 -0.03579951 0.92842749 0.3741283 ] [ 0. 0. 0. 1. ]] SLAMing on 75.71650248099999 meters Centerline goodness [0,1] 0.6899214305066378 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92891482 -0.00888888 -0.37018677 3.6176366 ] [ 0.02146835 0.99932306 0.0298752 0.52695589] [ 0.36967062 -0.03569882 0.92847683 0.37418266] [ 0. 0. 0. 1. ]] SLAMing on 75.746502481 meters Centerline goodness [0,1] 0.6865139399178734 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92880262 -0.00869904 -0.37047269 3.61851974] [ 0.0213377 0.99932121 0.03003021 0.52660771] [ 0.36995998 -0.03579717 0.92835778 0.3742358 ] [ 0. 0. 0. 1. ]] SLAMing on 75.776502481 meters Centerline goodness [0,1] 0.6853779867888112 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92859867 -0.00855489 -0.37098697 3.61998405] [ 0.0212377 0.9993208 0.03011485 0.52737467] [ 0.37047736 -0.03584352 0.92814965 0.37430859] [ 0. 0. 0. 1. ]] SLAMing on 75.806502481 meters Centerline goodness [0,1] 0.6801649281852438 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.37 [[ 0.92834537 -0.00851177 -0.37162135 3.62114086] [ 0.02117402 0.99932543 0.03000575 0.52886272] [ 0.37111527 -0.03572442 0.92789936 0.37480929] [ 0. 0. 0. 1. ]] SLAMing on 75.836502481 meters Centerline goodness [0,1] 0.6781165255978305 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.38 [[ 0.92824481 -0.00836103 -0.37187588 3.62170148] [ 0.02103416 0.99932749 0.03003541 0.52938016] [ 0.37137466 -0.03570231 0.92779642 0.3750365 ] [ 0. 0. 0. 1. ]] SLAMing on 75.866502481 meters Centerline goodness [0,1] 0.6798914979313369 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.38 [[ 0.92817333 -0.0084584 -0.37205204 3.62198817] [ 0.0210617 0.99933324 0.02982417 0.53006016] [ 0.37155171 -0.03551805 0.92773261 0.37531508] [ 0. 0. 0. 1. ]] SLAMing on 75.89650248099998 meters Centerline goodness [0,1] 0.6804929035097371 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.38 [[ 0.92807725 -0.00885466 -0.37228244 3.62212615] [ 0.02122924 0.99934947 0.02915388 0.53203377] [ 0.37178211 -0.03496033 0.92766149 0.37590871] [ 0. 0. 0. 1. ]] SLAMing on 75.92650248099999 meters Centerline goodness [0,1] 0.6814681937353387 Centerline is valid? [False, False] Translation: X:3.62, Y:0.53, Z:0.38 [[ 0.9279842 -0.00896829 -0.37251161 3.62245636] [ 0.02122356 0.99935953 0.02881141 0.53369099] [ 0.37201464 -0.03464256 0.92758018 0.37625084] [ 0. 0. 0. 1. ]] SLAMing on 75.95650248099999 meters Centerline goodness [0,1] 0.678932638754191 Centerline is valid? [False, False] Translation: X:3.62, Y:0.54, Z:0.38 [[ 0.92800976 -0.00441274 -0.37252975 3.62196096] [ 0.01762634 0.99933014 0.03207161 0.53599821] [ 0.37213868 -0.0363291 0.9274659 0.37660329] [ 0. 0. 0. 1. ]] SLAMing on 75.98650248099999 meters Centerline goodness [0,1] 0.6806295802798135 Centerline is valid? [False, False] Translation: X:3.62, Y:0.54, Z:0.38 [[ 0.92778658 -0.00457993 -0.37308322 3.62227827] [ 0.01757053 0.99935161 0.0314266 0.53825083] [ 0.37269738 -0.03571244 0.92726549 0.37774074] [ 0. 0. 0. 1. ]] SLAMing on 76.01650248099999 meters Centerline goodness [0,1] 0.6788821954484605 Centerline is valid? [False, False] Translation: X:3.62, Y:0.54, Z:0.38 [[ 0.92747815 -0.00403938 -0.37385555 3.62403763] [ 0.016958 0.99936703 0.03127236 0.5429192 ] [ 0.37349259 -0.03534427 0.92695958 0.37831071] [ 0. 0. 0. 1. ]] SLAMing on 76.04650248099999 meters Centerline goodness [0,1] 0.6757957689405584 Centerline is valid? [False, False] Translation: X:3.63, Y:0.55, Z:0.38 [[ 0.92717933 -0.00380745 -0.37459844 3.62596253] [ 0.01659871 0.99938384 0.03092612 0.54538399] [ 0.37424987 -0.03489191 0.92667124 0.37878951] [ 0. 0. 0. 1. ]] SLAMing on 76.07650248099999 meters Centerline goodness [0,1] 0.673245305329542 Centerline is valid? [False, False] Translation: X:3.63, Y:0.55, Z:0.38 [[ 9.27178602e-01 1.02654314e-03 -3.74618188e-01 3.62765230e+00] [ 1.26756760e-02 9.99337675e-01 3.41106736e-02 5.49209299e-01] [ 3.74405086e-01 -3.63752254e-02 9.26551496e-01 3.78006105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10650248099999 meters Centerline goodness [0,1] 0.6709808686805889 Centerline is valid? [False, False] Translation: X:3.63, Y:0.55, Z:0.38 [[ 9.26861536e-01 9.61683633e-04 -3.75402141e-01 3.62876104e+00] [ 1.24495043e-02 9.99367935e-01 3.32977389e-02 5.52678671e-01] [ 3.75196884e-01 -3.55359640e-02 9.26263728e-01 3.79212771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.136502481 meters Centerline goodness [0,1] 0.6727965210470965 Centerline is valid? [False, False] Translation: X:3.63, Y:0.56, Z:0.38 [[ 0.92703878 0.00530044 -0.37492801 3.6288362 ] [ 0.00892696 0.99930469 0.03619998 0.55627962] [ 0.37485919 -0.03690575 0.92634688 0.3784747 ] [ 0. 0. 0. 1. ]] SLAMing on 76.166502481 meters Centerline goodness [0,1] 0.6700361627608986 Centerline is valid? [False, False] Translation: X:3.63, Y:0.56, Z:0.38 [[ 0.92686999 0.005108 -0.37534774 3.62966245] [ 0.00885945 0.99933123 0.03547683 0.55869934] [ 0.37527794 -0.03620779 0.92620487 0.37911444] [ 0. 0. 0. 1. ]] SLAMing on 76.196502481 meters Centerline goodness [0,1] 0.6722778545119705 Centerline is valid? [False, False] Translation: X:3.63, Y:0.56, Z:0.38 [[ 0.9268382 0.00482537 -0.37542998 3.63022914] [ 0.00887013 0.99935693 0.03474267 0.5634349 ] [ 0.3753562 -0.03553095 0.92619937 0.37908885] [ 0. 0. 0. 1. ]] SLAMing on 76.226502481 meters Centerline goodness [0,1] 0.6709984152139461 Centerline is valid? [False, False] Translation: X:3.63, Y:0.57, Z:0.38 [[ 0.92656243 0.00489433 -0.37610917 3.63138477] [ 0.00869298 0.99936963 0.03442042 0.56548885] [ 0.37604055 -0.03516217 0.92593581 0.37980361] [ 0. 0. 0. 1. ]] SLAMing on 76.256502481 meters Centerline goodness [0,1] 0.6735835386175917 Centerline is valid? [False, False] Translation: X:3.63, Y:0.57, Z:0.38 [[ 0.92632399 0.00442105 -0.37670191 3.63114049] [ 0.00889242 0.99939594 0.03359591 0.57040239] [ 0.37662288 -0.03447049 0.92572512 0.38107477] [ 0. 0. 0. 1. ]] SLAMing on 76.28650248099999 meters Centerline goodness [0,1] 0.679824433915647 Centerline is valid? [False, False] Translation: X:3.63, Y:0.57, Z:0.38 [[ 0.92623446 0.00386565 -0.37692807 3.63036003] [ 0.00915375 0.99942187 0.03274347 0.57264278] [ 0.37683674 -0.03377843 0.9256636 0.38221473] [ 0. 0. 0. 1. ]] SLAMing on 76.31650248099999 meters Centerline goodness [0,1] 0.677568317989186 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 9.26177740e-01 2.87588637e-03 -3.77076283e-01 3.62918919e+00] [ 9.67271757e-03 9.99460694e-01 3.13808946e-02 5.76822208e-01] [ 3.76963171e-01 -3.27116384e-02 9.25650429e-01 3.83429651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34650248099999 meters Centerline goodness [0,1] 0.6818834001932593 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 9.26065233e-01 2.80183476e-03 -3.77353064e-01 3.62994946e+00] [ 9.63735944e-03 9.99470681e-01 3.10721612e-02 5.77940050e-01] [ 3.77240383e-01 -3.24115353e-02 9.25548046e-01 3.83683068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37650248099999 meters Centerline goodness [0,1] 0.6728061942749883 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 9.26036719e-01 2.90846470e-03 -3.77422224e-01 3.63112654e+00] [ 9.51095814e-03 9.99472953e-01 3.10379928e-02 5.78445389e-01] [ 3.77313578e-01 -3.23319680e-02 9.25520993e-01 3.83248063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40650248099999 meters Centerline goodness [0,1] 0.6800258185658961 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 9.25885196e-01 2.99137792e-03 -3.77793137e-01 3.63300718e+00] [ 9.31844552e-03 9.99483628e-01 3.07513368e-02 5.80486868e-01] [ 3.77690044e-01 -3.19926523e-02 9.25379220e-01 3.83013420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43650248099999 meters Centerline goodness [0,1] 0.6784744361790058 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 9.25621533e-01 3.04757739e-03 -3.78438224e-01 3.63390674e+00] [ 9.09756593e-03 9.99499425e-01 3.03007308e-02 5.82579020e-01] [ 3.78341131e-01 -3.14898756e-02 9.25130464e-01 3.83979834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46650248099999 meters Centerline goodness [0,1] 0.6777227282166909 Centerline is valid? [False, False] Translation: X:3.63, Y:0.58, Z:0.38 [[ 0.92579209 0.00781678 -0.37795226 3.63332745] [ 0.00530926 0.99941874 0.03367491 0.58483491] [ 0.3779958 -0.03318261 0.92521246 0.38361675] [ 0. 0. 0. 1. ]] SLAMing on 76.496502481 meters Centerline goodness [0,1] 0.6808960019038552 Centerline is valid? [False, False] Translation: X:3.63, Y:0.59, Z:0.38 [[ 0.92559659 0.00783139 -0.37843047 3.63373326] [ 0.00506333 0.99944031 0.03306712 0.58683312] [ 0.37847763 -0.03252294 0.92503889 0.3847564 ] [ 0. 0. 0. 1. ]] SLAMing on 76.526502481 meters Centerline goodness [0,1] 0.6760584376863447 Centerline is valid? [False, False] Translation: X:3.63, Y:0.59, Z:0.39 [[ 0.92550665 0.0089924 -0.37862458 3.63399731] [ 0.00394367 0.99943506 0.03337664 0.59134218] [ 0.37871082 -0.03238348 0.92494834 0.38530863] [ 0. 0. 0. 1. ]] SLAMing on 76.556502481 meters Centerline goodness [0,1] 0.6745581561977549 Centerline is valid? [False, False] Translation: X:3.63, Y:0.59, Z:0.39 [[ 9.25282636e-01 9.18844079e-03 -3.79167002e-01 3.63495961e+00] [ 3.62795574e-03 9.99446350e-01 3.30731260e-02 5.92890512e-01] [ 3.79260967e-01 -3.19775903e-02 9.24737018e-01 3.86046247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586502481 meters Centerline goodness [0,1] 0.6758072706634406 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.39 [[ 9.25129076e-01 9.37818348e-03 -3.79536879e-01 3.63607119e+00] [ 3.34093442e-03 9.99455048e-01 3.28396766e-02 5.94032619e-01] [ 3.79638027e-01 -3.16489475e-02 9.24593593e-01 3.86389398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.616502481 meters Centerline goodness [0,1] 0.6733753999820569 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24874838e-01 1.00397625e-02 -3.80139103e-01 3.63837842e+00] [ 2.64393701e-03 9.99457483e-01 3.28291052e-02 5.95624319e-01] [ 3.80262467e-01 -3.13678772e-02 9.24346533e-01 3.86545710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64650248099998 meters Centerline goodness [0,1] 0.6732815731886448 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24699808e-01 1.00291890e-02 -3.80564948e-01 3.63877327e+00] [ 2.42355601e-03 9.99477591e-01 3.22284316e-02 5.97737185e-01] [ 3.80689363e-01 -3.07239450e-02 9.24192430e-01 3.87558227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67650248099999 meters Centerline goodness [0,1] 0.6665365677915216 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24580511e-01 1.01616654e-02 -3.80851178e-01 3.63898907e+00] [ 2.22879040e-03 9.99482870e-01 3.20784269e-02 5.98363958e-01] [ 3.80980198e-01 -3.05079258e-02 9.24079734e-01 3.88198263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70650248099999 meters Centerline goodness [0,1] 0.6729527641812558 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24412077e-01 1.02138995e-02 -3.81258426e-01 3.63918793e+00] [ 2.05743499e-03 9.99493250e-01 3.17649145e-02 5.99155851e-01] [ 3.81389667e-01 -3.01482850e-02 9.23922617e-01 3.89175184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73650248099999 meters Centerline goodness [0,1] 0.6774902196810111 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24222320e-01 1.04110231e-02 -3.81712868e-01 3.63945978e+00] [ 1.78533097e-03 9.99499520e-01 3.15835707e-02 5.99794697e-01] [ 3.81850646e-01 -2.98717248e-02 9.23741178e-01 3.90176250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76650248099999 meters Centerline goodness [0,1] 0.6765006308958721 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.24202686e-01 1.08919134e-02 -3.81746985e-01 3.64044068e+00] [ 1.44379410e-03 9.99486426e-01 3.20125068e-02 5.98807362e-01] [ 3.81899607e-01 -3.01372088e-02 9.23712314e-01 3.89762892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79650248099999 meters Centerline goodness [0,1] 0.6767722337513911 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 0.92381687 0.00625074 -0.38278363 3.64209382] [ 0.00476028 0.99960184 0.02781175 0.5997015 ] [ 0.38280507 -0.02751512 0.9234193 0.39125842] [ 0. 0. 0. 1. ]] SLAMing on 76.82650248099999 meters Centerline goodness [0,1] 0.6744486509224206 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 0.92379494 0.00641529 -0.38283384 3.64211186] [ 0.00469716 0.9995945 0.02808505 0.59816439] [ 0.38285877 -0.02774306 0.92339021 0.39136982] [ 0. 0. 0. 1. ]] SLAMing on 76.85650248099999 meters Centerline goodness [0,1] 0.6742733605572904 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 0.9237292 0.00665176 -0.3829884 3.64231462] [ 0.00455859 0.9995875 0.02835573 0.59732658] [ 0.38301904 -0.0279389 0.92331784 0.39150762] [ 0. 0. 0. 1. ]] SLAMing on 76.886502481 meters Centerline goodness [0,1] 0.6764626664671555 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 0.92361266 0.00708985 -0.38326151 3.64293403] [ 0.00428813 0.99957528 0.02882473 0.59600537] [ 0.3833031 -0.02826636 0.92318999 0.39165261] [ 0. 0. 0. 1. ]] SLAMing on 76.916502481 meters Centerline goodness [0,1] 0.6810638170855472 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.39 [[ 9.23193537e-01 2.06310624e-03 -3.84329855e-01 3.64306253e+00] [ 7.97331644e-03 9.99667570e-01 2.45188722e-02 5.96423783e-01] [ 3.84252677e-01 -2.57000479e-02 9.22870190e-01 3.93953538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946502481 meters Centerline goodness [0,1] 0.6815740795990215 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.39 [[ 9.23191911e-01 2.34763662e-03 -3.84332128e-01 3.64291078e+00] [ 7.84825794e-03 9.99657685e-01 2.49583122e-02 5.94744206e-01] [ 3.84259159e-01 -2.60576496e-02 9.22857463e-01 3.94008537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.976502481 meters Centerline goodness [0,1] 0.6942943656118269 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.39 [[ 9.23449423e-01 1.55157614e-03 -3.83717026e-01 3.64012116e+00] [ 8.52769473e-03 9.99661866e-01 2.45648372e-02 5.93195468e-01] [ 3.83625392e-01 -2.59566064e-02 9.23123942e-01 3.94521000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006502481 meters Centerline goodness [0,1] 0.6916882113458738 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.39 [[ 9.23430134e-01 1.67791217e-03 -3.83762912e-01 3.63973417e+00] [ 8.45297478e-03 9.99658905e-01 2.47107555e-02 5.92141209e-01] [ 3.83673475e-01 -2.60625945e-02 9.23100973e-01 3.94934202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03650248099999 meters Centerline goodness [0,1] 0.6994910640312463 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.23441710e-01 1.68605134e-03 -3.83735019e-01 3.63914967e+00] [ 8.47606027e-03 9.99656758e-01 2.47895546e-02 5.91170628e-01] [ 3.83645102e-01 -2.61442698e-02 9.23110456e-01 3.95306931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06650248099999 meters Centerline goodness [0,1] 0.6946926217383587 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.23298572e-01 1.87136287e-03 -3.84078436e-01 3.63949579e+00] [ 8.30748538e-03 9.99656889e-01 2.48413066e-02 5.91051074e-01] [ 3.83993141e-01 -2.61266689e-02 9.22966232e-01 3.95849984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09650248099999 meters Centerline goodness [0,1] 0.6974498711607381 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.23131885e-01 2.26965527e-03 -3.84476750e-01 3.64041780e+00] [ 7.99731627e-03 9.99652886e-01 2.51028055e-02 5.90905451e-01] [ 3.84400267e-01 -2.62479824e-02 9.22793302e-01 3.96112984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12650248099999 meters Centerline goodness [0,1] 0.6957087895827168 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.22920448e-01 2.60770262e-03 -3.84981879e-01 3.64135333e+00] [ 7.65202866e-03 9.99655269e-01 2.51155130e-02 5.91366375e-01] [ 3.84914658e-01 -2.61255129e-02 9.22582335e-01 3.96735732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15650248099999 meters Centerline goodness [0,1] 0.6983116113744076 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.22701931e-01 2.94803492e-03 -3.85502860e-01 3.64291759e+00] [ 7.21173026e-03 9.99663785e-01 2.49059662e-02 5.92657867e-01] [ 3.85446671e-01 -2.57609257e-02 9.22370445e-01 3.97194433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18650248099999 meters Centerline goodness [0,1] 0.6966102197574068 Centerline is valid? [False, False] Translation: X:3.64, Y:0.59, Z:0.40 [[ 9.22505079e-01 3.26067911e-03 -3.85971174e-01 3.64423864e+00] [ 6.85514717e-03 9.99668194e-01 2.48295881e-02 5.93457007e-01] [ 3.85924068e-01 -2.55513103e-02 9.22176634e-01 3.97556622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21650248099999 meters Centerline goodness [0,1] 0.6902557711708504 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.40 [[ 0.92218776 0.00366884 -0.38672505 3.64565982] [ 0.00636783 0.9996754 0.02466866 0.59455853] [ 0.38669003 -0.02521174 0.92186506 0.3985266 ] [ 0. 0. 0. 1. ]] SLAMing on 77.246502481 meters Centerline goodness [0,1] 0.68654712533938 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.22147006e-01 9.11146832e-03 -3.86732310e-01 3.64623229e+00] [ 2.17886147e-03 9.99584381e-01 2.87457544e-02 5.95142933e-01] [ 3.86833493e-01 -2.73504475e-02 9.21743892e-01 3.98319513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.276502481 meters Centerline goodness [0,1] 0.6763547386010982 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21903285e-01 9.23022202e-03 -3.87310129e-01 3.64683392e+00] [ 1.86374000e-03 9.99598918e-01 2.82582539e-02 5.96762655e-01] [ 3.87415616e-01 -2.67732225e-02 9.21516324e-01 3.99525970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306502481 meters Centerline goodness [0,1] 0.6774416024468499 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21794380e-01 9.62403658e-03 -3.87559672e-01 3.64768930e+00] [ 1.22120236e-03 9.99614775e-01 2.77274118e-02 5.98747527e-01] [ 3.87677224e-01 -2.60322612e-02 9.21427529e-01 4.00284983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.336502481 meters Centerline goodness [0,1] 0.6615818869737553 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21536705e-01 1.00090581e-02 -3.88162234e-01 3.64886389e+00] [ 7.51704296e-04 9.99619852e-01 2.75605799e-02 5.99372732e-01] [ 3.88290530e-01 -2.56898692e-02 9.21178861e-01 4.01139082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366502481 meters Centerline goodness [0,1] 0.6382850786206067 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21282396e-01 1.05254721e-02 -3.88751798e-01 3.64963016e+00] [ 3.21905756e-05 9.99631605e-01 2.71413567e-02 6.00992308e-01] [ 3.88894260e-01 -2.50173682e-02 9.20942662e-01 4.02547013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39650248099998 meters Centerline goodness [0,1] 0.6218583511422809 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21082654e-01 1.08783957e-02 -3.89215115e-01 3.65033022e+00] [-3.77654891e-04 9.99634129e-01 2.70456203e-02 6.01666827e-01] [ 3.89366925e-01 -2.47642627e-02 9.20749764e-01 4.03317546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42650248099999 meters Centerline goodness [0,1] 0.6007174725672253 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.20897292e-01 1.15756895e-02 -3.89633392e-01 3.65093889e+00] [-1.10483673e-03 9.99632470e-01 2.70869853e-02 6.01889839e-01] [ 3.89803741e-01 -2.45138502e-02 9.20571624e-01 4.04283558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45650248099999 meters Centerline goodness [0,1] 0.6007174725672253 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.20897292e-01 1.15756895e-02 -3.89633392e-01 3.65093889e+00] [-1.10483673e-03 9.99632470e-01 2.70869853e-02 6.01889839e-01] [ 3.89803741e-01 -2.45138502e-02 9.20571624e-01 4.04283558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48650248099999 meters Centerline goodness [0,1] 0.6015105467457046 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.20895485e-01 1.19823158e-02 -3.89625371e-01 3.65107215e+00] [-1.42575708e-03 9.99624299e-01 2.73720388e-02 6.00872208e-01] [ 3.89806968e-01 -2.46512758e-02 9.20566587e-01 4.04359065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51650248099999 meters Centerline goodness [0,1] 0.5982603479304139 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21111976e-01 1.22488745e-02 -3.89104989e-01 3.64971363e+00] [-1.61695621e-03 9.99616640e-01 2.76397922e-02 5.98420552e-01] [ 3.89294378e-01 -2.48301778e-02 9.20778665e-01 4.04483367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54650248099999 meters Centerline goodness [0,1] 0.5926292431330215 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.40 [[ 9.21083731e-01 1.26951534e-02 -3.89157544e-01 3.64977536e+00] [-1.91981952e-03 9.99604249e-01 2.80652784e-02 5.96644244e-01] [ 3.89359827e-01 -2.51033590e-02 9.20743583e-01 4.04660681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57650248099999 meters Centerline goodness [0,1] 0.5948419797257006 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 9.20822411e-01 8.51609494e-03 -3.89889168e-01 3.65011878e+00] [ 1.23435884e-03 9.99692888e-01 2.47508923e-02 5.94419549e-01] [ 3.89980209e-01 -2.32724395e-02 9.20529103e-01 4.06090832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60650248099999 meters Centerline goodness [0,1] 0.6048643982018993 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 0.92050175 0.00378968 -0.39072006 3.65044047] [ 0.00471862 0.99977224 0.02081365 0.59401062] [ 0.39070995 -0.02100266 0.92027421 0.40774084] [ 0. 0. 0. 1. ]] SLAMing on 77.636502481 meters Centerline goodness [0,1] 0.6304943840099053 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 9.20291017e-01 -3.57976889e-04 -3.91234348e-01 3.65074349e+00] [ 8.02123646e-03 9.99806650e-01 1.79533423e-02 5.89830695e-01] [ 3.91152276e-01 -1.96604829e-02 9.20115951e-01 4.08584789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666502481 meters Centerline goodness [0,1] 0.6440294782583165 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 9.20358818e-01 3.10750378e-04 -3.91074865e-01 3.65108942e+00] [ 7.74271546e-03 9.99789195e-01 1.90162089e-02 5.86183058e-01] [ 3.90998334e-01 -2.05297169e-02 9.20162395e-01 4.07896638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.696502481 meters Centerline goodness [0,1] 0.6495171202809482 Centerline is valid? [False, False] Translation: X:3.65, Y:0.58, Z:0.41 [[ 9.20441233e-01 8.05237615e-04 -3.90880145e-01 3.65159525e+00] [ 7.59711412e-03 9.99772130e-01 1.99492129e-02 5.82531158e-01] [ 3.90807139e-01 -2.13316392e-02 9.20225375e-01 4.07037480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726502481 meters Centerline goodness [0,1] 0.6846435632050238 Centerline is valid? [False, False] Translation: X:3.65, Y:0.58, Z:0.41 [[ 0.92044784 -0.00372365 -0.39084769 3.65154554] [ 0.01126253 0.99979209 0.01699818 0.5781118 ] [ 0.39070313 -0.02004787 0.9202984 0.40695624] [ 0. 0. 0. 1. ]] SLAMing on 77.756502481 meters Centerline goodness [0,1] 0.6964487279673526 Centerline is valid? [False, False] Translation: X:3.65, Y:0.58, Z:0.41 [[ 0.92021161 -0.00878675 -0.39132261 3.65101963] [ 0.01502009 0.99980435 0.01287078 0.57792395] [ 0.39113296 -0.01772154 0.92016355 0.40846662] [ 0. 0. 0. 1. ]] SLAMing on 77.78650248099999 meters Centerline goodness [0,1] 0.7103911839372259 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92205806 -0.01343507 -0.38681835 3.66243214] [ 0.02153336 0.99963015 0.01660962 0.57466411] [ 0.38645213 -0.02364454 0.92200634 0.41179743] [ 0. 0. 0. 1. ]] SLAMing on 77.81650248099999 meters Centerline goodness [0,1] 0.7113491103817585 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92210112 -0.01349392 -0.38671363 3.66195157] [ 0.02174392 0.99961959 0.01696683 0.5726007 ] [ 0.38633757 -0.02405381 0.92204376 0.41176358] [ 0. 0. 0. 1. ]] SLAMing on 77.84650248099999 meters Centerline goodness [0,1] 0.7135979366671443 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92198513 -0.01873182 -0.38677194 3.66187165] [ 0.02591452 0.99957483 0.01336432 0.57071564] [ 0.38635716 -0.02234471 0.92207856 0.41184452] [ 0. 0. 0. 1. ]] SLAMing on 77.87650248099999 meters Centerline goodness [0,1] 0.7147718174539632 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92212895 -0.01876129 -0.38642751 3.66162655] [ 0.02614034 0.99956235 0.01384913 0.56894092] [ 0.38599856 -0.02287203 0.9222158 0.41106799] [ 0. 0. 0. 1. ]] SLAMing on 77.90650248099999 meters Centerline goodness [0,1] 0.7165644171779142 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92248808 -0.01957964 -0.38552871 3.65938054] [ 0.02696785 0.99954152 0.01376513 0.56765294] [ 0.38508243 -0.02309505 0.92259316 0.41048707] [ 0. 0. 0. 1. ]] SLAMing on 77.93650248099999 meters Centerline goodness [0,1] 0.7153330480673228 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92249319 -0.0196749 -0.38551162 3.65907523] [ 0.02707283 0.99953861 0.01377046 0.56770655] [ 0.38506282 -0.02314005 0.92260022 0.41056837] [ 0. 0. 0. 1. ]] SLAMing on 77.96650248099999 meters Centerline goodness [0,1] 0.7158863545418167 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92247323 -0.01972111 -0.38555702 3.65910839] [ 0.02709537 0.99953895 0.01370157 0.56825872] [ 0.38510904 -0.02308614 0.92258227 0.4106349 ] [ 0. 0. 0. 1. ]] SLAMing on 77.996502481 meters Centerline goodness [0,1] 0.716568183122024 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.92248733 -0.0203904 -0.38548846 3.65794022] [ 0.02740588 0.99954355 0.0127124 0.57164202] [ 0.38505329 -0.02229167 0.92262508 0.41140657] [ 0. 0. 0. 1. ]] SLAMing on 78.026502481 meters Centerline goodness [0,1] 0.7153568853640953 Centerline is valid? [False, False] Translation: X:3.66, Y:0.57, Z:0.41 [[ 0.9229325 -0.01594944 -0.38463128 3.65658394] [ 0.02389924 0.99958797 0.0158971 0.57435247] [ 0.38421925 -0.02386434 0.9229334 0.41063832] [ 0. 0. 0. 1. ]] SLAMing on 78.056502481 meters Centerline goodness [0,1] 0.7146578673150399 Centerline is valid? [False, False] Translation: X:3.66, Y:0.58, Z:0.41 [[ 0.92290593 -0.01623329 -0.38468316 3.6564702 ] [ 0.02389097 0.99959999 0.01513537 0.57734554] [ 0.38428359 -0.02315898 0.92292458 0.41113141] [ 0. 0. 0. 1. ]] SLAMing on 78.086502481 meters Centerline goodness [0,1] 0.714655724346662 Centerline is valid? [False, False] Translation: X:3.66, Y:0.58, Z:0.41 [[ 0.92319631 -0.01543297 -0.38401873 3.65525431] [ 0.02300547 0.99962079 0.01513326 0.58346089] [ 0.38363956 -0.0228055 0.92320128 0.41095285] [ 0. 0. 0. 1. ]] SLAMing on 78.116502481 meters Centerline goodness [0,1] 0.7122059166084324 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 0.92315492 -0.01612166 -0.38408994 3.65413935] [ 0.02325584 0.9996324 0.01393686 0.58672043] [ 0.38372406 -0.02179822 0.92319049 0.41215772] [ 0. 0. 0. 1. ]] SLAMing on 78.14650248099998 meters Centerline goodness [0,1] 0.7087236961153431 Centerline is valid? [False, False] Translation: X:3.65, Y:0.59, Z:0.41 [[ 0.92321905 -0.01678979 -0.38390713 3.65274627] [ 0.02349815 0.99964206 0.01278997 0.58973001] [ 0.38355498 -0.02082905 0.92328313 0.41312239] [ 0. 0. 0. 1. ]] SLAMing on 78.17650248099999 meters Centerline goodness [0,1] 0.6914927862807644 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.41 [[ 0.92344247 -0.0186497 -0.38328344 3.64915503] [ 0.02446077 0.9996478 0.01029258 0.59529995] [ 0.3829565 -0.01888002 0.92357342 0.41494009] [ 0. 0. 0. 1. ]] SLAMing on 78.20650248099999 meters Centerline goodness [0,1] 0.6839024677196388 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.42 [[ 0.92368698 -0.01997908 -0.3826267 3.64684529] [ 0.02522142 0.99964413 0.00868922 0.59954053] [ 0.38231693 -0.01767651 0.92386217 0.4154784 ] [ 0. 0. 0. 1. ]] SLAMing on 78.23650248099999 meters Centerline goodness [0,1] 0.6829505300353357 Centerline is valid? [False, False] Translation: X:3.65, Y:0.60, Z:0.42 [[ 0.92383288 -0.02052875 -0.38224518 3.64584847] [ 0.02550758 0.99964292 0.0079617 0.60156592] [ 0.38194524 -0.01710543 0.92402664 0.41560836] [ 0. 0. 0. 1. ]] SLAMing on 78.26650248099999 meters Centerline goodness [0,1] 0.6725139302455851 Centerline is valid? [False, False] Translation: X:3.64, Y:0.60, Z:0.42 [[ 0.92391679 -0.02119965 -0.38200569 3.6445125 ] [ 0.0258731 0.99964002 0.00710087 0.60358352] [ 0.38171764 -0.01644429 0.92413269 0.4162393 ] [ 0. 0. 0. 1. ]] SLAMing on 78.29650248099999 meters Centerline goodness [0,1] 0.6526669219214797 Centerline is valid? [False, False] Translation: X:3.64, Y:0.61, Z:0.42 [[ 0.92443091 -0.02282774 -0.38066571 3.64045782] [ 0.02683337 0.9996263 0.0052182 0.60738036] [ 0.38040433 -0.01503841 0.924698 0.41689947] [ 0. 0. 0. 1. ]] SLAMing on 78.32650248099999 meters Centerline goodness [0,1] 0.6423850872773612 Centerline is valid? [False, False] Translation: X:3.64, Y:0.61, Z:0.42 [[ 0.92568373 -0.02132985 -0.37769654 3.63505654] [ 0.02547505 0.99965756 0.00598177 0.60871982] [ 0.37743961 -0.01515907 0.92591012 0.41557359] [ 0. 0. 0. 1. ]] SLAMing on 78.35650248099999 meters Centerline goodness [0,1] 0.6252187064440556 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.41 [[ 0.92631895 -0.01718586 -0.37634804 3.63273937] [ 0.02240053 0.99970409 0.00948392 0.60788001] [ 0.37607368 -0.01721553 0.92642982 0.41429174] [ 0. 0. 0. 1. ]] SLAMing on 78.386502481 meters Centerline goodness [0,1] 0.6277586616041766 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.41 [[ 0.92654603 -0.01767956 -0.37576573 3.63125001] [ 0.02264356 0.99970489 0.00879793 0.60932098] [ 0.37549929 -0.01666036 0.92667293 0.41441238] [ 0. 0. 0. 1. ]] SLAMing on 78.416502481 meters Centerline goodness [0,1] 0.6148409893992932 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.41 [[ 0.92721474 -0.01837768 -0.37407899 3.62866847] [ 0.02300352 0.99970413 0.00790466 0.61022548] [ 0.37382305 -0.01593445 0.92736316 0.41357629] [ 0. 0. 0. 1. ]] SLAMing on 78.446502481 meters Centerline goodness [0,1] 0.6057281783681214 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.41 [[ 0.92753186 -0.01842589 -0.37328962 3.62760879] [ 0.02299875 0.99970507 0.00779987 0.60993738] [ 0.3730358 -0.01581983 0.92768207 0.41301263] [ 0. 0. 0. 1. ]] SLAMing on 78.476502481 meters Centerline goodness [0,1] 0.5948072615819875 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.42 [[ 0.92951076 -0.01425833 -0.36851926 3.63062558] [ 0.01738268 0.9998356 0.00515956 0.6068798 ] [ 0.36838511 -0.01120172 0.92960579 0.41744758] [ 0. 0. 0. 1. ]] SLAMing on 78.506502481 meters Centerline goodness [0,1] 0.5911358966832991 Centerline is valid? [False, False] Translation: X:3.63, Y:0.61, Z:0.42 [[ 0.92995252 -0.01420819 -0.36740501 3.62849116] [ 0.01727864 0.99983786 0.00506914 0.60590087] [ 0.36727342 -0.01106232 0.93004724 0.41720894] [ 0. 0. 0. 1. ]] SLAMing on 78.53650248099999 meters Centerline goodness [0,1] 0.5858176302432764 Centerline is valid? [False, False] Translation: X:3.62, Y:0.60, Z:0.41 [[ 9.33864108e-01 -8.26468651e-03 -3.57532548e-01 3.62371089e+00] [ 9.08737917e-03 9.99958516e-01 6.21016415e-04 5.97385840e-01] [ 3.57512583e-01 -3.82897877e-03 9.33900472e-01 4.12912702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56650248099999 meters Centerline goodness [0,1] 0.582038849046195 Centerline is valid? [False, False] Translation: X:3.62, Y:0.59, Z:0.41 [[ 9.34303712e-01 -7.83554344e-03 -3.56391887e-01 3.62322071e+00] [ 8.80872922e-03 9.99960589e-01 1.10775188e-03 5.93120553e-01] [ 3.56369161e-01 -4.17433632e-03 9.34335912e-01 4.11411735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59650248099999 meters Centerline goodness [0,1] 0.5808456998796768 Centerline is valid? [False, False] Translation: X:3.62, Y:0.58, Z:0.41 [[ 9.35167202e-01 -8.44918435e-03 -3.54105798e-01 3.62261270e+00] [ 9.42117104e-03 9.99955098e-01 1.02106544e-03 5.83270106e-01] [ 3.54081270e-01 -4.29095819e-03 9.35204813e-01 4.08529194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62650248099999 meters Centerline goodness [0,1] 0.5899522075557578 Centerline is valid? [False, False] Translation: X:3.62, Y:0.58, Z:0.41 [[ 9.35185328e-01 -6.41641655e-03 -3.54100596e-01 3.62495878e+00] [ 8.04505387e-03 9.99962747e-01 3.12746952e-03 5.77211920e-01] [ 3.54067337e-01 -5.77352198e-03 9.35202110e-01 4.07010753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65650248099999 meters Centerline goodness [0,1] 0.5911833207060078 Centerline is valid? [False, False] Translation: X:3.63, Y:0.57, Z:0.41 [[ 0.93454703 -0.00608221 -0.35578766 3.63289729] [ 0.00814129 0.99995766 0.00429039 0.565473 ] [ 0.3557465 -0.00690614 0.93455697 0.40500021] [ 0. 0. 0. 1. ]] SLAMing on 78.68650248099999 meters Centerline goodness [0,1] 0.5983428188818212 Centerline is valid? [False, False] Translation: X:3.64, Y:0.56, Z:0.40 [[ 9.34131034e-01 -8.43363373e-03 -3.56830612e-01 3.63739779e+00] [ 1.01523756e-02 9.99944130e-01 2.94393627e-03 5.59533462e-01] [ 3.56785848e-01 -6.37270064e-03 9.34164465e-01 4.04076286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71650248099999 meters Centerline goodness [0,1] 0.6069321331540383 Centerline is valid? [False, False] Translation: X:3.64, Y:0.55, Z:0.40 [[ 0.93360043 -0.00770348 -0.35823301 3.64495043] [ 0.01000257 0.99993955 0.00456516 0.54517387] [ 0.35817619 -0.00784529 0.93362105 0.40196105] [ 0. 0. 0. 1. ]] SLAMing on 78.746502481 meters Centerline goodness [0,1] 0.6176614481409002 Centerline is valid? [False, False] Translation: X:3.65, Y:0.54, Z:0.40 [[ 0.93339106 -0.00463386 -0.35883095 3.64896231] [ 0.00788239 0.99994012 0.00759068 0.53731591] [ 0.35877429 -0.00991352 0.9333717 0.40053683] [ 0. 0. 0. 1. ]] SLAMing on 78.776502481 meters Centerline goodness [0,1] 0.6219345501326686 Centerline is valid? [False, False] Translation: X:3.66, Y:0.52, Z:0.40 [[ 0.93250407 -0.00384336 -0.36113902 3.65853686] [ 0.00737679 0.99993746 0.00840608 0.5227756 ] [ 0.36108412 -0.01050275 0.9324741 0.39980962] [ 0. 0. 0. 1. ]] SLAMing on 78.806502481 meters Centerline goodness [0,1] 0.6217802326198949 Centerline is valid? [False, False] Translation: X:3.66, Y:0.52, Z:0.40 [[ 0.93198309 -0.0062363 -0.36244812 3.66303748] [ 0.00933542 0.9999333 0.00679977 0.51726674] [ 0.36238154 -0.00972088 0.93197914 0.39955658] [ 0. 0. 0. 1. ]] SLAMing on 78.836502481 meters Centerline goodness [0,1] 0.618889940081993 Centerline is valid? [False, False] Translation: X:3.67, Y:0.51, Z:0.40 [[ 0.93137733 -0.00849125 -0.36395628 3.66811879] [ 0.01115818 0.99992409 0.00522555 0.51196745] [ 0.36388428 -0.00892805 0.93140137 0.39936015] [ 0. 0. 0. 1. ]] SLAMing on 78.866502481 meters Centerline goodness [0,1] 0.6261599875576753 Centerline is valid? [False, False] Translation: X:3.68, Y:0.50, Z:0.40 [[ 9.30401893e-01 -1.30042976e-02 -3.66310260e-01 3.67799334e+00] [ 1.51926139e-02 9.99879806e-01 3.09164742e-03 5.00103543e-01] [ 3.66226026e-01 -8.44168495e-03 9.30487633e-01 3.96792555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89650248099998 meters Centerline goodness [0,1] 0.6249518081579151 Centerline is valid? [False, False] Translation: X:3.68, Y:0.49, Z:0.40 [[ 9.30143370e-01 -1.58833385e-02 -3.66852873e-01 3.68198307e+00] [ 1.77221131e-02 9.99841599e-01 1.64448322e-03 4.94521175e-01] [ 3.66768643e-01 -8.03101325e-03 9.30277521e-01 3.95070798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92650248099999 meters Centerline goodness [0,1] 0.6311195445920303 Centerline is valid? [False, False] Translation: X:3.69, Y:0.48, Z:0.39 [[ 9.29594182e-01 -2.17111758e-02 -3.67944671e-01 3.68963361e+00] [ 2.28902848e-02 9.99737310e-01 -1.15994854e-03 4.83959845e-01] [ 3.67873199e-01 -7.34407689e-03 9.29846963e-01 3.91436078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95650248099999 meters Centerline goodness [0,1] 0.6333785208615755 Centerline is valid? [False, False] Translation: X:3.69, Y:0.48, Z:0.39 [[ 9.29232418e-01 -2.47940402e-02 -3.68662949e-01 3.69342151e+00] [ 2.54697636e-02 9.99670989e-01 -3.03407947e-03 4.79690783e-01] [ 3.68616882e-01 -6.57039313e-03 9.29558188e-01 3.90346122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98650248099999 meters Centerline goodness [0,1] 0.6456363546359092 Centerline is valid? [False, False] Translation: X:3.70, Y:0.47, Z:0.39 [[ 0.92801615 -0.02969151 -0.37135487 3.70488187] [ 0.02997581 0.99953808 -0.00500804 0.46852288] [ 0.37133203 -0.00648412 0.9284775 0.38661709] [ 0. 0. 0. 1. ]] SLAMing on 79.01650248099999 meters Centerline goodness [0,1] 0.6584431843287429 Centerline is valid? [False, False] Translation: X:3.71, Y:0.46, Z:0.38 [[ 0.92754134 -0.03186034 -0.37236002 3.71145652] [ 0.03204718 0.99947017 -0.00568905 0.46235764] [ 0.37234399 -0.00665626 0.92807093 0.38394441] [ 0. 0. 0. 1. ]] SLAMing on 79.04650248099999 meters Centerline goodness [0,1] 0.6789585210804492 Centerline is valid? [False, False] Translation: X:3.73, Y:0.45, Z:0.38 [[ 9.24709423e-01 -3.36590602e-02 -3.79182740e-01 3.72617663e+00] [ 3.49038084e-02 9.99384217e-01 -3.59313044e-03 4.51282708e-01] [ 3.79070187e-01 -9.91232014e-03 9.25314832e-01 3.79892802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07650248099999 meters Centerline goodness [0,1] 0.7035160038797283 Centerline is valid? [False, False] Translation: X:3.73, Y:0.44, Z:0.38 [[ 9.24287324e-01 -3.09044277e-02 -3.80444292e-01 3.73319662e+00] [ 3.34257499e-02 9.99441203e-01 2.06035247e-05 4.44860726e-01] [ 3.80231064e-01 -1.27356793e-02 9.24803839e-01 3.76574652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10650248099999 meters Centerline goodness [0,1] 0.7018949388342528 Centerline is valid? [False, False] Translation: X:3.74, Y:0.43, Z:0.37 [[ 9.20828222e-01 -2.69028125e-02 -3.89039360e-01 3.74057750e+00] [ 2.81483660e-02 9.99600632e-01 -2.49912642e-03 4.32271448e-01] [ 3.88951223e-01 -8.64955614e-03 9.21217744e-01 3.69237472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.136502481 meters Centerline goodness [0,1] 0.7175621606173193 Centerline is valid? [False, False] Translation: X:3.75, Y:0.43, Z:0.37 [[ 9.19945671e-01 -2.75683872e-02 -3.91075372e-01 3.75070462e+00] [ 2.92100253e-02 9.99571762e-01 -1.75143995e-03 4.26620507e-01] [ 3.90956183e-01 -9.81209190e-03 9.20356988e-01 3.65415510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166502481 meters Centerline goodness [0,1] 0.7156327311767726 Centerline is valid? [False, False] Translation: X:3.76, Y:0.41, Z:0.36 [[ 9.16262069e-01 -3.62222540e-02 -3.98938302e-01 3.75693716e+00] [ 3.30161060e-02 9.99343640e-01 -1.49072515e-02 4.10648455e-01] [ 3.99216429e-01 4.87559821e-04 9.16856589e-01 3.59532554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.196502481 meters Centerline goodness [0,1] 0.7262853841709994 Centerline is valid? [False, False] Translation: X:3.76, Y:0.40, Z:0.36 [[ 9.15495494e-01 -4.40048359e-02 -3.99914460e-01 3.76265432e+00] [ 3.89634109e-02 9.99025538e-01 -2.07322531e-02 4.03520463e-01] [ 4.00437078e-01 3.39825283e-03 9.16317957e-01 3.58868419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.226502481 meters Centerline goodness [0,1] 0.733636114661311 Centerline is valid? [False, False] Translation: X:3.76, Y:0.39, Z:0.36 [[ 9.15438524e-01 -4.65075846e-02 -3.99761620e-01 3.76353153e+00] [ 4.17203529e-02 9.98915408e-01 -2.06741322e-02 3.90435007e-01] [ 4.00289545e-01 2.24770129e-03 9.16385960e-01 3.57581687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.256502481 meters Centerline goodness [0,1] 0.734388404750079 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:0.36 [[ 9.15250417e-01 -4.96143400e-02 -3.99818824e-01 3.76713795e+00] [ 4.45346896e-02 9.98765751e-01 -2.19917368e-02 3.81251328e-01] [ 4.00416453e-01 2.32213906e-03 9.16330329e-01 3.55656536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28650248099999 meters Centerline goodness [0,1] 0.7363257567406689 Centerline is valid? [False, False] Translation: X:3.77, Y:0.37, Z:0.35 [[ 9.14498401e-01 -5.02391023e-02 -4.01458226e-01 3.77283132e+00] [ 4.62718967e-02 9.98736993e-01 -1.95788103e-02 3.66590579e-01] [ 4.01934804e-01 -6.71442855e-04 9.15668042e-01 3.53343263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31650248099999 meters Centerline goodness [0,1] 0.7378790847538806 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.35 [[ 9.14128452e-01 -5.26354200e-02 -4.01993390e-01 3.77877602e+00] [ 4.86810620e-02 9.98613029e-01 -2.00542410e-02 3.57576841e-01] [ 4.02491401e-01 -1.23731294e-03 9.15422930e-01 3.50546661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34650248099999 meters Centerline goodness [0,1] 0.7378790847538806 Centerline is valid? [False, False] Translation: X:3.78, Y:0.36, Z:0.35 [[ 9.14128452e-01 -5.26354200e-02 -4.01993390e-01 3.77877602e+00] [ 4.86810620e-02 9.98613029e-01 -2.00542410e-02 3.57576841e-01] [ 4.02491401e-01 -1.23731294e-03 9.15422930e-01 3.50546661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37650248099999 meters Centerline goodness [0,1] 0.73399515529025 Centerline is valid? [False, False] Translation: X:3.78, Y:0.34, Z:0.35 [[ 0.91425567 -0.04958205 -0.40209228 3.78163305] [ 0.04756485 0.99875542 -0.01500626 0.34284681] [ 0.40233588 -0.0054059 0.91547617 0.3474526 ] [ 0. 0. 0. 1. ]] SLAMing on 79.40650248099999 meters Centerline goodness [0,1] 0.7303010612952133 Centerline is valid? [False, False] Translation: X:3.79, Y:0.34, Z:0.34 [[ 9.13517329e-01 -5.61807348e-02 -4.02901743e-01 3.78960835e+00] [ 5.27163031e-02 9.98415328e-01 -1.96932641e-02 3.36902694e-01] [ 4.03369658e-01 -3.24935235e-03 9.15031344e-01 3.44982352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43650248099999 meters Centerline goodness [0,1] 0.7158733941376546 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.34 [[ 0.91088493 -0.05588377 -0.40885896 3.80521409] [ 0.05414978 0.9984074 -0.01582586 0.32330997] [ 0.40909222 -0.00772409 0.91246035 0.34016509] [ 0. 0. 0. 1. ]] SLAMing on 79.46650248099999 meters Centerline goodness [0,1] 0.7196397885715529 Centerline is valid? [False, False] Translation: X:3.81, Y:0.31, Z:0.34 [[ 0.91036898 -0.05731488 -0.40980889 3.81283306] [ 0.05616934 0.9983109 -0.01484409 0.31375735] [ 0.40996747 -0.0095051 0.91205061 0.33624605] [ 0. 0. 0. 1. ]] SLAMing on 79.496502481 meters Centerline goodness [0,1] 0.713952474384129 Centerline is valid? [False, False] Translation: X:3.82, Y:0.30, Z:0.33 [[ 0.90700125 -0.05967397 -0.41687857 3.81814917] [ 0.06279332 0.99800704 -0.00624023 0.29555209] [ 0.41642013 -0.0205173 0.90894077 0.3269188 ] [ 0. 0. 0. 1. ]] SLAMing on 79.526502481 meters Centerline goodness [0,1] 0.7134516937152815 Centerline is valid? [False, False] Translation: X:3.82, Y:0.29, Z:0.33 [[ 0.90652639 -0.06744157 -0.41672717 3.82118848] [ 0.06903354 0.9975507 -0.01126794 0.28759568] [ 0.41646641 -0.01855347 0.90896177 0.32588091] [ 0. 0. 0. 1. ]] SLAMing on 79.556502481 meters Centerline goodness [0,1] 0.7054374444661162 Centerline is valid? [False, False] Translation: X:3.83, Y:0.27, Z:0.32 [[ 0.90524667 -0.07204379 -0.41873399 3.83159766] [ 0.07468374 0.99715606 -0.01010594 0.26596048] [ 0.41827121 -0.02212425 0.9080527 0.32119386] [ 0. 0. 0. 1. ]] SLAMing on 79.586502481 meters Centerline goodness [0,1] 0.69859650647432 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:0.32 [[ 0.90502928 -0.06981012 -0.41958139 3.83630897] [ 0.0740456 0.99723555 -0.00620546 0.25466242] [ 0.41885468 -0.02545203 0.90769651 0.31915299] [ 0. 0. 0. 1. ]] SLAMing on 79.616502481 meters Centerline goodness [0,1] 0.6955709943551889 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:0.32 [[ 0.90468066 -0.07074301 -0.42017656 3.84169878] [ 0.07559126 0.99712571 -0.00512575 0.24441332] [ 0.41933146 -0.02712451 0.9074279 0.31698953] [ 0. 0. 0. 1. ]] SLAMing on 79.64650248099998 meters Centerline goodness [0,1] 0.6948264997935815 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.31 [[ 9.04442165e-01 -6.95857922e-02 -4.20882630e-01 3.84687603e+00] [ 7.70098157e-02 9.97030126e-01 6.45769649e-04 2.20738273e-01] [ 4.19587725e-01 -3.29961551e-02 9.07114874e-01 3.13883573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67650248099999 meters Centerline goodness [0,1] 0.7006228433776774 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:0.31 [[ 0.90677056 -0.06995644 -0.41578029 3.8361547 ] [ 0.0796882 0.99680132 0.00607592 0.19629314] [ 0.41402529 -0.03864224 0.9094448 0.31361238] [ 0. 0. 0. 1. ]] SLAMing on 79.70650248099999 meters Centerline goodness [0,1] 0.7028924276893078 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:0.32 [[ 0.90716432 -0.07252912 -0.4144785 3.82932047] [ 0.08199728 0.99661966 0.00506915 0.18513577] [ 0.41270977 -0.03858466 0.91004498 0.31612526] [ 0. 0. 0. 1. ]] SLAMing on 79.73650248099999 meters Centerline goodness [0,1] 0.7094076655052265 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:0.32 [[ 9.11190627e-01 -8.01894005e-02 -4.04105557e-01 3.82438143e+00] [ 8.75378256e-02 9.96161154e-01 -2.91803730e-04 1.62693080e-01] [ 4.02577658e-01 -3.51086330e-02 9.14712312e-01 3.23552646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76650248099999 meters Centerline goodness [0,1] 0.7087787918296393 Centerline is valid? [False, False] Translation: X:3.83, Y:0.15, Z:0.33 [[ 9.13378766e-01 -8.58404403e-02 -3.97958100e-01 3.83284765e+00] [ 9.26665393e-02 9.95695008e-01 -2.08878430e-03 1.53987810e-01] [ 3.96424196e-01 -3.49695487e-02 9.17401214e-01 3.32558883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79650248099999 meters Centerline goodness [0,1] 0.7084291852945006 Centerline is valid? [False, False] Translation: X:3.83, Y:0.13, Z:0.34 [[ 9.17115128e-01 -8.89409259e-02 -3.88573485e-01 3.83039752e+00] [ 9.54770231e-02 9.95428498e-01 -2.49865201e-03 1.34687982e-01] [ 3.87019353e-01 -3.48082880e-02 9.21414350e-01 3.40575006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82650248099999 meters Centerline goodness [0,1] 0.7088956389672381 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:0.34 [[ 9.19921248e-01 -9.07963627e-02 -3.81445826e-01 3.83715910e+00] [ 9.92085189e-02 9.95063769e-01 2.40100546e-03 1.26684726e-01] [ 3.79344919e-01 -4.00514114e-02 9.24388077e-01 3.44591500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85650248099999 meters Centerline goodness [0,1] 0.7078308026030369 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:0.35 [[ 9.22321793e-01 -9.51898992e-02 -3.74514878e-01 3.84338379e+00] [ 1.03283065e-01 9.94650800e-01 1.54736763e-03 1.13327021e-01] [ 3.72364229e-01 -4.01082154e-02 9.27219614e-01 3.53266178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886502481 meters Centerline goodness [0,1] 0.7070170895908856 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:0.35 [[ 9.22188444e-01 -9.76881295e-02 -3.74199817e-01 3.84170989e+00] [ 1.05461975e-01 9.94423291e-01 3.00544284e-04 1.06898367e-01] [ 3.72083654e-01 -3.97410103e-02 9.27348050e-01 3.54528473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.916502481 meters Centerline goodness [0,1] 0.7067145452972224 Centerline is valid? [False, False] Translation: X:3.84, Y:0.10, Z:0.36 [[ 9.22299599e-01 -9.88176046e-02 -3.73628867e-01 3.83793792e+00] [ 1.06830554e-01 9.94276964e-01 7.43275172e-04 9.71352014e-02] [ 3.71417126e-01 -4.06005011e-02 9.27577985e-01 3.56663159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946502481 meters Centerline goodness [0,1] 0.7066046913847152 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:0.36 [[ 9.22352052e-01 -9.76548459e-02 -3.73805060e-01 3.83735930e+00] [ 1.06169716e-01 9.94345585e-01 2.20219310e-03 9.35678779e-02] [ 3.71476356e-01 -4.17179745e-02 9.27504678e-01 3.57462245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976502481 meters Centerline goodness [0,1] 0.7058823529411764 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:0.36 [[ 9.22028537e-01 -1.00840937e-01 -3.73757250e-01 3.83604607e+00] [ 1.08864933e-01 9.94056485e-01 3.61164402e-04 8.83054502e-02] [ 3.71499398e-01 -4.10220619e-02 9.27526489e-01 3.59024492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006502481 meters Centerline goodness [0,1] 0.7039369737895808 Centerline is valid? [False, False] Translation: X:3.84, Y:0.09, Z:0.36 [[ 9.21564238e-01 -1.05638208e-01 -3.73577199e-01 3.83634329e+00] [ 1.12574845e-01 9.93637871e-01 -3.26886246e-03 8.68673724e-02] [ 3.71545769e-01 -3.90429286e-02 9.27593333e-01 3.59351832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03650248099999 meters Centerline goodness [0,1] 0.7010487620283274 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.36 [[ 9.21458906e-01 -1.06663757e-01 -3.73545617e-01 3.83553273e+00] [ 1.13523756e-01 9.93528552e-01 -3.65688302e-03 8.35350756e-02] [ 3.71518293e-01 -3.90366340e-02 9.27604603e-01 3.60119737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06650248099999 meters Centerline goodness [0,1] 0.699749124097063 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.36 [[ 9.21404209e-01 -1.06476507e-01 -3.73733911e-01 3.83624334e+00] [ 1.13410096e-01 9.93542245e-01 -3.45799044e-03 8.34910659e-02] [ 3.71688624e-01 -3.91989917e-02 9.27529518e-01 3.59969800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09650248099999 meters Centerline goodness [0,1] 0.6965946951668036 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.36 [[ 9.21155822e-01 -1.06134491e-01 -3.74442815e-01 3.83827326e+00] [ 1.13208219e-01 9.93566378e-01 -3.12264413e-03 8.35331147e-02] [ 3.72365212e-01 -3.95135625e-02 9.27244750e-01 3.59927421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters Centerline goodness [0,1] 0.695933516566754 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.36 [[ 9.21114823e-01 -1.06062153e-01 -3.74564151e-01 3.83782094e+00] [ 1.13159026e-01 9.93572163e-01 -3.06475369e-03 8.34156001e-02] [ 3.72481568e-01 -3.95623243e-02 9.27195936e-01 3.60464525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15650248099999 meters Centerline goodness [0,1] 0.6969165095668379 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.36 [[ 9.21092723e-01 -1.06322620e-01 -3.74544653e-01 3.83615978e+00] [ 1.13331905e-01 9.93551599e-01 -3.33155369e-03 8.33268842e-02] [ 3.72483658e-01 -3.93791893e-02 9.27202892e-01 3.61553640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18650248099999 meters Centerline goodness [0,1] 0.6995011122389478 Centerline is valid? [False, False] Translation: X:3.84, Y:0.08, Z:0.37 [[ 0.92274951 -0.10404571 -0.37109007 3.83701698] [ 0.10857392 0.99405003 -0.00873131 0.08291009] [ 0.36979055 -0.03223389 0.92855583 0.36784033] [ 0. 0. 0. 1. ]] SLAMing on 80.21650248099999 meters Centerline goodness [0,1] 0.6982968895028817 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:0.37 [[ 0.92323385 -0.10041392 -0.37088583 3.83302741] [ 0.10580739 0.99436953 -0.00583354 0.0829569 ] [ 0.36938333 -0.03385674 0.92866015 0.36934643] [ 0. 0. 0. 1. ]] SLAMing on 80.246502481 meters Centerline goodness [0,1] 0.7005614338155906 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:0.37 [[ 0.92320627 -0.10041498 -0.37095419 3.83226526] [ 0.105781 0.99437189 -0.00590948 0.0832146 ] [ 0.36945982 -0.03378424 0.92863236 0.36996735] [ 0. 0. 0. 1. ]] SLAMing on 80.276502481 meters Centerline goodness [0,1] 0.7002092366099355 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:0.37 [[ 0.92356452 -0.09877608 -0.37050218 3.82770153] [ 0.10450058 0.99451398 -0.00464549 0.08252335] [ 0.36892846 -0.03442728 0.92881998 0.37179283] [ 0. 0. 0. 1. ]] SLAMing on 80.306502481 meters Centerline goodness [0,1] 0.7020711400989137 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:0.37 [[ 9.23920412e-01 -9.61955387e-02 -3.70293791e-01 3.82452832e+00] [ 1.02507750e-01 9.94728689e-01 -2.64508666e-03 8.19992707e-02] [ 3.68596302e-01 -3.55141339e-02 9.28910928e-01 3.72975250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.336502481 meters Centerline goodness [0,1] 0.7034493153044526 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:0.38 [[ 0.92547717 -0.09175047 -0.36752395 3.82783675] [ 0.0961563 0.99534601 -0.00634789 0.08194061] [ 0.36639591 -0.02946492 0.92999239 0.37836982] [ 0. 0. 0. 1. ]] SLAMing on 80.366502481 meters Centerline goodness [0,1] 0.7057865409344193 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:0.38 [[ 0.9254837 -0.09165564 -0.36753118 3.82707556] [ 0.09606446 0.99535503 -0.00632277 0.08151004] [ 0.36640352 -0.02945507 0.92998971 0.37891583] [ 0. 0. 0. 1. ]] SLAMing on 80.39650248099998 meters Centerline goodness [0,1] 0.7124354561101549 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:0.38 [[ 0.92589466 -0.08884471 -0.3671862 3.82228179] [ 0.09387655 0.99557511 -0.00417167 0.08156907] [ 0.36593207 -0.03060764 0.9301381 0.38089237] [ 0. 0. 0. 1. ]] SLAMing on 80.42650248099999 meters Centerline goodness [0,1] 0.7113459758486342 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:0.38 [[ 9.26171374e-01 -8.43391490e-02 -3.67550669e-01 3.82125327e+00] [ 9.05313993e-02 9.95893523e-01 -3.95106727e-04 8.13857500e-02] [ 3.66074654e-01 -3.29089399e-02 9.30003414e-01 3.81632332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45650248099999 meters Centerline goodness [0,1] 0.7109417059672244 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:0.38 [[ 9.25973600e-01 -8.49953456e-02 -3.67897653e-01 3.82064974e+00] [ 9.09466028e-02 9.95855088e-01 -1.16579761e-03 8.35179029e-02] [ 3.66471837e-01 -3.23795439e-02 9.29865559e-01 3.82615730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48650248099999 meters Centerline goodness [0,1] 0.7088114357064433 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:0.38 [[ 9.25815702e-01 -8.53747065e-02 -3.68207070e-01 3.82093188e+00] [ 9.11821660e-02 9.95832892e-01 -1.63239623e-03 8.48658005e-02] [ 3.66812076e-01 -3.20626201e-02 9.29742378e-01 3.82969701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51650248099999 meters Centerline goodness [0,1] 0.7084870052841583 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:0.38 [[ 9.25904544e-01 -8.33720192e-02 -3.68442508e-01 3.81871606e+00] [ 8.95996482e-02 9.95977841e-01 -2.06171363e-04 8.87742046e-02] [ 3.66977763e-01 -3.28214241e-02 9.29650513e-01 3.84190985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54650248099999 meters Centerline goodness [0,1] 0.7099076765259018 Centerline is valid? [False, False] Translation: X:3.83, Y:0.09, Z:0.39 [[ 9.27471501e-01 -8.50857696e-02 -3.64083819e-01 3.83221903e+00] [ 9.11379625e-02 9.95838119e-01 -5.59733399e-04 9.28030798e-02] [ 3.62616171e-01 -3.26627207e-02 9.31366018e-01 3.91542537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57650248099999 meters Centerline goodness [0,1] 0.7119896862913623 Centerline is valid? [False, False] Translation: X:3.84, Y:0.10, Z:0.40 [[ 9.29618315e-01 -8.85111390e-02 -3.57736729e-01 3.83983250e+00] [ 9.40913067e-02 9.95561917e-01 -1.81507022e-03 1.00551895e-01] [ 3.56309718e-01 -3.19725938e-02 9.33820721e-01 3.99321843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60650248099999 meters Centerline goodness [0,1] 0.7127581755593804 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:0.40 [[ 9.29532754e-01 -8.97400049e-02 -3.57652891e-01 3.83808769e+00] [ 9.48848402e-02 9.95483188e-01 -3.17654178e-03 1.05520683e-01] [ 3.56322503e-01 -3.09831378e-02 9.33849195e-01 4.00130116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.636502481 meters Centerline goodness [0,1] 0.7125446025536306 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:0.40 [[ 9.29746486e-01 -9.00829166e-02 -3.57010560e-01 3.83566349e+00] [ 9.50777300e-02 9.95463435e-01 -3.57430400e-03 1.14026485e-01] [ 3.55712942e-01 -3.06205570e-02 9.34093509e-01 3.99885052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666502481 meters Centerline goodness [0,1] 0.7124097317744154 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:0.40 [[ 0.92963922 -0.09146091 -0.35693952 3.83600003] [ 0.09605285 0.99536427 -0.00488157 0.11665497] [ 0.35573131 -0.02974696 0.93411474 0.39957739] [ 0. 0. 0. 1. ]] SLAMing on 80.696502481 meters Centerline goodness [0,1] 0.7070487426799863 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:0.40 [[ 0.92945987 -0.09446139 -0.35662502 3.83511784] [ 0.09811252 0.99514411 -0.00788237 0.12429808] [ 0.35563787 -0.02766304 0.93421436 0.39952298] [ 0. 0. 0. 1. ]] SLAMing on 80.726502481 meters Centerline goodness [0,1] 0.6668311521132804 Centerline is valid? [False, False] Translation: X:3.83, Y:0.13, Z:0.40 [[ 0.92979629 -0.09135108 -0.35655834 3.83367478] [ 0.0956414 0.99539999 -0.00561995 0.12790958] [ 0.35543155 -0.02887633 0.93425616 0.39970017] [ 0. 0. 0. 1. ]] SLAMing on 80.756502481 meters Centerline goodness [0,1] 0.6527837167536132 Centerline is valid? [False, False] Translation: X:3.83, Y:0.14, Z:0.40 [[ 0.92993185 -0.0887308 -0.35686636 3.83293629] [ 0.09338657 0.99562106 -0.00420075 0.13538841] [ 0.3556764 -0.02942011 0.934146 0.39991419] [ 0. 0. 0. 1. ]] SLAMing on 80.78650248099999 meters Centerline goodness [0,1] 0.6931339195926141 Centerline is valid? [False, False] Translation: X:3.83, Y:0.14, Z:0.40 [[ 9.30317129e-01 -8.48337957e-02 -3.56809848e-01 3.83151845e+00] [ 9.03108113e-02 9.95912761e-01 -1.31544857e-03 1.37687046e-01] [ 3.55463075e-01 -3.10000025e-02 9.34176109e-01 4.00145920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81650248099999 meters Centerline goodness [0,1] 0.7107423806043933 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:0.40 [[ 9.31067837e-01 -7.91942449e-02 -3.56147378e-01 3.82486272e+00] [ 8.55546994e-02 9.96331229e-01 2.11578030e-03 1.45710803e-01] [ 3.54673197e-01 -3.24400169e-02 9.34427401e-01 4.02491387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84650248099999 meters Centerline goodness [0,1] 0.710094798872662 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:0.40 [[ 0.93129743 -0.07525391 -0.35640138 3.82384096] [ 0.0823546 0.99659169 0.00476767 0.14918402] [ 0.35482787 -0.03379141 0.93432078 0.40306309] [ 0. 0. 0. 1. ]] SLAMing on 80.87650248099999 meters Centerline goodness [0,1] 0.7143621460825647 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:0.40 [[ 0.93155685 -0.07184193 -0.35642751 3.82314359] [ 0.07933919 0.99682688 0.00643889 0.15555978] [ 0.35483394 -0.03427687 0.93430079 0.40300741] [ 0. 0. 0. 1. ]] SLAMing on 80.90650248099999 meters Centerline goodness [0,1] 0.7133513467147024 Centerline is valid? [False, False] Translation: X:3.82, Y:0.16, Z:0.40 [[ 0.93174405 -0.06846079 -0.35660363 3.82481967] [ 0.07662508 0.99702114 0.00879999 0.15774198] [ 0.3549389 -0.03552412 0.93421433 0.40192277] [ 0. 0. 0. 1. ]] SLAMing on 80.93650248099999 meters Centerline goodness [0,1] 0.7131718004897538 Centerline is valid? [False, False] Translation: X:3.83, Y:0.16, Z:0.40 [[ 0.93171007 -0.06462105 -0.35740797 3.82843514] [ 0.07325856 0.99725595 0.01066572 0.16414794] [ 0.35573799 -0.03612055 0.93388746 0.40050507] [ 0. 0. 0. 1. ]] SLAMing on 80.96650248099999 meters Centerline goodness [0,1] 0.7124744815730095 Centerline is valid? [False, False] Translation: X:3.83, Y:0.17, Z:0.40 [[ 0.93184137 -0.05975191 -0.35791252 3.8300912 ] [ 0.06935582 0.99749313 0.01404395 0.16665104] [ 0.35617613 -0.03791005 0.9336495 0.3998103 ] [ 0. 0. 0. 1. ]] SLAMing on 80.996502481 meters Centerline goodness [0,1] 0.7116153151991749 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.40 [[ 0.93188792 -0.04900026 -0.35942158 3.83609041] [ 0.06079999 0.9979164 0.02159194 0.17420176] [ 0.35761468 -0.0419741 0.93292546 0.39756449] [ 0. 0. 0. 1. ]] SLAMing on 81.026502481 meters Centerline goodness [0,1] 0.7129999570391373 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:0.40 [[ 0.9317787 -0.0450115 -0.36022552 3.83880596] [ 0.05755742 0.99804955 0.02417116 0.1781854 ] [ 0.35843493 -0.04325582 0.93255205 0.39680555] [ 0. 0. 0. 1. ]] SLAMing on 81.056502481 meters Centerline goodness [0,1] 0.7147686908888604 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:0.39 [[ 0.93114878 -0.04372956 -0.36200785 3.84634414] [ 0.05628688 0.99812108 0.02420959 0.18586657] [ 0.36026899 -0.04291902 0.93186062 0.39481998] [ 0. 0. 0. 1. ]] SLAMing on 81.086502481 meters Centerline goodness [0,1] 0.7140704058563893 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:0.39 [[ 0.93074603 -0.04467856 -0.36292651 3.85104474] [ 0.0569276 0.99811056 0.02312037 0.1891701 ] [ 0.3612078 -0.04217972 0.93153089 0.39342502] [ 0. 0. 0. 1. ]] SLAMing on 81.116502481 meters Centerline goodness [0,1] 0.7134829041426234 Centerline is valid? [False, False] Translation: X:3.85, Y:0.20, Z:0.39 [[ 0.93019227 -0.04734629 -0.36400642 3.85492396] [ 0.05876424 0.99806446 0.02034961 0.19660183] [ 0.36233839 -0.04031961 0.93117411 0.39266988] [ 0. 0. 0. 1. ]] SLAMing on 81.14650248099998 meters Centerline goodness [0,1] 0.716476247745039 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.40 [[ 0.93126289 -0.0509284 -0.36077101 3.86128876] [ 0.06444183 0.99759513 0.02551858 0.20658271] [ 0.35860379 -0.04701325 0.93230525 0.39545978] [ 0. 0. 0. 1. ]] SLAMing on 81.17650248099999 meters Centerline goodness [0,1] 0.717932217932218 Centerline is valid? [False, False] Translation: X:3.87, Y:0.21, Z:0.40 [[ 0.93283306 -0.05312157 -0.3563714 3.86907248] [ 0.06891842 0.99711638 0.03176741 0.21242603] [ 0.35365623 -0.05419425 0.93380419 0.397297 ] [ 0. 0. 0. 1. ]] SLAMing on 81.20650248099999 meters Centerline goodness [0,1] 0.7209656325708038 Centerline is valid? [False, False] Translation: X:3.87, Y:0.23, Z:0.40 [[ 0.93620284 -0.05426573 -0.34724554 3.87437004] [ 0.06849079 0.99723556 0.02881407 0.22548268] [ 0.34472199 -0.05075894 0.93733147 0.39695477] [ 0. 0. 0. 1. ]] SLAMing on 81.23650248099999 meters Centerline goodness [0,1] 0.7213993269168935 Centerline is valid? [False, False] Translation: X:3.87, Y:0.23, Z:0.40 [[ 0.93608506 -0.05553164 -0.34736293 3.87424102] [ 0.06920899 0.9972345 0.02708243 0.23050404] [ 0.34489837 -0.0493921 0.93733961 0.39720785] [ 0. 0. 0. 1. ]] SLAMing on 81.26650248099999 meters Centerline goodness [0,1] 0.7213993269168935 Centerline is valid? [False, False] Translation: X:3.87, Y:0.23, Z:0.40 [[ 0.93608506 -0.05553164 -0.34736293 3.87424102] [ 0.06920899 0.9972345 0.02708243 0.23050404] [ 0.34489837 -0.0493921 0.93733961 0.39720785] [ 0. 0. 0. 1. ]] SLAMing on 81.29650248099999 meters Centerline goodness [0,1] 0.722127997595483 Centerline is valid? [False, False] Translation: X:3.87, Y:0.24, Z:0.40 [[ 0.93604688 -0.05500727 -0.34754918 3.87480173] [ 0.06865813 0.99727278 0.02707522 0.23563581] [ 0.34511201 -0.04920575 0.93727077 0.39689265] [ 0. 0. 0. 1. ]] SLAMing on 81.32650248099999 meters Centerline goodness [0,1] 0.7228093587894703 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.40 [[ 0.93622659 -0.05319054 -0.34734787 3.87310498] [ 0.06681867 0.99738976 0.02736658 0.24565013] [ 0.34498556 -0.04883064 0.93733693 0.39703564] [ 0. 0. 0. 1. ]] SLAMing on 81.35650248099999 meters Centerline goodness [0,1] 0.7242129290667125 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.40 [[ 0.9363521 -0.05001445 -0.34748136 3.87306298] [ 0.06420252 0.99750282 0.02943068 0.2494586 ] [ 0.34514168 -0.04986666 0.93722491 0.39687595] [ 0. 0. 0. 1. ]] SLAMing on 81.386502481 meters Centerline goodness [0,1] 0.7243772088613051 Centerline is valid? [False, False] Translation: X:3.88, Y:0.26, Z:0.40 [[ 0.93621024 -0.04689481 -0.34829765 3.87561859] [ 0.06157858 0.99761441 0.03120193 0.25737851] [ 0.34600355 -0.05065924 0.93686455 0.39603131] [ 0. 0. 0. 1. ]] SLAMing on 81.416502481 meters Centerline goodness [0,1] 0.7264019542717552 Centerline is valid? [False, False] Translation: X:3.88, Y:0.26, Z:0.40 [[ 0.93589919 -0.04517197 -0.3493597 3.8779154 ] [ 0.06015144 0.99767166 0.03214137 0.26357901] [ 0.34709438 -0.05109557 0.93643725 0.39589658] [ 0. 0. 0. 1. ]] SLAMing on 81.446502481 meters Centerline goodness [0,1] 0.7275051564111379 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:0.40 [[ 0.93583736 -0.04585523 -0.34943631 3.87766995] [ 0.06056998 0.99767329 0.03129356 0.26598355] [ 0.3471883 -0.05045103 0.93643738 0.39615062] [ 0. 0. 0. 1. ]] SLAMing on 81.476502481 meters Centerline goodness [0,1] 0.727130150818545 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:0.40 [[ 0.93570656 -0.04628992 -0.34972916 3.87796428] [ 0.06081141 0.99767858 0.03064994 0.26819134] [ 0.34749851 -0.04994687 0.93634935 0.39644712] [ 0. 0. 0. 1. ]] SLAMing on 81.506502481 meters Centerline goodness [0,1] 0.7287488679001164 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:0.40 [[ 0.93578433 -0.04295668 -0.34994631 3.87826918] [ 0.05816064 0.99776004 0.03304895 0.27166059] [ 0.34774277 -0.05127979 0.9361866 0.3961675 ] [ 0. 0. 0. 1. ]] SLAMing on 81.53650248099999 meters Centerline goodness [0,1] 0.7300118114463653 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:0.40 [[ 0.93568126 -0.04317149 -0.35019537 3.87820131] [ 0.05823564 0.99777059 0.03259537 0.27437456] [ 0.34800745 -0.05089273 0.93610937 0.39657157] [ 0. 0. 0. 1. ]] SLAMing on 81.56650248099999 meters Centerline goodness [0,1] 0.7301113805609802 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:0.40 [[ 0.93587429 -0.04004443 -0.35005108 3.87633278] [ 0.05567941 0.99784514 0.03471149 0.27830149] [ 0.34790677 -0.05197623 0.93608726 0.39720336] [ 0. 0. 0. 1. ]] SLAMing on 81.59650248099999 meters Centerline goodness [0,1] 0.7302927686570363 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:0.40 [[ 0.93579747 -0.04039594 -0.35021603 3.8769697 ] [ 0.05585467 0.99785476 0.03414856 0.2801496 ] [ 0.34808527 -0.05151734 0.93604627 0.39705233] [ 0. 0. 0. 1. ]] SLAMing on 81.62650248099999 meters Centerline goodness [0,1] 0.7300930491831397 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.40 [[ 0.93560021 -0.03877495 -0.35092557 3.88039643] [ 0.0544191 0.99791075 0.03482388 0.28562542] [ 0.3488421 -0.05167828 0.9357556 0.3957706 ] [ 0. 0. 0. 1. ]] SLAMing on 81.65650248099999 meters Centerline goodness [0,1] 0.7322216245293168 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.40 [[ 0.93540689 -0.03761976 -0.35156607 3.88279104] [ 0.05349286 0.99793549 0.0355424 0.28894136] [ 0.34950316 -0.05205288 0.93548813 0.39514421] [ 0. 0. 0. 1. ]] SLAMing on 81.68650248099999 meters Centerline goodness [0,1] 0.7318583499967748 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.39 [[ 0.93549238 -0.03484025 -0.35162502 3.8842315 ] [ 0.0510791 0.99800865 0.03700888 0.29418858] [ 0.34963542 -0.05258221 0.9354091 0.39408002] [ 0. 0. 0. 1. ]] SLAMing on 81.71650248099999 meters Centerline goodness [0,1] 0.7313237502681829 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:0.39 [[ 0.93543936 -0.03496373 -0.3517538 3.88426305] [ 0.05097403 0.99803806 0.03635492 0.29706618] [ 0.34979257 -0.05193813 0.93538633 0.39428048] [ 0. 0. 0. 1. ]] SLAMing on 81.746502481 meters Centerline goodness [0,1] 0.732890693826683 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:0.39 [[ 0.93567886 -0.03096916 -0.35149107 3.88304135] [ 0.04756144 0.9981196 0.03866759 0.30175817] [ 0.34963262 -0.05289787 0.93539235 0.39441736] [ 0. 0. 0. 1. ]] SLAMing on 81.776502481 meters Centerline goodness [0,1] 0.7322284559661228 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:0.39 [[ 0.93562054 -0.03087829 -0.35165428 3.88353995] [ 0.04729462 0.99815078 0.03818701 0.30433854] [ 0.34982484 -0.0523599 0.93535075 0.39439665] [ 0. 0. 0. 1. ]] SLAMing on 81.806502481 meters Centerline goodness [0,1] 0.7349356149364749 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.39 [[ 0.93555867 -0.02631612 -0.3521895 3.88607333] [ 0.04356349 0.99820345 0.04113512 0.30841241] [ 0.35047425 -0.05382692 0.93502431 0.39330962] [ 0. 0. 0. 1. ]] SLAMing on 81.836502481 meters Centerline goodness [0,1] 0.7361687487905046 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.39 [[ 0.93559515 -0.02196074 -0.35239103 3.88636892] [ 0.04013034 0.99821025 0.04433801 0.31028256] [ 0.35078665 -0.055624 0.93480196 0.39323773] [ 0. 0. 0. 1. ]] SLAMing on 81.866502481 meters Centerline goodness [0,1] 0.737589565366628 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.39 [[ 0.93573124 -0.01829455 -0.35223906 3.88594461] [ 0.03709934 0.99821933 0.04670988 0.31366288] [ 0.3507573 -0.05677573 0.93474372 0.39306805] [ 0. 0. 0. 1. ]] SLAMing on 81.89650248099998 meters Centerline goodness [0,1] 0.7369548453431582 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93576136 -0.02106211 -0.35200434 3.8871659 ] [ 0.03895417 0.99827957 0.04382314 0.31735463] [ 0.35047574 -0.05472004 0.93497191 0.39205505] [ 0. 0. 0. 1. ]] SLAMing on 81.92650248099999 meters Centerline goodness [0,1] 0.7386933591647831 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93582667 -0.02185602 -0.35178227 3.88677008] [ 0.03945196 0.99829891 0.04292811 0.3185154 ] [ 0.35024562 -0.05405177 0.93509701 0.39193093] [ 0. 0. 0. 1. ]] SLAMing on 81.95650248099999 meters Centerline goodness [0,1] 0.7370225058204708 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93579437 -0.02213674 -0.35185062 3.88705667] [ 0.03958822 0.99831263 0.04248124 0.3196194 ] [ 0.35031652 -0.05368284 0.9350917 0.39186264] [ 0. 0. 0. 1. ]] SLAMing on 81.98650248099999 meters Centerline goodness [0,1] 0.7376568496399465 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93583403 -0.01800771 -0.35198067 3.88677245] [ 0.03633921 0.99830119 0.04554327 0.32165257] [ 0.3505626 -0.05541164 0.93489861 0.39206319] [ 0. 0. 0. 1. ]] SLAMing on 82.01650248099999 meters Centerline goodness [0,1] 0.7383546570584048 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93574671 -0.01794204 -0.35221608 3.88720034] [ 0.03627598 0.99830447 0.04552178 0.32255233] [ 0.35080214 -0.05537384 0.934811 0.39217714] [ 0. 0. 0. 1. ]] SLAMing on 82.04650248099999 meters Centerline goodness [0,1] 0.7384193241725002 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.39 [[ 0.93559498 -0.01813221 -0.35260921 3.88851213] [ 0.03657073 0.99828557 0.04570006 0.32193732] [ 0.35117605 -0.05565192 0.93465408 0.39192225] [ 0. 0. 0. 1. ]] SLAMing on 82.07650248099999 meters Centerline goodness [0,1] 0.7387687545677314 Centerline is valid? [False, False] Translation: X:3.90, Y:0.32, Z:0.39 [[ 0.93597891 -0.02361621 -0.35126308 3.89878043] [ 0.04414543 0.99774541 0.05054966 0.32321504] [ 0.34927734 -0.06282008 0.93491121 0.3934558 ] [ 0. 0. 0. 1. ]] SLAMing on 82.10650248099999 meters Centerline goodness [0,1] 0.7374891961970613 Centerline is valid? [False, False] Translation: X:3.90, Y:0.32, Z:0.39 [[ 0.9358096 -0.02852041 -0.35135022 3.89921127] [ 0.04792403 0.99776093 0.04665206 0.32370463] [ 0.34923299 -0.06049557 0.93508107 0.39352696] [ 0. 0. 0. 1. ]] SLAMing on 82.136502481 meters Centerline goodness [0,1] 0.736286829351975 Centerline is valid? [False, False] Translation: X:3.91, Y:0.32, Z:0.39 [[ 0.93740156 -0.03330347 -0.34665429 3.91137792] [ 0.05397433 0.99728248 0.05014407 0.32308236] [ 0.34404228 -0.06571556 0.93665168 0.39467532] [ 0. 0. 0. 1. ]] SLAMing on 82.166502481 meters Centerline goodness [0,1] 0.7355648716397268 Centerline is valid? [False, False] Translation: X:3.91, Y:0.32, Z:0.40 [[ 0.93752373 -0.03402363 -0.34625373 3.90866041] [ 0.0546133 0.99726098 0.0498791 0.32324827] [ 0.34360826 -0.0656729 0.93681398 0.39572232] [ 0. 0. 0. 1. ]] SLAMing on 82.196502481 meters Centerline goodness [0,1] 0.7347916711433913 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:0.40 [[ 0.93811953 -0.03705822 -0.34432316 3.91589636] [ 0.06027603 0.99655476 0.0569685 0.32660672] [ 0.34102574 -0.0741977 0.9371212 0.39814942] [ 0. 0. 0. 1. ]] SLAMing on 82.226502481 meters Centerline goodness [0,1] 0.7338753270340981 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:0.40 [[ 0.93814941 -0.03778384 -0.34416284 3.91512695] [ 0.06079662 0.99656013 0.05631765 0.32781168] [ 0.34085107 -0.07375831 0.93721943 0.3983389 ] [ 0. 0. 0. 1. ]] SLAMing on 82.256502481 meters Centerline goodness [0,1] 0.7342875731945349 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:0.40 [[ 0.93798344 -0.04277667 -0.34403083 3.9155318 ] [ 0.06454087 0.99655639 0.05205611 0.33151406] [ 0.34061934 -0.07103182 0.93751424 0.39791868] [ 0. 0. 0. 1. ]] SLAMing on 82.28650248099999 meters Centerline goodness [0,1] 0.73305954825462 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:0.40 [[ 0.93795316 -0.04346693 -0.34402689 3.91629786] [ 0.06503852 0.99655767 0.05140814 0.33246804] [ 0.34060808 -0.07059342 0.93755144 0.3973508 ] [ 0. 0. 0. 1. ]] SLAMing on 82.31650248099999 meters Centerline goodness [0,1] 0.7340293096293709 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:0.40 [[ 0.93795261 -0.04475622 -0.34386302 3.91617983] [ 0.06584705 0.99658132 0.04989837 0.33612169] [ 0.3404542 -0.06944467 0.93769311 0.39702139] [ 0. 0. 0. 1. ]] SLAMing on 82.34650248099999 meters Centerline goodness [0,1] 0.7340927974810862 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:0.40 [[ 0.93783074 -0.04496827 -0.34416763 3.91713058] [ 0.0659249 0.99659968 0.04942661 0.33865323] [ 0.34077472 -0.06904301 0.93760634 0.39679286] [ 0. 0. 0. 1. ]] SLAMing on 82.37650248099999 meters Centerline goodness [0,1] 0.7378401566315419 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:0.39 [[ 0.93749136 -0.04414923 -0.34519676 3.92210207] [ 0.06533114 0.99661194 0.04996492 0.34183406] [ 0.3418213 -0.06939378 0.93719939 0.39492524] [ 0. 0. 0. 1. ]] SLAMing on 82.40650248099999 meters Centerline goodness [0,1] 0.7377613125165388 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:0.39 [[ 0.93738774 -0.04421234 -0.34546996 3.92348414] [ 0.06534374 0.99662152 0.04975673 0.34310683] [ 0.34210294 -0.06921565 0.9371098 0.39442086] [ 0. 0. 0. 1. ]] SLAMing on 82.43650248099999 meters Centerline goodness [0,1] 0.736324509956961 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:0.39 [[ 0.93751748 -0.03997545 -0.34563412 3.92384585] [ 0.06196788 0.99667998 0.05281089 0.34538617] [ 0.34237547 -0.07092935 0.9368821 0.39405357] [ 0. 0. 0. 1. ]] SLAMing on 82.46650248099999 meters Centerline goodness [0,1] 0.7351555347133829 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:0.39 [[ 0.93753198 -0.04034807 -0.34555147 3.92331089] [ 0.06209944 0.99670895 0.0521049 0.34755405] [ 0.34231191 -0.07030856 0.93695211 0.39426627] [ 0. 0. 0. 1. ]] SLAMing on 82.496502481 meters Centerline goodness [0,1] 0.7331125679636632 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:0.39 [[ 0.93754856 -0.04063481 -0.34547289 3.92264998] [ 0.06203077 0.99676528 0.05109951 0.35178331] [ 0.34227896 -0.06933822 0.93703646 0.39457625] [ 0. 0. 0. 1. ]] SLAMing on 82.526502481 meters Centerline goodness [0,1] 0.7326431866771689 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:0.39 [[ 0.93751696 -0.04111155 -0.34550223 3.92247607] [ 0.06226721 0.99678853 0.05035291 0.35410976] [ 0.34232257 -0.06872017 0.93706606 0.3946832 ] [ 0. 0. 0. 1. ]] SLAMing on 82.556502481 meters Centerline goodness [0,1] 0.7315738290702671 Centerline is valid? [False, False] Translation: X:3.92, Y:0.36, Z:0.39 [[ 0.93762409 -0.04029053 -0.34530817 3.92140382] [ 0.06153216 0.99681293 0.05077179 0.35878925] [ 0.34216203 -0.06885241 0.93711498 0.39461364] [ 0. 0. 0. 1. ]] SLAMing on 82.586502481 meters Centerline goodness [0,1] 0.731018686502177 Centerline is valid? [False, False] Translation: X:3.92, Y:0.36, Z:0.39 [[ 0.93758111 -0.04089109 -0.3453543 3.92112606] [ 0.06190823 0.99682648 0.0500433 0.36096357] [ 0.34221198 -0.06829993 0.93713717 0.3947952 ] [ 0. 0. 0. 1. ]] SLAMing on 82.616502481 meters Centerline goodness [0,1] 0.7330361789261715 Centerline is valid? [False, False] Translation: X:3.92, Y:0.36, Z:0.39 [[ 0.93729212 -0.04335245 -0.34583819 3.92313214] [ 0.06378536 0.99681265 0.04791618 0.36430509] [ 0.3426586 -0.06697087 0.93706989 0.39420158] [ 0. 0. 0. 1. ]] SLAMing on 82.64650248099998 meters Centerline goodness [0,1] 0.7337052660225881 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93729244 -0.04409291 -0.3457437 3.92295552] [ 0.06435786 0.99680302 0.04734774 0.36517675] [ 0.34255066 -0.06663 0.93713365 0.39407306] [ 0. 0. 0. 1. ]] SLAMing on 82.67650248099999 meters Centerline goodness [0,1] 0.734942786012836 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93736656 -0.04570876 -0.34533264 3.92093597] [ 0.06559714 0.99677976 0.04612074 0.36679719] [ 0.34211247 -0.06588488 0.93734638 0.39461952] [ 0. 0. 0. 1. ]] SLAMing on 82.70650248099999 meters Centerline goodness [0,1] 0.7354249857387336 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93733706 -0.04615191 -0.3453538 3.92092042] [ 0.06597155 0.99676749 0.0458511 0.36702776] [ 0.34212132 -0.06576146 0.93735182 0.39460397] [ 0. 0. 0. 1. ]] SLAMing on 82.73650248099999 meters Centerline goodness [0,1] 0.7357701275545192 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93713453 -0.04617334 -0.34590013 3.92205857] [ 0.06608283 0.99675411 0.04598158 0.36831798] [ 0.34265425 -0.06594899 0.93714396 0.39454572] [ 0. 0. 0. 1. ]] SLAMing on 82.76650248099999 meters Centerline goodness [0,1] 0.7362378502001143 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93702119 -0.04619667 -0.34620393 3.92219468] [ 0.06610158 0.9967565 0.04590283 0.3697024 ] [ 0.34296045 -0.06589655 0.93703563 0.39488161] [ 0. 0. 0. 1. ]] SLAMing on 82.79650248099999 meters Centerline goodness [0,1] 0.7364785791321509 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.40 [[ 0.93699616 -0.04639372 -0.34624533 3.92194196] [ 0.0662418 0.99675629 0.04570481 0.370694 ] [ 0.34300179 -0.06576115 0.93703001 0.3950796 ] [ 0. 0. 0. 1. ]] SLAMing on 82.82650248099999 meters Centerline goodness [0,1] 0.7373445316444077 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.9370198 -0.04742122 -0.34604208 3.92168282] [ 0.06703549 0.99673854 0.04492812 0.37158251] [ 0.34278292 -0.06529564 0.93714265 0.3948286 ] [ 0. 0. 0. 1. ]] SLAMing on 82.85650248099999 meters Centerline goodness [0,1] 0.735528827357818 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.39 [[ 0.93696421 -0.0477201 -0.34615149 3.92194845] [ 0.06723952 0.99673977 0.04459466 0.37231976] [ 0.34289489 -0.06505866 0.93711817 0.39484568] [ 0. 0. 0. 1. ]] SLAMing on 82.886502481 meters Centerline goodness [0,1] 0.7355171857350331 Centerline is valid? [False, False] Translation: X:3.92, Y:0.38, Z:0.39 [[ 0.93693043 -0.04493787 -0.34661499 3.92347123] [ 0.06502267 0.99679842 0.0465292 0.375616 ] [ 0.34341435 -0.06613246 0.93685275 0.39427342] [ 0. 0. 0. 1. ]] SLAMing on 82.916502481 meters Centerline goodness [0,1] 0.7338174417797922 Centerline is valid? [False, False] Translation: X:3.92, Y:0.38, Z:0.39 [[ 0.93676006 -0.04511711 -0.34705191 3.92447891] [ 0.06500796 0.99682946 0.04588013 0.37832295] [ 0.34388159 -0.06553981 0.936723 0.39434889] [ 0. 0. 0. 1. ]] SLAMing on 82.946502481 meters Centerline goodness [0,1] 0.7334048357387675 Centerline is valid? [False, False] Translation: X:3.93, Y:0.38, Z:0.39 [[ 0.93690895 -0.04120467 -0.34713656 3.92590937] [ 0.0617216 0.99692645 0.04825043 0.38243573] [ 0.34408147 -0.06663208 0.93657253 0.39324259] [ 0. 0. 0. 1. ]] SLAMing on 82.976502481 meters Centerline goodness [0,1] 0.7300762219994872 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:0.39 [[ 0.93682261 -0.04108449 -0.34738373 3.92642185] [ 0.06140112 0.99697388 0.04767578 0.38557733] [ 0.34437377 -0.0659935 0.93651031 0.39335701] [ 0. 0. 0. 1. ]] SLAMing on 83.006502481 meters Centerline goodness [0,1] 0.7275135996998687 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:0.39 [[ 0.93701378 -0.03735556 -0.34728913 3.92589225] [ 0.05816518 0.99706975 0.0496862 0.39008446] [ 0.34441543 -0.06675679 0.93644089 0.39335514] [ 0. 0. 0. 1. ]] SLAMing on 83.03650248099999 meters Centerline goodness [0,1] 0.7278039585296889 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:0.39 [[ 0.93691132 -0.03761776 -0.34753716 3.92591237] [ 0.0581515 0.99711237 0.04883986 0.39304745] [ 0.34469636 -0.06596842 0.93639339 0.39381538] [ 0. 0. 0. 1. ]] SLAMing on 83.06650248099999 meters Centerline goodness [0,1] 0.7256373233602387 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.39 [[ 0.93711021 -0.03345668 -0.34742639 3.92495281] [ 0.05468681 0.99717561 0.05147964 0.39654634] [ 0.34472278 -0.06724174 0.93629309 0.39398363] [ 0. 0. 0. 1. ]] SLAMing on 83.09650248099999 meters Centerline goodness [0,1] 0.7246198304040931 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.39 [[ 0.93702991 -0.03346938 -0.34764169 3.92475291] [ 0.05453442 0.99720939 0.05098469 0.39887572] [ 0.34496513 -0.06673262 0.93624026 0.39454407] [ 0. 0. 0. 1. ]] SLAMing on 83.12650248099999 meters Centerline goodness [0,1] 0.7211662140917536 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.39 [[ 0.93709735 -0.0290344 -0.34785854 3.9245795 ] [ 0.05104952 0.99721949 0.05428844 0.40070631] [ 0.34531508 -0.06863156 0.93597393 0.39470425] [ 0. 0. 0. 1. ]] SLAMing on 83.15650248099999 meters Centerline goodness [0,1] 0.7211662140917536 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.39 [[ 0.93709735 -0.0290344 -0.34785854 3.9245795 ] [ 0.05104952 0.99721949 0.05428844 0.40070631] [ 0.34531508 -0.06863156 0.93597393 0.39470425] [ 0. 0. 0. 1. ]] SLAMing on 83.18650248099999 meters Centerline goodness [0,1] 0.7220140794654576 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.40 [[ 0.93698043 -0.02916322 -0.34816258 3.92490044] [ 0.05108723 0.99723565 0.05395503 0.40208815] [ 0.34562664 -0.06834147 0.93588016 0.39504171] [ 0. 0. 0. 1. ]] SLAMing on 83.21650248099999 meters Centerline goodness [0,1] 0.7228405255977597 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.40 [[ 0.93692702 -0.0295802 -0.34827112 3.92451542] [ 0.05133165 0.99725338 0.05339249 0.40354961] [ 0.34573519 -0.06790219 0.93587204 0.3954681 ] [ 0. 0. 0. 1. ]] SLAMing on 83.246502481 meters Centerline goodness [0,1] 0.719970382401414 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93680987 -0.03008956 -0.34854253 3.92491559] [ 0.05162963 0.99727614 0.05267519 0.40538428] [ 0.34600817 -0.06734176 0.93581164 0.39572582] [ 0. 0. 0. 1. ]] SLAMing on 83.276502481 meters Centerline goodness [0,1] 0.7188433504600311 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93681853 -0.03083331 -0.34845424 3.9249772 ] [ 0.05209588 0.99729707 0.05181288 0.40704574] [ 0.34591483 -0.06669229 0.93589266 0.39556225] [ 0. 0. 0. 1. ]] SLAMing on 83.306502481 meters Centerline goodness [0,1] 0.7187544807150026 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.9368079 -0.03128146 -0.34844288 3.92535217] [ 0.05242767 0.99729991 0.05142209 0.40732369] [ 0.34589349 -0.06644066 0.93591844 0.39531012] [ 0. 0. 0. 1. ]] SLAMing on 83.336502481 meters Centerline goodness [0,1] 0.715830851697439 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93658784 -0.03125009 -0.34903675 3.92665232] [ 0.05243233 0.99730062 0.05140362 0.40784945] [ 0.3464882 -0.06644481 0.93569814 0.39550561] [ 0. 0. 0. 1. ]] SLAMing on 83.366502481 meters Centerline goodness [0,1] 0.7167306769083053 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93648829 -0.03141725 -0.34928876 3.92668854] [ 0.05253706 0.99730792 0.05115444 0.40896778] [ 0.34674132 -0.06625614 0.93561775 0.39589 ] [ 0. 0. 0. 1. ]] SLAMing on 83.39650248099998 meters Centerline goodness [0,1] 0.7144228461723062 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93625783 -0.03093197 -0.34994926 3.92813152] [ 0.05211135 0.99732453 0.05126584 0.41034569] [ 0.34742723 -0.06623438 0.93536481 0.39618415] [ 0. 0. 0. 1. ]] SLAMing on 83.42650248099999 meters Centerline goodness [0,1] 0.7141007504735416 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93621718 -0.03103778 -0.35004864 3.92856979] [ 0.05219738 0.99732476 0.05117385 0.41025216] [ 0.34752385 -0.06618146 0.93533266 0.3961248 ] [ 0. 0. 0. 1. ]] SLAMing on 83.45650248099999 meters Centerline goodness [0,1] 0.7126549797357251 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93624144 -0.03131282 -0.34995924 3.92876805] [ 0.05245131 0.99731589 0.05108687 0.40928518] [ 0.34742024 -0.06618547 0.93537087 0.39590581] [ 0. 0. 0. 1. ]] SLAMing on 83.48650248099999 meters Centerline goodness [0,1] 0.7127247513389441 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93619698 -0.03144859 -0.350066 3.92875446] [ 0.05255451 0.99731727 0.05095369 0.40968077] [ 0.34752444 -0.06610024 0.93533818 0.39611465] [ 0. 0. 0. 1. ]] SLAMing on 83.51650248099999 meters Centerline goodness [0,1] 0.7119106937523956 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93601099 -0.03152461 -0.35055617 3.92849509] [ 0.05264865 0.99731557 0.05088979 0.41154801] [ 0.34801084 -0.06608972 0.93515806 0.39695065] [ 0. 0. 0. 1. ]] SLAMing on 83.54650248099999 meters Centerline goodness [0,1] 0.7120067170445004 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93598119 -0.03180063 -0.35061079 3.92846658] [ 0.05289579 0.99730949 0.05075257 0.41150714] [ 0.3480535 -0.06604928 0.93514504 0.39706453] [ 0. 0. 0. 1. ]] SLAMing on 83.57650248099999 meters Centerline goodness [0,1] 0.713605196679899 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93598032 -0.03246508 -0.35055223 3.92799398] [ 0.05345514 0.99729931 0.05036498 0.41113265] [ 0.34797039 -0.06587945 0.93518795 0.39728525] [ 0. 0. 0. 1. ]] SLAMing on 83.60650248099999 meters Centerline goodness [0,1] 0.7137793106751934 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.9359102 -0.03802887 -0.35017982 3.927511 ] [ 0.05764833 0.99728718 0.04577066 0.41219991] [ 0.34748924 -0.06302451 0.93556354 0.39737949] [ 0. 0. 0. 1. ]] SLAMing on 83.636502481 meters Centerline goodness [0,1] 0.7137729709035222 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93590606 -0.03880989 -0.35010518 3.92794173] [ 0.05819422 0.99728992 0.04501392 0.41342659] [ 0.34740938 -0.0625029 0.93562819 0.39697877] [ 0. 0. 0. 1. ]] SLAMing on 83.666502481 meters Centerline goodness [0,1] 0.7126879047869417 Centerline is valid? [False, False] Translation: X:3.93, Y:0.41, Z:0.40 [[ 0.93575893 -0.03858467 -0.3505231 3.92902618] [ 0.05797411 0.99730393 0.04498749 0.41471159] [ 0.34784223 -0.06241871 0.93547297 0.3970227 ] [ 0. 0. 0. 1. ]] SLAMing on 83.696502481 meters Centerline goodness [0,1] 0.7142340343430446 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93587232 -0.03408766 -0.35068651 3.92929918] [ 0.05448228 0.99733849 0.04845216 0.41704911] [ 0.34810153 -0.06445124 0.93523867 0.39663017] [ 0. 0. 0. 1. ]] SLAMing on 83.726502481 meters Centerline goodness [0,1] 0.7132708293060119 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93584719 -0.03445928 -0.35071726 3.92928024] [ 0.05470501 0.9973491 0.04798055 0.41813349] [ 0.34813416 -0.06408845 0.93525145 0.39672513] [ 0. 0. 0. 1. ]] SLAMing on 83.756502481 meters Centerline goodness [0,1] 0.7117279934456252 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93585871 -0.03515524 -0.35061743 3.92928628] [ 0.05520225 0.99735216 0.04734321 0.41830601] [ 0.34802469 -0.06366142 0.93532136 0.39662473] [ 0. 0. 0. 1. ]] SLAMing on 83.78650248099999 meters Centerline goodness [0,1] 0.7120078882181766 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93581225 -0.03521256 -0.35073568 3.92905511] [ 0.05518028 0.99736503 0.04709703 0.41931352] [ 0.34815309 -0.06342767 0.93528945 0.39707898] [ 0. 0. 0. 1. ]] SLAMing on 83.81650248099999 meters Centerline goodness [0,1] 0.7119275825346113 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93601588 -0.03108832 -0.35058208 3.92745507] [ 0.05197317 0.99737997 0.05031873 0.42067084] [ 0.34809922 -0.06532 0.93517925 0.39748652] [ 0. 0. 0. 1. ]] SLAMing on 83.84650248099999 meters Centerline goodness [0,1] 0.7128332689335395 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93598269 -0.03120964 -0.3506599 3.92738211] [ 0.05199074 0.99739493 0.05000313 0.42199131] [ 0.34818583 -0.06503313 0.935167 0.39769351] [ 0. 0. 0. 1. ]] SLAMing on 83.87650248099999 meters Centerline goodness [0,1] 0.7112831589932772 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93593249 -0.03091831 -0.35081966 3.92777324] [ 0.05156191 0.99743465 0.04965365 0.42524957] [ 0.34838447 -0.0645614 0.9351257 0.3978088 ] [ 0. 0. 0. 1. ]] SLAMing on 83.90650248099999 meters Centerline goodness [0,1] 0.7083859376517432 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93593638 -0.03129105 -0.35077622 3.9276672 ] [ 0.05176036 0.99745037 0.04912856 0.42640639] [ 0.34834459 -0.06413751 0.93516973 0.39784312] [ 0. 0. 0. 1. ]] SLAMing on 83.93650248099999 meters Centerline goodness [0,1] 0.7094322322225708 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93607352 -0.03183282 -0.3503613 3.92818724] [ 0.05208772 0.99746224 0.04853818 0.42655366] [ 0.34792705 -0.06368483 0.93535609 0.39691237] [ 0. 0. 0. 1. ]] SLAMing on 83.96650248099999 meters Centerline goodness [0,1] 0.7087505758552967 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.9360758 -0.03195922 -0.35034369 3.9283138 ] [ 0.05215236 0.99746784 0.04835329 0.42729985] [ 0.34791123 -0.06353359 0.93537226 0.39677127] [ 0. 0. 0. 1. ]] SLAMing on 83.996502481 meters Centerline goodness [0,1] 0.7126548931603083 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93628237 -0.02744 -0.35017477 3.92736449] [ 0.04872919 0.99745077 0.0521289 0.4279371 ] [ 0.34785168 -0.0658711 0.9352327 0.39665653] [ 0. 0. 0. 1. ]] SLAMing on 84.026502481 meters Centerline goodness [0,1] 0.7133694273729392 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93622275 -0.02765319 -0.35031738 3.92708378] [ 0.04886413 0.99745858 0.05185239 0.42914717] [ 0.3479932 -0.06566334 0.93519466 0.3970575 ] [ 0. 0. 0. 1. ]] SLAMing on 84.056502481 meters Centerline goodness [0,1] 0.7101966052021004 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93617379 -0.02778723 -0.3504376 3.92750217] [ 0.04896615 0.99746052 0.05171867 0.4295578 ] [ 0.34811055 -0.06557724 0.93515703 0.39699794] [ 0. 0. 0. 1. ]] SLAMing on 84.086502481 meters Centerline goodness [0,1] 0.7098738262910798 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93608797 -0.02798903 -0.35065071 3.92919242] [ 0.049168 0.99745464 0.05164051 0.42906536] [ 0.34831281 -0.06558085 0.93508146 0.39628127] [ 0. 0. 0. 1. ]] SLAMing on 84.116502481 meters Centerline goodness [0,1] 0.7076313666039074 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93606121 -0.02826276 -0.35070019 3.92935128] [ 0.04939473 0.99745296 0.05145625 0.42875571] [ 0.34835265 -0.06548894 0.93507306 0.39629371] [ 0. 0. 0. 1. ]] SLAMing on 84.14650248099998 meters Centerline goodness [0,1] 0.7077482077973092 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.936073 -0.0286811 -0.35063475 3.92846856] [ 0.04968128 0.99746002 0.05104187 0.42955796] [ 0.34828021 -0.0651989 0.93512031 0.39674548] [ 0. 0. 0. 1. ]] SLAMing on 84.17650248099999 meters Centerline goodness [0,1] 0.7104985653677318 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93593085 -0.02855326 -0.35102444 3.92864342] [ 0.04951865 0.99747569 0.05089345 0.43090956] [ 0.34868517 -0.065015 0.93498219 0.39736606] [ 0. 0. 0. 1. ]] SLAMing on 84.20650248099999 meters Centerline goodness [0,1] 0.7024630541871921 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93576841 -0.02812809 -0.35149153 3.92934522] [ 0.04899926 0.99751507 0.0506236 0.43385621] [ 0.34919416 -0.06459479 0.93482135 0.3978467 ] [ 0. 0. 0. 1. ]] SLAMing on 84.23650248099999 meters Centerline goodness [0,1] 0.7032788098586338 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93571443 -0.02826342 -0.35162435 3.92965197] [ 0.04896938 0.9975414 0.05013142 0.43536614] [ 0.34934296 -0.06412752 0.93479792 0.39796864] [ 0. 0. 0. 1. ]] SLAMing on 84.26650248099999 meters Centerline goodness [0,1] 0.6994927107959024 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93567704 -0.02823925 -0.35172579 3.9300632 ] [ 0.04882945 0.99756455 0.0498062 0.43650636] [ 0.34946269 -0.06377709 0.93477715 0.39799591] [ 0. 0. 0. 1. ]] SLAMing on 84.29650248099999 meters Centerline goodness [0,1] 0.7008730924290767 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93583516 -0.02818883 -0.35130889 3.92886641] [ 0.04849551 0.99761403 0.0491369 0.43881172] [ 0.34908557 -0.06302094 0.93496932 0.39840294] [ 0. 0. 0. 1. ]] SLAMing on 84.32650248099999 meters Centerline goodness [0,1] 0.7008936307151521 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93588551 -0.02812264 -0.35118006 3.92772865] [ 0.04826052 0.99764582 0.04872114 0.44018335] [ 0.34898315 -0.06254554 0.93503947 0.39919757] [ 0. 0. 0. 1. ]] SLAMing on 84.35650248099999 meters Centerline goodness [0,1] 0.7010023511941592 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93583221 -0.02823971 -0.35131267 3.92719056] [ 0.04831292 0.99765396 0.0485019 0.44076969] [ 0.3491188 -0.06236258 0.93500105 0.39983629] [ 0. 0. 0. 1. ]] SLAMing on 84.386502481 meters Centerline goodness [0,1] 0.7069228874106923 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93601812 -0.02890176 -0.35076312 3.92503786] [ 0.04889806 0.99763605 0.04828341 0.43890025] [ 0.34853846 -0.06234578 0.93521866 0.40037325] [ 0. 0. 0. 1. ]] SLAMing on 84.416502481 meters Centerline goodness [0,1] 0.708760094544022 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.40 [[ 0.93612575 -0.02914864 -0.35045534 3.92463969] [ 0.04918932 0.99761522 0.04841777 0.43683855] [ 0.34820827 -0.06256378 0.9353271 0.40017705] [ 0. 0. 0. 1. ]] SLAMing on 84.446502481 meters Centerline goodness [0,1] 0.7073301622149042 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93580946 -0.03315708 -0.35094338 3.92573085] [ 0.0524087 0.9975887 0.04549861 0.43526558] [ 0.34858855 -0.06097051 0.93529066 0.40063473] [ 0. 0. 0. 1. ]] SLAMing on 84.476502481 meters Centerline goodness [0,1] 0.7106255817371283 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93580586 -0.03314311 -0.3509543 3.92556858] [ 0.05251862 0.99756768 0.04583144 0.43410587] [ 0.34858167 -0.06132097 0.93527031 0.40074628] [ 0. 0. 0. 1. ]] SLAMing on 84.50650248099998 meters Centerline goodness [0,1] 0.7137777995733516 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.40 [[ 0.93579121 -0.03324043 -0.35098416 3.9248064 ] [ 0.05268762 0.99755097 0.0460009 0.4334688 ] [ 0.3485955 -0.06153976 0.93525079 0.40123552] [ 0. 0. 0. 1. ]] SLAMing on 84.53650248099999 meters Centerline goodness [0,1] 0.7125719301667804 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93570868 -0.03308636 -0.35121867 3.92546567] [ 0.05273136 0.99752484 0.04651442 0.43193593] [ 0.34881035 -0.06204418 0.93513735 0.40119014] [ 0. 0. 0. 1. ]] SLAMing on 84.56650248099999 meters Centerline goodness [0,1] 0.7112279843444227 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93549951 -0.03668078 -0.35141883 3.92876247] [ 0.05541312 0.99752014 0.04339303 0.43216017] [ 0.34895567 -0.06006737 0.9352122 0.39991147] [ 0. 0. 0. 1. ]] SLAMing on 84.59650248099999 meters Centerline goodness [0,1] 0.7107050373772414 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93555692 -0.03673276 -0.35126052 3.92887239] [ 0.05540494 0.99752674 0.04325156 0.43219868] [ 0.34880301 -0.05992586 0.93527822 0.39965849] [ 0. 0. 0. 1. ]] SLAMing on 84.62650248099999 meters Centerline goodness [0,1] 0.7109306409130817 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93550704 -0.03647346 -0.35142036 3.92915381] [ 0.05511191 0.99754616 0.04317798 0.43314974] [ 0.34898318 -0.05976075 0.93522157 0.39989162] [ 0. 0. 0. 1. ]] SLAMing on 84.65650248099999 meters Centerline goodness [0,1] 0.702845587877016 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93562823 -0.03141375 -0.3515864 3.92995613] [ 0.05113115 0.99758844 0.04693512 0.43380526] [ 0.34926412 -0.06189084 0.93497813 0.39949839] [ 0. 0. 0. 1. ]] SLAMing on 84.68650248099999 meters Centerline goodness [0,1] 0.7002501594153137 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93578302 -0.02660396 -0.35157128 3.92987718] [ 0.04730355 0.99760733 0.05041809 0.43453598] [ 0.34938877 -0.06381096 0.93480247 0.39948976] [ 0. 0. 0. 1. ]] SLAMing on 84.71650248099999 meters Centerline goodness [0,1] 0.7001646636683133 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.9358367 -0.02694116 -0.35140268 3.92825542] [ 0.04739687 0.99763702 0.04973849 0.43611095] [ 0.34923231 -0.0632025 0.93490226 0.40046727] [ 0. 0. 0. 1. ]] SLAMing on 84.746502481 meters Centerline goodness [0,1] 0.7007629830174747 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93585178 -0.0274169 -0.35132572 3.92710634] [ 0.0476681 0.99765466 0.0491216 0.43682806] [ 0.34915498 -0.06271757 0.9349638 0.40125446] [ 0. 0. 0. 1. ]] SLAMing on 84.776502481 meters Centerline goodness [0,1] 0.6996345083032844 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93561734 -0.0319835 -0.35156402 3.92850821] [ 0.05106178 0.99767541 0.04512731 0.43741086] [ 0.34930344 -0.06017338 0.93507554 0.40126854] [ 0. 0. 0. 1. ]] SLAMing on 84.806502481 meters Centerline goodness [0,1] 0.6993780911806473 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93557082 -0.03196465 -0.35168951 3.92877666] [ 0.05109779 0.99766781 0.04525439 0.43683533] [ 0.34942276 -0.06030925 0.93502221 0.401326 ] [ 0. 0. 0. 1. ]] SLAMing on 84.836502481 meters Centerline goodness [0,1] 0.7030471186190979 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93559924 -0.03225264 -0.35158757 3.92660746] [ 0.05142599 0.99764753 0.04532966 0.43638855] [ 0.34929847 -0.06049113 0.9350569 0.40249372] [ 0. 0. 0. 1. ]] SLAMing on 84.866502481 meters Centerline goodness [0,1] 0.7072996828362796 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.40 [[ 0.93557799 -0.03247516 -0.35162365 3.92609822] [ 0.05167834 0.99763296 0.04536335 0.43568022] [ 0.34931815 -0.06061228 0.9350417 0.40289968] [ 0. 0. 0. 1. ]] SLAMing on 84.89650248099998 meters Centerline goodness [0,1] 0.7140049622914978 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93540612 -0.03762505 -0.35156756 3.92571916] [ 0.0557529 0.99757849 0.04157853 0.43419142] [ 0.34915184 -0.05849372 0.93523873 0.40346464] [ 0. 0. 0. 1. ]] SLAMing on 84.92650248099999 meters Centerline goodness [0,1] 0.7141214182592311 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93513411 -0.0425123 -0.35173412 3.92616189] [ 0.05955388 0.99751035 0.03776831 0.43349065] [ 0.34925281 -0.05626557 0.93533773 0.40387365] [ 0. 0. 0. 1. ]] SLAMing on 84.95650248099999 meters Centerline goodness [0,1] 0.716042767724494 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.9347841 -0.04689385 -0.35210744 3.92746436] [ 0.06311641 0.99740175 0.03472861 0.43139827] [ 0.34956402 -0.05468751 0.93531507 0.40397691] [ 0. 0. 0. 1. ]] SLAMing on 84.98650248099999 meters Centerline goodness [0,1] 0.717523911770447 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93476284 -0.0468101 -0.35217504 3.92727053] [ 0.06318502 0.99738299 0.03513994 0.43032291] [ 0.34960849 -0.0550997 0.93527425 0.40413623] [ 0. 0. 0. 1. ]] SLAMing on 85.01650248099999 meters Centerline goodness [0,1] 0.7193870068925062 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93478056 -0.046917 -0.35211376 3.9260915 ] [ 0.06345804 0.99735022 0.03557562 0.4283457 ] [ 0.34951163 -0.05559985 0.93528086 0.40477531] [ 0. 0. 0. 1. ]] SLAMing on 85.04650248099999 meters Centerline goodness [0,1] 0.7175191064079953 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.41 [[ 0.93473189 -0.04680748 -0.3522575 3.92610697] [ 0.06344374 0.99734218 0.03582553 0.42756848] [ 0.34964436 -0.0558358 0.93521719 0.40500891] [ 0. 0. 0. 1. ]] SLAMing on 85.07650248099999 meters Centerline goodness [0,1] 0.7175191064079953 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.41 [[ 0.93473189 -0.04680748 -0.3522575 3.92610697] [ 0.06344374 0.99734218 0.03582553 0.42756848] [ 0.34964436 -0.0558358 0.93521719 0.40500891] [ 0. 0. 0. 1. ]] SLAMing on 85.10650248099999 meters Centerline goodness [0,1] 0.7189776575786371 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.41 [[ 0.93469161 -0.04647763 -0.35240804 3.92675828] [ 0.06317222 0.99735259 0.03601494 0.42747147] [ 0.34980118 -0.05592526 0.9351532 0.40500453] [ 0. 0. 0. 1. ]] SLAMing on 85.136502481 meters Centerline goodness [0,1] 0.7192351011213947 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.41 [[ 0.93472901 -0.04677365 -0.35226965 3.92642241] [ 0.06336278 0.9973517 0.03570345 0.42744548] [ 0.34966676 -0.05569384 0.93521728 0.40508506] [ 0. 0. 0. 1. ]] SLAMing on 85.166502481 meters Centerline goodness [0,1] 0.720866679679875 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.41 [[ 0.93486285 -0.04684058 -0.35190541 3.92576953] [ 0.06335299 0.99735788 0.035548 0.42702725] [ 0.34931054 -0.05552677 0.93536032 0.40505158] [ 0. 0. 0. 1. ]] SLAMing on 85.196502481 meters Centerline goodness [0,1] 0.7204679219478838 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93515018 -0.04209334 -0.35174178 3.9251785 ] [ 0.05975752 0.99743073 0.03950927 0.42590997] [ 0.34917499 -0.05796632 0.93526292 0.40485626] [ 0. 0. 0. 1. ]] SLAMing on 85.226502481 meters Centerline goodness [0,1] 0.7167216318553804 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.40 [[ 0.93539203 -0.03734839 -0.35163453 3.92462661] [ 0.05614374 0.99747883 0.04340354 0.42544614] [ 0.34912694 -0.06034141 0.93513063 0.40476038] [ 0. 0. 0. 1. ]] SLAMing on 85.25650248099998 meters Centerline goodness [0,1] 0.7175277879565165 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93535824 -0.03674125 -0.35178835 3.92509822] [ 0.05550882 0.99751413 0.0434088 0.42687561] [ 0.34931895 -0.06013013 0.93507253 0.40491925] [ 0. 0. 0. 1. ]] SLAMing on 85.28650248099999 meters Centerline goodness [0,1] 0.7173552913662053 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.40 [[ 0.93545903 -0.03657595 -0.35153747 3.92461139] [ 0.05533428 0.99752162 0.04345951 0.42675819] [ 0.34907666 -0.06010666 0.93516452 0.40491392] [ 0. 0. 0. 1. ]] SLAMing on 85.31650248099999 meters Centerline goodness [0,1] 0.7195029845291753 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.41 [[ 0.93552129 -0.03699118 -0.35132829 3.92371746] [ 0.05562317 0.99752178 0.04308548 0.42688274] [ 0.34886384 -0.05984938 0.93526043 0.40519812] [ 0. 0. 0. 1. ]] SLAMing on 85.34650248099999 meters Centerline goodness [0,1] 0.7185199582128714 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.41 [[ 0.93560015 -0.03726083 -0.35108972 3.92307035] [ 0.05581726 0.99751986 0.04287856 0.42664456] [ 0.34862128 -0.05971406 0.93535952 0.40528989] [ 0. 0. 0. 1. ]] SLAMing on 85.37650248099999 meters Centerline goodness [0,1] 0.72 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.41 [[ 0.93551278 -0.03685495 -0.35136527 3.92352358] [ 0.05549877 0.99752658 0.04313465 0.4268293 ] [ 0.34890647 -0.05985336 0.93524427 0.4055553 ] [ 0. 0. 0. 1. ]] SLAMing on 85.40650248099999 meters Centerline goodness [0,1] 0.718359984399376 Centerline is valid? [False, False] Translation: X:3.93, Y:0.43, Z:0.40 [[ 0.93540467 -0.03632789 -0.35170781 3.92565827] [ 0.05521373 0.99751281 0.04381378 0.42587915] [ 0.34924138 -0.06040271 0.93508394 0.40465831] [ 0. 0. 0. 1. ]] SLAMing on 85.43650248099999 meters Centerline goodness [0,1] 0.7145770117732735 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93541202 -0.03608693 -0.35171307 3.92707824] [ 0.05514746 0.99749396 0.04432333 0.42404287] [ 0.34923217 -0.06085666 0.93505794 0.40375199] [ 0. 0. 0. 1. ]] SLAMing on 85.46650248099999 meters Centerline goodness [0,1] 0.7169609676714193 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93539841 -0.0360636 -0.35175167 3.92786647] [ 0.05521448 0.99747961 0.04456221 0.42277991] [ 0.34925804 -0.0611052 0.93503207 0.40333028] [ 0. 0. 0. 1. ]] SLAMing on 85.496502481 meters Centerline goodness [0,1] 0.7204212365330487 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93549458 -0.03654599 -0.35144599 3.92639934] [ 0.05570382 0.99745285 0.04455226 0.42157315] [ 0.34892259 -0.06125528 0.93514748 0.40370267] [ 0. 0. 0. 1. ]] SLAMing on 85.526502481 meters Centerline goodness [0,1] 0.722877558435267 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93560793 -0.03720376 -0.35107503 3.92475654] [ 0.05624886 0.99743781 0.04420265 0.42115962] [ 0.34853101 -0.06110392 0.9353034 0.40415091] [ 0. 0. 0. 1. ]] SLAMing on 85.556502481 meters Centerline goodness [0,1] 0.7251044105931488 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93569264 -0.0377619 -0.35078956 3.92361513] [ 0.05677444 0.99741392 0.04406967 0.41987691] [ 0.34821824 -0.06115155 0.93541678 0.40446916] [ 0. 0. 0. 1. ]] SLAMing on 85.586502481 meters Centerline goodness [0,1] 0.7253783300294928 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93566961 -0.03788849 -0.35083735 3.92370171] [ 0.05694013 0.99740122 0.04414332 0.41930393] [ 0.34825307 -0.06128028 0.93539538 0.40448781] [ 0. 0. 0. 1. ]] SLAMing on 85.616502481 meters Centerline goodness [0,1] 0.7265254505216567 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93566825 -0.03860228 -0.35076316 3.92357334] [ 0.05756856 0.99738022 0.04380142 0.41827952] [ 0.3481534 -0.06117652 0.93543928 0.40446184] [ 0. 0. 0. 1. ]] SLAMing on 85.64650248099998 meters Centerline goodness [0,1] 0.7234175993824778 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93553079 -0.03822172 -0.35117125 3.92519883] [ 0.05732372 0.99737865 0.04415673 0.41740778] [ 0.34856296 -0.06144042 0.93526945 0.4042212 ] [ 0. 0. 0. 1. ]] SLAMing on 85.67650248099999 meters Centerline goodness [0,1] 0.7243125378558449 Centerline is valid? [False, False] Translation: X:3.93, Y:0.42, Z:0.40 [[ 0.93551771 -0.03825886 -0.35120205 3.925305 ] [ 0.05730261 0.99738732 0.04398807 0.41822758] [ 0.34860154 -0.06127641 0.93526583 0.40421473] [ 0. 0. 0. 1. ]] SLAMing on 85.70650248099999 meters Centerline goodness [0,1] 0.7270523789902319 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93558264 -0.03859679 -0.35099204 3.92428896] [ 0.05752997 0.99738818 0.04367069 0.41858298] [ 0.34838977 -0.0610501 0.93535953 0.40455163] [ 0. 0. 0. 1. ]] SLAMing on 85.73650248099999 meters Centerline goodness [0,1] 0.7258847516869751 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93563212 -0.03897818 -0.35081795 3.92267335] [ 0.05776165 0.99739384 0.04323342 0.4194089 ] [ 0.3482185 -0.0607144 0.93544516 0.40533559] [ 0. 0. 0. 1. ]] SLAMing on 85.76650248099999 meters Centerline goodness [0,1] 0.7256675908361301 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93557558 -0.03916847 -0.35094753 3.92206847] [ 0.05791214 0.99739223 0.04306871 0.4199485 ] [ 0.34834541 -0.06061816 0.93540414 0.40592783] [ 0. 0. 0. 1. ]] SLAMing on 85.79650248099999 meters Centerline goodness [0,1] 0.7272417900289263 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93573498 -0.04007542 -0.35041976 3.91953382] [ 0.05867128 0.99736763 0.04260846 0.41959686] [ 0.34778978 -0.06042981 0.93562306 0.40666841] [ 0. 0. 0. 1. ]] SLAMing on 85.82650248099999 meters Centerline goodness [0,1] 0.7298099617976981 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93556206 -0.04523157 -0.35025382 3.91963335] [ 0.06264801 0.99729092 0.03854938 0.41980216] [ 0.3475613 -0.05800804 0.93586121 0.40664893] [ 0. 0. 0. 1. ]] SLAMing on 85.85650248099999 meters Centerline goodness [0,1] 0.729194026946836 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.9356611 -0.04546253 -0.34995924 3.91958123] [ 0.06292933 0.9972675 0.03869656 0.41847348] [ 0.34724373 -0.05822957 0.93596534 0.40612358] [ 0. 0. 0. 1. ]] SLAMing on 85.886502481 meters Centerline goodness [0,1] 0.7303646478633725 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93573317 -0.0456941 -0.34973631 3.91925608] [ 0.06319686 0.99724686 0.03879238 0.41748546] [ 0.34700086 -0.05840155 0.93604469 0.40590718] [ 0. 0. 0. 1. ]] SLAMing on 85.916502481 meters Centerline goodness [0,1] 0.7308158417761403 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.41 [[ 0.93576862 -0.04559702 -0.34965411 3.92008214] [ 0.06327134 0.99722277 0.03928724 0.41630518] [ 0.34689166 -0.05888685 0.93605476 0.40505565] [ 0. 0. 0. 1. ]] SLAMing on 85.946502481 meters Centerline goodness [0,1] 0.7302180080995222 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.9357496 -0.0454155 -0.34972865 3.92052196] [ 0.06320543 0.99721387 0.03961781 0.41586997] [ 0.346955 -0.0591771 0.93601298 0.40479056] [ 0. 0. 0. 1. ]] SLAMing on 85.976502481 meters Centerline goodness [0,1] 0.7296428744019716 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.41 [[ 0.93576873 -0.04545156 -0.34967277 3.91991021] [ 0.06335404 0.99719218 0.03992529 0.41486929] [ 0.34687629 -0.05951402 0.93602079 0.40502447] [ 0. 0. 0. 1. ]] SLAMing on 86.00650248099998 meters Centerline goodness [0,1] 0.7315714251108258 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93583383 -0.04558855 -0.34948066 3.9197211 ] [ 0.06353688 0.99717514 0.04006 0.4138635 ] [ 0.34666715 -0.05969442 0.93608678 0.40476711] [ 0. 0. 0. 1. ]] SLAMing on 86.03650248099999 meters Centerline goodness [0,1] 0.7295800646054453 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93588316 -0.04586712 -0.34931206 3.91956214] [ 0.0638592 0.99715053 0.04015988 0.41262306] [ 0.34647469 -0.05989174 0.93614543 0.40450922] [ 0. 0. 0. 1. ]] SLAMing on 86.06650248099999 meters Centerline goodness [0,1] 0.7281744107090892 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93585199 -0.04568566 -0.34941934 3.91982898] [ 0.06372439 0.99715358 0.04029822 0.4129766 ] [ 0.3465837 -0.0599797 0.93609945 0.40443837] [ 0. 0. 0. 1. ]] SLAMing on 86.09650248099999 meters Centerline goodness [0,1] 0.7261179109572341 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.9358091 -0.04534591 -0.34957843 3.92004433] [ 0.06331589 0.99718584 0.04014343 0.41504146] [ 0.34677432 -0.05970046 0.9360467 0.40461164] [ 0. 0. 0. 1. ]] SLAMing on 86.12650248099999 meters Centerline goodness [0,1] 0.7257405515832482 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93578778 -0.04533815 -0.34963649 3.9207484 ] [ 0.06321795 0.99720219 0.03989081 0.41608478] [ 0.3468497 -0.05943264 0.93603581 0.40426753] [ 0. 0. 0. 1. ]] SLAMing on 86.15650248099999 meters Centerline goodness [0,1] 0.725261366399222 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93579467 -0.04424397 -0.3497582 3.9235999 ] [ 0.06214664 0.99726017 0.04012414 0.41832978] [ 0.34702467 -0.05928425 0.93598037 0.40274507] [ 0. 0. 0. 1. ]] SLAMing on 86.18650248099999 meters Centerline goodness [0,1] 0.7242264889323713 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93567879 -0.04415224 -0.35007968 3.92447536] [ 0.06191715 0.99729099 0.03971075 0.42012072] [ 0.347378 -0.05883244 0.93587781 0.40280848] [ 0. 0. 0. 1. ]] SLAMing on 86.21650248099999 meters Centerline goodness [0,1] 0.7234292138126543 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93566873 -0.04391786 -0.35013604 3.92483565] [ 0.06158075 0.99732148 0.03946738 0.42177374] [ 0.34746487 -0.05849003 0.93586702 0.40275574] [ 0. 0. 0. 1. ]] SLAMing on 86.246502481 meters Centerline goodness [0,1] 0.7228424163959255 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93604387 -0.03938533 -0.34967224 3.92306304] [ 0.05793588 0.9974047 0.04274694 0.42245217] [ 0.34708113 -0.06027158 0.93589638 0.40299195] [ 0. 0. 0. 1. ]] SLAMing on 86.276502481 meters Centerline goodness [0,1] 0.7208415805292867 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93611824 -0.03964529 -0.3494437 3.92207743] [ 0.05806235 0.99741287 0.04238307 0.42294621] [ 0.34685935 -0.05996509 0.93599828 0.40331041] [ 0. 0. 0. 1. ]] SLAMing on 86.306502481 meters Centerline goodness [0,1] 0.7212507914860455 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93623291 -0.03957249 -0.34914459 3.92068866] [ 0.05797875 0.99741608 0.0424219 0.4221541 ] [ 0.34656369 -0.05995975 0.93610813 0.40384574] [ 0. 0. 0. 1. ]] SLAMing on 86.336502481 meters Centerline goodness [0,1] 0.7203952183459381 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93617934 -0.03866953 -0.34938935 3.92096082] [ 0.05733034 0.99741916 0.04322328 0.42097224] [ 0.3468162 -0.06049536 0.93598015 0.40413577] [ 0. 0. 0. 1. ]] SLAMing on 86.366502481 meters Centerline goodness [0,1] 0.719765518583382 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93614706 -0.03834712 -0.34951134 3.92130634] [ 0.05715445 0.99741055 0.0436528 0.41990626] [ 0.34693234 -0.06084157 0.93591466 0.40413782] [ 0. 0. 0. 1. ]] SLAMing on 86.39650248099998 meters Centerline goodness [0,1] 0.7199980577338609 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93615587 -0.03806075 -0.34951905 3.92134561] [ 0.05700459 0.99740077 0.04407017 0.41841522] [ 0.34693323 -0.06118074 0.93589222 0.40420177] [ 0. 0. 0. 1. ]] SLAMing on 86.42650248099999 meters Centerline goodness [0,1] 0.7192880774710811 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93623252 -0.03764276 -0.34935896 3.92138009] [ 0.05679812 0.99738251 0.04474484 0.41499103] [ 0.3467602 -0.06173451 0.93591998 0.40410572] [ 0. 0. 0. 1. ]] SLAMing on 86.45650248099999 meters Centerline goodness [0,1] 0.7202101255451938 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93628149 -0.03752309 -0.34924058 3.92112371] [ 0.05676235 0.99737239 0.04501496 0.41352445] [ 0.34663382 -0.0619704 0.93595121 0.40414619] [ 0. 0. 0. 1. ]] SLAMing on 86.48650248099999 meters Centerline goodness [0,1] 0.718803910293272 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.9364577 -0.0376079 -0.3487587 3.91934085] [ 0.05690067 0.99735448 0.04523661 0.41028013] [ 0.3461348 -0.06220677 0.9361202 0.40470529] [ 0. 0. 0. 1. ]] SLAMing on 86.51650248099999 meters Centerline goodness [0,1] 0.7186774247611751 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93642834 -0.03739239 -0.34886068 3.91949378] [ 0.05684028 0.99733797 0.0456744 0.40843395] [ 0.34622413 -0.06260014 0.93606094 0.4048414 ] [ 0. 0. 0. 1. ]] SLAMing on 86.54650248099999 meters Centerline goodness [0,1] 0.7180507565828667 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.41 [[ 0.93649552 -0.03877289 -0.34852949 3.91800726] [ 0.0580341 0.99730031 0.04499034 0.40409281] [ 0.34584417 -0.06235985 0.93621742 0.40556408] [ 0. 0. 0. 1. ]] SLAMing on 86.57650248099999 meters Centerline goodness [0,1] 0.719207723035952 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.41 [[ 0.93659995 -0.03933735 -0.34818545 3.91634252] [ 0.0585511 0.99727737 0.04482873 0.40166702] [ 0.34547403 -0.06237323 0.93635318 0.40621396] [ 0. 0. 0. 1. ]] SLAMing on 86.60650248099999 meters Centerline goodness [0,1] 0.7202873467839446 Centerline is valid? [False, False] Translation: X:3.91, Y:0.40, Z:0.41 [[ 0.93673189 -0.04158426 -0.34756886 3.91280162] [ 0.06040189 0.99722681 0.04347754 0.39694887] [ 0.344797 -0.06172062 0.93664593 0.40793581] [ 0. 0. 0. 1. ]] SLAMing on 86.636502481 meters Centerline goodness [0,1] 0.7213946790680107 Centerline is valid? [False, False] Translation: X:3.91, Y:0.39, Z:0.41 [[ 0.93679343 -0.0417656 -0.34738122 3.91192354] [ 0.06066463 0.99720102 0.04370279 0.39470276] [ 0.34458363 -0.06201424 0.93670505 0.40826114] [ 0. 0. 0. 1. ]] SLAMing on 86.666502481 meters Centerline goodness [0,1] 0.7232904980771034 Centerline is valid? [False, False] Translation: X:3.91, Y:0.39, Z:0.41 [[ 0.93694776 -0.04335787 -0.34676935 3.90916937] [ 0.06213644 0.99713172 0.04321341 0.38913578] [ 0.34390108 -0.06203572 0.93695444 0.40933635] [ 0. 0. 0. 1. ]] SLAMing on 86.696502481 meters Centerline goodness [0,1] 0.7239913090203958 Centerline is valid? [False, False] Translation: X:3.91, Y:0.39, Z:0.41 [[ 0.93710046 -0.04367364 -0.34631683 3.90749062] [ 0.0625032 0.99710137 0.04338435 0.3866726 ] [ 0.34341823 -0.0623014 0.93711389 0.4097457 ] [ 0. 0. 0. 1. ]] SLAMing on 86.726502481 meters Centerline goodness [0,1] 0.724571933742788 Centerline is valid? [False, False] Translation: X:3.91, Y:0.38, Z:0.41 [[ 0.93694548 -0.0478614 -0.34618268 3.90690347] [ 0.06589276 0.99700452 0.04049855 0.38296805] [ 0.34320738 -0.06075586 0.9372926 0.41045271] [ 0. 0. 0. 1. ]] SLAMing on 86.75650248099998 meters Centerline goodness [0,1] 0.7260718424101971 Centerline is valid? [False, False] Translation: X:3.91, Y:0.38, Z:0.41 [[ 0.93702767 -0.04786966 -0.34595901 3.90654383] [ 0.06604529 0.99697666 0.04093354 0.37965043] [ 0.34295359 -0.06120482 0.93735629 0.41045343] [ 0. 0. 0. 1. ]] SLAMing on 86.78650248099999 meters Centerline goodness [0,1] 0.7256176253687316 Centerline is valid? [False, False] Translation: X:3.90, Y:0.38, Z:0.41 [[ 0.93719858 -0.0485277 -0.34540395 3.90386914] [ 0.06672389 0.99692955 0.04098053 0.37512319] [ 0.34235472 -0.06145359 0.93755891 0.41150981] [ 0. 0. 0. 1. ]] SLAMing on 86.81650248099999 meters Centerline goodness [0,1] 0.7255856683509416 Centerline is valid? [False, False] Translation: X:3.90, Y:0.37, Z:0.41 [[ 0.93731245 -0.04841329 -0.34511088 3.90312583] [ 0.0667704 0.99690504 0.04149761 0.37284782] [ 0.34203374 -0.06193941 0.93764408 0.41154733] [ 0. 0. 0. 1. ]] SLAMing on 86.84650248099999 meters Centerline goodness [0,1] 0.7276186570054914 Centerline is valid? [False, False] Translation: X:3.90, Y:0.37, Z:0.41 [[ 0.93711426 -0.05261957 -0.34503339 3.90375258] [ 0.0702875 0.99676845 0.03888868 0.36842202] [ 0.34187209 -0.06069467 0.93778443 0.41148069] [ 0. 0. 0. 1. ]] SLAMing on 86.87650248099999 meters Centerline goodness [0,1] 0.7298690095121343 Centerline is valid? [False, False] Translation: X:3.90, Y:0.36, Z:0.41 [[ 0.93718699 -0.05379839 -0.34465386 3.90276432] [ 0.07131785 0.99671625 0.03834697 0.36470419] [ 0.34145909 -0.06051825 0.93794628 0.41175834] [ 0. 0. 0. 1. ]] SLAMing on 86.90650248099999 meters Centerline goodness [0,1] 0.7330059912608676 Centerline is valid? [False, False] Translation: X:3.90, Y:0.36, Z:0.41 [[ 0.93706969 -0.05792505 -0.34430377 3.90312262] [ 0.07484563 0.99654344 0.03604592 0.35981242] [ 0.3410257 -0.05954717 0.93816609 0.41136982] [ 0. 0. 0. 1. ]] SLAMing on 86.93650248099999 meters Centerline goodness [0,1] 0.7349189237748731 Centerline is valid? [False, False] Translation: X:3.90, Y:0.36, Z:0.41 [[ 0.93711521 -0.05757503 -0.34423858 3.90364925] [ 0.07482785 0.99650857 0.03703333 0.35614543] [ 0.3409045 -0.06046313 0.93815155 0.41095838] [ 0. 0. 0. 1. ]] SLAMing on 86.96650248099999 meters Centerline goodness [0,1] 0.7349189237748731 Centerline is valid? [False, False] Translation: X:3.90, Y:0.36, Z:0.41 [[ 0.93711521 -0.05757503 -0.34423858 3.90364925] [ 0.07482785 0.99650857 0.03703333 0.35614543] [ 0.3409045 -0.06046313 0.93815155 0.41095838] [ 0. 0. 0. 1. ]] SLAMing on 86.996502481 meters Centerline goodness [0,1] 0.7399408349829846 Centerline is valid? [False, False] Translation: X:3.90, Y:0.35, Z:0.41 [[ 0.93686077 -0.06146842 -0.34425793 3.90484072] [ 0.07831366 0.99630615 0.03522834 0.35035529] [ 0.34082086 -0.05996415 0.93821396 0.41051486] [ 0. 0. 0. 1. ]] SLAMing on 87.026502481 meters Centerline goodness [0,1] 0.7403039890263059 Centerline is valid? [False, False] Translation: X:3.90, Y:0.35, Z:0.41 [[ 0.93696924 -0.06151127 -0.34395494 3.90442851] [ 0.07862695 0.99625306 0.03602289 0.34678484] [ 0.34045034 -0.06079647 0.93829492 0.41027637] [ 0. 0. 0. 1. ]] SLAMing on 87.056502481 meters Centerline goodness [0,1] 0.7373808373237272 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:0.41 [[ 0.93677338 -0.0659553 -0.34366487 3.90420619] [ 0.08238657 0.99604012 0.03341458 0.34284944] [ 0.34010013 -0.05961526 0.9384977 0.41038272] [ 0. 0. 0. 1. ]] SLAMing on 87.086502481 meters Centerline goodness [0,1] 0.7387672308497644 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:0.41 [[ 0.9368888 -0.06582663 -0.34337476 3.90402197] [ 0.08246901 0.99601095 0.03407427 0.34040714] [ 0.33976202 -0.06024157 0.93858016 0.41000955] [ 0. 0. 0. 1. ]] SLAMing on 87.116502481 meters Centerline goodness [0,1] 0.7182187650220688 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:0.41 [[ 0.93698523 -0.06643213 -0.34299483 3.90260231] [ 0.08311665 0.99595427 0.03415711 0.33834768] [ 0.33933803 -0.06051328 0.93871606 0.4103556 ] [ 0. 0. 0. 1. ]] SLAMing on 87.14650248099998 meters Centerline goodness [0,1] 0.7027280663465736 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:0.41 [[ 0.93699853 -0.0664819 -0.34294884 3.90302161] [ 0.08322135 0.9959403 0.03430914 0.33772414] [ 0.33927564 -0.06068828 0.93872732 0.40999249] [ 0. 0. 0. 1. ]] SLAMing on 87.17650248099999 meters Centerline goodness [0,1] 0.6841852021958315 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.9369001 -0.06646176 -0.34322154 3.90528767] [ 0.0833475 0.99591742 0.03466523 0.3364859 ] [ 0.3395164 -0.06108452 0.93861456 0.40887208] [ 0. 0. 0. 1. ]] SLAMing on 87.20650248099999 meters Centerline goodness [0,1] 0.6709719789842381 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93689005 -0.06632606 -0.34327523 3.90602269] [ 0.08324012 0.99592321 0.0347569 0.33711436] [ 0.33957048 -0.06113767 0.93859154 0.4083774 ] [ 0. 0. 0. 1. ]] SLAMing on 87.23650248099999 meters Centerline goodness [0,1] 0.6649022622446739 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93712649 -0.06242042 -0.34336226 3.90627758] [ 0.08030099 0.99604261 0.03809036 0.33680387] [ 0.33962582 -0.06326782 0.93843033 0.40787813] [ 0. 0. 0. 1. ]] SLAMing on 87.26650248099999 meters Centerline goodness [0,1] 0.6763215859030838 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93711167 -0.06241653 -0.34340341 3.90720963] [ 0.08019054 0.996063 0.03778849 0.33861969] [ 0.33969281 -0.06294974 0.93842748 0.40732645] [ 0. 0. 0. 1. ]] SLAMing on 87.29650248099999 meters Centerline goodness [0,1] 0.677446976682914 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93712649 -0.06231156 -0.34338203 3.90783934] [ 0.08005013 0.99607716 0.03771304 0.33950341] [ 0.33968504 -0.06282967 0.93843834 0.40685301] [ 0. 0. 0. 1. ]] SLAMing on 87.32650248099999 meters Centerline goodness [0,1] 0.6871972625872106 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93738611 -0.0579069 -0.34344443 3.90837366] [ 0.07654917 0.99622408 0.04096114 0.34175617] [ 0.33977568 -0.06468679 0.93827933 0.40603337] [ 0. 0. 0. 1. ]] SLAMing on 87.35650248099999 meters Centerline goodness [0,1] 0.6615103015692314 Centerline is valid? [False, False] Translation: X:3.91, Y:0.34, Z:0.41 [[ 0.93766575 -0.05330263 -0.34342653 3.90878323] [ 0.07298225 0.99633434 0.0446259 0.34231845] [ 0.33978897 -0.06690822 0.93811873 0.40526688] [ 0. 0. 0. 1. ]] SLAMing on 87.386502481 meters Centerline goodness [0,1] 0.7209417151064927 Centerline is valid? [False, False] Translation: X:3.91, Y:0.35, Z:0.40 [[ 0.93794597 -0.04903753 -0.34329679 3.90909293] [ 0.06952236 0.99644354 0.04761214 0.34553141] [ 0.33974109 -0.06852441 0.9380194 0.40432256] [ 0. 0. 0. 1. ]] SLAMing on 87.416502481 meters Centerline goodness [0,1] 0.7227869737315581 Centerline is valid? [False, False] Translation: X:3.91, Y:0.35, Z:0.40 [[ 0.93791529 -0.04922065 -0.34335438 3.90938304] [ 0.06953122 0.99646786 0.0470872 0.347773 ] [ 0.33982394 -0.06803766 0.93802482 0.40419028] [ 0. 0. 0. 1. ]] SLAMing on 87.446502481 meters Centerline goodness [0,1] 0.7310204542886202 Centerline is valid? [False, False] Translation: X:3.91, Y:0.35, Z:0.40 [[ 0.93806598 -0.04468265 -0.34356321 3.9107512 ] [ 0.06580184 0.99657649 0.05005422 0.35200619] [ 0.34015046 -0.06956125 0.9377947 0.40311916] [ 0. 0. 0. 1. ]] SLAMing on 87.476502481 meters Centerline goodness [0,1] 0.731955960309909 Centerline is valid? [False, False] Translation: X:3.91, Y:0.35, Z:0.40 [[ 0.9382371 -0.0400544 -0.34366667 3.91158063] [ 0.06215653 0.99662961 0.05353489 0.35365679] [ 0.34036408 -0.07158955 0.93756452 0.40231984] [ 0. 0. 0. 1. ]] SLAMing on 87.50650248099998 meters Centerline goodness [0,1] 0.7316700494880157 Centerline is valid? [False, False] Translation: X:3.91, Y:0.36, Z:0.40 [[ 0.9383165 -0.03638352 -0.3438581 3.91332974] [ 0.05897835 0.99671652 0.05547727 0.35963938] [ 0.34071059 -0.07233542 0.9373814 0.40114391] [ 0. 0. 0. 1. ]] SLAMing on 87.53650248099999 meters Centerline goodness [0,1] 0.7331149943888418 Centerline is valid? [False, False] Translation: X:3.92, Y:0.36, Z:0.40 [[ 0.9381566 -0.03438164 -0.34449977 3.91640593] [ 0.05733052 0.99674682 0.05664799 0.3632021 ] [ 0.3414314 -0.07289504 0.93707572 0.39999051] [ 0. 0. 0. 1. ]] SLAMing on 87.56650248099999 meters Centerline goodness [0,1] 0.7272223888517177 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.40 [[ 0.93815761 -0.02990139 -0.34491477 3.9198485 ] [ 0.05358003 0.99679996 0.05932135 0.37027695] [ 0.34203724 -0.07413332 0.93675759 0.39798932] [ 0. 0. 0. 1. ]] SLAMing on 87.59650248099999 meters Centerline goodness [0,1] 0.727302227476068 Centerline is valid? [False, False] Translation: X:3.92, Y:0.37, Z:0.40 [[ 0.93828492 -0.02567628 -0.3449089 3.91965252] [ 0.05016609 0.99679804 0.06226576 0.37312711] [ 0.34220576 -0.07572576 0.93656865 0.39776958] [ 0. 0. 0. 1. ]] SLAMing on 87.62650248099999 meters Centerline goodness [0,1] 0.7260052109006407 Centerline is valid? [False, False] Translation: X:3.92, Y:0.38, Z:0.40 [[ 0.93825533 -0.02153431 -0.34527266 3.9192436 ] [ 0.04659947 0.99683171 0.06445954 0.38247566] [ 0.34279064 -0.07656903 0.93628615 0.39815135] [ 0. 0. 0. 1. ]] SLAMing on 87.65650248099999 meters Centerline goodness [0,1] 0.725962557400212 Centerline is valid? [False, False] Translation: X:3.92, Y:0.39, Z:0.40 [[ 0.93810344 -0.02202826 -0.34565401 3.92019543] [ 0.04675369 0.99689511 0.06335795 0.38756944] [ 0.34318512 -0.07559691 0.93622064 0.3981112 ] [ 0. 0. 0. 1. ]] SLAMing on 87.68650248099999 meters Centerline goodness [0,1] 0.7207921732522796 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.40 [[ 0.93796349 -0.02323777 -0.34595448 3.9215137 ] [ 0.04732265 0.9969948 0.06133459 0.39584982] [ 0.34348954 -0.07390109 0.93624439 0.39761266] [ 0. 0. 0. 1. ]] SLAMing on 87.71650248099999 meters Centerline goodness [0,1] 0.7218435727563033 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:0.40 [[ 0.9378736 -0.02409292 -0.34613963 3.92193104] [ 0.04776918 0.99705277 0.06003225 0.40015251] [ 0.34367312 -0.07283747 0.93626037 0.39756122] [ 0. 0. 0. 1. ]] SLAMing on 87.746502481 meters Centerline goodness [0,1] 0.7163913961974265 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93780446 -0.02126103 -0.34651229 3.9216661 ] [ 0.0453334 0.99707625 0.06151296 0.40783377] [ 0.34419134 -0.07339571 0.93602638 0.39787513] [ 0. 0. 0. 1. ]] SLAMing on 87.776502481 meters Centerline goodness [0,1] 0.7171587608906098 Centerline is valid? [False, False] Translation: X:3.92, Y:0.41, Z:0.40 [[ 0.93769092 -0.02226709 -0.34675626 3.92136152] [ 0.04591332 0.99713428 0.06012646 0.41291706] [ 0.34442372 -0.07230076 0.93602612 0.39835696] [ 0. 0. 0. 1. ]] SLAMing on 87.806502481 meters Centerline goodness [0,1] 0.7157605791186902 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.93754028 -0.02301627 -0.34711449 3.92158656] [ 0.04630984 0.9971856 0.05895993 0.41735076] [ 0.34478053 -0.07135212 0.93596755 0.39874816] [ 0. 0. 0. 1. ]] SLAMing on 87.836502481 meters Centerline goodness [0,1] 0.7166008777306494 Centerline is valid? [False, False] Translation: X:3.92, Y:0.42, Z:0.40 [[ 0.9376751 -0.0207157 -0.34689517 3.92075437] [ 0.04426785 0.99720984 0.0601074 0.42453448] [ 0.34468211 -0.07171751 0.93597588 0.39841795] [ 0. 0. 0. 1. ]] SLAMing on 87.866502481 meters Centerline goodness [0,1] 0.7182055964072447 Centerline is valid? [False, False] Translation: X:3.92, Y:0.43, Z:0.40 [[ 0.93763894 -0.02174735 -0.34692977 3.91994865] [ 0.04487978 0.99726149 0.05878203 0.42837361] [ 0.34470135 -0.07068645 0.93604722 0.39894365] [ 0. 0. 0. 1. ]] SLAMing on 87.89650248099998 meters Centerline goodness [0,1] 0.7185573672698349 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.40 [[ 0.9376533 -0.02408668 -0.34673639 3.91745996] [ 0.04631564 0.99735792 0.05596463 0.43555778] [ 0.34447229 -0.06853474 0.93629153 0.40032728] [ 0. 0. 0. 1. ]] SLAMing on 87.92650248099999 meters Centerline goodness [0,1] 0.7186534436360013 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.40 [[ 0.93753124 -0.02494343 -0.34700576 3.91698634] [ 0.04686052 0.99739097 0.05491218 0.43872367] [ 0.34473071 -0.06774275 0.93625405 0.40106902] [ 0. 0. 0. 1. ]] SLAMing on 87.95650248099999 meters Centerline goodness [0,1] 0.7141711966732633 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.40 [[ 0.93739976 -0.02580282 -0.34729801 3.91654385] [ 0.0474174 0.99742088 0.05388106 0.44195503] [ 0.345012 -0.06697606 0.9362056 0.40179298] [ 0. 0. 0. 1. ]] SLAMing on 87.98650248099999 meters Centerline goodness [0,1] 0.7076911415432816 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.40 [[ 0.9373942 -0.02741213 -0.3471897 3.91501122] [ 0.04849152 0.99746016 0.0521708 0.44661822] [ 0.34487778 -0.06574036 0.93634263 0.40245603] [ 0. 0. 0. 1. ]] SLAMing on 88.01650248099999 meters Centerline goodness [0,1] 0.7088520932119583 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.40 [[ 0.93735435 -0.0278279 -0.34726422 3.91520641] [ 0.04874211 0.99747583 0.05163496 0.44834725] [ 0.34495077 -0.06532664 0.9363447 0.40247049] [ 0. 0. 0. 1. ]] SLAMing on 88.04650248099999 meters Centerline goodness [0,1] 0.7047002032520325 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.40 [[ 0.93703748 -0.02720355 -0.34816769 3.91764021] [ 0.04817834 0.99749849 0.05172624 0.45286116] [ 0.3458896 -0.06524356 0.93600409 0.40234922] [ 0. 0. 0. 1. ]] SLAMing on 88.07650248099999 meters Centerline goodness [0,1] 0.7024198488870737 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.40 [[ 0.93689175 -0.02756274 -0.3485314 3.91793656] [ 0.04831923 0.99752905 0.05100042 0.45552255] [ 0.34626449 -0.06462264 0.93590855 0.40285043] [ 0. 0. 0. 1. ]] SLAMing on 88.10650248099999 meters Centerline goodness [0,1] 0.7059727880697979 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.40 [[ 0.93717248 -0.02346554 -0.34807631 3.9166978 ] [ 0.0449763 0.99753579 0.05384691 0.45889379] [ 0.34595503 -0.06611903 0.93591848 0.40258823] [ 0. 0. 0. 1. ]] SLAMing on 88.136502481 meters Centerline goodness [0,1] 0.7085614413858689 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.40 [[ 0.9370509 -0.02348849 -0.34840192 3.91649364] [ 0.04481921 0.99757275 0.0532902 0.46178619] [ 0.34630455 -0.06555073 0.93582918 0.4034295 ] [ 0. 0. 0. 1. ]] SLAMing on 88.166502481 meters Centerline goodness [0,1] 0.7111720853178711 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.40 [[ 0.93732731 -0.01981795 -0.34788612 3.91393152] [ 0.04173038 0.99758027 0.05560734 0.46522802] [ 0.34594231 -0.06663969 0.93588625 0.40416152] [ 0. 0. 0. 1. ]] SLAMing on 88.196502481 meters Centerline goodness [0,1] 0.7076167714449004 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.40 [[ 0.93706545 -0.0198505 -0.34858903 3.91528354] [ 0.04145744 0.99764547 0.0546333 0.46943185] [ 0.34668376 -0.06564658 0.93568205 0.4049171 ] [ 0. 0. 0. 1. ]] SLAMing on 88.226502481 meters Centerline goodness [0,1] 0.7020796012150479 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.40 [[ 0.93696052 -0.0198934 -0.34886851 3.91617727] [ 0.04141234 0.99766378 0.05433223 0.47068233] [ 0.34697263 -0.06535461 0.93559541 0.40491875] [ 0. 0. 0. 1. ]] SLAMing on 88.25650248099998 meters Centerline goodness [0,1] 0.702128213811248 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93688773 -0.02011474 -0.34905126 3.91641995] [ 0.04147828 0.99768783 0.05383812 0.47216636] [ 0.34716125 -0.06491832 0.93555581 0.40522035] [ 0. 0. 0. 1. ]] SLAMing on 88.28650248099999 meters Centerline goodness [0,1] 0.7046029469291955 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93661265 -0.01982068 -0.34980549 3.91789345] [ 0.04108556 0.99772363 0.05347455 0.47433284] [ 0.3479493 -0.0644569 0.93529492 0.40589924] [ 0. 0. 0. 1. ]] SLAMing on 88.31650248099999 meters Centerline goodness [0,1] 0.7001487901015427 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93647366 -0.01986577 -0.35017487 3.91834133] [ 0.04106922 0.99773744 0.05322889 0.47529406] [ 0.34832514 -0.06422887 0.93517071 0.40638106] [ 0. 0. 0. 1. ]] SLAMing on 88.34650248099999 meters Centerline goodness [0,1] 0.6998094939847073 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93630195 -0.01966605 -0.350645 3.91895832] [ 0.04084412 0.99775335 0.05310374 0.47612961] [ 0.34881288 -0.06404292 0.93500165 0.40703353] [ 0. 0. 0. 1. ]] SLAMing on 88.37650248099999 meters Centerline goodness [0,1] 0.7026807686266296 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93627214 -0.01998325 -0.35070664 3.91858951] [ 0.04105706 0.99776304 0.05275645 0.47638107] [ 0.34886787 -0.06379338 0.93499819 0.40749351] [ 0. 0. 0. 1. ]] SLAMing on 88.40650248099999 meters Centerline goodness [0,1] 0.7024901361344098 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93618026 -0.02027855 -0.35093491 3.91802056] [ 0.04126279 0.99777228 0.05242008 0.47580286] [ 0.34909012 -0.0635552 0.93493146 0.40855829] [ 0. 0. 0. 1. ]] SLAMing on 88.43650248099999 meters Centerline goodness [0,1] 0.7051288767812238 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93615455 -0.02042112 -0.35099521 3.91811102] [ 0.04140632 0.99776813 0.05238583 0.47527054] [ 0.34914205 -0.06357465 0.93491074 0.40864311] [ 0. 0. 0. 1. ]] SLAMing on 88.46650248099999 meters Centerline goodness [0,1] 0.7079680753630773 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93609146 -0.02038278 -0.35116565 3.91877909] [ 0.0415429 0.99773916 0.05282765 0.47297776] [ 0.34929495 -0.06403995 0.93482187 0.40849148] [ 0. 0. 0. 1. ]] SLAMing on 88.496502481 meters Centerline goodness [0,1] 0.7087152968215414 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93604068 -0.02040846 -0.35129951 3.9185537 ] [ 0.04160322 0.99773336 0.05288963 0.47235463] [ 0.34942384 -0.06412203 0.93476807 0.40892714] [ 0. 0. 0. 1. ]] SLAMing on 88.526502481 meters Centerline goodness [0,1] 0.7099046721139745 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93600276 -0.02075095 -0.35138048 3.9174597 ] [ 0.04188774 0.99773369 0.05265837 0.47220512] [ 0.34949143 -0.06400692 0.93475069 0.40984434] [ 0. 0. 0. 1. ]] SLAMing on 88.556502481 meters Centerline goodness [0,1] 0.7105173632010049 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93595143 -0.02067104 -0.35152187 3.91790543] [ 0.04187454 0.99772553 0.05282321 0.47113545] [ 0.34963043 -0.06415977 0.93468823 0.40986482] [ 0. 0. 0. 1. ]] SLAMing on 88.586502481 meters Centerline goodness [0,1] 0.7112381847616063 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93588333 -0.02069809 -0.35170156 3.91825901] [ 0.04191914 0.99772329 0.05283019 0.47059148] [ 0.34980735 -0.06418592 0.93462024 0.4100342 ] [ 0. 0. 0. 1. ]] SLAMing on 88.616502481 meters Centerline goodness [0,1] 0.7129146672230335 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93574291 -0.0205418 -0.35208413 3.91841711] [ 0.04179559 0.99772634 0.05287041 0.47010321] [ 0.35019756 -0.06418867 0.93447391 0.41083638] [ 0. 0. 0. 1. ]] SLAMing on 88.64650248099998 meters Centerline goodness [0,1] 0.7068362231042407 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93571639 -0.02070147 -0.35214526 3.9187745 ] [ 0.04203515 0.9977071 0.05304336 0.4685653 ] [ 0.35023975 -0.06443602 0.93444107 0.41070126] [ 0. 0. 0. 1. ]] SLAMing on 88.67650248099999 meters Centerline goodness [0,1] 0.7072206513771075 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.935716 -0.02089274 -0.35213502 3.91875283] [ 0.04225051 0.99769627 0.05307587 0.46784219] [ 0.35021489 -0.06454182 0.93444309 0.41068252] [ 0. 0. 0. 1. ]] SLAMing on 88.70650248099999 meters Centerline goodness [0,1] 0.7077614827595221 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93575278 -0.02152757 -0.35199899 3.91743024] [ 0.04282015 0.99768575 0.05281642 0.46650843] [ 0.35004737 -0.06449576 0.93450903 0.4113502 ] [ 0. 0. 0. 1. ]] SLAMing on 88.73650248099999 meters Centerline goodness [0,1] 0.7046538912788424 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93583999 -0.02202754 -0.35173613 3.91632692] [ 0.04324519 0.99767993 0.05257962 0.46570318] [ 0.34976188 -0.06441701 0.93462136 0.41163942] [ 0. 0. 0. 1. ]] SLAMing on 88.76650248099999 meters Centerline goodness [0,1] 0.7119706586203309 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93586099 -0.02245715 -0.35165308 3.91572932] [ 0.04376259 0.99764812 0.05275473 0.46361463] [ 0.34964132 -0.06476035 0.93464274 0.41176991] [ 0. 0. 0. 1. ]] SLAMing on 88.79650248099999 meters Centerline goodness [0,1] 0.7060202062285179 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93585172 -0.02251453 -0.35167406 3.91566077] [ 0.043921 0.9976276 0.05301051 0.46245544] [ 0.34964625 -0.06505586 0.93462037 0.4117671 ] [ 0. 0. 0. 1. ]] SLAMing on 88.82650248099999 meters Centerline goodness [0,1] 0.7047019833255657 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93594485 -0.02316302 -0.35138399 3.91464728] [ 0.04455161 0.99760519 0.05290592 0.46047246] [ 0.34931703 -0.06517174 0.93473539 0.4119245 ] [ 0. 0. 0. 1. ]] SLAMing on 88.85650248099999 meters Centerline goodness [0,1] 0.7000569594034798 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93592948 -0.02316609 -0.35142473 3.9148375 ] [ 0.04463632 0.99759026 0.05311572 0.45926863] [ 0.3493474 -0.06539887 0.93470818 0.41189085] [ 0. 0. 0. 1. ]] SLAMing on 88.886502481 meters Centerline goodness [0,1] 0.7000569594034798 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93592948 -0.02316609 -0.35142473 3.9148375 ] [ 0.04463632 0.99759026 0.05311572 0.45926863] [ 0.3493474 -0.06539887 0.93470818 0.41189085] [ 0. 0. 0. 1. ]] SLAMing on 88.916502481 meters Centerline goodness [0,1] 0.7010741555584314 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93597532 -0.02318906 -0.35130109 3.91515798] [ 0.0447808 0.9975653 0.05346162 0.45760575] [ 0.34920606 -0.0657703 0.93473493 0.41136413] [ 0. 0. 0. 1. ]] SLAMing on 88.946502481 meters Centerline goodness [0,1] 0.7072584397456444 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93603369 -0.02337675 -0.35113311 3.91495267] [ 0.04493711 0.99756274 0.05337825 0.45732123] [ 0.3490295 -0.06574275 0.93480281 0.41121265] [ 0. 0. 0. 1. ]] SLAMing on 88.976502481 meters Centerline goodness [0,1] 0.7076188016528926 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93606927 -0.0234183 -0.35103548 3.91503483] [ 0.04495783 0.99756413 0.05333473 0.45696499] [ 0.3489314 -0.06570679 0.93484196 0.41106891] [ 0. 0. 0. 1. ]] SLAMing on 89.00650248099998 meters Centerline goodness [0,1] 0.7095851584643134 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93601905 -0.0232621 -0.35117974 3.91551349] [ 0.04481235 0.99756922 0.05336202 0.45713078] [ 0.34908479 -0.06568506 0.93478622 0.41106543] [ 0. 0. 0. 1. ]] SLAMing on 89.03650248099999 meters Centerline goodness [0,1] 0.7114067949877276 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93602878 -0.02276978 -0.35118608 3.91513803] [ 0.04427601 0.9975949 0.05332958 0.45812995] [ 0.34912714 -0.06546714 0.93478569 0.41159234] [ 0. 0. 0. 1. ]] SLAMing on 89.06650248099999 meters Centerline goodness [0,1] 0.7142820221234364 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93591586 -0.02276583 -0.35148715 3.91488864] [ 0.04420408 0.99761096 0.05308831 0.45905153] [ 0.34943883 -0.06522336 0.93468627 0.41237935] [ 0. 0. 0. 1. ]] SLAMing on 89.09650248099999 meters Centerline goodness [0,1] 0.7125652555951827 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93591889 -0.02261672 -0.35148871 3.91529841] [ 0.04402529 0.99762171 0.05303492 0.45915949] [ 0.34945329 -0.06511077 0.93468871 0.4122941 ] [ 0. 0. 0. 1. ]] SLAMing on 89.12650248099999 meters Centerline goodness [0,1] 0.7161715319039008 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93591698 -0.02281079 -0.35148126 3.91519322] [ 0.04416941 0.99762417 0.05286856 0.45895277] [ 0.34944023 -0.0650053 0.93470094 0.41240892] [ 0. 0. 0. 1. ]] SLAMing on 89.15650248099999 meters Centerline goodness [0,1] 0.7137540703985115 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93589008 -0.02327286 -0.35152259 3.91471964] [ 0.04443704 0.99764441 0.05225879 0.46007091] [ 0.34947834 -0.0645291 0.93471968 0.41290202] [ 0. 0. 0. 1. ]] SLAMing on 89.18650248099999 meters Centerline goodness [0,1] 0.715253360910031 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93589258 -0.02342251 -0.351506 3.91483215] [ 0.04456127 0.99764364 0.05216767 0.46010213] [ 0.34945583 -0.06448689 0.93473101 0.41276582] [ 0. 0. 0. 1. ]] SLAMing on 89.21650248099999 meters Centerline goodness [0,1] 0.7149170414017677 Centerline is valid? [False, False] Translation: X:3.92, Y:0.46, Z:0.41 [[ 0.93588955 -0.02370567 -0.35149507 3.91505579] [ 0.0448402 0.99763423 0.05210851 0.45948814] [ 0.34942825 -0.06452892 0.93473842 0.41256917] [ 0. 0. 0. 1. ]] SLAMing on 89.246502481 meters Centerline goodness [0,1] 0.7144775579773772 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.935852 -0.0239217 -0.3515804 3.91484797] [ 0.04501098 0.99763571 0.05193257 0.4595422 ] [ 0.34950685 -0.06442618 0.93471612 0.41290877] [ 0. 0. 0. 1. ]] SLAMing on 89.276502481 meters Centerline goodness [0,1] 0.7150666563523375 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93603227 -0.02448014 -0.35106171 3.91352377] [ 0.04550679 0.99762175 0.0517684 0.45869395] [ 0.3489595 -0.06443258 0.93492016 0.41281477] [ 0. 0. 0. 1. ]] SLAMing on 89.306502481 meters Centerline goodness [0,1] 0.7180318587714558 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93605979 -0.0250015 -0.35095156 3.91270024] [ 0.04592769 0.99762002 0.05142897 0.45851212] [ 0.3488305 -0.06425898 0.93498025 0.41312858] [ 0. 0. 0. 1. ]] SLAMing on 89.336502481 meters Centerline goodness [0,1] 0.7159606266749123 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93607143 -0.02533328 -0.3508967 3.91136351] [ 0.04627216 0.99760481 0.05141526 0.45805686] [ 0.34875372 -0.06436511 0.93500159 0.41381698] [ 0. 0. 0. 1. ]] SLAMing on 89.366502481 meters Centerline goodness [0,1] 0.7253330584688329 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93613084 -0.02585222 -0.35070033 3.91039922] [ 0.04673123 0.99759439 0.05120188 0.45786962] [ 0.348533 -0.06432031 0.93508697 0.41403432] [ 0. 0. 0. 1. ]] SLAMing on 89.39650248099998 meters Centerline goodness [0,1] 0.726043973018897 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.9362177 -0.02608413 -0.35045118 3.91028012] [ 0.04697147 0.99758153 0.05123246 0.45700934] [ 0.34826728 -0.06442595 0.9351787 0.41363131] [ 0. 0. 0. 1. ]] SLAMing on 89.42650248099999 meters Centerline goodness [0,1] 0.7210983770479193 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93638662 -0.02665845 -0.34995632 3.90905119] [ 0.04746234 0.99756997 0.05100473 0.45613682] [ 0.34774621 -0.06436989 0.93537644 0.41356502] [ 0. 0. 0. 1. ]] SLAMing on 89.45650248099999 meters Centerline goodness [0,1] 0.7260228207236843 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93635265 -0.02684911 -0.35003262 3.90844133] [ 0.04760575 0.9975721 0.05082909 0.45671497] [ 0.34781806 -0.06425751 0.93535745 0.41408228] [ 0. 0. 0. 1. ]] SLAMing on 89.48650248099999 meters Centerline goodness [0,1] 0.7274833329043219 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93637394 -0.02713346 -0.34995373 3.9073848 ] [ 0.04780575 0.99757582 0.05056777 0.45708214] [ 0.3477333 -0.06408014 0.93540114 0.41471734] [ 0. 0. 0. 1. ]] SLAMing on 89.51650248099999 meters Centerline goodness [0,1] 0.7316121747164195 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93639351 -0.02751568 -0.34987152 3.90685475] [ 0.04811804 0.9975729 0.05032855 0.45695349] [ 0.34763753 -0.06396246 0.93544479 0.41488897] [ 0. 0. 0. 1. ]] SLAMing on 89.54650248099999 meters Centerline goodness [0,1] 0.7269146608315098 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93624821 -0.0271094 -0.35029184 3.90916025] [ 0.04785311 0.99756696 0.05069757 0.45680449] [ 0.34806519 -0.06422806 0.93526755 0.41411923] [ 0. 0. 0. 1. ]] SLAMing on 89.57650248099999 meters Centerline goodness [0,1] 0.7229265037979882 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93615743 -0.02702406 -0.35054097 3.91018207] [ 0.04777107 0.99757216 0.05067252 0.45737362] [ 0.34832054 -0.06418318 0.93517556 0.41391601] [ 0. 0. 0. 1. ]] SLAMing on 89.60650248099999 meters Centerline goodness [0,1] 0.728629614353475 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93631099 -0.02716897 -0.35011938 3.9092116 ] [ 0.04765866 0.99760956 0.05003808 0.45935948] [ 0.34792295 -0.06353743 0.93536764 0.41407479] [ 0. 0. 0. 1. ]] SLAMing on 89.636502481 meters Centerline goodness [0,1] 0.7327726322850288 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93628158 -0.0272377 -0.35019267 3.90899327] [ 0.04756169 0.99763774 0.04956635 0.46092825] [ 0.34801535 -0.06306382 0.93536531 0.41451666] [ 0. 0. 0. 1. ]] SLAMing on 89.666502481 meters Centerline goodness [0,1] 0.7335353378395877 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93617842 -0.02724973 -0.35046744 3.90948329] [ 0.04742813 0.99766616 0.04912028 0.46269892] [ 0.34831099 -0.06260736 0.93528593 0.41478959] [ 0. 0. 0. 1. ]] SLAMing on 89.696502481 meters Centerline goodness [0,1] 0.734478648424544 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93643184 -0.02233674 -0.35013781 3.9097947 ] [ 0.04348013 0.99766649 0.05264086 0.46410417] [ 0.34814493 -0.06451861 0.93521787 0.41390796] [ 0. 0. 0. 1. ]] SLAMing on 89.726502481 meters Centerline goodness [0,1] 0.7364885892116182 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93629914 -0.02221149 -0.35050047 3.90983138] [ 0.04316882 0.99770881 0.05209216 0.46649098] [ 0.34854036 -0.06390453 0.93511274 0.41479805] [ 0. 0. 0. 1. ]] SLAMing on 89.75650248099998 meters Centerline goodness [0,1] 0.7362286485644567 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93644665 -0.01718354 -0.35038891 3.91025671] [ 0.03922408 0.99766543 0.05590312 0.46733455] [ 0.34861029 -0.06609397 0.93493446 0.41415648] [ 0. 0. 0. 1. ]] SLAMing on 89.78650248099999 meters Centerline goodness [0,1] 0.7355982274741506 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93668376 -0.01781834 -0.3497228 3.90889989] [ 0.03952525 0.99770208 0.05503005 0.46796385] [ 0.34793862 -0.06536864 0.93523562 0.41421023] [ 0. 0. 0. 1. ]] SLAMing on 89.81650248099999 meters Centerline goodness [0,1] 0.7361427094105482 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93680256 -0.01816708 -0.34938648 3.90854662] [ 0.03978088 0.99770536 0.05478583 0.46730307] [ 0.34758947 -0.06522241 0.93537564 0.41393087] [ 0. 0. 0. 1. ]] SLAMing on 89.84650248099999 meters Centerline goodness [0,1] 0.7376790200191645 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93683522 -0.01843217 -0.34928502 3.90807651] [ 0.03997125 0.99771021 0.05455862 0.4674353 ] [ 0.34747959 -0.0650738 0.93542682 0.41402925] [ 0. 0. 0. 1. ]] SLAMing on 89.87650248099999 meters Centerline goodness [0,1] 0.7372196612627544 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93669824 -0.01807297 -0.34967094 3.90760446] [ 0.03970753 0.99770743 0.05480136 0.46823723] [ 0.34787888 -0.0652169 0.93526843 0.41493404] [ 0. 0. 0. 1. ]] SLAMing on 89.90650248099999 meters Centerline goodness [0,1] 0.7364254568106312 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93665443 -0.01806706 -0.3497886 3.90802589] [ 0.0397473 0.99770034 0.05490163 0.46791104] [ 0.34799229 -0.065327 0.93521855 0.41483139] [ 0. 0. 0. 1. ]] SLAMing on 89.93650248099999 meters Centerline goodness [0,1] 0.7381339947807664 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93642053 -0.02234703 -0.35016739 3.91004563] [ 0.04302947 0.99775097 0.05139514 0.46711263] [ 0.34823132 -0.06319498 0.93527608 0.41461132] [ 0. 0. 0. 1. ]] SLAMing on 89.96650248099999 meters Centerline goodness [0,1] 0.7375613536553862 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.9364304 -0.02234818 -0.35014092 3.90986092] [ 0.04308293 0.99774116 0.05154058 0.46649033] [ 0.34819817 -0.06334926 0.93527798 0.41462777] [ 0. 0. 0. 1. ]] SLAMing on 89.996502481 meters Centerline goodness [0,1] 0.7374058837227354 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93644647 -0.02235737 -0.35009734 3.9095191 ] [ 0.04308364 0.99774196 0.05152463 0.46683921] [ 0.34815485 -0.06333353 0.93529517 0.41476956] [ 0. 0. 0. 1. ]] SLAMing on 90.026502481 meters Centerline goodness [0,1] 0.7361046481567655 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93671202 -0.02286332 -0.34935349 3.9081757 ] [ 0.04355559 0.99772332 0.05148876 0.46516255] [ 0.34738092 -0.06344644 0.93557525 0.41429422] [ 0. 0. 0. 1. ]] SLAMing on 90.056502481 meters Centerline goodness [0,1] 0.7364134650188738 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93679357 -0.02322922 -0.3491106 3.90724927] [ 0.04391504 0.99770933 0.05145453 0.46396814] [ 0.34711565 -0.06353348 0.93566779 0.41442009] [ 0. 0. 0. 1. ]] SLAMing on 90.086502481 meters Centerline goodness [0,1] 0.7361485086992543 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93686548 -0.02347241 -0.34890129 3.90656369] [ 0.04416138 0.99769811 0.05146123 0.46325508] [ 0.34689024 -0.06362021 0.93574549 0.41445197] [ 0. 0. 0. 1. ]] SLAMing on 90.116502481 meters Centerline goodness [0,1] 0.7358383148306291 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.936904 -0.02412211 -0.34875351 3.90603233] [ 0.04483189 0.99766968 0.05143253 0.46199285] [ 0.34670014 -0.06382262 0.93580216 0.41430282] [ 0. 0. 0. 1. ]] SLAMing on 90.14650248099998 meters Centerline goodness [0,1] 0.7369388019148662 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.9369452 -0.02429897 -0.34863055 3.90593286] [ 0.04505261 0.99765398 0.05154415 0.46100693] [ 0.34656018 -0.06400076 0.93584184 0.41406607] [ 0. 0. 0. 1. ]] SLAMing on 90.17650248099999 meters Centerline goodness [0,1] 0.7363180219325471 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93706495 -0.02512045 -0.34825026 3.90441887] [ 0.04574919 0.9976432 0.05113771 0.46079243] [ 0.3461449 -0.06385152 0.93600571 0.41426646] [ 0. 0. 0. 1. ]] SLAMing on 90.20650248099999 meters Centerline goodness [0,1] 0.7347652606487719 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93712858 -0.02556635 -0.34804653 3.90373169] [ 0.04611989 0.99763847 0.05089632 0.46077346] [ 0.34592337 -0.06374827 0.93609464 0.41430892] [ 0. 0. 0. 1. ]] SLAMing on 90.23650248099999 meters Centerline goodness [0,1] 0.7345344264823048 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93718403 -0.02625246 -0.3478461 3.90312571] [ 0.04672182 0.99762615 0.05058788 0.46004093] [ 0.34569231 -0.06366215 0.93618586 0.41426656] [ 0. 0. 0. 1. ]] SLAMing on 90.26650248099999 meters Centerline goodness [0,1] 0.7341073271413829 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93724716 -0.02670527 -0.34764145 3.90194744] [ 0.04707809 0.9976246 0.05028736 0.46013065] [ 0.34547273 -0.06349798 0.93627806 0.41464 ] [ 0. 0. 0. 1. ]] SLAMing on 90.29650248099999 meters Centerline goodness [0,1] 0.7349518562380928 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93714186 -0.02699828 -0.34790262 3.90225386] [ 0.04733628 0.99762227 0.05009081 0.46035693] [ 0.34572303 -0.06341061 0.93619158 0.41482072] [ 0. 0. 0. 1. ]] SLAMing on 90.32650248099999 meters Centerline goodness [0,1] 0.7346450001287631 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93710026 -0.02660499 -0.34804494 3.90408959] [ 0.04710181 0.99760961 0.05056164 0.45929279] [ 0.34586779 -0.06377487 0.93611337 0.41386904] [ 0. 0. 0. 1. ]] SLAMing on 90.35650248099999 meters Centerline goodness [0,1] 0.7347311551324929 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93699166 -0.0262828 -0.34836167 3.90546467] [ 0.04692385 0.99759845 0.05094583 0.4587673 ] [ 0.34618606 -0.06408229 0.93597472 0.41344906] [ 0. 0. 0. 1. ]] SLAMing on 90.386502481 meters Centerline goodness [0,1] 0.7336274965164886 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93688192 -0.02623169 -0.34866053 3.90532643] [ 0.0468307 0.99761116 0.05078238 0.46009633] [ 0.34649553 -0.06390511 0.93587231 0.41406661] [ 0. 0. 0. 1. ]] SLAMing on 90.416502481 meters Centerline goodness [0,1] 0.7339306987103122 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.9367351 -0.02610308 -0.34906443 3.9055928 ] [ 0.04667623 0.99762483 0.05065591 0.46125001] [ 0.34691307 -0.06374418 0.93572859 0.41464514] [ 0. 0. 0. 1. ]] SLAMing on 90.446502481 meters Centerline goodness [0,1] 0.7325900959294789 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93677171 -0.02609643 -0.34896668 3.90574726] [ 0.04658376 0.99763986 0.05044469 0.46220568] [ 0.34682664 -0.06351134 0.93577646 0.4144471 ] [ 0. 0. 0. 1. ]] SLAMing on 90.476502481 meters Centerline goodness [0,1] 0.7307612528521054 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93687506 -0.02653557 -0.34865597 3.90454279] [ 0.04672852 0.99767378 0.04963331 0.46323889] [ 0.34652787 -0.06279239 0.93593566 0.41502416] [ 0. 0. 0. 1. ]] SLAMing on 90.50650248099998 meters Centerline goodness [0,1] 0.7297786980716967 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93679174 -0.02662317 -0.34887309 3.90461489] [ 0.0466892 0.99769543 0.0492335 0.46453321] [ 0.34675834 -0.06241015 0.93587586 0.41546806] [ 0. 0. 0. 1. ]] SLAMing on 90.53650248099999 meters Centerline goodness [0,1] 0.7289947584202605 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93691242 -0.02161477 -0.34889529 3.90513479] [ 0.04277675 0.99767451 0.05306336 0.4653439 ] [ 0.34693698 -0.06464033 0.93565825 0.41492954] [ 0. 0. 0. 1. ]] SLAMing on 90.56650248099999 meters Centerline goodness [0,1] 0.729073914967846 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93683141 -0.02171169 -0.34910672 3.90562403] [ 0.04273458 0.99769929 0.05262963 0.46720202] [ 0.34716085 -0.06422402 0.93560388 0.41502913] [ 0. 0. 0. 1. ]] SLAMing on 90.59650248099999 meters Centerline goodness [0,1] 0.7292374750278909 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93663419 -0.02106053 -0.34967534 3.90756146] [ 0.04202396 0.99773778 0.05247208 0.46879583] [ 0.34777921 -0.06384188 0.93540036 0.41513378] [ 0. 0. 0. 1. ]] SLAMing on 90.62650248099999 meters Centerline goodness [0,1] 0.7281709917312393 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93666227 -0.02144449 -0.34957678 3.90693796] [ 0.04224096 0.99775464 0.05197478 0.46937642] [ 0.34767729 -0.06344928 0.93546496 0.41546689] [ 0. 0. 0. 1. ]] SLAMing on 90.65650248099999 meters Centerline goodness [0,1] 0.7281934093328832 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93669074 -0.02158851 -0.34949162 3.90663037] [ 0.04231493 0.99776176 0.05177752 0.4692567 ] [ 0.34759158 -0.06328824 0.93550772 0.41560184] [ 0. 0. 0. 1. ]] SLAMing on 90.68650248099999 meters Centerline goodness [0,1] 0.7273105528683622 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93656923 -0.02136951 -0.34983056 3.90739395] [ 0.04213194 0.99776589 0.05184714 0.46984544] [ 0.34794105 -0.06329748 0.93537717 0.41566087] [ 0. 0. 0. 1. ]] SLAMing on 90.71650248099999 meters Centerline goodness [0,1] 0.7272419539631289 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.9364209 -0.02127223 -0.35023334 3.90772524] [ 0.04201516 0.99777669 0.05173392 0.47068726] [ 0.34835416 -0.06315983 0.9352327 0.41623072] [ 0. 0. 0. 1. ]] SLAMing on 90.746502481 meters Centerline goodness [0,1] 0.7268590743629746 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93639007 -0.02158261 -0.35029678 3.90731402] [ 0.04221912 0.9977863 0.05138136 0.47144529] [ 0.34841239 -0.06290222 0.93522838 0.41664374] [ 0. 0. 0. 1. ]] SLAMing on 90.776502481 meters Centerline goodness [0,1] 0.7268590743629746 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93639007 -0.02158261 -0.35029678 3.90731402] [ 0.04221912 0.9977863 0.05138136 0.47144529] [ 0.34841239 -0.06290222 0.93522838 0.41664374] [ 0. 0. 0. 1. ]] SLAMing on 90.806502481 meters Centerline goodness [0,1] 0.7268443796532514 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.9364528 -0.02162436 -0.35012647 3.90780537] [ 0.04232607 0.99777142 0.05158193 0.47040361] [ 0.34823076 -0.06312352 0.93528111 0.41595366] [ 0. 0. 0. 1. ]] SLAMing on 90.836502481 meters Centerline goodness [0,1] 0.7254164288308858 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93628663 -0.02668104 -0.35022202 3.90893899] [ 0.04628899 0.99778691 0.04773479 0.46966662] [ 0.34817334 -0.06090487 0.93544958 0.41557149] [ 0. 0. 0. 1. ]] SLAMing on 90.866502481 meters Centerline goodness [0,1] 0.7273834196891191 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93633711 -0.0268518 -0.35007398 3.90889996] [ 0.04653172 0.99776647 0.04792574 0.46837995] [ 0.34800519 -0.06116419 0.93549523 0.41523955] [ 0. 0. 0. 1. ]] SLAMing on 90.89650248099998 meters Centerline goodness [0,1] 0.7271500493071055 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93632674 -0.02748153 -0.35005285 3.90811054] [ 0.04720096 0.99773507 0.04792485 0.46754732] [ 0.34794296 -0.06139615 0.93550319 0.41540283] [ 0. 0. 0. 1. ]] SLAMing on 90.92650248099999 meters Centerline goodness [0,1] 0.727282149612624 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93639156 -0.02760577 -0.34986964 3.90805895] [ 0.04741133 0.99771334 0.04816914 0.46650258] [ 0.34773986 -0.06169296 0.93555917 0.41498096] [ 0. 0. 0. 1. ]] SLAMing on 90.95650248099999 meters Centerline goodness [0,1] 0.7277849573533213 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93642112 -0.02774001 -0.3497799 3.90814171] [ 0.04766395 0.99768619 0.04848109 0.46479787] [ 0.34762571 -0.06207061 0.93557662 0.41464371] [ 0. 0. 0. 1. ]] SLAMing on 90.98650248099999 meters Centerline goodness [0,1] 0.7274391973796198 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.42 [[ 0.93645901 -0.0332237 -0.34920011 3.90611991] [ 0.05196126 0.99766043 0.04442617 0.46359993] [ 0.34690713 -0.05974817 0.93599444 0.41520487] [ 0. 0. 0. 1. ]] SLAMing on 91.01650248099999 meters Centerline goodness [0,1] 0.7289775072224516 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93660458 -0.03377373 -0.34875664 3.90434334] [ 0.05261876 0.99761369 0.04470116 0.46141429] [ 0.34641467 -0.06021845 0.93614668 0.41531273] [ 0. 0. 0. 1. ]] SLAMing on 91.04650248099999 meters Centerline goodness [0,1] 0.72885367359539 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93661501 -0.0340164 -0.34870503 3.90329257] [ 0.05289759 0.99759605 0.04476575 0.46085819] [ 0.34634399 -0.06037393 0.93616282 0.41579954] [ 0. 0. 0. 1. ]] SLAMing on 91.07650248099999 meters Centerline goodness [0,1] 0.7299678869621067 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93674223 -0.03456225 -0.34830942 3.90143713] [ 0.0533935 0.99757669 0.04460818 0.4604344 ] [ 0.3459236 -0.06038383 0.93631761 0.41621956] [ 0. 0. 0. 1. ]] SLAMing on 91.10650248099999 meters Centerline goodness [0,1] 0.7302636636174955 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93697495 -0.03697439 -0.34743464 3.89953407] [ 0.05522398 0.99755758 0.04276893 0.45826556] [ 0.3450047 -0.05926014 0.93672834 0.41629386] [ 0. 0. 0. 1. ]] SLAMing on 91.136502481 meters Centerline goodness [0,1] 0.730738722141194 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.42 [[ 0.93697994 -0.03694644 -0.34742416 3.90047727] [ 0.05529731 0.9975414 0.04305073 0.45680004] [ 0.34497942 -0.05954929 0.93671932 0.41564503] [ 0. 0. 0. 1. ]] SLAMing on 91.166502481 meters Centerline goodness [0,1] 0.7285415390896102 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93708772 -0.03700673 -0.34712692 3.90153099] [ 0.05545559 0.99751917 0.04336118 0.45527153] [ 0.34466111 -0.05988336 0.93681519 0.41432068] [ 0. 0. 0. 1. ]] SLAMing on 91.196502481 meters Centerline goodness [0,1] 0.7271264778733945 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.41 [[ 0.93704838 -0.0365171 -0.34728495 3.90279354] [ 0.05519616 0.99750368 0.04404316 0.45423389] [ 0.34480969 -0.06043937 0.93672481 0.41362037] [ 0. 0. 0. 1. ]] SLAMing on 91.226502481 meters Centerline goodness [0,1] 0.7282227307398932 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.41 [[ 0.9369952 -0.03607853 -0.34747423 3.9033056 ] [ 0.05486033 0.997508 0.04436372 0.454206 ] [ 0.34500775 -0.06063114 0.93663948 0.41366969] [ 0. 0. 0. 1. ]] SLAMing on 91.25650248099998 meters Centerline goodness [0,1] 0.7302997803993667 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.41 [[ 0.93695844 -0.03611467 -0.34756959 3.9028358 ] [ 0.05485503 0.99751436 0.04422707 0.45448295] [ 0.34510841 -0.06050487 0.93661056 0.41422107] [ 0. 0. 0. 1. ]] SLAMing on 91.28650248099999 meters Centerline goodness [0,1] 0.7303304836034197 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.41 [[ 0.93702176 -0.03595406 -0.34741548 3.90233272] [ 0.05468686 0.99752198 0.04426348 0.45382424] [ 0.34496313 -0.06047491 0.93666602 0.41445914] [ 0. 0. 0. 1. ]] SLAMing on 91.31650248099999 meters Centerline goodness [0,1] 0.7289150460593654 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.41 [[ 0.93717999 -0.03063448 -0.34749849 3.90292624] [ 0.05058796 0.99754168 0.04849188 0.45392673] [ 0.3451587 -0.06302485 0.93642583 0.41385528] [ 0. 0. 0. 1. ]] SLAMing on 91.34650248099999 meters Centerline goodness [0,1] 0.7282411082375233 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93701662 -0.03046142 -0.34795396 3.90353411] [ 0.05035554 0.99756406 0.04827293 0.45539137] [ 0.3456359 -0.06275395 0.936268 0.41436728] [ 0. 0. 0. 1. ]] SLAMing on 91.37650248099999 meters Centerline goodness [0,1] 0.7293179078059667 Centerline is valid? [False, False] Translation: X:3.90, Y:0.46, Z:0.41 [[ 0.93693083 -0.03037411 -0.34819254 3.90438844] [ 0.05023128 0.99757664 0.04814216 0.45616511] [ 0.34588647 -0.06259603 0.93618603 0.41425974] [ 0. 0. 0. 1. ]] SLAMing on 91.40650248099999 meters Centerline goodness [0,1] 0.7272843909573785 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93688906 -0.03030064 -0.3483113 3.90650981] [ 0.05009001 0.99759306 0.0479487 0.45653067] [ 0.34602006 -0.06236953 0.93615178 0.4132243 ] [ 0. 0. 0. 1. ]] SLAMing on 91.43650248099999 meters Centerline goodness [0,1] 0.7256066214271026 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93690617 -0.03053585 -0.34824474 3.90677963] [ 0.05015598 0.99761301 0.04746228 0.45737936] [ 0.34596418 -0.06193426 0.93620133 0.41308242] [ 0. 0. 0. 1. ]] SLAMing on 91.46650248099999 meters Centerline goodness [0,1] 0.7271818275048714 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93666625 -0.03056674 -0.34888683 3.90719821] [ 0.05003725 0.99764412 0.04693061 0.4589298 ] [ 0.34663038 -0.06141565 0.93598905 0.41417655] [ 0. 0. 0. 1. ]] SLAMing on 91.496502481 meters Centerline goodness [0,1] 0.7261555108981295 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93670752 -0.02572504 -0.34916649 3.90781526] [ 0.04629576 0.99764054 0.05069572 0.45957193] [ 0.3470385 -0.06365199 0.93568836 0.4139707 ] [ 0. 0. 0. 1. ]] SLAMing on 91.526502481 meters Centerline goodness [0,1] 0.7255901356604113 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93647722 -0.02540338 -0.34980721 3.90926575] [ 0.04599902 0.99765434 0.05069432 0.46035581] [ 0.34769887 -0.06356486 0.93544909 0.41425783] [ 0. 0. 0. 1. ]] SLAMing on 91.556502481 meters Centerline goodness [0,1] 0.7252650860400918 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93639701 -0.0254509 -0.35001841 3.90998594] [ 0.04594345 0.99767344 0.0503677 0.46194578] [ 0.34792217 -0.06324522 0.93538773 0.41421843] [ 0. 0. 0. 1. ]] SLAMing on 91.586502481 meters Centerline goodness [0,1] 0.7249477944778159 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93633128 -0.02558148 -0.35018469 3.9104313 ] [ 0.04603111 0.99767799 0.05019718 0.46227143] [ 0.34808744 -0.06312058 0.93533466 0.41424953] [ 0. 0. 0. 1. ]] SLAMing on 91.616502481 meters Centerline goodness [0,1] 0.7251269100935398 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93647343 -0.02617678 -0.34976034 3.90940497] [ 0.04646237 0.99768124 0.04973317 0.4626521 ] [ 0.34764747 -0.06282449 0.93551821 0.41414489] [ 0. 0. 0. 1. ]] SLAMing on 91.64650248099998 meters Centerline goodness [0,1] 0.7253017029743908 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93655171 -0.0267722 -0.34950556 3.90787546] [ 0.04687123 0.99768978 0.04917512 0.46354468] [ 0.3473816 -0.0624368 0.93564292 0.41470596] [ 0. 0. 0. 1. ]] SLAMing on 91.67650248099999 meters Centerline goodness [0,1] 0.7252338380445456 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.42 [[ 0.93654524 -0.02724279 -0.34948653 3.90666184] [ 0.04719399 0.99769798 0.04869781 0.46439837] [ 0.34735534 -0.06210137 0.93567499 0.41549466] [ 0. 0. 0. 1. ]] SLAMing on 91.70650248099999 meters Centerline goodness [0,1] 0.7253017665647827 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93643346 -0.02752039 -0.34976422 3.90725449] [ 0.04741094 0.99770059 0.04843285 0.46504141] [ 0.34762708 -0.06193679 0.93558498 0.41557786] [ 0. 0. 0. 1. ]] SLAMing on 91.73650248099999 meters Centerline goodness [0,1] 0.7250226772061682 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.9363103 -0.02742102 -0.35010158 3.90836121] [ 0.0473504 0.99770065 0.04849079 0.46534532] [ 0.34796691 -0.06197988 0.93545579 0.41543849] [ 0. 0. 0. 1. ]] SLAMing on 91.76650248099999 meters Centerline goodness [0,1] 0.7244905945889535 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.9361946 -0.02749181 -0.35040529 3.90962869] [ 0.04742651 0.99769975 0.04843495 0.46638518] [ 0.3482677 -0.06196304 0.93534496 0.41502021] [ 0. 0. 0. 1. ]] SLAMing on 91.79650248099999 meters Centerline goodness [0,1] 0.7232140536888334 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93608062 -0.03247014 -0.35028384 3.91038066] [ 0.05115974 0.99771047 0.04423227 0.46716333] [ 0.34804563 -0.0593254 0.9355986 0.41474725] [ 0. 0. 0. 1. ]] SLAMing on 91.82650248099999 meters Centerline goodness [0,1] 0.7244398124022928 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93615059 -0.0327733 -0.35006854 3.90969616] [ 0.05140436 0.99770551 0.0440603 0.46718986] [ 0.34782131 -0.05924212 0.93568729 0.41476524] [ 0. 0. 0. 1. ]] SLAMing on 91.85650248099999 meters Centerline goodness [0,1] 0.7233236684690332 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93609384 -0.03283427 -0.35021456 3.90920744] [ 0.05141011 0.9977134 0.04387453 0.46804673] [ 0.34797317 -0.05907525 0.93564138 0.41535004] [ 0. 0. 0. 1. ]] SLAMing on 91.886502481 meters Centerline goodness [0,1] 0.7222382690439304 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93622473 -0.02842922 -0.35024996 3.9081733 ] [ 0.04813493 0.99770201 0.04768372 0.46777784] [ 0.34808947 -0.06150194 0.93544173 0.41563428] [ 0. 0. 0. 1. ]] SLAMing on 91.916502481 meters Centerline goodness [0,1] 0.7215913561144476 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93621077 -0.0284784 -0.35028328 3.90806923] [ 0.04817968 0.99770113 0.04765687 0.46802404] [ 0.34812083 -0.06149341 0.93543062 0.4157169 ] [ 0. 0. 0. 1. ]] SLAMing on 91.946502481 meters Centerline goodness [0,1] 0.7211342095617113 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93625664 -0.02884718 -0.35013048 3.90802569] [ 0.04846396 0.99769991 0.0473934 0.46777991] [ 0.34795798 -0.06134109 0.93550121 0.41555691] [ 0. 0. 0. 1. ]] SLAMing on 91.976502481 meters Centerline goodness [0,1] 0.7218281286809937 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93630309 -0.02937168 -0.34996262 3.90730196] [ 0.04883377 0.99770443 0.04691631 0.46774819] [ 0.34778125 -0.06101788 0.93558806 0.41581221] [ 0. 0. 0. 1. ]] SLAMing on 92.00650248099998 meters Centerline goodness [0,1] 0.719006970005482 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93628554 -0.02933233 -0.35001286 3.90732336] [ 0.04876834 0.99771104 0.04684371 0.46815224] [ 0.34783765 -0.06092863 0.93557291 0.41596129] [ 0. 0. 0. 1. ]] SLAMing on 92.03650248099999 meters Centerline goodness [0,1] 0.7220387840670859 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93618216 -0.02940327 -0.35028334 3.90762143] [ 0.0488101 0.99771562 0.04670233 0.46869209] [ 0.34810996 -0.06081925 0.93547874 0.41625167] [ 0. 0. 0. 1. ]] SLAMing on 92.06650248099999 meters Centerline goodness [0,1] 0.7170324639652601 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.42 [[ 0.93602089 -0.02880114 -0.35076401 3.91012718] [ 0.04834806 0.99771965 0.04709529 0.4691202 ] [ 0.34860775 -0.06104093 0.93527891 0.41547317] [ 0. 0. 0. 1. ]] SLAMing on 92.09650248099999 meters Centerline goodness [0,1] 0.7168578252539304 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93610563 -0.02882174 -0.35053609 3.91105988] [ 0.04837077 0.99771644 0.04713986 0.46894854] [ 0.34837697 -0.06108359 0.93536211 0.4144315 ] [ 0. 0. 0. 1. ]] SLAMing on 92.12650248099999 meters Centerline goodness [0,1] 0.7143418364674454 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.9360663 -0.02889816 -0.35063483 3.91156839] [ 0.0484117 0.99772046 0.04701267 0.46909176] [ 0.34847696 -0.0609818 0.93533151 0.41432192] [ 0. 0. 0. 1. ]] SLAMing on 92.15650248099999 meters Centerline goodness [0,1] 0.7154684552504715 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93605516 -0.02879148 -0.35067333 3.9122749 ] [ 0.04833572 0.99771971 0.04710675 0.46918757] [ 0.34851742 -0.06104456 0.93531234 0.41389154] [ 0. 0. 0. 1. ]] SLAMing on 92.18650248099999 meters Centerline goodness [0,1] 0.7129612654846398 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93604566 -0.02881714 -0.3506966 3.91171169] [ 0.04836243 0.9977187 0.04710066 0.46964836] [ 0.34853925 -0.06104891 0.93530392 0.41426165] [ 0. 0. 0. 1. ]] SLAMing on 92.21650248099999 meters Centerline goodness [0,1] 0.7158162863370184 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93607652 -0.02898259 -0.35060056 3.91127615] [ 0.04853021 0.99771079 0.04709559 0.46962317] [ 0.34843301 -0.06109979 0.93534018 0.414289 ] [ 0. 0. 0. 1. ]] SLAMing on 92.246502481 meters Centerline goodness [0,1] 0.7135320980525957 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93613963 -0.02907697 -0.3504242 3.91164456] [ 0.04878826 0.99767658 0.04755153 0.4674611 ] [ 0.34822737 -0.06161146 0.9353832 0.41361513] [ 0. 0. 0. 1. ]] SLAMing on 92.276502481 meters Centerline goodness [0,1] 0.7133011896651119 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93622461 -0.02917704 -0.35018877 3.91175933] [ 0.04898822 0.99765266 0.04784683 0.46587863] [ 0.34797073 -0.06195051 0.93545631 0.41300526] [ 0. 0. 0. 1. ]] SLAMing on 92.306502481 meters Centerline goodness [0,1] 0.7131554209316899 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93643466 -0.02969716 -0.34958289 3.91018601] [ 0.04951728 0.99762426 0.04789447 0.46420837] [ 0.34733004 -0.06216044 0.93568046 0.41284489] [ 0. 0. 0. 1. ]] SLAMing on 92.336502481 meters Centerline goodness [0,1] 0.7134583778989383 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93646827 -0.02989424 -0.34947605 3.90935273] [ 0.04966244 0.99762443 0.04774026 0.46412545] [ 0.34721869 -0.06206307 0.93572825 0.41325089] [ 0. 0. 0. 1. ]] SLAMing on 92.366502481 meters Centerline goodness [0,1] 0.7120424320016723 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.41 [[ 0.93646302 -0.02988676 -0.34949077 3.90839461] [ 0.049628 0.99762969 0.04766612 0.46467162] [ 0.34723779 -0.06198209 0.93572653 0.41394983] [ 0. 0. 0. 1. ]] SLAMing on 92.39650248099998 meters Centerline goodness [0,1] 0.71206612434935 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93642096 -0.03001922 -0.34959209 3.90860221] [ 0.04970155 0.99763563 0.04746484 0.46516327] [ 0.34734066 -0.06182234 0.93569892 0.41402991] [ 0. 0. 0. 1. ]] SLAMing on 92.42650248099999 meters Centerline goodness [0,1] 0.7105366338186476 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93615379 -0.03396244 -0.34994661 3.91140494] [ 0.0526146 0.99764821 0.04392894 0.46559775] [ 0.34763167 -0.05953654 0.93573908 0.41343433] [ 0. 0. 0. 1. ]] SLAMing on 92.45650248099999 meters Centerline goodness [0,1] 0.7095561357702349 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93612393 -0.03360351 -0.35006112 3.91247586] [ 0.05235585 0.99764803 0.04424109 0.46524909] [ 0.34775113 -0.05974289 0.93568154 0.41291091] [ 0. 0. 0. 1. ]] SLAMing on 92.48650248099999 meters Centerline goodness [0,1] 0.706523162332731 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93624241 -0.02810485 -0.35022889 3.91330226] [ 0.04817247 0.99765024 0.04871758 0.46558782] [ 0.34803674 -0.06248286 0.93539634 0.41217256] [ 0. 0. 0. 1. ]] SLAMing on 92.51650248099999 meters Centerline goodness [0,1] 0.7051234892275355 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.936057 -0.02766366 -0.35075918 3.91409068] [ 0.04776458 0.99766664 0.04878349 0.46687871] [ 0.34859121 -0.06241799 0.93519419 0.41265995] [ 0. 0. 0. 1. ]] SLAMing on 92.54650248099999 meters Centerline goodness [0,1] 0.7056523564605857 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93602694 -0.02726769 -0.35087042 3.91530798] [ 0.0473773 0.99768158 0.04885553 0.46739476] [ 0.34872477 -0.06235339 0.9351487 0.41221465] [ 0. 0. 0. 1. ]] SLAMing on 92.57650248099999 meters Centerline goodness [0,1] 0.705476758514013 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93616873 -0.02744083 -0.35047841 3.91507146] [ 0.04747545 0.99768459 0.0486984 0.46749124] [ 0.34833058 -0.06222904 0.93530388 0.41167317] [ 0. 0. 0. 1. ]] SLAMing on 92.60650248099999 meters Centerline goodness [0,1] 0.7079282951813526 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.9362804 -0.02789685 -0.35014395 3.91435424] [ 0.04765107 0.99771353 0.047928 0.46922653] [ 0.34800631 -0.06155878 0.93546893 0.41174286] [ 0. 0. 0. 1. ]] SLAMing on 92.636502481 meters Centerline goodness [0,1] 0.7069831963565931 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.41 [[ 0.93619964 -0.02808719 -0.35034462 3.91458179] [ 0.04764436 0.99774252 0.04732725 0.47150504] [ 0.34822443 -0.0609997 0.93542439 0.4120893 ] [ 0. 0. 0. 1. ]] SLAMing on 92.666502481 meters Centerline goodness [0,1] 0.7057650423784407 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93601321 -0.02812268 -0.35083954 3.91516715] [ 0.04758091 0.99776275 0.04696334 0.47315238] [ 0.34873389 -0.06065157 0.93525722 0.41267644] [ 0. 0. 0. 1. ]] SLAMing on 92.696502481 meters Centerline goodness [0,1] 0.7057650423784407 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93601321 -0.02812268 -0.35083954 3.91516715] [ 0.04758091 0.99776275 0.04696334 0.47315238] [ 0.34873389 -0.06065157 0.93525722 0.41267644] [ 0. 0. 0. 1. ]] SLAMing on 92.726502481 meters Centerline goodness [0,1] 0.7051962381127516 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93585591 -0.02798004 -0.35127031 3.91604259] [ 0.04741152 0.99777674 0.04683719 0.47466443] [ 0.34917884 -0.06048712 0.93510184 0.41290527] [ 0. 0. 0. 1. ]] SLAMing on 92.75650248099998 meters Centerline goodness [0,1] 0.704187101197068 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93585923 -0.02824831 -0.35124 3.91638307] [ 0.04758973 0.99778151 0.04655406 0.4758069 ] [ 0.3491457 -0.06028347 0.93512736 0.41255454] [ 0. 0. 0. 1. ]] SLAMing on 92.78650248099999 meters Centerline goodness [0,1] 0.703282229598019 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93596247 -0.02857176 -0.35093861 3.91634658] [ 0.04784377 0.99777811 0.04636621 0.47548286] [ 0.34883409 -0.06018726 0.93524984 0.41204052] [ 0. 0. 0. 1. ]] SLAMing on 92.81650248099999 meters Centerline goodness [0,1] 0.705068154307668 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93600786 -0.02899469 -0.35078283 3.91649362] [ 0.04820179 0.99777109 0.04614591 0.47550663] [ 0.34866298 -0.06010129 0.93531918 0.41155718] [ 0. 0. 0. 1. ]] SLAMing on 92.84650248099999 meters Centerline goodness [0,1] 0.7058172620929497 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93595444 -0.02909574 -0.35091696 3.91595848] [ 0.0482645 0.99777477 0.04600057 0.47620011] [ 0.34879767 -0.05999127 0.93527602 0.41214114] [ 0. 0. 0. 1. ]] SLAMing on 92.87650248099999 meters Centerline goodness [0,1] 0.7071341817605745 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93593377 -0.02931526 -0.35095383 3.91501855] [ 0.04837625 0.99778472 0.04566598 0.47755876] [ 0.34883767 -0.05971816 0.93527858 0.41283407] [ 0. 0. 0. 1. ]] SLAMing on 92.90650248099999 meters Centerline goodness [0,1] 0.7076006355932203 Centerline is valid? [False, False] Translation: X:3.91, Y:0.48, Z:0.41 [[ 0.93595763 -0.02970733 -0.35085722 3.91434189] [ 0.04861414 0.99779435 0.04520065 0.47918735] [ 0.34874056 -0.05936252 0.93533743 0.41307796] [ 0. 0. 0. 1. ]] SLAMing on 92.93650248099999 meters Centerline goodness [0,1] 0.705905636478784 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93564685 -0.03443641 -0.35125362 3.91667331] [ 0.05217071 0.99779013 0.04114706 0.48044021] [ 0.34906044 -0.05682427 0.93537576 0.41268419] [ 0. 0. 0. 1. ]] SLAMing on 92.96650248099999 meters Centerline goodness [0,1] 0.7040897097625329 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93568948 -0.03453872 -0.35112999 3.91716787] [ 0.05230133 0.99778002 0.04122621 0.48012443] [ 0.34892659 -0.0569395 0.93541869 0.41204836] [ 0. 0. 0. 1. ]] SLAMing on 92.996502481 meters Centerline goodness [0,1] 0.7050483181074088 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93572092 -0.03473446 -0.35102689 3.91719857] [ 0.05250457 0.99776921 0.04122946 0.48024402] [ 0.34881174 -0.05700979 0.93545724 0.41169827] [ 0. 0. 0. 1. ]] SLAMing on 93.026502481 meters Centerline goodness [0,1] 0.7031857237276933 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93565879 -0.03464769 -0.35120104 3.91732755] [ 0.05243476 0.99777162 0.04126003 0.48064483] [ 0.34898886 -0.05702045 0.93539053 0.41191043] [ 0. 0. 0. 1. ]] SLAMing on 93.056502481 meters Centerline goodness [0,1] 0.6961797276532613 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93551721 -0.03456036 -0.3515866 3.91793665] [ 0.05234781 0.99777827 0.04120948 0.48151683] [ 0.34938125 -0.05695696 0.9352479 0.41220608] [ 0. 0. 0. 1. ]] SLAMing on 93.086502481 meters Centerline goodness [0,1] 0.7025635610000792 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93570068 -0.03487699 -0.3510667 3.91712379] [ 0.0526503 0.99776251 0.04120575 0.4805331 ] [ 0.34884406 -0.05704002 0.93544335 0.41174164] [ 0. 0. 0. 1. ]] SLAMing on 93.116502481 meters Centerline goodness [0,1] 0.7007998732874 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93574117 -0.03511055 -0.35093549 3.91615054] [ 0.05281711 0.99776184 0.04100805 0.48067547] [ 0.34871023 -0.05690831 0.93550127 0.41216634] [ 0. 0. 0. 1. ]] SLAMing on 93.14650248099998 meters Centerline goodness [0,1] 0.7025456850110912 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93571821 -0.03523978 -0.35098374 3.91564457] [ 0.05289551 0.99776457 0.04084032 0.48120778] [ 0.34875994 -0.05678049 0.9354905 0.41259115] [ 0. 0. 0. 1. ]] SLAMing on 93.17650248099999 meters Centerline goodness [0,1] 0.703728186144897 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93592663 -0.03063348 -0.35086027 3.91542963] [ 0.04942579 0.99777574 0.04472882 0.48110496] [ 0.34870966 -0.05920444 0.93535897 0.4120024 ] [ 0. 0. 0. 1. ]] SLAMing on 93.20650248099999 meters Centerline goodness [0,1] 0.7035290377278508 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93586445 -0.03078605 -0.35101275 3.9151846 ] [ 0.04943358 0.9977951 0.04428602 0.48272171] [ 0.34887541 -0.05879753 0.93532283 0.41254203] [ 0. 0. 0. 1. ]] SLAMing on 93.23650248099999 meters Centerline goodness [0,1] 0.7034166025113489 Centerline is valid? [False, False] Translation: X:3.91, Y:0.48, Z:0.41 [[ 0.93582027 -0.03125648 -0.35108895 3.91476467] [ 0.04962937 0.99782202 0.04345271 0.48443508] [ 0.34896611 -0.05808826 0.93533332 0.41320603] [ 0. 0. 0. 1. ]] SLAMing on 93.26650248099999 meters Centerline goodness [0,1] 0.7045960559796438 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93582139 -0.03137976 -0.35107497 3.91533421] [ 0.04972368 0.99782155 0.04335563 0.48448399] [ 0.34894968 -0.05802987 0.93534307 0.41281326] [ 0. 0. 0. 1. ]] SLAMing on 93.29650248099999 meters Centerline goodness [0,1] 0.7042092683574559 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93578251 -0.03146708 -0.35117079 3.91624444] [ 0.04983514 0.99781459 0.04338784 0.48404642] [ 0.34903804 -0.05810223 0.9353056 0.41238519] [ 0. 0. 0. 1. ]] SLAMing on 93.32650248099999 meters Centerline goodness [0,1] 0.7026329100444586 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93570471 -0.03140303 -0.35138376 3.91632304] [ 0.04979557 0.99781486 0.04342698 0.48419989] [ 0.3492522 -0.05813218 0.9352238 0.41271651] [ 0. 0. 0. 1. ]] SLAMing on 93.35650248099999 meters Centerline goodness [0,1] 0.7050826633904008 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93578619 -0.02653446 -0.35156811 3.91662714] [ 0.04620733 0.99779311 0.04768432 0.4836632 ] [ 0.34952696 -0.06086736 0.93494709 0.41226075] [ 0. 0. 0. 1. ]] SLAMing on 93.386502481 meters Centerline goodness [0,1] 0.7034464404524285 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93563488 -0.02597764 -0.35201211 3.91814791] [ 0.04576895 0.99779735 0.04801711 0.4835459 ] [ 0.34998938 -0.0610377 0.93476298 0.41220833] [ 0. 0. 0. 1. ]] SLAMing on 93.416502481 meters Centerline goodness [0,1] 0.7001697702795904 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.9356018 -0.02632847 -0.35207399 3.91815686] [ 0.04598107 0.99780888 0.04757293 0.48371484] [ 0.35005003 -0.06069806 0.93476239 0.41252098] [ 0. 0. 0. 1. ]] SLAMing on 93.446502481 meters Centerline goodness [0,1] 0.7010553808432387 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93570905 -0.0270311 -0.35173554 3.91665288] [ 0.04645968 0.997818 0.04691203 0.48384769] [ 0.34969997 -0.06023753 0.93492319 0.4130932 ] [ 0. 0. 0. 1. ]] SLAMing on 93.476502481 meters Centerline goodness [0,1] 0.7012483399734395 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93564274 -0.02685714 -0.35192521 3.91734131] [ 0.04631398 0.99782141 0.04698358 0.48330132] [ 0.34989667 -0.0602589 0.93484822 0.4131605 ] [ 0. 0. 0. 1. ]] SLAMing on 93.50650248099998 meters Centerline goodness [0,1] 0.7013453153248963 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93567257 -0.02683225 -0.3518478 3.91782343] [ 0.04632957 0.9978147 0.0471104 0.48253932] [ 0.34981483 -0.06038086 0.93487097 0.412736 ] [ 0. 0. 0. 1. ]] SLAMing on 93.53650248099999 meters Centerline goodness [0,1] 0.7010262682122727 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93549698 -0.02612196 -0.35236776 3.91923132] [ 0.04586124 0.99780418 0.04778658 0.48181998] [ 0.35034574 -0.06086423 0.93464079 0.41273465] [ 0. 0. 0. 1. ]] SLAMing on 93.56650248099999 meters Centerline goodness [0,1] 0.6985494106980961 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93543567 -0.02591363 -0.35254587 3.9193044 ] [ 0.04573348 0.99779954 0.04800545 0.48189235] [ 0.35052611 -0.06102916 0.9345624 0.41296733] [ 0. 0. 0. 1. ]] SLAMing on 93.59650248099999 meters Centerline goodness [0,1] 0.6958768378435969 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93544827 -0.02595291 -0.35250954 3.91857153] [ 0.04584305 0.99778549 0.04819264 0.48062399] [ 0.35047816 -0.06124183 0.93456647 0.41342236] [ 0. 0. 0. 1. ]] SLAMing on 93.62650248099999 meters Centerline goodness [0,1] 0.6981167010527429 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93538507 -0.0256759 -0.35269749 3.91886641] [ 0.04567707 0.99777808 0.04850274 0.47938124] [ 0.35066847 -0.06147893 0.93447952 0.4137217 ] [ 0. 0. 0. 1. ]] SLAMing on 93.65650248099999 meters Centerline goodness [0,1] 0.6983992367221457 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93517833 -0.03062371 -0.35285078 3.91919065] [ 0.04946324 0.99778421 0.04449784 0.47897281] [ 0.35070625 -0.05906656 0.93462092 0.41428743] [ 0. 0. 0. 1. ]] SLAMing on 93.68650248099999 meters Centerline goodness [0,1] 0.6967048103411739 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93528135 -0.03086664 -0.35255645 3.91875974] [ 0.04974285 0.99776551 0.0446053 0.4776031 ] [ 0.35039185 -0.05925566 0.93472687 0.41399047] [ 0. 0. 0. 1. ]] SLAMing on 93.71650248099999 meters Centerline goodness [0,1] 0.6964167307641302 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.9351393 -0.03055486 -0.35296017 3.9195679 ] [ 0.04952632 0.99776568 0.04484195 0.47813237] [ 0.3508014 -0.05941429 0.93456317 0.41414574] [ 0. 0. 0. 1. ]] SLAMing on 93.746502481 meters Centerline goodness [0,1] 0.6914046902866877 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93501574 -0.03016799 -0.35332062 3.92123151] [ 0.04924335 0.99776704 0.04512241 0.47856833] [ 0.35117042 -0.05958885 0.93441346 0.41373121] [ 0. 0. 0. 1. ]] SLAMing on 93.776502481 meters Centerline goodness [0,1] 0.6880282813247568 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93508381 -0.03028725 -0.35313022 3.92126729] [ 0.04937172 0.997759 0.04515989 0.47784638] [ 0.35097109 -0.05966293 0.93448362 0.41337035] [ 0. 0. 0. 1. ]] SLAMing on 93.806502481 meters Centerline goodness [0,1] 0.6885598280391689 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93524002 -0.03118245 -0.3526383 3.91952345] [ 0.05008726 0.99774805 0.04461052 0.47740961] [ 0.35045311 -0.05938423 0.93469574 0.41360936] [ 0. 0. 0. 1. ]] SLAMing on 93.836502481 meters Centerline goodness [0,1] 0.6824566527707708 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93526465 -0.03133776 -0.35255919 3.91891882] [ 0.05027157 0.99773591 0.04467454 0.47698702] [ 0.35036097 -0.05950622 0.93472253 0.41377692] [ 0. 0. 0. 1. ]] SLAMing on 93.866502481 meters Centerline goodness [0,1] 0.6772378652371221 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93518446 -0.03156792 -0.35275131 3.91828548] [ 0.05054973 0.99771952 0.04472669 0.47699842] [ 0.35053494 -0.05965919 0.93464755 0.41436496] [ 0. 0. 0. 1. ]] SLAMing on 93.89650248099998 meters Centerline goodness [0,1] 0.6803861249602207 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93517473 -0.03155098 -0.35277862 3.91813503] [ 0.05057128 0.99771392 0.04482733 0.47701336] [ 0.35055779 -0.05976185 0.93463242 0.4144882 ] [ 0. 0. 0. 1. ]] SLAMing on 93.92650248099999 meters Centerline goodness [0,1] 0.6710851374684553 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93531311 -0.0319227 -0.3523781 3.91841566] [ 0.05096185 0.99769148 0.0448844 0.47526915] [ 0.35013179 -0.05993881 0.93478076 0.41358657] [ 0. 0. 0. 1. ]] SLAMing on 93.95650248099999 meters Centerline goodness [0,1] 0.6714509325338922 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.9353697 -0.03192742 -0.35222744 3.91885846] [ 0.0510314 0.99767891 0.04508426 0.47387386] [ 0.34997047 -0.06014511 0.93482792 0.41306199] [ 0. 0. 0. 1. ]] SLAMing on 93.98650248099999 meters Centerline goodness [0,1] 0.6612256814502216 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93530572 -0.03171571 -0.3524164 3.91861466] [ 0.05085045 0.9976843 0.04516944 0.47472006] [ 0.35016773 -0.06016777 0.93475259 0.41353824] [ 0. 0. 0. 1. ]] SLAMing on 94.01650248099999 meters Centerline goodness [0,1] 0.6622079779626 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93520514 -0.0317064 -0.35268408 3.91862052] [ 0.05077716 0.99769787 0.04495143 0.47602968] [ 0.35044691 -0.0599471 0.93466214 0.41410033] [ 0. 0. 0. 1. ]] SLAMing on 94.04650248099999 meters Centerline goodness [0,1] 0.6759571698063076 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93518241 -0.03127499 -0.35278284 3.91977588] [ 0.0503353 0.99771887 0.04498246 0.4771132 ] [ 0.35057127 -0.05982424 0.93462337 0.41377825] [ 0. 0. 0. 1. ]] SLAMing on 94.07650248099999 meters Centerline goodness [0,1] 0.6766587897936968 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93514107 -0.030983 -0.35291818 3.92073057] [ 0.05005261 0.99773073 0.0450347 0.47760051] [ 0.350722 -0.05977827 0.93456976 0.4135173 ] [ 0. 0. 0. 1. ]] SLAMing on 94.10650248099999 meters Centerline goodness [0,1] 0.6863357352548706 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93546005 -0.02585983 -0.35248514 3.92068021] [ 0.04603652 0.99773834 0.04897792 0.47738964] [ 0.35042138 -0.06204407 0.93453485 0.41268001] [ 0. 0. 0. 1. ]] SLAMing on 94.136502481 meters Centerline goodness [0,1] 0.688875828168412 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93540804 -0.02547017 -0.35265148 3.92077407] [ 0.0455846 0.99776537 0.0488498 0.47904127] [ 0.35061923 -0.06176998 0.9344788 0.41313714] [ 0. 0. 0. 1. ]] SLAMing on 94.166502481 meters Centerline goodness [0,1] 0.6924349125053351 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93568702 -0.02028734 -0.3522474 3.92068388] [ 0.04156708 0.99773152 0.05295272 0.47832259] [ 0.35037406 -0.06418907 0.93440772 0.41236989] [ 0. 0. 0. 1. ]] SLAMing on 94.196502481 meters Centerline goodness [0,1] 0.69447938130536 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93569479 -0.02023381 -0.35222983 3.92093833] [ 0.0414947 0.99773652 0.05291534 0.478571 ] [ 0.35036189 -0.06412828 0.93441646 0.41222195] [ 0. 0. 0. 1. ]] SLAMing on 94.226502481 meters Centerline goodness [0,1] 0.6900063993174061 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93551415 -0.01965245 -0.3527422 3.9233764 ] [ 0.04101103 0.99774252 0.05317854 0.478029 ] [ 0.3509008 -0.0642156 0.93420821 0.41183738] [ 0. 0. 0. 1. ]] SLAMing on 94.25650248099998 meters Centerline goodness [0,1] 0.6901600363354619 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93532281 -0.01887805 -0.35329145 3.92579145] [ 0.0403833 0.99774565 0.0535986 0.47829082] [ 0.35148317 -0.06439907 0.93397663 0.41143311] [ 0. 0. 0. 1. ]] SLAMing on 94.28650248099999 meters Centerline goodness [0,1] 0.6880932645257894 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93526555 -0.01873715 -0.35345051 3.92639626] [ 0.04023433 0.99775314 0.05357112 0.47880776] [ 0.35165259 -0.06432407 0.93391802 0.41141498] [ 0. 0. 0. 1. ]] SLAMing on 94.31650248099999 meters Centerline goodness [0,1] 0.6890906663105889 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93522019 -0.01878301 -0.35356809 3.92668368] [ 0.0402482 0.99775881 0.05345508 0.47893997] [ 0.35177163 -0.06422275 0.93388016 0.41152183] [ 0. 0. 0. 1. ]] SLAMing on 94.34650248099999 meters Centerline goodness [0,1] 0.6876254180602006 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93517834 -0.01864899 -0.35368587 3.92652247] [ 0.04007459 0.99777137 0.05335089 0.47971719] [ 0.35190269 -0.06406642 0.93384152 0.41194898] [ 0. 0. 0. 1. ]] SLAMing on 94.37650248099999 meters Centerline goodness [0,1] 0.6898776537359783 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93513565 -0.0185632 -0.35380322 3.92637357] [ 0.03998052 0.99777672 0.05332141 0.48041385] [ 0.3520268 -0.06400799 0.93379875 0.41225366] [ 0. 0. 0. 1. ]] SLAMing on 94.40650248099999 meters Centerline goodness [0,1] 0.6923799050505592 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93503279 -0.01893487 -0.35405531 3.92598791] [ 0.0401122 0.99781129 0.0525703 0.4818893 ] [ 0.35228497 -0.06335689 0.93374579 0.41328841] [ 0. 0. 0. 1. ]] SLAMing on 94.43650248099999 meters Centerline goodness [0,1] 0.6929473852550776 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93506716 -0.01917154 -0.35395177 3.92596796] [ 0.04027716 0.99781581 0.05235793 0.48102626] [ 0.35217489 -0.06321435 0.93379698 0.41332845] [ 0. 0. 0. 1. ]] SLAMing on 94.46650248099999 meters Centerline goodness [0,1] 0.6946824461818571 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93523744 -0.01997626 -0.35345705 3.92511423] [ 0.04094271 0.99781056 0.0519402 0.47992181] [ 0.35164561 -0.06304791 0.93400767 0.4129673 ] [ 0. 0. 0. 1. ]] SLAMing on 94.496502481 meters Centerline goodness [0,1] 0.693263028291534 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93517023 -0.0199365 -0.35363708 3.92545444] [ 0.04103129 0.99779056 0.05225355 0.47923456] [ 0.35181399 -0.06337615 0.93392204 0.41293799] [ 0. 0. 0. 1. ]] SLAMing on 94.526502481 meters Centerline goodness [0,1] 0.6898759719120773 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93517785 -0.02019155 -0.35360244 3.92497401] [ 0.04130164 0.9977793 0.05225547 0.47895582] [ 0.35176208 -0.06347251 0.93393505 0.41306936] [ 0. 0. 0. 1. ]] SLAMing on 94.556502481 meters Centerline goodness [0,1] 0.6921633287755704 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93507949 -0.02017351 -0.35386351 3.92526006] [ 0.04135897 0.99776891 0.05240843 0.47812221] [ 0.35201674 -0.06364148 0.93382759 0.41340125] [ 0. 0. 0. 1. ]] SLAMing on 94.586502481 meters Centerline goodness [0,1] 0.6921633287755704 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93507949 -0.02017351 -0.35386351 3.92526006] [ 0.04135897 0.99776891 0.05240843 0.47812221] [ 0.35201674 -0.06364148 0.93382759 0.41340125] [ 0. 0. 0. 1. ]] SLAMing on 94.616502481 meters Centerline goodness [0,1] 0.6920925980695292 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93500668 -0.02536076 -0.35372213 3.92490767] [ 0.04539063 0.997794 0.04844402 0.47786621] [ 0.35171324 -0.06135115 0.93409519 0.41360506] [ 0. 0. 0. 1. ]] SLAMing on 94.64650248099998 meters Centerline goodness [0,1] 0.6889480191366983 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93516025 -0.02574654 -0.35328803 3.92419328] [ 0.04579424 0.99777266 0.04850365 0.47632089] [ 0.35125234 -0.06153724 0.93425637 0.41321149] [ 0. 0. 0. 1. ]] SLAMing on 94.67650248099999 meters Centerline goodness [0,1] 0.6861913454311178 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.41 [[ 0.93522127 -0.02633664 -0.35308295 3.92231728] [ 0.04640489 0.99774503 0.04849169 0.4751421 ] [ 0.35100965 -0.06173524 0.93433452 0.41384058] [ 0. 0. 0. 1. ]] SLAMing on 94.70650248099999 meters Centerline goodness [0,1] 0.6758307753903643 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93512169 -0.02637883 -0.35334344 3.92240654] [ 0.04654693 0.99772822 0.04870087 0.47427308] [ 0.35125605 -0.06198829 0.93422516 0.41421865] [ 0. 0. 0. 1. ]] SLAMing on 94.73650248099999 meters Centerline goodness [0,1] 0.6795808704997313 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93512473 -0.02662269 -0.35331708 3.92186514] [ 0.04673899 0.99772783 0.04852464 0.47416446] [ 0.35122243 -0.06189028 0.93424429 0.41455424] [ 0. 0. 0. 1. ]] SLAMing on 94.76650248099999 meters Centerline goodness [0,1] 0.6835808912083501 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93515833 -0.02676414 -0.35321746 3.92145602] [ 0.04682757 0.99773082 0.04837753 0.47407522] [ 0.35112116 -0.06178097 0.93428959 0.41475088] [ 0. 0. 0. 1. ]] SLAMing on 94.79650248099999 meters Centerline goodness [0,1] 0.6697943754859119 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93516113 -0.02691888 -0.3531983 3.92149076] [ 0.04694654 0.997731 0.04825839 0.47410237] [ 0.35109783 -0.0617108 0.934303 0.41471176] [ 0. 0. 0. 1. ]] SLAMing on 94.82650248099999 meters Centerline goodness [0,1] 0.667487618792665 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.41 [[ 0.93501918 -0.02650583 -0.35360511 3.92316266] [ 0.04665355 0.99772939 0.04857484 0.4743266 ] [ 0.35151469 -0.06191534 0.93413271 0.41434808] [ 0. 0. 0. 1. ]] SLAMing on 94.85650248099999 meters Centerline goodness [0,1] 0.6753918242042334 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.93474612 -0.02564607 -0.35438958 3.92598527] [ 0.04598178 0.99773587 0.04907956 0.47547471] [ 0.3523285 -0.06217239 0.93380898 0.41394837] [ 0. 0. 0. 1. ]] SLAMing on 94.886502481 meters Centerline goodness [0,1] 0.6797587961342773 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.9347186 -0.02568572 -0.35445929 3.92668994] [ 0.04588548 0.99775895 0.0486991 0.47607045] [ 0.35241406 -0.06178449 0.93380245 0.41391769] [ 0. 0. 0. 1. ]] SLAMing on 94.916502481 meters Centerline goodness [0,1] 0.6844597503228584 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.41 [[ 0.9347099 -0.0259524 -0.35446281 3.92608979] [ 0.0459974 0.99777606 0.04824072 0.47680435] [ 0.35242254 -0.06139545 0.9338249 0.414505 ] [ 0. 0. 0. 1. ]] SLAMing on 94.946502481 meters Centerline goodness [0,1] 0.6877824402840542 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93467577 -0.02610437 -0.35454163 3.92544054] [ 0.04599658 0.99779759 0.04779414 0.47782176] [ 0.35251315 -0.06097973 0.93381794 0.41531888] [ 0. 0. 0. 1. ]] SLAMing on 94.976502481 meters Centerline goodness [0,1] 0.6872649549525175 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93478341 -0.02120859 -0.35458451 3.92504446] [ 0.04212674 0.99779041 0.05137745 0.47914737] [ 0.35271138 -0.06296427 0.93361137 0.41553739] [ 0. 0. 0. 1. ]] SLAMing on 95.00650248099998 meters Centerline goodness [0,1] 0.6928820579899717 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93480542 -0.01613778 -0.35479345 3.9261523 ] [ 0.03810559 0.99775803 0.0550171 0.48027982] [ 0.35311016 -0.06494989 0.93332456 0.41523114] [ 0. 0. 0. 1. ]] SLAMing on 95.03650248099999 meters Centerline goodness [0,1] 0.6911908380373426 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93456971 -0.01575778 -0.35543094 3.92769469] [ 0.03770196 0.99777994 0.05489762 0.48090127] [ 0.3537768 -0.0647061 0.93308901 0.41572968] [ 0. 0. 0. 1. ]] SLAMing on 95.06650248099999 meters Centerline goodness [0,1] 0.6871904517036997 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.9343205 -0.01528677 -0.35610605 3.92958615] [ 0.03716244 0.99781268 0.05466993 0.48105919] [ 0.35449141 -0.064313 0.93284494 0.41637841] [ 0. 0. 0. 1. ]] SLAMing on 95.09650248099999 meters Centerline goodness [0,1] 0.6928412724218285 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93422677 -0.01530363 -0.35635116 3.92956311] [ 0.03708559 0.99783177 0.05437304 0.48182547] [ 0.3547464 -0.06401224 0.93276869 0.41707355] [ 0. 0. 0. 1. ]] SLAMing on 95.12650248099999 meters Centerline goodness [0,1] 0.6880679198198931 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93386591 -0.01457111 -0.35732638 3.9313446 ] [ 0.03637462 0.99785791 0.05437359 0.48349817] [ 0.35576867 -0.06377526 0.9323955 0.41806134] [ 0. 0. 0. 1. ]] SLAMing on 95.15650248099999 meters Centerline goodness [0,1] 0.6846258134490238 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93364752 -0.01423389 -0.35791018 3.9324782 ] [ 0.03603503 0.99787334 0.05431642 0.48397711] [ 0.35637589 -0.0636097 0.93217489 0.41870716] [ 0. 0. 0. 1. ]] SLAMing on 95.18650248099999 meters Centerline goodness [0,1] 0.6847852727322241 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93356476 -0.01431074 -0.35812295 3.93230756] [ 0.03601984 0.9978899 0.05402142 0.48484798] [ 0.35659419 -0.06333202 0.93211032 0.41933171] [ 0. 0. 0. 1. ]] SLAMing on 95.21650248099999 meters Centerline goodness [0,1] 0.6870251790753201 Centerline is valid? [False, False] Translation: X:3.93, Y:0.49, Z:0.42 [[ 0.93338564 -0.01426726 -0.35859127 3.93313509] [ 0.03583258 0.99792124 0.0535652 0.48548825] [ 0.35708162 -0.06284624 0.93195658 0.42010627] [ 0. 0. 0. 1. ]] SLAMing on 95.246502481 meters Centerline goodness [0,1] 0.684648765934364 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93343187 -0.0142899 -0.35847 3.93403987] [ 0.03583661 0.99792269 0.05353537 0.48437439] [ 0.35696033 -0.06281797 0.93200495 0.41951574] [ 0. 0. 0. 1. ]] SLAMing on 95.276502481 meters Centerline goodness [0,1] 0.681939898839631 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93336918 -0.01440173 -0.35862873 3.93327704] [ 0.03583263 0.99794167 0.0531831 0.48431616] [ 0.35712463 -0.06249008 0.93196405 0.42060757] [ 0. 0. 0. 1. ]] SLAMing on 95.306502481 meters Centerline goodness [0,1] 0.6875525537743782 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93353609 -0.00990282 -0.35834663 3.9309 ] [ 0.03243494 0.99785165 0.05692156 0.4837174 ] [ 0.3570131 -0.06476128 0.93185172 0.42142759] [ 0. 0. 0. 1. ]] SLAMing on 95.336502481 meters Centerline goodness [0,1] 0.693345616126585 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93359338 -0.01011094 -0.35819151 3.93049253] [ 0.03260812 0.99785162 0.05682298 0.4826764 ] [ 0.35684745 -0.06472951 0.93191737 0.42152905] [ 0. 0. 0. 1. ]] SLAMing on 95.366502481 meters Centerline goodness [0,1] 0.6915365075933633 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93362503 -0.01026061 -0.35810476 3.93002373] [ 0.03278368 0.99784259 0.05688055 0.48115522] [ 0.35674855 -0.0648451 0.9319472 0.42173683] [ 0. 0. 0. 1. ]] SLAMing on 95.39650248099998 meters Centerline goodness [0,1] 0.6987217517933229 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93362942 -0.01062135 -0.3580828 3.92863585] [ 0.03316149 0.99783102 0.05686459 0.47964124] [ 0.35670215 -0.06496501 0.93195661 0.42257043] [ 0. 0. 0. 1. ]] SLAMing on 95.42650248099999 meters Centerline goodness [0,1] 0.69627337548769 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93370104 -0.01079143 -0.35789093 3.92877158] [ 0.03348788 0.99779635 0.05728006 0.47729741] [ 0.35648413 -0.06546746 0.93200487 0.42195029] [ 0. 0. 0. 1. ]] SLAMing on 95.45650248099999 meters Centerline goodness [0,1] 0.6926838442730863 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93367911 -0.01062857 -0.35795301 3.92991893] [ 0.03348605 0.99777117 0.05771803 0.47536775] [ 0.35654174 -0.06587655 0.93195401 0.42130908] [ 0. 0. 0. 1. ]] SLAMing on 95.48650248099999 meters Centerline goodness [0,1] 0.6920194829524167 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.42 [[ 0.93334613 -0.01485407 -0.35867027 3.93236558] [ 0.03678304 0.99784185 0.0543934 0.47481567] [ 0.35708824 -0.06396085 0.93187821 0.42125618] [ 0. 0. 0. 1. ]] SLAMing on 95.51650248099999 meters Centerline goodness [0,1] 0.6919309514251304 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.42 [[ 0.93338314 -0.01480949 -0.35857579 3.93246147] [ 0.03682622 0.99782632 0.05464862 0.47379849] [ 0.35698704 -0.06421309 0.93189963 0.42094038] [ 0. 0. 0. 1. ]] SLAMing on 95.54650248099999 meters Centerline goodness [0,1] 0.6929690638810768 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.42 [[ 0.93348285 -0.01472226 -0.35831971 3.93179241] [ 0.03677299 0.99781984 0.05480244 0.47277434] [ 0.3567317 -0.06433362 0.9319891 0.42102336] [ 0. 0. 0. 1. ]] SLAMing on 95.57650248099999 meters Centerline goodness [0,1] 0.6948398338024393 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.42 [[ 0.93347034 -0.0147042 -0.35835306 3.9312761 ] [ 0.03668643 0.99783302 0.0546203 0.47314898] [ 0.35677337 -0.06413312 0.93198697 0.42158274] [ 0. 0. 0. 1. ]] SLAMing on 95.60650248099999 meters Centerline goodness [0,1] 0.6996849468681583 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.42 [[ 0.93332349 -0.01429089 -0.35875204 3.93095258] [ 0.03610122 0.99787891 0.05416985 0.47456893] [ 0.35721696 -0.06350938 0.93185975 0.42317692] [ 0. 0. 0. 1. ]] SLAMing on 95.636502481 meters Centerline goodness [0,1] 0.7010113441780822 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.42 [[ 0.93320496 -0.01403947 -0.35907017 3.93107366] [ 0.0357799 0.99790117 0.05397265 0.47574463] [ 0.3575588 -0.06321504 0.93174866 0.4239041 ] [ 0. 0. 0. 1. ]] SLAMing on 95.666502481 meters Centerline goodness [0,1] 0.7013018257638537 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.43 [[ 0.93315546 -0.01351553 -0.35921891 3.93091696] [ 0.03504682 0.99795293 0.0534946 0.47747303] [ 0.35776056 -0.06250826 0.9317189 0.42500164] [ 0. 0. 0. 1. ]] SLAMing on 95.696502481 meters Centerline goodness [0,1] 0.7032211653744704 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.43 [[ 0.93312483 -0.01348572 -0.35929958 3.93140337] [ 0.03484827 0.99798385 0.05304558 0.47737552] [ 0.35785982 -0.06201912 0.93171346 0.42533431] [ 0. 0. 0. 1. ]] SLAMing on 95.726502481 meters Centerline goodness [0,1] 0.7004827052830893 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.43 [[ 0.9330334 -0.01334631 -0.35954215 3.93175328] [ 0.03469492 0.99799216 0.05298965 0.47737119] [ 0.35811303 -0.0619154 0.93162307 0.42570071] [ 0. 0. 0. 1. ]] SLAMing on 95.75650248099998 meters Centerline goodness [0,1] 0.7010776781903543 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.43 [[ 0.93285914 -0.0128375 -0.36001253 3.93313079] [ 0.03427595 0.99799394 0.0532284 0.47803684] [ 0.358607 -0.06199437 0.93142779 0.42570285] [ 0. 0. 0. 1. ]] SLAMing on 95.78650248099999 meters Centerline goodness [0,1] 0.6979842569939367 Centerline is valid? [False, False] Translation: X:3.93, Y:0.48, Z:0.43 [[ 0.93277526 -0.01259721 -0.36023829 3.93422631] [ 0.03413224 0.99798536 0.05348094 0.47724593] [ 0.35883883 -0.06218144 0.93132603 0.42546335] [ 0. 0. 0. 1. ]] SLAMing on 95.81650248099999 meters Centerline goodness [0,1] 0.6963812652325951 Centerline is valid? [False, False] Translation: X:3.94, Y:0.48, Z:0.42 [[ 0.93263759 -0.01714275 -0.36040705 3.93607918] [ 0.03773091 0.99802791 0.05016641 0.47565179] [ 0.35883631 -0.06038556 0.93144516 0.424689 ] [ 0. 0. 0. 1. ]] SLAMing on 95.84650248099999 meters Centerline goodness [0,1] 0.6978478134419122 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.42 [[ 0.93269095 -0.01719202 -0.36026661 3.93621209] [ 0.03793463 0.99799912 0.05058383 0.47303522] [ 0.35867612 -0.06084566 0.93147692 0.4242993 ] [ 0. 0. 0. 1. ]] SLAMing on 95.87650248099999 meters Centerline goodness [0,1] 0.7015837879147231 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.43 [[ 0.93281106 -0.018512 -0.35989002 3.93386888] [ 0.03909278 0.99798426 0.04999163 0.46907728] [ 0.35823913 -0.06070185 0.93165445 0.42526585] [ 0. 0. 0. 1. ]] SLAMing on 95.90650248099999 meters Centerline goodness [0,1] 0.6999947349023324 Centerline is valid? [False, False] Translation: X:3.93, Y:0.47, Z:0.43 [[ 0.93280452 -0.01854322 -0.35990537 3.93323658] [ 0.03923911 0.99796391 0.05028254 0.46748809] [ 0.35824017 -0.06102615 0.93163286 0.42566225] [ 0. 0. 0. 1. ]] SLAMing on 95.93650248099999 meters Centerline goodness [0,1] 0.6984983883225451 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93271324 -0.01961718 -0.36008497 3.93271644] [ 0.04029333 0.99793593 0.0500033 0.46335196] [ 0.3583608 -0.06114777 0.93157849 0.42630813] [ 0. 0. 0. 1. ]] SLAMing on 95.96650248099999 meters Centerline goodness [0,1] 0.7008164547024651 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93273146 -0.01978088 -0.36002881 3.93217201] [ 0.04055605 0.99791334 0.05024124 0.46146943] [ 0.35828374 -0.06146293 0.93158739 0.42648714] [ 0. 0. 0. 1. ]] SLAMing on 95.996502481 meters Centerline goodness [0,1] 0.6989384731749302 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93252497 -0.02466483 -0.36026216 3.9322453 ] [ 0.04436266 0.99793229 0.04650906 0.46065927] [ 0.3583701 -0.05935305 0.93169098 0.42713522] [ 0. 0. 0. 1. ]] SLAMing on 96.026502481 meters Centerline goodness [0,1] 0.6999084847692509 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.9326749 -0.02473033 -0.35986933 3.93258748] [ 0.04455713 0.99790521 0.04690257 0.4581283 ] [ 0.35795556 -0.05977959 0.93182306 0.4261766 ] [ 0. 0. 0. 1. ]] SLAMing on 96.056502481 meters Centerline goodness [0,1] 0.6975826344351258 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93281666 -0.02618928 -0.35939838 3.93080177] [ 0.04572351 0.99789637 0.04595864 0.45529782] [ 0.35743871 -0.05930394 0.93205183 0.42668383] [ 0. 0. 0. 1. ]] SLAMing on 96.086502481 meters Centerline goodness [0,1] 0.7005414410662224 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.9327649 -0.02626175 -0.35952742 3.93005504] [ 0.04579848 0.99789429 0.04592908 0.45563609] [ 0.35756419 -0.05930684 0.93200351 0.42737213] [ 0. 0. 0. 1. ]] SLAMing on 96.116502481 meters Centerline goodness [0,1] 0.7032577534532187 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.9327812 -0.02648816 -0.35946851 3.92912221] [ 0.04603039 0.99788438 0.04591269 0.45535333] [ 0.35749186 -0.05937297 0.93202705 0.42786258] [ 0. 0. 0. 1. ]] SLAMing on 96.14650248099998 meters Centerline goodness [0,1] 0.6998108759294281 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93289294 -0.02722131 -0.35912361 3.92814104] [ 0.0465803 0.99788402 0.04536244 0.45342417] [ 0.35712889 -0.05904638 0.93218693 0.42817732] [ 0. 0. 0. 1. ]] SLAMing on 96.17650248099999 meters Centerline goodness [0,1] 0.6961979355775714 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93287917 -0.02727954 -0.35915496 3.92802105] [ 0.04661728 0.99788555 0.04529084 0.45337312] [ 0.35716003 -0.0589937 0.93217834 0.42835258] [ 0. 0. 0. 1. ]] SLAMing on 96.20650248099999 meters Centerline goodness [0,1] 0.6977142412370598 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93278625 -0.02719817 -0.35940237 3.92841164] [ 0.04651095 0.99789477 0.04519687 0.45377303] [ 0.35741648 -0.05887517 0.93208754 0.42864239] [ 0. 0. 0. 1. ]] SLAMing on 96.23650248099999 meters Centerline goodness [0,1] 0.7008538136143045 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93291897 -0.02190305 -0.3594196 3.92915425] [ 0.04247441 0.99787368 0.04943722 0.45305888] [ 0.35757253 -0.06138706 0.93186561 0.42799879] [ 0. 0. 0. 1. ]] SLAMing on 96.26650248099999 meters Centerline goodness [0,1] 0.698796118520056 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93282588 -0.02167836 -0.35967475 3.92911281] [ 0.04221705 0.99788911 0.04934611 0.45406321] [ 0.35784577 -0.06121574 0.93177199 0.42857723] [ 0. 0. 0. 1. ]] SLAMing on 96.29650248099999 meters Centerline goodness [0,1] 0.7032696346617575 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93282008 -0.0214836 -0.35970149 3.92885224] [ 0.04191301 0.99791446 0.04909209 0.45467809] [ 0.35789664 -0.06087026 0.93177508 0.42914976] [ 0. 0. 0. 1. ]] SLAMing on 96.32650248099999 meters Centerline goodness [0,1] 0.7036615049976696 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93289993 -0.02134401 -0.35950264 3.92945403] [ 0.04173575 0.99792369 0.0490555 0.45382845] [ 0.35770916 -0.06076798 0.93185375 0.42867224] [ 0. 0. 0. 1. ]] SLAMing on 96.35650248099999 meters Centerline goodness [0,1] 0.7059935764608372 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93299086 -0.02143637 -0.3592611 3.92938973] [ 0.04179851 0.99792352 0.04900551 0.45324101] [ 0.3574646 -0.06073827 0.93194953 0.42835065] [ 0. 0. 0. 1. ]] SLAMing on 96.386502481 meters Centerline goodness [0,1] 0.7097024981859645 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93285414 -0.02083091 -0.35965153 3.9302405 ] [ 0.04137406 0.99791601 0.04951591 0.45296872] [ 0.35787055 -0.06107137 0.93177194 0.42848023] [ 0. 0. 0. 1. ]] SLAMing on 96.416502481 meters Centerline goodness [0,1] 0.7065530018397119 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93274921 -0.0205929 -0.35993729 3.93070651] [ 0.04123022 0.99791022 0.04975196 0.45268086] [ 0.35816056 -0.06124639 0.93164902 0.42871532] [ 0. 0. 0. 1. ]] SLAMing on 96.446502481 meters Centerline goodness [0,1] 0.7085907810035935 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93281092 -0.02047125 -0.35978427 3.93077145] [ 0.04124873 0.99788869 0.05016685 0.45042335] [ 0.35799767 -0.06163683 0.93168587 0.42844521] [ 0. 0. 0. 1. ]] SLAMing on 96.476502481 meters Centerline goodness [0,1] 0.7094023699124163 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93282414 -0.02052348 -0.35974702 3.93076175] [ 0.04134382 0.99787927 0.05027575 0.44921119] [ 0.35795226 -0.06177175 0.93169439 0.42844953] [ 0. 0. 0. 1. ]] SLAMing on 96.50650248099998 meters Centerline goodness [0,1] 0.7094023699124163 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93282414 -0.02052348 -0.35974702 3.93076175] [ 0.04134382 0.99787927 0.05027575 0.44921119] [ 0.35795226 -0.06177175 0.93169439 0.42844953] [ 0. 0. 0. 1. ]] SLAMing on 96.53650248099999 meters Centerline goodness [0,1] 0.7144693872303223 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93290896 -0.02074318 -0.35951439 3.9305343 ] [ 0.04163802 0.99785708 0.05047294 0.44666821] [ 0.35769701 -0.06205612 0.93177352 0.42822986] [ 0. 0. 0. 1. ]] SLAMing on 96.56650248099999 meters Centerline goodness [0,1] 0.7116867809465242 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93298519 -0.02085585 -0.35931 3.93019703] [ 0.04180408 0.9978422 0.05062966 0.44546479] [ 0.35747875 -0.06225735 0.93184385 0.42805535] [ 0. 0. 0. 1. ]] SLAMing on 96.59650248099999 meters Centerline goodness [0,1] 0.7114374311268292 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.43 [[ 0.9330185 -0.02153585 -0.35918336 3.92877893] [ 0.04248225 0.99781885 0.05052529 0.44462203] [ 0.35731182 -0.06239994 0.93189834 0.42852415] [ 0. 0. 0. 1. ]] SLAMing on 96.62650248099999 meters Centerline goodness [0,1] 0.7098823709525146 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.43 [[ 0.93297728 -0.02177607 -0.35927594 3.92895525] [ 0.04276293 0.99780459 0.05056999 0.44382156] [ 0.35738597 -0.06254434 0.93186022 0.428517 ] [ 0. 0. 0. 1. ]] SLAMing on 96.65650248099999 meters Centerline goodness [0,1] 0.7037822642473806 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.43 [[ 0.93275495 -0.02694873 -0.35950238 3.92960652] [ 0.04686128 0.99780503 0.04678831 0.44308618] [ 0.3574524 -0.06048877 0.93197044 0.42862467] [ 0. 0. 0. 1. ]] SLAMing on 96.68650248099999 meters Centerline goodness [0,1] 0.7026736599718562 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.43 [[ 0.93289319 -0.0277519 -0.35908235 3.9283527 ] [ 0.04756209 0.99778761 0.04645131 0.44233956] [ 0.35699881 -0.06041281 0.93214921 0.42861054] [ 0. 0. 0. 1. ]] SLAMing on 96.71650248099999 meters Centerline goodness [0,1] 0.7016601437597524 Centerline is valid? [False, False] Translation: X:3.93, Y:0.44, Z:0.43 [[ 0.9329548 -0.03058917 -0.35869156 3.92606235] [ 0.04985836 0.99776032 0.04459247 0.44106933] [ 0.35652416 -0.05948653 0.93239041 0.42926331] [ 0. 0. 0. 1. ]] SLAMing on 96.746502481 meters Centerline goodness [0,1] 0.6925003194071803 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93312051 -0.03165954 -0.35816727 3.92408329] [ 0.05087612 0.99771957 0.04435415 0.44034085] [ 0.35594626 -0.05960992 0.9326033 0.42926803] [ 0. 0. 0. 1. ]] SLAMing on 96.776502481 meters Centerline goodness [0,1] 0.6862143076450722 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93318074 -0.03212264 -0.35796907 3.92289332] [ 0.05125115 0.99771275 0.04407482 0.44058509] [ 0.3557345 -0.0594761 0.93269264 0.42964264] [ 0. 0. 0. 1. ]] SLAMing on 96.806502481 meters Centerline goodness [0,1] 0.6387812203198397 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93321223 -0.03290468 -0.35781589 3.92182143] [ 0.05189211 0.9977009 0.04359037 0.44127299] [ 0.35555891 -0.05924688 0.93277418 0.42992385] [ 0. 0. 0. 1. ]] SLAMing on 96.836502481 meters Centerline goodness [0,1] 0.6359424593017303 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.933214 -0.03321103 -0.35778298 3.92143302] [ 0.05210765 0.99770221 0.04330243 0.44167147] [ 0.35552275 -0.05905367 0.93280021 0.43018131] [ 0. 0. 0. 1. ]] SLAMing on 96.866502481 meters Centerline goodness [0,1] 0.6252905269072613 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93327373 -0.03384855 -0.35756737 3.92106724] [ 0.05261298 0.99769401 0.04287811 0.44186416] [ 0.35529146 -0.05882969 0.93290248 0.42998314] [ 0. 0. 0. 1. ]] SLAMing on 96.89650248099998 meters Centerline goodness [0,1] 0.623578603844781 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93319407 -0.03373685 -0.35778578 3.92167581] [ 0.05252813 0.99769624 0.04293019 0.44211283] [ 0.3555132 -0.05885601 0.93281635 0.43001063] [ 0. 0. 0. 1. ]] SLAMing on 96.92650248099999 meters Centerline goodness [0,1] 0.6123156758978574 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93348035 -0.02949903 -0.35741326 3.92006862] [ 0.04933173 0.99769951 0.04649811 0.44248017] [ 0.35521938 -0.06103689 0.93278813 0.42991623] [ 0. 0. 0. 1. ]] SLAMing on 96.95650248099999 meters Centerline goodness [0,1] 0.6090909090909091 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93338319 -0.02957091 -0.35766099 3.92031033] [ 0.04934414 0.99770887 0.04628358 0.4432713 ] [ 0.35547289 -0.06084879 0.93270384 0.43028606] [ 0. 0. 0. 1. ]] SLAMing on 96.98650248099999 meters Centerline goodness [0,1] 0.6423235445646573 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93328262 -0.02913492 -0.35795908 3.92249306] [ 0.0490074 0.99771222 0.04656816 0.44344123] [ 0.35578339 -0.0610039 0.93257531 0.42943716] [ 0. 0. 0. 1. ]] SLAMing on 97.01650248099999 meters Centerline goodness [0,1] 0.6467714418652742 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93322175 -0.02914871 -0.35811662 3.92281683] [ 0.04896932 0.99772189 0.04640089 0.44391416] [ 0.35594826 -0.06083904 0.93252316 0.4295948 ] [ 0. 0. 0. 1. ]] SLAMing on 97.04650248099999 meters Centerline goodness [0,1] 0.6581653746770026 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.93341612 -0.02437106 -0.35796704 3.92233873] [ 0.04525969 0.99771866 0.05009028 0.44483378] [ 0.35592964 -0.06295656 0.9323897 0.42935203] [ 0. 0. 0. 1. ]] SLAMing on 97.07650248099999 meters Centerline goodness [0,1] 0.6716301955198757 Centerline is valid? [False, False] Translation: X:3.92, Y:0.44, Z:0.43 [[ 0.9335562 -0.01957949 -0.35789589 3.92226131] [ 0.04161925 0.99767418 0.05398207 0.44475278] [ 0.35600655 -0.06529066 0.9321998 0.42897876] [ 0. 0. 0. 1. ]] SLAMing on 97.10650248099999 meters Centerline goodness [0,1] 0.6824331356020398 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.43 [[ 0.93337311 -0.01924666 -0.35839112 3.92403544] [ 0.04114161 0.99771639 0.05356652 0.44712974] [ 0.35654172 -0.06474234 0.93203349 0.42905954] [ 0. 0. 0. 1. ]] SLAMing on 97.136502481 meters Centerline goodness [0,1] 0.6858190709046454 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.43 [[ 0.93335886 -0.01947596 -0.35841586 3.92476909] [ 0.04125895 0.99772968 0.05322773 0.44751659] [ 0.35656548 -0.06446843 0.93204339 0.42870438] [ 0. 0. 0. 1. ]] SLAMing on 97.166502481 meters Centerline goodness [0,1] 0.6886459253103412 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93336809 -0.01967558 -0.35838093 3.92509107] [ 0.04122944 0.99776422 0.05259947 0.44873741] [ 0.35654474 -0.06387051 0.93209249 0.42872942] [ 0. 0. 0. 1. ]] SLAMing on 97.196502481 meters Centerline goodness [0,1] 0.6925221469515372 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93314731 -0.01953336 -0.35896315 3.92555344] [ 0.04098478 0.99779284 0.05224658 0.45054732] [ 0.35715031 -0.06346578 0.93188827 0.42961675] [ 0. 0. 0. 1. ]] SLAMing on 97.226502481 meters Centerline goodness [0,1] 0.694652895803373 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93306639 -0.01449585 -0.35941199 3.9257305 ] [ 0.03688629 0.99777612 0.05551775 0.45386955] [ 0.35780793 -0.06505912 0.93152606 0.43034028] [ 0. 0. 0. 1. ]] SLAMing on 97.25650248099998 meters Centerline goodness [0,1] 0.6923581588201333 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93291885 -0.01245722 -0.35987114 3.92900695] [ 0.0351039 0.99778737 0.05646309 0.45675477] [ 0.3583715 -0.06530836 0.93129194 0.42937012] [ 0. 0. 0. 1. ]] SLAMing on 97.28650248099999 meters Centerline goodness [0,1] 0.6936873249024691 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93284817 -0.01229575 -0.36005987 3.93058931] [ 0.03491353 0.99779872 0.05638044 0.45698014] [ 0.35857404 -0.06516535 0.931224 0.42885505] [ 0. 0. 0. 1. ]] SLAMing on 97.31650248099999 meters Centerline goodness [0,1] 0.6931975815949957 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93290702 -0.01237433 -0.35990466 3.93012085] [ 0.03469786 0.99784826 0.05563187 0.45916829] [ 0.35844183 -0.06438729 0.93132901 0.42927591] [ 0. 0. 0. 1. ]] SLAMing on 97.34650248099999 meters Centerline goodness [0,1] 0.6986142272667283 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93309143 -0.00815567 -0.35954675 3.92736718] [ 0.03136326 0.9977793 0.05876073 0.46106095] [ 0.35826907 -0.0661057 0.9312751 0.43028252] [ 0. 0. 0. 1. ]] SLAMing on 97.37650248099999 meters Centerline goodness [0,1] 0.6992663107791832 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93299524 -0.00813019 -0.35979686 3.92742202] [ 0.03128917 0.99779168 0.05858976 0.46143941] [ 0.35852597 -0.06592171 0.93118927 0.43086456] [ 0. 0. 0. 1. ]] SLAMing on 97.40650248099999 meters Centerline goodness [0,1] 0.7004360159697416 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93307089 -0.00855989 -0.35959065 3.92660814] [ 0.03162461 0.99779761 0.05830787 0.4609029 ] [ 0.35829958 -0.06577729 0.93128661 0.43107517] [ 0. 0. 0. 1. ]] SLAMing on 97.43650248099999 meters Centerline goodness [0,1] 0.6957536653814882 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93290745 -0.01394735 -0.35984602 3.92621592] [ 0.03574985 0.99790054 0.05400428 0.4608997 ] [ 0.35833732 -0.06324544 0.93144746 0.43201352] [ 0. 0. 0. 1. ]] SLAMing on 97.46650248099999 meters Centerline goodness [0,1] 0.7005633357902495 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93291924 -0.01426835 -0.35980288 3.92614791] [ 0.03612631 0.99788188 0.05409853 0.45918017] [ 0.35826887 -0.06346791 0.93145866 0.43192726] [ 0. 0. 0. 1. ]] SLAMing on 97.496502481 meters Centerline goodness [0,1] 0.6901670732027172 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93266435 -0.01904692 -0.36024217 3.92646979] [ 0.03995443 0.99791545 0.05067941 0.45821083] [ 0.35852593 -0.06166015 0.93148118 0.43254715] [ 0. 0. 0. 1. ]] SLAMing on 97.526502481 meters Centerline goodness [0,1] 0.6926848453067646 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93257232 -0.01884596 -0.36049091 3.92687436] [ 0.03993805 0.99789213 0.05114937 0.45692888] [ 0.35876708 -0.06209779 0.93135925 0.43268567] [ 0. 0. 0. 1. ]] SLAMing on 97.556502481 meters Centerline goodness [0,1] 0.6858822911744631 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93264976 -0.01910341 -0.36027696 3.92593824] [ 0.04042445 0.99784224 0.05173704 0.45425798] [ 0.35851122 -0.06281654 0.93140957 0.4325982 ] [ 0. 0. 0. 1. ]] SLAMing on 97.586502481 meters Centerline goodness [0,1] 0.6878636959370905 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93271693 -0.01932973 -0.36009096 3.92533419] [ 0.04069823 0.99782503 0.05185424 0.45307599] [ 0.35830544 -0.06302039 0.93147498 0.43258693] [ 0. 0. 0. 1. ]] SLAMing on 97.616502481 meters Centerline goodness [0,1] 0.6742125212390537 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93266824 -0.01946763 -0.36020963 3.92612263] [ 0.04101423 0.99779041 0.05226971 0.45083472] [ 0.35839614 -0.06352402 0.93140587 0.43212067] [ 0. 0. 0. 1. ]] SLAMing on 97.64650248099998 meters Centerline goodness [0,1] 0.6723435377703479 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93275365 -0.01987771 -0.35996597 3.92512146] [ 0.04140768 0.9977779 0.05219833 0.45033645] [ 0.35812851 -0.06359354 0.93150407 0.43223748] [ 0. 0. 0. 1. ]] SLAMing on 97.67650248099999 meters Centerline goodness [0,1] 0.6714330609679446 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.43 [[ 0.93276143 -0.02021837 -0.35992684 3.9243807 ] [ 0.04164091 0.9977856 0.05186454 0.45087457] [ 0.3580812 -0.06336492 0.93153784 0.43268424] [ 0. 0. 0. 1. ]] SLAMing on 97.70650248099999 meters Centerline goodness [0,1] 0.6700465164898344 Centerline is valid? [False, False] Translation: X:3.92, Y:0.45, Z:0.43 [[ 0.93278045 -0.0204927 -0.35986203 3.92391813] [ 0.04181843 0.99779318 0.05157516 0.45127561] [ 0.35801096 -0.06315717 0.93157894 0.43292728] [ 0. 0. 0. 1. ]] SLAMing on 97.73650248099999 meters Centerline goodness [0,1] 0.6732082581050318 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93274061 -0.02040123 -0.35997047 3.9250993 ] [ 0.0416643 0.99780823 0.05140829 0.45159992] [ 0.35813271 -0.06294852 0.93154627 0.43255213] [ 0. 0. 0. 1. ]] SLAMing on 97.76650248099999 meters Centerline goodness [0,1] 0.675091767173571 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93259437 -0.0202783 -0.36035613 3.92598654] [ 0.0414362 0.99783434 0.05108499 0.45288629] [ 0.3585398 -0.06257336 0.93141494 0.43286895] [ 0. 0. 0. 1. ]] SLAMing on 97.79650248099999 meters Centerline goodness [0,1] 0.6750717237385835 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.43 [[ 0.93241364 -0.02018161 -0.36082892 3.9264731 ] [ 0.04122833 0.99786126 0.05072599 0.45450689] [ 0.35903347 -0.06217398 0.9312515 0.43359605] [ 0. 0. 0. 1. ]] SLAMing on 97.82650248099999 meters Centerline goodness [0,1] 0.6715450166728418 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93240423 -0.01489979 -0.36110988 3.9276292 ] [ 0.0370635 0.9978241 0.05452855 0.45592023] [ 0.35951167 -0.06422665 0.93092765 0.43331741] [ 0. 0. 0. 1. ]] SLAMing on 97.85650248099999 meters Centerline goodness [0,1] 0.6750542988822377 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.9322501 -0.01487675 -0.36150855 3.92842383] [ 0.0369236 0.99784966 0.05415437 0.45705129] [ 0.35992555 -0.06383361 0.93079475 0.43373327] [ 0. 0. 0. 1. ]] SLAMing on 97.886502481 meters Centerline goodness [0,1] 0.6770358996081753 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.43 [[ 0.93196049 -0.01407996 -0.36228636 3.93059453] [ 0.03602454 0.99789692 0.05388858 0.4592232 ] [ 0.36076569 -0.06327323 0.93050772 0.43431531] [ 0. 0. 0. 1. ]] SLAMing on 97.916502481 meters Centerline goodness [0,1] 0.6743432411613144 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.9317402 -0.01388221 -0.36286014 3.93129622] [ 0.03573267 0.9979243 0.05357484 0.4610551 ] [ 0.36136321 -0.0628838 0.93030224 0.43508949] [ 0. 0. 0. 1. ]] SLAMing on 97.946502481 meters Centerline goodness [0,1] 0.6698356901280924 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93162794 -0.0135155 -0.3631621 3.93209349] [ 0.03524002 0.99795858 0.05326183 0.46314279] [ 0.36170087 -0.06241805 0.93020238 0.43547666] [ 0. 0. 0. 1. ]] SLAMing on 97.976502481 meters Centerline goodness [0,1] 0.6727248500999334 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93154958 -0.0134657 -0.36336491 3.93283548] [ 0.0351564 0.99796767 0.05314656 0.46328682] [ 0.36191077 -0.06228326 0.93012977 0.43550784] [ 0. 0. 0. 1. ]] SLAMing on 98.00650248099998 meters Centerline goodness [0,1] 0.6743298088219587 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93145928 -0.01340914 -0.36359842 3.93347649] [ 0.0350367 0.99798223 0.05295177 0.46357988] [ 0.36215473 -0.06206171 0.93004962 0.43579148] [ 0. 0. 0. 1. ]] SLAMing on 98.03650248099999 meters Centerline goodness [0,1] 0.6726054353028772 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93135589 -0.01339122 -0.36386381 3.9334899 ] [ 0.03500204 0.99798813 0.0528634 0.46315683] [ 0.36242386 -0.06197062 0.92995085 0.43643853] [ 0. 0. 0. 1. ]] SLAMing on 98.06650248099999 meters Centerline goodness [0,1] 0.6710679817584049 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93139559 -0.01366702 -0.36375193 3.93288705] [ 0.03524538 0.99798557 0.05274997 0.46224559] [ 0.36229824 -0.06195167 0.93000106 0.4367 ] [ 0. 0. 0. 1. ]] SLAMing on 98.09650248099999 meters Centerline goodness [0,1] 0.6764307168868451 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.9314797 -0.01387416 -0.36352864 3.9325318 ] [ 0.0354477 0.99797891 0.05274055 0.46127691] [ 0.36206218 -0.062013 0.9300889 0.43653825] [ 0. 0. 0. 1. ]] SLAMing on 98.12650248099999 meters Centerline goodness [0,1] 0.6676731558733943 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.9312854 -0.01364747 -0.36403469 3.93264576] [ 0.03539998 0.99795896 0.05314843 0.46007578] [ 0.36256634 -0.06238318 0.92986773 0.43737735] [ 0. 0. 0. 1. ]] SLAMing on 98.15650248099999 meters Centerline goodness [0,1] 0.6719061147545335 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93124083 -0.01378212 -0.36414362 3.93229569] [ 0.03557441 0.99794971 0.05320559 0.45969731] [ 0.36266373 -0.06250141 0.92982181 0.43773706] [ 0. 0. 0. 1. ]] SLAMing on 98.18650248099999 meters Centerline goodness [0,1] 0.6738046347902611 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.9310358 -0.01889227 -0.3644385 3.93224093] [ 0.03950575 0.99800785 0.04918974 0.45947248] [ 0.36278317 -0.06019483 0.92992739 0.43856342] [ 0. 0. 0. 1. ]] SLAMing on 98.21650248099999 meters Centerline goodness [0,1] 0.6714050814194028 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.9307297 -0.02361959 -0.36494431 3.93376366] [ 0.04309689 0.9980426 0.04531705 0.45984951] [ 0.36315959 -0.05790589 0.92992581 0.4388871 ] [ 0. 0. 0. 1. ]] SLAMing on 98.246502481 meters Centerline goodness [0,1] 0.6721407468526257 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93071685 -0.02371603 -0.36497082 3.93362791] [ 0.04319589 0.99803903 0.04530122 0.45982828] [ 0.36318076 -0.05792785 0.92991618 0.43898329] [ 0. 0. 0. 1. ]] SLAMing on 98.276502481 meters Centerline goodness [0,1] 0.6718758319578297 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93055976 -0.02365141 -0.36537534 3.93342963] [ 0.04313197 0.99804431 0.04524585 0.46095018] [ 0.36359065 -0.05786332 0.92976001 0.43983677] [ 0. 0. 0. 1. ]] SLAMing on 98.306502481 meters Centerline goodness [0,1] 0.6731908113132385 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93048221 -0.02360875 -0.36557554 3.93403002] [ 0.04308841 0.99804749 0.04521732 0.4612206 ] [ 0.36379423 -0.05782598 0.9296827 0.43988057] [ 0. 0. 0. 1. ]] SLAMing on 98.336502481 meters Centerline goodness [0,1] 0.6731407923054441 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93050992 -0.02376305 -0.36549501 3.93441834] [ 0.04325118 0.99804014 0.04522409 0.46079866] [ 0.36370403 -0.05788956 0.92971403 0.43945874] [ 0. 0. 0. 1. ]] SLAMing on 98.366502481 meters Centerline goodness [0,1] 0.6698428707930778 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93064935 -0.02472177 -0.36507618 3.93331768] [ 0.04401723 0.99803362 0.0446248 0.45960451] [ 0.3632551 -0.05759968 0.92990753 0.4394807 ] [ 0. 0. 0. 1. ]] SLAMing on 98.39650248099998 meters Centerline goodness [0,1] 0.6698428707930778 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93064935 -0.02472177 -0.36507618 3.93331768] [ 0.04401723 0.99803362 0.0446248 0.45960451] [ 0.3632551 -0.05759968 0.92990753 0.4394807 ] [ 0. 0. 0. 1. ]] SLAMing on 98.42650248099999 meters Centerline goodness [0,1] 0.6711142879834803 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93076938 -0.02524293 -0.36473436 3.93163829] [ 0.04436707 0.99803936 0.04414739 0.45995184] [ 0.36290483 -0.05727323 0.93006444 0.4400445 ] [ 0. 0. 0. 1. ]] SLAMing on 98.45650248099999 meters Centerline goodness [0,1] 0.6703401757973285 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93067543 -0.0250929 -0.36498438 3.932167 ] [ 0.04427106 0.99803814 0.04427123 0.46042816] [ 0.36315744 -0.05736039 0.92996046 0.44010918] [ 0. 0. 0. 1. ]] SLAMing on 98.48650248099999 meters Centerline goodness [0,1] 0.6574631018309971 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93063461 -0.02475892 -0.36511125 3.93293528] [ 0.04402218 0.99803766 0.04452951 0.46068957] [ 0.36329227 -0.05751369 0.92989833 0.43984656] [ 0. 0. 0. 1. ]] SLAMing on 98.51650248099999 meters Centerline goodness [0,1] 0.666702000795018 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93065048 -0.02502874 -0.36505239 3.93232933] [ 0.04417117 0.9980466 0.04418015 0.46121352] [ 0.36323352 -0.05724107 0.9299381 0.44022899] [ 0. 0. 0. 1. ]] SLAMing on 98.54650248099999 meters Centerline goodness [0,1] 0.6781353463117468 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93074633 -0.02464595 -0.36483401 3.93216553] [ 0.04374826 0.99806501 0.04418521 0.46206892] [ 0.36303907 -0.05708607 0.93002356 0.4401788 ] [ 0. 0. 0. 1. ]] SLAMing on 98.57650248099999 meters Centerline goodness [0,1] 0.6785392245266005 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93062257 -0.0242931 -0.36517322 3.93319704] [ 0.04342281 0.99807574 0.04426365 0.46267224] [ 0.36339523 -0.0570496 0.92988669 0.44026177] [ 0. 0. 0. 1. ]] SLAMing on 98.60650248099999 meters Centerline goodness [0,1] 0.684591052869408 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93095507 -0.01926477 -0.36462519 3.93252605] [ 0.03958557 0.9980463 0.04833799 0.46189993] [ 0.3629816 -0.0594344 0.92989887 0.43952056] [ 0. 0. 0. 1. ]] SLAMing on 98.636502481 meters Centerline goodness [0,1] 0.6837466149843361 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93091679 -0.01929423 -0.36472134 3.93175975] [ 0.03946141 0.99807127 0.04792227 0.46333401] [ 0.36309327 -0.05900406 0.92988268 0.44045108] [ 0. 0. 0. 1. ]] SLAMing on 98.666502481 meters Centerline goodness [0,1] 0.68827843712495 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93120744 -0.01434992 -0.36420706 3.93129482] [ 0.03564614 0.99802017 0.05181789 0.46294376] [ 0.36274241 -0.06123578 0.92987533 0.43974001] [ 0. 0. 0. 1. ]] SLAMing on 98.696502481 meters Centerline goodness [0,1] 0.6874302418283285 Centerline is valid? [False, False] Translation: X:3.93, Y:0.46, Z:0.44 [[ 0.93093534 -0.01363106 -0.36492956 3.93437976] [ 0.03495582 0.99804069 0.05189292 0.46355867] [ 0.3635072 -0.06106537 0.92958783 0.43948997] [ 0. 0. 0. 1. ]] SLAMing on 98.726502481 meters Centerline goodness [0,1] 0.687962125644981 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93091725 -0.01346815 -0.36498175 3.93539171] [ 0.03478916 0.99804594 0.05190394 0.4638838 ] [ 0.3635695 -0.06101568 0.92956673 0.43906004] [ 0. 0. 0. 1. ]] SLAMing on 98.75650248099998 meters Centerline goodness [0,1] 0.6823240545517628 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93079473 -0.01264791 -0.36532342 3.93806334] [ 0.03409886 0.99804774 0.05232574 0.46481702] [ 0.36394841 -0.06116164 0.92940885 0.43809194] [ 0. 0. 0. 1. ]] SLAMing on 98.78650248099999 meters Centerline goodness [0,1] 0.6805633501696999 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93070461 -0.0122622 -0.36556609 3.93917413] [ 0.03375487 0.9980524 0.05245971 0.46515612] [ 0.36421085 -0.06116412 0.92930588 0.43796638] [ 0. 0. 0. 1. ]] SLAMing on 98.81650248099999 meters Centerline goodness [0,1] 0.684607190412783 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93070289 -0.01212635 -0.365575 3.93907916] [ 0.0334777 0.99807939 0.05212265 0.4658779 ] [ 0.36424082 -0.06074931 0.92932134 0.43845915] [ 0. 0. 0. 1. ]] SLAMing on 98.84650248099999 meters Centerline goodness [0,1] 0.6838597894175663 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93065307 -0.01203355 -0.36570487 3.93936472] [ 0.03331343 0.99809471 0.05193429 0.46624307] [ 0.36438314 -0.06051569 0.92928078 0.43876589] [ 0. 0. 0. 1. ]] SLAMing on 98.87650248099999 meters Centerline goodness [0,1] 0.6858993150867467 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93057962 -0.01186399 -0.36589727 3.94009089] [ 0.03310072 0.99810765 0.05182143 0.46665882] [ 0.36459005 -0.06033543 0.92921135 0.43885578] [ 0. 0. 0. 1. ]] SLAMing on 98.90650248099999 meters Centerline goodness [0,1] 0.6837757168745336 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93054556 -0.0116072 -0.36599213 3.93992701] [ 0.03279994 0.9981218 0.05174004 0.46738188] [ 0.36470417 -0.06015099 0.92917852 0.43932277] [ 0. 0. 0. 1. ]] SLAMing on 98.93650248099999 meters Centerline goodness [0,1] 0.6834425094530543 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93041562 -0.01210945 -0.36630606 3.93785977] [ 0.03297921 0.99816574 0.05076939 0.46903481] [ 0.36501937 -0.05931712 0.92910836 0.44165418] [ 0. 0. 0. 1. ]] SLAMing on 98.96650248099999 meters Centerline goodness [0,1] 0.6842091266886501 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93044436 -0.01245174 -0.36622159 3.9372435 ] [ 0.03320326 0.99817604 0.05041961 0.46879712] [ 0.3649258 -0.0590724 0.9291607 0.44206758] [ 0. 0. 0. 1. ]] SLAMing on 98.996502481 meters Centerline goodness [0,1] 0.6845678360101437 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.93014403 -0.01740519 -0.36678214 3.93816741] [ 0.03689799 0.99825047 0.04620102 0.46859532] [ 0.36533631 -0.05650713 0.92915893 0.44304927] [ 0. 0. 0. 1. ]] SLAMing on 99.026502481 meters Centerline goodness [0,1] 0.6825781950524816 Centerline is valid? [False, False] Translation: X:3.94, Y:0.47, Z:0.44 [[ 0.9301606 -0.01746207 -0.36673741 3.93822322] [ 0.03703284 0.99823643 0.0463962 0.46682321] [ 0.36528047 -0.05673725 0.92916687 0.44295241] [ 0. 0. 0. 1. ]] SLAMing on 99.056502481 meters Centerline goodness [0,1] 0.6892442854512455 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93028845 -0.01806635 -0.36638369 3.93635226] [ 0.03763567 0.99821653 0.04633914 0.4643474 ] [ 0.36489308 -0.05689786 0.92930925 0.44344043] [ 0. 0. 0. 1. ]] SLAMing on 99.086502481 meters Centerline goodness [0,1] 0.6869624681097288 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93026883 -0.01791659 -0.36644085 3.93647573] [ 0.03762733 0.99819921 0.04671753 0.46300215] [ 0.36494395 -0.05724805 0.92926776 0.44343334] [ 0. 0. 0. 1. ]] SLAMing on 99.116502481 meters Centerline goodness [0,1] 0.6872775800711743 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93029355 -0.01752327 -0.36639711 3.93690582] [ 0.03752834 0.99816374 0.04754753 0.45964768] [ 0.36489112 -0.05798344 0.92924291 0.44308352] [ 0. 0. 0. 1. ]] SLAMing on 99.14650248099998 meters Centerline goodness [0,1] 0.6909423604757547 Centerline is valid? [False, False] Translation: X:3.94, Y:0.46, Z:0.44 [[ 0.93045725 -0.01779565 -0.36596807 3.93557085] [ 0.0377995 0.99815258 0.04756709 0.45773588] [ 0.36444548 -0.05809255 0.92941097 0.44325041] [ 0. 0. 0. 1. ]] SLAMing on 99.17650248099999 meters Centerline goodness [0,1] 0.6959687030416084 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.44 [[ 0.93078853 -0.0187831 -0.3650752 3.93230778] [ 0.03854579 0.99815464 0.04692059 0.45415943] [ 0.36352019 -0.05774526 0.9297949 0.4441398 ] [ 0. 0. 0. 1. ]] SLAMing on 99.20650248099999 meters Centerline goodness [0,1] 0.6975685463010863 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.44 [[ 0.93083295 -0.0184944 -0.36497668 3.93241253] [ 0.03842431 0.99813579 0.04741863 0.45222936] [ 0.3634193 -0.0581628 0.92980831 0.44396156] [ 0. 0. 0. 1. ]] SLAMing on 99.23650248099999 meters Centerline goodness [0,1] 0.6971724084699102 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.44 [[ 0.9307926 -0.01778433 -0.36511485 3.93325374] [ 0.03808685 0.99809777 0.04847915 0.44856394] [ 0.36355815 -0.05903011 0.92969937 0.4436833 ] [ 0. 0. 0. 1. ]] SLAMing on 99.26650248099999 meters Centerline goodness [0,1] 0.6971247814010904 Centerline is valid? [False, False] Translation: X:3.93, Y:0.45, Z:0.44 [[ 0.93074627 -0.01742482 -0.36525027 3.93380852] [ 0.03785428 0.99808871 0.04884653 0.44731038] [ 0.36370103 -0.05929001 0.92962695 0.44373782] [ 0. 0. 0. 1. ]] SLAMing on 99.29650248099999 meters Centerline goodness [0,1] 0.6980403192795743 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93072717 -0.01652754 -0.36534063 3.93535645] [ 0.03722021 0.99807195 0.04966923 0.44470069] [ 0.36381533 -0.05982656 0.92954784 0.44318224] [ 0. 0. 0. 1. ]] SLAMing on 99.32650248099999 meters Centerline goodness [0,1] 0.698707138842046 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93072781 -0.01643127 -0.36534335 3.93571461] [ 0.03715995 0.99806875 0.04977855 0.4435367 ] [ 0.36381986 -0.05990642 0.92954093 0.44310043] [ 0. 0. 0. 1. ]] SLAMing on 99.35650248099999 meters Centerline goodness [0,1] 0.6979376449894206 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93081325 -0.01615487 -0.36513794 3.93564812] [ 0.03688565 0.9980743 0.04987126 0.44249873] [ 0.36362913 -0.05988918 0.92961666 0.44300757] [ 0. 0. 0. 1. ]] SLAMing on 99.386502481 meters Centerline goodness [0,1] 0.6988353168548469 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93079618 -0.01612013 -0.365183 3.93553822] [ 0.0368216 0.99808048 0.04979481 0.44248418] [ 0.36367932 -0.05979544 0.92960306 0.44324607] [ 0. 0. 0. 1. ]] SLAMing on 99.416502481 meters Centerline goodness [0,1] 0.6986743193823649 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93074199 -0.01540604 -0.36535188 3.93658714] [ 0.03629033 0.99807138 0.05036406 0.44103106] [ 0.36387134 -0.06013468 0.92950603 0.44303124] [ 0. 0. 0. 1. ]] SLAMing on 99.446502481 meters Centerline goodness [0,1] 0.6980926292294425 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93071552 -0.01509043 -0.36543248 3.93738242] [ 0.03612535 0.99805564 0.05079279 0.43967681] [ 0.36395546 -0.06047502 0.92945102 0.44267227] [ 0. 0. 0. 1. ]] SLAMing on 99.476502481 meters Centerline goodness [0,1] 0.6978671788133024 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93083619 -0.01486906 -0.36513407 3.93693204] [ 0.03604793 0.99803481 0.05125482 0.4372601 ] [ 0.36365441 -0.06087217 0.92954293 0.4425044 ] [ 0. 0. 0. 1. ]] SLAMing on 99.50650248099998 meters Centerline goodness [0,1] 0.6974303201982903 Centerline is valid? [False, False] Translation: X:3.94, Y:0.44, Z:0.44 [[ 0.93087037 -0.01471382 -0.36505323 3.93695235] [ 0.0360047 0.9980194 0.05158433 0.43589838] [ 0.3635712 -0.06116195 0.92955645 0.44237231] [ 0. 0. 0. 1. ]] SLAMing on 99.53650248099999 meters Centerline goodness [0,1] 0.6970935513169846 Centerline is valid? [False, False] Translation: X:3.94, Y:0.43, Z:0.44 [[ 0.93074361 -0.01897888 -0.3651796 3.93759084] [ 0.03936973 0.9980483 0.04847283 0.43425437] [ 0.36354692 -0.0594928 0.92967427 0.44240043] [ 0. 0. 0. 1. ]] SLAMing on 99.56650248099999 meters Centerline goodness [0,1] 0.6987542468856172 Centerline is valid? [False, False] Translation: X:3.94, Y:0.43, Z:0.44 [[ 0.93088663 -0.0191515 -0.36480585 3.93671114] [ 0.03966092 0.99802033 0.04881015 0.43183033] [ 0.36314887 -0.05990525 0.92980334 0.4422821 ] [ 0. 0. 0. 1. ]] SLAMing on 99.59650248099999 meters Centerline goodness [0,1] 0.7005855595486417 Centerline is valid? [False, False] Translation: X:3.94, Y:0.43, Z:0.44 [[ 0.93076877 -0.02368745 -0.36484024 3.93647488] [ 0.04335886 0.99800831 0.04581951 0.42923782] [ 0.36302824 -0.05846643 0.92994203 0.44258971] [ 0. 0. 0. 1. ]] SLAMing on 99.62650248099999 meters Centerline goodness [0,1] 0.7032707936189425 Centerline is valid? [False, False] Translation: X:3.94, Y:0.43, Z:0.44 [[ 0.93053348 -0.02828479 -0.36511287 3.93754526] [ 0.04697175 0.99799595 0.0423997 0.42823368] [ 0.3631819 -0.05660433 0.92999724 0.44263066] [ 0. 0. 0. 1. ]] SLAMing on 99.65650248099999 meters Centerline goodness [0,1] 0.7035938590369853 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93053711 -0.03310897 -0.36469779 3.9377725 ] [ 0.05102934 0.99791143 0.03960781 0.42396742] [ 0.36262472 -0.05546682 0.93028315 0.441783 ] [ 0. 0. 0. 1. ]] SLAMing on 99.68650248099999 meters Centerline goodness [0,1] 0.7045646871422171 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93062939 -0.03321556 -0.36445254 3.93700101] [ 0.05128929 0.99788158 0.04002202 0.42223611] [ 0.36235113 -0.05593818 0.93036153 0.44172047] [ 0. 0. 0. 1. ]] SLAMing on 99.71650248099999 meters Centerline goodness [0,1] 0.7071350383122699 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93078634 -0.0335376 -0.364022 3.9355143 ] [ 0.0516605 0.99785688 0.04016009 0.42104635] [ 0.36189498 -0.05618602 0.93052413 0.44184205] [ 0. 0. 0. 1. ]] SLAMing on 99.746502481 meters Centerline goodness [0,1] 0.7064088260815669 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.9306083 -0.03846117 -0.36399029 3.93506169] [ 0.05555208 0.99778483 0.03659784 0.41952267] [ 0.36177639 -0.05427867 0.93068344 0.44237531] [ 0. 0. 0. 1. ]] SLAMing on 99.776502481 meters Centerline goodness [0,1] 0.7048183839881393 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93066327 -0.0383638 -0.36386 3.935267 ] [ 0.05560277 0.99776651 0.03701791 0.41776179] [ 0.36162718 -0.05468283 0.93071777 0.44201036] [ 0. 0. 0. 1. ]] SLAMing on 99.806502481 meters Centerline goodness [0,1] 0.705411217956641 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93069131 -0.03816706 -0.36380897 3.93547457] [ 0.05557594 0.99775 0.03750006 0.41660292] [ 0.36155913 -0.05512001 0.93071842 0.44167946] [ 0. 0. 0. 1. ]] SLAMing on 99.836502481 meters Centerline goodness [0,1] 0.7061264822134388 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93067328 -0.03799561 -0.36387302 3.93589552] [ 0.0554606 0.99775017 0.03766581 0.41660102] [ 0.36162324 -0.05523518 0.93068669 0.44152654] [ 0. 0. 0. 1. ]] SLAMing on 99.866502481 meters Centerline goodness [0,1] 0.7073418348396682 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93055345 -0.03751022 -0.36422969 3.93695749] [ 0.05503913 0.99776609 0.03786188 0.4174717 ] [ 0.36199582 -0.05527939 0.93053921 0.44150682] [ 0. 0. 0. 1. ]] SLAMing on 99.89650248099998 meters Centerline goodness [0,1] 0.7060757366027288 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93058588 -0.03742896 -0.36415519 3.93707464] [ 0.05497131 0.99776748 0.03792374 0.41754604] [ 0.36192276 -0.05530938 0.93056584 0.44129501] [ 0. 0. 0. 1. ]] SLAMing on 99.92650248099999 meters Centerline goodness [0,1] 0.7091561494679535 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93068203 -0.03725507 -0.36392722 3.937635 ] [ 0.05478749 0.99777591 0.03796782 0.41721522] [ 0.36170332 -0.05527463 0.93065322 0.44068587] [ 0. 0. 0. 1. ]] SLAMing on 99.95650248099999 meters Centerline goodness [0,1] 0.7091614753287847 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93060151 -0.03690274 -0.36416893 3.9383226 ] [ 0.05446618 0.99778948 0.03807337 0.41775965] [ 0.36195892 -0.05526602 0.93055436 0.44073599] [ 0. 0. 0. 1. ]] SLAMing on 99.98650248099999 meters Centerline goodness [0,1] 0.7127791256127147 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93090493 -0.0317823 -0.3638762 3.93817673] [ 0.05059667 0.99782349 0.04228791 0.41714574] [ 0.36174021 -0.05777695 0.93048689 0.43996307] [ 0. 0. 0. 1. ]] SLAMing on 100.01650248099999 meters Centerline goodness [0,1] 0.7107753282140203 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93083816 -0.03144067 -0.36407664 3.93919415] [ 0.05032537 0.9978283 0.0424976 0.41738374] [ 0.36194982 -0.05788068 0.93039892 0.43968377] [ 0. 0. 0. 1. ]] SLAMing on 100.04650248099999 meters Centerline goodness [0,1] 0.7113723549065709 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93085181 -0.03096323 -0.36408267 3.94039467] [ 0.0499849 0.9978266 0.04293695 0.4164786 ] [ 0.36196191 -0.05816658 0.93037639 0.4389539 ] [ 0. 0. 0. 1. ]] SLAMing on 100.07650248099999 meters Centerline goodness [0,1] 0.712271707785966 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93094628 -0.03095978 -0.36384134 3.94042656] [ 0.05001475 0.99781959 0.04306485 0.4156176 ] [ 0.36171474 -0.05828849 0.93046488 0.43856279] [ 0. 0. 0. 1. ]] SLAMing on 100.10650248099999 meters Centerline goodness [0,1] 0.7115883006293966 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93093942 -0.03089432 -0.36386445 3.94059952] [ 0.0499899 0.99781598 0.0431774 0.41510726] [ 0.36173583 -0.05838509 0.93045063 0.43850923] [ 0. 0. 0. 1. ]] SLAMing on 100.136502481 meters Centerline goodness [0,1] 0.7130129188734347 Centerline is valid? [False, False] Translation: X:3.94, Y:0.42, Z:0.44 [[ 0.93083565 -0.03036926 -0.36417401 3.9414011 ] [ 0.04963531 0.99781272 0.04365902 0.4151472 ] [ 0.36205157 -0.05871526 0.93030704 0.43848035] [ 0. 0. 0. 1. ]] SLAMing on 100.166502481 meters Centerline goodness [0,1] 0.7134399052693902 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.9308377 -0.03006259 -0.36419421 3.94264032] [ 0.04950331 0.99779719 0.044161 0.41354543] [ 0.36206437 -0.05913554 0.93027543 0.43773461] [ 0. 0. 0. 1. ]] SLAMing on 100.196502481 meters Centerline goodness [0,1] 0.7113144552986275 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93079692 -0.0299641 -0.36430652 3.94321823] [ 0.04947372 0.99779087 0.0443365 0.41303651] [ 0.36217322 -0.05929187 0.93022311 0.43756934] [ 0. 0. 0. 1. ]] SLAMing on 100.226502481 meters Centerline goodness [0,1] 0.7107782658046686 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.9307017 -0.02959184 -0.36458012 3.94394298] [ 0.04920378 0.99779159 0.04461996 0.41296871] [ 0.36245459 -0.05946659 0.93010236 0.43763102] [ 0. 0. 0. 1. ]] SLAMing on 100.25650248099998 meters Centerline goodness [0,1] 0.7122295041424509 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93075331 -0.02978015 -0.364433 3.94383952] [ 0.04937259 0.99778588 0.04456096 0.41235986] [ 0.36229907 -0.05946826 0.93016284 0.43752159] [ 0. 0. 0. 1. ]] SLAMing on 100.28650248099999 meters Centerline goodness [0,1] 0.7128981362784735 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93081079 -0.02991562 -0.36427507 3.94295968] [ 0.04951348 0.99777816 0.04457766 0.41124457] [ 0.36213214 -0.0595299 0.9302239 0.43796812] [ 0. 0. 0. 1. ]] SLAMing on 100.31650248099999 meters Centerline goodness [0,1] 0.7128981362784735 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93081079 -0.02991562 -0.36427507 3.94295968] [ 0.04951348 0.99777816 0.04457766 0.41124457] [ 0.36213214 -0.0595299 0.9302239 0.43796812] [ 0. 0. 0. 1. ]] SLAMing on 100.34650248099999 meters Centerline goodness [0,1] 0.7116000591336914 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93079892 -0.03002984 -0.364296 3.94271002] [ 0.04962736 0.99777364 0.04455198 0.41080911] [ 0.36214706 -0.05954798 0.93021693 0.43820156] [ 0. 0. 0. 1. ]] SLAMing on 100.37650248099999 meters Centerline goodness [0,1] 0.7100585889419526 Centerline is valid? [False, False] Translation: X:3.94, Y:0.41, Z:0.44 [[ 0.93071465 -0.02965675 -0.36454179 3.94390111] [ 0.04942143 0.99776346 0.04500671 0.40911397] [ 0.36239172 -0.05990458 0.93009875 0.43801306] [ 0. 0. 0. 1. ]] SLAMing on 100.40650248099999 meters Centerline goodness [0,1] 0.708811037733533 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93059992 -0.02936019 -0.36485855 3.94517236] [ 0.04936406 0.9977385 0.04561877 0.40677123] [ 0.36269405 -0.06046372 0.92994471 0.43778743] [ 0. 0. 0. 1. ]] SLAMing on 100.43650248099999 meters Centerline goodness [0,1] 0.7075792824782662 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93046192 -0.02889836 -0.36524717 3.94578433] [ 0.04906285 0.99773372 0.04604621 0.40611749] [ 0.36308876 -0.06076431 0.92977108 0.43819011] [ 0. 0. 0. 1. ]] SLAMing on 100.46650248099999 meters Centerline goodness [0,1] 0.7081710155580057 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93046392 -0.02890257 -0.36524176 3.94612388] [ 0.04921555 0.99770857 0.04642665 0.40392982] [ 0.36306299 -0.0611739 0.92975428 0.43801072] [ 0. 0. 0. 1. ]] SLAMing on 100.496502481 meters Centerline goodness [0,1] 0.7075172177990524 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93047061 -0.02901188 -0.36521603 3.9463986 ] [ 0.04938848 0.99769316 0.04657402 0.40233285] [ 0.36302234 -0.06137322 0.92975702 0.43784659] [ 0. 0. 0. 1. ]] SLAMing on 100.526502481 meters Centerline goodness [0,1] 0.7069322359930847 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93050952 -0.02913173 -0.36510736 3.94565397] [ 0.04960051 0.9976717 0.04680774 0.40038639] [ 0.36289369 -0.06166456 0.92978796 0.43817572] [ 0. 0. 0. 1. ]] SLAMing on 100.556502481 meters Centerline goodness [0,1] 0.705685537048796 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93050917 -0.02909938 -0.36511082 3.94559395] [ 0.04962641 0.99766315 0.04696232 0.39975153] [ 0.36289103 -0.06181801 0.92977881 0.43823602] [ 0. 0. 0. 1. ]] SLAMing on 100.586502481 meters Centerline goodness [0,1] 0.7029019110145706 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93046958 -0.02864902 -0.3652473 3.94640736] [ 0.04931571 0.99765889 0.04737836 0.39917867] [ 0.36303487 -0.06209655 0.9297041 0.43800998] [ 0. 0. 0. 1. ]] SLAMing on 100.61650248099998 meters Centerline goodness [0,1] 0.7039749715034075 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.9303627 -0.02823289 -0.36555185 3.94716174] [ 0.04900294 0.99766069 0.047664 0.39876368] [ 0.36335102 -0.06225792 0.92956979 0.43817517] [ 0. 0. 0. 1. ]] SLAMing on 100.64650248099998 meters Centerline goodness [0,1] 0.7059066903550828 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93042066 -0.02831743 -0.36539776 3.94678493] [ 0.04910084 0.99765364 0.04771088 0.39814282] [ 0.36318935 -0.06233253 0.92962796 0.43817399] [ 0. 0. 0. 1. ]] SLAMing on 100.67650248099999 meters Centerline goodness [0,1] 0.7082332386984058 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93053865 -0.02831631 -0.36509725 3.94706149] [ 0.04920479 0.99763293 0.04803563 0.39579675] [ 0.36287285 -0.06266354 0.9297293 0.43752201] [ 0. 0. 0. 1. ]] SLAMing on 100.70650248099999 meters Centerline goodness [0,1] 0.7035737617653464 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93042564 -0.02785724 -0.36542044 3.94800779] [ 0.04896202 0.99761684 0.04861434 0.39458083] [ 0.36319533 -0.06312375 0.92957224 0.43747259] [ 0. 0. 0. 1. ]] SLAMing on 100.73650248099999 meters Centerline goodness [0,1] 0.7047203009343526 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93032379 -0.02775379 -0.36568753 3.94796007] [ 0.04884846 0.99762516 0.04855787 0.3953702 ] [ 0.36347142 -0.06303782 0.92947015 0.43802577] [ 0. 0. 0. 1. ]] SLAMing on 100.76650248099999 meters Centerline goodness [0,1] 0.7037325038880249 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.9303204 -0.0277159 -0.36569903 3.94777892] [ 0.04879457 0.99762955 0.04852183 0.3958663 ] [ 0.36348733 -0.06298497 0.92946751 0.43818344] [ 0. 0. 0. 1. ]] SLAMing on 100.79650248099999 meters Centerline goodness [0,1] 0.7044813156870378 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93042539 -0.02773021 -0.36543073 3.94848245] [ 0.04882338 0.99762404 0.04860617 0.39441172] [ 0.36321463 -0.06306598 0.92956862 0.43740416] [ 0. 0. 0. 1. ]] SLAMing on 100.82650248099999 meters Centerline goodness [0,1] 0.7017050959116451 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93044681 -0.0275993 -0.36538613 3.94919369] [ 0.04873962 0.99762066 0.04875937 0.39360132] [ 0.36317102 -0.06317678 0.92957813 0.43693691] [ 0. 0. 0. 1. ]] SLAMing on 100.85650248099999 meters Centerline goodness [0,1] 0.7036379984932806 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93037152 -0.02717173 -0.3656098 3.95027776] [ 0.04837642 0.99762844 0.04896134 0.39420833] [ 0.36341237 -0.06323913 0.92947956 0.43663788] [ 0. 0. 0. 1. ]] SLAMing on 100.886502481 meters Centerline goodness [0,1] 0.7025486820088755 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93035046 -0.02675126 -0.36569441 3.95185184] [ 0.04808725 0.99762283 0.04935903 0.39370516] [ 0.36350467 -0.06350643 0.92942524 0.43581397] [ 0. 0. 0. 1. ]] SLAMing on 100.916502481 meters Centerline goodness [0,1] 0.7038812619549164 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93042374 -0.02694961 -0.36549335 3.95156499] [ 0.04826542 0.99761672 0.04930845 0.39308214] [ 0.36329344 -0.06351845 0.92950701 0.43565763] [ 0. 0. 0. 1. ]] SLAMing on 100.946502481 meters Centerline goodness [0,1] 0.7015647294976903 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93045336 -0.02709201 -0.36540739 3.95118619] [ 0.0483928 0.99761295 0.04925982 0.39275212] [ 0.3632006 -0.06351705 0.92954339 0.43578062] [ 0. 0. 0. 1. ]] SLAMing on 100.976502481 meters Centerline goodness [0,1] 0.7024765487472571 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93034199 -0.0270279 -0.36569559 3.95147504] [ 0.04839157 0.99760715 0.04937846 0.39269536] [ 0.36348594 -0.06363543 0.92942375 0.43608089] [ 0. 0. 0. 1. ]] SLAMing on 101.00650248099998 meters Centerline goodness [0,1] 0.7016541134872005 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93035279 -0.02704136 -0.36566713 3.9517533 ] [ 0.04845886 0.99759692 0.04951898 0.39213903] [ 0.36344934 -0.06378993 0.92942747 0.43584729] [ 0. 0. 0. 1. ]] SLAMing on 101.03650248099999 meters Centerline goodness [0,1] 0.7007571176314071 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93036813 -0.02727859 -0.36561048 3.95146251] [ 0.04875042 0.99757746 0.04962477 0.39125525] [ 0.36337108 -0.06399297 0.92944411 0.43585795] [ 0. 0. 0. 1. ]] SLAMing on 101.06650248099999 meters Centerline goodness [0,1] 0.7026981287171801 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93051241 -0.02773821 -0.3652085 3.95119211] [ 0.04917214 0.99756202 0.04951883 0.39047332] [ 0.36294457 -0.06403597 0.92960779 0.43528623] [ 0. 0. 0. 1. ]] SLAMing on 101.09650248099999 meters Centerline goodness [0,1] 0.7016535908267953 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93057203 -0.02798258 -0.36503791 3.9517162 ] [ 0.04942294 0.99754944 0.04952251 0.38927598] [ 0.3627576 -0.06412551 0.92967459 0.43470256] [ 0. 0. 0. 1. ]] SLAMing on 101.12650248099999 meters Centerline goodness [0,1] 0.7024251482570754 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93071128 -0.02836977 -0.3646528 3.95102374] [ 0.0497954 0.99753271 0.04948643 0.38777758] [ 0.36234918 -0.06421561 0.92982763 0.43446073] [ 0. 0. 0. 1. ]] SLAMing on 101.15650248099999 meters Centerline goodness [0,1] 0.7047729580734078 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93069639 -0.02847422 -0.36468267 3.94981398] [ 0.04987447 0.99753322 0.04939639 0.38822034] [ 0.36237655 -0.0641614 0.92982071 0.43526769] [ 0. 0. 0. 1. ]] SLAMing on 101.18650248099999 meters Centerline goodness [0,1] 0.7060898985016917 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93064603 -0.02834281 -0.36482141 3.94891306] [ 0.04979298 0.99753105 0.04952232 0.38887858] [ 0.36251708 -0.06425329 0.92975958 0.4360595 ] [ 0. 0. 0. 1. ]] SLAMing on 101.21650248099999 meters Centerline goodness [0,1] 0.7048744532250659 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93071083 -0.02834451 -0.36465592 3.94935063] [ 0.04987256 0.99751558 0.04975333 0.38778019] [ 0.36233973 -0.06449229 0.92981217 0.43548418] [ 0. 0. 0. 1. ]] SLAMing on 101.246502481 meters Centerline goodness [0,1] 0.7027457799029196 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93076521 -0.02815769 -0.36453159 3.95034487] [ 0.04986425 0.99749011 0.05026969 0.38594695] [ 0.36220117 -0.06496637 0.92983315 0.43460484] [ 0. 0. 0. 1. ]] SLAMing on 101.276502481 meters Centerline goodness [0,1] 0.7040902611678868 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93079687 -0.02822866 -0.36444523 3.95031041] [ 0.04991525 0.99748996 0.05022197 0.38597329] [ 0.36211276 -0.06493782 0.92986958 0.43448287] [ 0. 0. 0. 1. ]] SLAMing on 101.306502481 meters Centerline goodness [0,1] 0.7017008286088094 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93069554 -0.02809314 -0.36471439 3.9512177 ] [ 0.04981657 0.99749148 0.05028973 0.38666566] [ 0.3623867 -0.06497324 0.92976038 0.43430604] [ 0. 0. 0. 1. ]] SLAMing on 101.336502481 meters Centerline goodness [0,1] 0.7008218515832729 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93057538 -0.02798657 -0.36502906 3.95220764] [ 0.04973773 0.99749389 0.05032005 0.3871529 ] [ 0.36270597 -0.06498232 0.92963524 0.43422822] [ 0. 0. 0. 1. ]] SLAMing on 101.36650248099998 meters Centerline goodness [0,1] 0.7011802834615198 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93066534 -0.02843613 -0.36476487 3.95240994] [ 0.05003593 0.99750009 0.04989971 0.38742128] [ 0.36243403 -0.06469128 0.92976159 0.43365746] [ 0. 0. 0. 1. ]] SLAMing on 101.39650248099998 meters Centerline goodness [0,1] 0.7014180099381893 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93071487 -0.02884372 -0.36460646 3.9519739 ] [ 0.05030587 0.99750634 0.04950166 0.38783817] [ 0.36226945 -0.06441378 0.92984499 0.43369272] [ 0. 0. 0. 1. ]] SLAMing on 101.42650248099999 meters Centerline goodness [0,1] 0.6974757375541518 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93065497 -0.02886095 -0.36475796 3.95225077] [ 0.05028149 0.99751445 0.0493629 0.38844416] [ 0.36242668 -0.0642804 0.92979295 0.43380912] [ 0. 0. 0. 1. ]] SLAMing on 101.45650248099999 meters Centerline goodness [0,1] 0.6971624147389373 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93053977 -0.02879469 -0.365057 3.95316441] [ 0.05016183 0.99752944 0.04918144 0.38988572] [ 0.36273894 -0.06407722 0.9296852 0.43373822] [ 0. 0. 0. 1. ]] SLAMing on 101.48650248099999 meters Centerline goodness [0,1] 0.6983345858282224 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93047679 -0.02875842 -0.36522035 3.95347548] [ 0.04999672 0.99755513 0.04882718 0.39175815] [ 0.36292324 -0.06369237 0.92963972 0.43390697] [ 0. 0. 0. 1. ]] SLAMing on 101.51650248099999 meters Centerline goodness [0,1] 0.700905461980333 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93046056 -0.02899391 -0.36524308 3.95312683] [ 0.05009026 0.99757049 0.04841581 0.39290319] [ 0.36295195 -0.06334412 0.9296523 0.43421497] [ 0. 0. 0. 1. ]] SLAMing on 101.54650248099999 meters Centerline goodness [0,1] 0.7007996879266627 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93037569 -0.02876811 -0.36547705 3.95430508] [ 0.04980705 0.99759188 0.04826688 0.3934183 ] [ 0.36320839 -0.06310966 0.92956809 0.43409575] [ 0. 0. 0. 1. ]] SLAMing on 101.57650248099999 meters Centerline goodness [0,1] 0.6963897771376961 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.43 [[ 0.93033845 -0.02854297 -0.36558947 3.95462048] [ 0.04959773 0.99759935 0.04832805 0.39389105] [ 0.36333239 -0.06309385 0.9295207 0.43414736] [ 0. 0. 0. 1. ]] SLAMing on 101.60650248099999 meters Centerline goodness [0,1] 0.696496721792739 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93023575 -0.02867967 -0.36584004 3.95387632] [ 0.04958017 0.9976227 0.04786179 0.39601467] [ 0.36359767 -0.06266116 0.92944624 0.43513366] [ 0. 0. 0. 1. ]] SLAMing on 101.636502481 meters Centerline goodness [0,1] 0.6955787722345917 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93020564 -0.02868436 -0.36591621 3.95432442] [ 0.04958357 0.99762341 0.04784353 0.39587142] [ 0.36367421 -0.06264775 0.9294172 0.43505488] [ 0. 0. 0. 1. ]] SLAMing on 101.666502481 meters Centerline goodness [0,1] 0.6959748089926038 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93025833 -0.02871904 -0.36577952 3.95489727] [ 0.04964887 0.9976155 0.04794067 0.39537977] [ 0.36353051 -0.06275775 0.92946599 0.43441111] [ 0. 0. 0. 1. ]] SLAMing on 101.696502481 meters Centerline goodness [0,1] 0.6943575964826576 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93021743 -0.02870523 -0.36588461 3.95618965] [ 0.04972602 0.99760127 0.04815626 0.39510912] [ 0.36362462 -0.06298977 0.92941349 0.43363113] [ 0. 0. 0. 1. ]] SLAMing on 101.726502481 meters Centerline goodness [0,1] 0.6914675267556076 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.43 [[ 0.93024931 -0.02893437 -0.3657855 3.95641553] [ 0.04995281 0.99759139 0.04812628 0.39497637] [ 0.36351196 -0.06304145 0.92945405 0.43322714] [ 0. 0. 0. 1. ]] SLAMing on 101.75650248099998 meters Centerline goodness [0,1] 0.6851387841486851 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.43 [[ 0.930288 -0.02929643 -0.36565824 3.95685679] [ 0.05033252 0.99757221 0.0481281 0.39412422] [ 0.36336052 -0.06317749 0.92950403 0.43265175] [ 0. 0. 0. 1. ]] SLAMing on 101.78650248099999 meters Centerline goodness [0,1] 0.6854069909557565 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.43 [[ 0.93026763 -0.02973598 -0.36567459 3.95651973] [ 0.05071008 0.99756479 0.04788513 0.39439066] [ 0.36336018 -0.06308938 0.92951014 0.4327888 ] [ 0. 0. 0. 1. ]] SLAMing on 101.81650248099999 meters Centerline goodness [0,1] 0.6860504858161223 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.43 [[ 0.93020528 -0.02986545 -0.36582262 3.95657618] [ 0.05081112 0.9975656 0.04776093 0.39493617] [ 0.36350566 -0.06301532 0.92945828 0.43297943] [ 0. 0. 0. 1. ]] SLAMing on 101.84650248099999 meters Centerline goodness [0,1] 0.6833121081504703 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93017652 -0.03008726 -0.36587758 3.95665016] [ 0.0509806 0.9975658 0.04757586 0.39561227] [ 0.36355553 -0.0629066 0.92944615 0.43295538] [ 0. 0. 0. 1. ]] SLAMing on 101.87650248099999 meters Centerline goodness [0,1] 0.677612086485957 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93009631 -0.03046442 -0.36605022 3.95703642] [ 0.05130199 0.99756095 0.04733141 0.39648824] [ 0.36371548 -0.06280187 0.92939065 0.4328995 ] [ 0. 0. 0. 1. ]] SLAMing on 101.90650248099999 meters Centerline goodness [0,1] 0.6791746218240564 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93018288 -0.03102728 -0.36578289 3.95595534] [ 0.05169525 0.9975637 0.04684293 0.39736313] [ 0.36343832 -0.06248172 0.92952064 0.43308566] [ 0. 0. 0. 1. ]] SLAMing on 101.93650248099999 meters Centerline goodness [0,1] 0.6768889754956886 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93023456 -0.0318139 -0.36558383 3.95494978] [ 0.05224636 0.99756816 0.04613125 0.39780361] [ 0.36322717 -0.0620133 0.92963454 0.4334711 ] [ 0. 0. 0. 1. ]] SLAMing on 101.96650248099999 meters Centerline goodness [0,1] 0.681298224127373 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93024385 -0.03221871 -0.36552473 3.95489393] [ 0.05254997 0.9975671 0.04580802 0.39811899] [ 0.36315957 -0.06182094 0.92967376 0.43338494] [ 0. 0. 0. 1. ]] SLAMing on 101.996502481 meters Centerline goodness [0,1] 0.6824408773434628 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93024227 -0.03232547 -0.36551933 3.9546754 ] [ 0.05257621 0.99757602 0.0455831 0.39917087] [ 0.36315982 -0.06162095 0.92968694 0.43351581] [ 0. 0. 0. 1. ]] SLAMing on 102.026502481 meters Centerline goodness [0,1] 0.677233782129743 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93026433 -0.03246224 -0.36545107 3.95398843] [ 0.05258831 0.99759051 0.04525094 0.40028474] [ 0.36310157 -0.06131378 0.92973 0.43389429] [ 0. 0. 0. 1. ]] SLAMing on 102.056502481 meters Centerline goodness [0,1] 0.6861383709519137 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93020888 -0.03264254 -0.36557612 3.95358578] [ 0.05255979 0.99761862 0.04466039 0.40217066] [ 0.36324772 -0.06075809 0.92970939 0.43451883] [ 0. 0. 0. 1. ]] SLAMing on 102.086502481 meters Centerline goodness [0,1] 0.6851856402191807 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.9301494 -0.03258322 -0.36573273 3.95423416] [ 0.05246542 0.99762836 0.04455369 0.40280398] [ 0.36341364 -0.06062991 0.92965291 0.4344193 ] [ 0. 0. 0. 1. ]] SLAMing on 102.11650248099998 meters Centerline goodness [0,1] 0.685453741028414 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93013492 -0.03241924 -0.36578413 3.95495283] [ 0.05228347 0.99763902 0.04452894 0.40326332] [ 0.36347693 -0.06054239 0.92963388 0.43408401] [ 0. 0. 0. 1. ]] SLAMing on 102.14650248099998 meters Centerline goodness [0,1] 0.6891708759393864 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.43 [[ 0.93014381 -0.03261378 -0.36574423 3.95415283] [ 0.05236 0.99764972 0.04419811 0.40383022] [ 0.36344316 -0.06026097 0.92966536 0.43462434] [ 0. 0. 0. 1. ]] SLAMing on 102.17650248099999 meters Centerline goodness [0,1] 0.6877512994017849 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92994183 -0.03181602 -0.36632763 3.95516956] [ 0.0516396 0.9976765 0.04444035 0.40516433] [ 0.36406255 -0.06024396 0.92942408 0.43516131] [ 0. 0. 0. 1. ]] SLAMing on 102.20650248099999 meters Centerline goodness [0,1] 0.6877512994017849 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92994183 -0.03181602 -0.36632763 3.95516956] [ 0.0516396 0.9976765 0.04444035 0.40516433] [ 0.36406255 -0.06024396 0.92942408 0.43516131] [ 0. 0. 0. 1. ]] SLAMing on 102.23650248099999 meters Centerline goodness [0,1] 0.6863273428423109 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.9297844 -0.03067987 -0.36682382 3.95904197] [ 0.05081321 0.99767785 0.04535338 0.40449543] [ 0.36458056 -0.06080836 0.92918424 0.43359159] [ 0. 0. 0. 1. ]] SLAMing on 102.26650248099999 meters Centerline goodness [0,1] 0.6867627461625784 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.92969893 -0.0304883 -0.36705636 3.95984225] [ 0.05066594 0.99768047 0.04546029 0.40447482] [ 0.36481895 -0.06086164 0.92908718 0.43352297] [ 0. 0. 0. 1. ]] SLAMing on 102.29650248099999 meters Centerline goodness [0,1] 0.6878123230682126 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92964148 -0.03040146 -0.36720903 3.95998106] [ 0.05056123 0.99768836 0.04540366 0.40501662] [ 0.36497984 -0.06077567 0.92902962 0.43374379] [ 0. 0. 0. 1. ]] SLAMing on 102.32650248099999 meters Centerline goodness [0,1] 0.6905868393731152 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92959291 -0.030424 -0.3673301 3.95998747] [ 0.05050712 0.99770113 0.04518278 0.40630346] [ 0.36511101 -0.06055438 0.92899253 0.43396372] [ 0. 0. 0. 1. ]] SLAMing on 102.35650248099999 meters Centerline goodness [0,1] 0.6937885136800592 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92964626 -0.03074263 -0.36716853 3.95947751] [ 0.05069305 0.99770832 0.04481436 0.40670356] [ 0.36494938 -0.0602744 0.92907424 0.43409974] [ 0. 0. 0. 1. ]] SLAMing on 102.386502481 meters Centerline goodness [0,1] 0.6915263430388797 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92969509 -0.03147546 -0.36698275 3.95788086] [ 0.05120434 0.99771199 0.04414642 0.40756568] [ 0.36475356 -0.05983382 0.92917961 0.43477005] [ 0. 0. 0. 1. ]] SLAMing on 102.416502481 meters Centerline goodness [0,1] 0.6882384931032778 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92956186 -0.03194204 -0.3672798 3.95781162] [ 0.05147851 0.99772551 0.04351743 0.40989176] [ 0.36505439 -0.05935916 0.92909191 0.4352884 ] [ 0. 0. 0. 1. ]] SLAMing on 102.446502481 meters Centerline goodness [0,1] 0.6868316831683168 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92944657 -0.03200759 -0.36756577 3.95882051] [ 0.05151477 0.99772959 0.04338083 0.41060693] [ 0.36534273 -0.05925523 0.9289852 0.43516768] [ 0. 0. 0. 1. ]] SLAMing on 102.476502481 meters Centerline goodness [0,1] 0.6903020117641243 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92957102 -0.03273719 -0.36718659 3.95865543] [ 0.05209973 0.99771818 0.04294249 0.41043836] [ 0.36494292 -0.05904841 0.9291555 0.43457755] [ 0. 0. 0. 1. ]] SLAMing on 102.50650248099998 meters Centerline goodness [0,1] 0.6912599318955732 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92963879 -0.03307347 -0.36698482 3.95802603] [ 0.05236158 0.9977138 0.0427252 0.41049816] [ 0.36473275 -0.05893491 0.92924523 0.43457968] [ 0. 0. 0. 1. ]] SLAMing on 102.53650248099999 meters Centerline goodness [0,1] 0.6905660377358491 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92973627 -0.03370853 -0.36667996 3.95733743] [ 0.05289143 0.99770009 0.0423914 0.41071541] [ 0.36440768 -0.05880705 0.92938085 0.43435286] [ 0. 0. 0. 1. ]] SLAMing on 102.56650248099999 meters Centerline goodness [0,1] 0.6894492696407422 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92977571 -0.03396573 -0.36655621 3.95673947] [ 0.05312632 0.99769115 0.04230799 0.41031591] [ 0.36427286 -0.05881072 0.92943347 0.43448964] [ 0. 0. 0. 1. ]] SLAMing on 102.59650248099999 meters Centerline goodness [0,1] 0.6907514450867052 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92968586 -0.03414983 -0.36676694 3.95616971] [ 0.05332264 0.99768236 0.04226832 0.41072063] [ 0.36447345 -0.05885325 0.92935214 0.43510367] [ 0. 0. 0. 1. ]] SLAMing on 102.62650248099999 meters Centerline goodness [0,1] 0.6863470454769656 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92966346 -0.03425192 -0.3668142 3.95589816] [ 0.05338711 0.99768412 0.0421452 0.41156344] [ 0.36452115 -0.058764 0.92933908 0.43532193] [ 0. 0. 0. 1. ]] SLAMing on 102.65650248099999 meters Centerline goodness [0,1] 0.6921406539173349 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.92978525 -0.03466141 -0.36646688 3.95458938] [ 0.05367419 0.99768254 0.04181656 0.41189246] [ 0.36416819 -0.05855024 0.92949094 0.43555774] [ 0. 0. 0. 1. ]] SLAMing on 102.68650248099999 meters Centerline goodness [0,1] 0.6937905193876797 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.92981527 -0.03475317 -0.36638202 3.95439101] [ 0.05374626 0.99768087 0.04176384 0.41187908] [ 0.36408091 -0.05852432 0.92952676 0.43555817] [ 0. 0. 0. 1. ]] SLAMing on 102.71650248099999 meters Centerline goodness [0,1] 0.6902803507471903 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.9297201 -0.03488234 -0.36661118 3.9545568 ] [ 0.05380269 0.99768823 0.04151468 0.41283987] [ 0.36431553 -0.0583217 0.92944756 0.4358504 ] [ 0. 0. 0. 1. ]] SLAMing on 102.746502481 meters Centerline goodness [0,1] 0.6928002769124264 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92968348 -0.03498298 -0.36669445 3.95566792] [ 0.05389471 0.99768555 0.04145961 0.41304202] [ 0.36439537 -0.05830721 0.92941717 0.43526468] [ 0. 0. 0. 1. ]] SLAMing on 102.776502481 meters Centerline goodness [0,1] 0.6878793860731383 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92970202 -0.03508147 -0.36663804 3.95663068] [ 0.05398611 0.99768172 0.04143284 0.41302891] [ 0.36433454 -0.05831356 0.92944062 0.43451482] [ 0. 0. 0. 1. ]] SLAMing on 102.806502481 meters Centerline goodness [0,1] 0.684068651696508 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92965101 -0.03515905 -0.36675991 3.95700688] [ 0.05401523 0.99768674 0.04127386 0.41370729] [ 0.36446035 -0.05818091 0.92939961 0.43449038] [ 0. 0. 0. 1. ]] SLAMing on 102.836502481 meters Centerline goodness [0,1] 0.6871311959087333 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.92968876 -0.03521698 -0.36665866 3.95693878] [ 0.05404399 0.99768798 0.04120598 0.41379997] [ 0.36435979 -0.05812443 0.92944257 0.43440502] [ 0. 0. 0. 1. ]] SLAMing on 102.86650248099998 meters Centerline goodness [0,1] 0.6887794252332978 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92965077 -0.03534874 -0.36674229 3.95611451] [ 0.05407901 0.99769784 0.04092036 0.41486968] [ 0.36445151 -0.0578747 0.9294222 0.43509215] [ 0. 0. 0. 1. ]] SLAMing on 102.89650248099998 meters Centerline goodness [0,1] 0.6885079144544237 Centerline is valid? [False, False] Translation: X:3.95, Y:0.42, Z:0.43 [[ 0.92989392 -0.03091565 -0.36652629 3.95485416] [ 0.05077784 0.99771043 0.04467112 0.41545105] [ 0.36430606 -0.06015081 0.92933469 0.43496639] [ 0. 0. 0. 1. ]] SLAMing on 102.92650248099999 meters Centerline goodness [0,1] 0.6873851958496748 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.92986529 -0.03089433 -0.36660072 3.95572621] [ 0.05078998 0.9977064 0.04474723 0.41543299] [ 0.36437745 -0.06022854 0.92930167 0.43452002] [ 0. 0. 0. 1. ]] SLAMing on 102.95650248099999 meters Centerline goodness [0,1] 0.6922349427575909 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.93003547 -0.03129382 -0.36613483 3.95586152] [ 0.05116554 0.99768957 0.0446946 0.41462955] [ 0.36389024 -0.06030105 0.92948786 0.43350497] [ 0. 0. 0. 1. ]] SLAMing on 102.98650248099999 meters Centerline goodness [0,1] 0.6902211816279764 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.93006828 -0.03155135 -0.36602937 3.95574522] [ 0.05137225 0.99768606 0.04453567 0.41462774] [ 0.36377724 -0.06022497 0.92953702 0.43335848] [ 0. 0. 0. 1. ]] SLAMing on 103.01650248099999 meters Centerline goodness [0,1] 0.6924760601915185 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.93012303 -0.03180204 -0.36586852 3.95557755] [ 0.05156092 0.99768419 0.04435914 0.41461613] [ 0.36361052 -0.06012398 0.92960879 0.43318185] [ 0. 0. 0. 1. ]] SLAMing on 103.04650248099999 meters Centerline goodness [0,1] 0.6941943186906124 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.43 [[ 0.9301849 -0.0320767 -0.36568722 3.95496385] [ 0.05178444 0.99767925 0.04420949 0.41487159] [ 0.36342046 -0.06005991 0.92968725 0.4331599 ] [ 0. 0. 0. 1. ]] SLAMing on 103.07650248099999 meters Centerline goodness [0,1] 0.6959244532803182 Centerline is valid? [False, False] Translation: X:3.95, Y:0.42, Z:0.43 [[ 0.93019469 -0.03215258 -0.36565565 3.95465388] [ 0.05182471 0.99768157 0.04410988 0.4154339 ] [ 0.36338966 -0.05998077 0.9297044 0.43327757] [ 0. 0. 0. 1. ]] SLAMing on 103.10650248099999 meters Centerline goodness [0,1] 0.699955283946937 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93014002 -0.03184559 -0.36582155 3.95519773] [ 0.05157001 0.99768762 0.04427126 0.41580981] [ 0.36356579 -0.06004389 0.92963146 0.43324277] [ 0. 0. 0. 1. ]] SLAMing on 103.136502481 meters Centerline goodness [0,1] 0.7008747227552521 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93014681 -0.03142597 -0.36584057 3.95587488] [ 0.0511785 0.99770127 0.04441766 0.41644214] [ 0.36360373 -0.06003811 0.92961699 0.43289693] [ 0. 0. 0. 1. ]] SLAMing on 103.166502481 meters Centerline goodness [0,1] 0.7035781074678968 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93013526 -0.03123073 -0.36588665 3.95652822] [ 0.0510122 0.99770524 0.04451976 0.41655984] [ 0.36365664 -0.06007409 0.92959397 0.43260008] [ 0. 0. 0. 1. ]] SLAMing on 103.196502481 meters Centerline goodness [0,1] 0.7040352017600879 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93007916 -0.03065503 -0.36607788 3.95801924] [ 0.05050826 0.99771941 0.04477616 0.41698402] [ 0.36387039 -0.06013533 0.92950636 0.43204529] [ 0. 0. 0. 1. ]] SLAMing on 103.226502481 meters Centerline goodness [0,1] 0.7055988412745979 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93010063 -0.03054211 -0.36603278 3.95813468] [ 0.05039108 0.99772452 0.04479424 0.41738492] [ 0.36383177 -0.06010794 0.92952325 0.43189412] [ 0. 0. 0. 1. ]] SLAMing on 103.25650248099998 meters Centerline goodness [0,1] 0.7093442048922015 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.930181 -0.03074869 -0.3658112 3.95633732] [ 0.05042402 0.99774265 0.04435123 0.4185366 ] [ 0.36362169 -0.05970034 0.92963172 0.43278754] [ 0. 0. 0. 1. ]] SLAMing on 103.28650248099999 meters Centerline goodness [0,1] 0.7125681147827826 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93024481 -0.03106527 -0.36562214 3.95538771] [ 0.05060142 0.99775055 0.04396976 0.41929506] [ 0.36343376 -0.05940364 0.92972421 0.4330724 ] [ 0. 0. 0. 1. ]] SLAMing on 103.31650248099999 meters Centerline goodness [0,1] 0.7123081552813723 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93031627 -0.03109203 -0.365438 3.95644827] [ 0.05059935 0.9977527 0.04392329 0.41913082] [ 0.36325109 -0.05935348 0.9297988 0.43211644] [ 0. 0. 0. 1. ]] SLAMing on 103.34650248099999 meters Centerline goodness [0,1] 0.7085691390794812 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93027933 -0.03086375 -0.36555136 3.9578952 ] [ 0.05047356 0.99774649 0.04420805 0.4182506 ] [ 0.36336316 -0.05957651 0.92974075 0.43141028] [ 0. 0. 0. 1. ]] SLAMing on 103.37650248099999 meters Centerline goodness [0,1] 0.7081441721638366 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93012765 -0.03023891 -0.36598931 3.95970928] [ 0.04996694 0.99775682 0.04454926 0.41914249] [ 0.3638212 -0.05972386 0.92955215 0.43102094] [ 0. 0. 0. 1. ]] SLAMing on 103.40650248099999 meters Centerline goodness [0,1] 0.7073404201723008 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93001708 -0.03006335 -0.36628461 3.95984064] [ 0.04974569 0.99777393 0.04441333 0.42080136] [ 0.36413403 -0.05952624 0.92944233 0.43150451] [ 0. 0. 0. 1. ]] SLAMing on 103.43650248099999 meters Centerline goodness [0,1] 0.7096198778986509 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93010021 -0.02984236 -0.36609156 3.95891285] [ 0.0494302 0.99779701 0.0442469 0.42236831] [ 0.36396463 -0.05925003 0.92952632 0.43192354] [ 0. 0. 0. 1. ]] SLAMing on 103.46650248099999 meters Centerline goodness [0,1] 0.707746656573303 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93011267 -0.0299759 -0.36604898 3.95838984] [ 0.04948444 0.99780405 0.04402698 0.42276928] [ 0.36392541 -0.05906378 0.92955353 0.43225216] [ 0. 0. 0. 1. ]] SLAMing on 103.496502481 meters Centerline goodness [0,1] 0.7090231058029077 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93009158 -0.03017966 -0.36608585 3.95829041] [ 0.04954873 0.99781845 0.04362648 0.42410655] [ 0.36397058 -0.05871571 0.9295579 0.43242756] [ 0. 0. 0. 1. ]] SLAMing on 103.526502481 meters Centerline goodness [0,1] 0.706489898989899 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93008491 -0.03024328 -0.36609754 3.95868872] [ 0.0495852 0.99782027 0.04354327 0.42423446] [ 0.36398265 -0.05865196 0.92955719 0.43223119] [ 0. 0. 0. 1. ]] SLAMing on 103.556502481 meters Centerline goodness [0,1] 0.704593693147362 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93014377 -0.03063796 -0.36591513 3.95846302] [ 0.04989211 0.99781655 0.04327717 0.42455601] [ 0.36379025 -0.05851026 0.92964144 0.43201044] [ 0. 0. 0. 1. ]] SLAMing on 103.586502481 meters Centerline goodness [0,1] 0.702811346513627 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93023171 -0.03126165 -0.36563872 3.95785534] [ 0.05032963 0.99781804 0.04273283 0.42515367] [ 0.36350502 -0.0581539 0.92977536 0.43193985] [ 0. 0. 0. 1. ]] SLAMing on 103.61650248099998 meters Centerline goodness [0,1] 0.7029259024699177 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.43 [[ 0.93021707 -0.03122488 -0.36567911 3.95859663] [ 0.0503185 0.99781579 0.04279831 0.42492296] [ 0.36354402 -0.05821214 0.92975647 0.43155476] [ 0. 0. 0. 1. ]] SLAMing on 103.64650248099998 meters Centerline goodness [0,1] 0.7003766145135606 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92992228 -0.03022886 -0.36651162 3.96136086] [ 0.04949846 0.9978356 0.04329 0.42624524] [ 0.36440973 -0.0583981 0.92940584 0.43137606] [ 0. 0. 0. 1. ]] SLAMing on 103.67650248099999 meters Centerline goodness [0,1] 0.6978658536585366 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92979197 -0.03008374 -0.36685401 3.96179192] [ 0.04931774 0.99784985 0.04316752 0.42766087] [ 0.36476658 -0.05822922 0.92927644 0.43173954] [ 0. 0. 0. 1. ]] SLAMing on 103.70650248099999 meters Centerline goodness [0,1] 0.6970741421568627 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92998907 -0.02528646 -0.3667164 3.96138619] [ 0.04562974 0.99785636 0.04691066 0.428431 ] [ 0.36474409 -0.06035957 0.92914933 0.43146769] [ 0. 0. 0. 1. ]] SLAMing on 103.73650248099999 meters Centerline goodness [0,1] 0.6975332261932093 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92998357 -0.02549225 -0.36671611 3.9609582 ] [ 0.0457281 0.99786647 0.04659878 0.42964488] [ 0.3647458 -0.06010533 0.92916514 0.43172968] [ 0. 0. 0. 1. ]] SLAMing on 103.76650248099999 meters Centerline goodness [0,1] 0.6974298767259641 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93012525 -0.02669816 -0.3662707 3.95985572] [ 0.04657777 0.99787584 0.04554475 0.43023364] [ 0.36427672 -0.05942239 0.92939306 0.43175111] [ 0. 0. 0. 1. ]] SLAMing on 103.79650248099999 meters Centerline goodness [0,1] 0.6965928493157667 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93020386 -0.02732736 -0.36602459 3.96042699] [ 0.04708606 0.99786937 0.04516226 0.43037108] [ 0.36401056 -0.05924477 0.92950867 0.43084691] [ 0. 0. 0. 1. ]] SLAMing on 103.82650248099999 meters Centerline goodness [0,1] 0.6946974708666226 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93019777 -0.02744119 -0.36603155 3.96066431] [ 0.04717708 0.99786871 0.04508166 0.43094335] [ 0.36401433 -0.05920316 0.92950984 0.43065174] [ 0. 0. 0. 1. ]] SLAMing on 103.85650248099999 meters Centerline goodness [0,1] 0.6948948487410026 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93012934 -0.02765273 -0.36618948 3.96098612] [ 0.04735001 0.99786798 0.04491626 0.43204243] [ 0.3641667 -0.05911701 0.92945564 0.43058429] [ 0. 0. 0. 1. ]] SLAMing on 103.886502481 meters Centerline goodness [0,1] 0.6925640171224976 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93006473 -0.02755201 -0.36636115 3.96169635] [ 0.04728374 0.99786767 0.04499297 0.4327879 ] [ 0.36434029 -0.0591693 0.92938428 0.43037268] [ 0. 0. 0. 1. ]] SLAMing on 103.916502481 meters Centerline goodness [0,1] 0.6888325133251332 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.9300495 -0.02768658 -0.36638965 3.96188484] [ 0.04738238 0.99786846 0.04487134 0.43360129] [ 0.36436634 -0.05909298 0.92937893 0.43021737] [ 0. 0. 0. 1. ]] SLAMing on 103.946502481 meters Centerline goodness [0,1] 0.6927382908792112 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93015461 -0.02828221 -0.3660772 3.96118465] [ 0.0478226 0.99786774 0.04441824 0.4341178 ] [ 0.36404038 -0.05882259 0.9295238 0.43006972] [ 0. 0. 0. 1. ]] SLAMing on 103.976502481 meters Centerline goodness [0,1] 0.6939313984168866 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93035481 -0.02906473 -0.36550673 3.95885197] [ 0.04838662 0.9978673 0.0438131 0.43485401] [ 0.3634538 -0.05844736 0.92977698 0.4305436 ] [ 0. 0. 0. 1. ]] SLAMing on 104.00650248099998 meters Centerline goodness [0,1] 0.6945379436964505 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93037338 -0.02918359 -0.36545 3.95833907] [ 0.04847986 0.99786619 0.04373527 0.43504431] [ 0.36339384 -0.05840709 0.92980295 0.43079028] [ 0. 0. 0. 1. ]] SLAMing on 104.03650248099999 meters Centerline goodness [0,1] 0.6919351118628431 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93034701 -0.02953253 -0.36548908 3.9585191 ] [ 0.04880122 0.99785674 0.04359319 0.43546196] [ 0.36341833 -0.0583931 0.92979426 0.43060256] [ 0. 0. 0. 1. ]] SLAMing on 104.06650248099999 meters Centerline goodness [0,1] 0.687706365660754 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93035484 -0.02961725 -0.36546229 3.95890291] [ 0.04889575 0.9978515 0.04360719 0.43534905] [ 0.36338557 -0.05843971 0.92980414 0.43029157] [ 0. 0. 0. 1. ]] SLAMing on 104.09650248099999 meters Centerline goodness [0,1] 0.6883396574710285 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.930292 -0.02979015 -0.36560817 3.95894879] [ 0.04903353 0.99785116 0.04346009 0.43587657] [ 0.36352786 -0.05835764 0.92975367 0.43048438] [ 0. 0. 0. 1. ]] SLAMing on 104.12650248099999 meters Centerline goodness [0,1] 0.6883396574710285 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.930292 -0.02979015 -0.36560817 3.95894879] [ 0.04903353 0.99785116 0.04346009 0.43587657] [ 0.36352786 -0.05835764 0.92975367 0.43048438] [ 0. 0. 0. 1. ]] SLAMing on 104.15650248099999 meters Centerline goodness [0,1] 0.6848534619925063 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93027271 -0.02984186 -0.36565304 3.95900814] [ 0.04909516 0.99784778 0.04346812 0.43592411] [ 0.36356891 -0.058389 0.92973565 0.43051639] [ 0. 0. 0. 1. ]] SLAMing on 104.18650248099999 meters Centerline goodness [0,1] 0.6847259153201064 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93025039 -0.02990205 -0.3657049 3.95925193] [ 0.0491546 0.99784581 0.04344609 0.43586427] [ 0.36361797 -0.05839182 0.92971628 0.43048877] [ 0. 0. 0. 1. ]] SLAMing on 104.21650248099999 meters Centerline goodness [0,1] 0.6855404052076111 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93025083 -0.03009795 -0.36568772 3.95948763] [ 0.0493444 0.99783858 0.04339707 0.43549253] [ 0.36359115 -0.0584148 0.92972533 0.43027341] [ 0. 0. 0. 1. ]] SLAMing on 104.246502481 meters Centerline goodness [0,1] 0.686163247490179 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.9302105 -0.02979594 -0.36581502 3.95956831] [ 0.0490558 0.99784983 0.04346554 0.43635973] [ 0.36373336 -0.05837745 0.92967205 0.43050917] [ 0. 0. 0. 1. ]] SLAMing on 104.276502481 meters Centerline goodness [0,1] 0.6853286806589007 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93010172 -0.02983302 -0.3660885 3.95976951] [ 0.04902113 0.99786183 0.04322835 0.43727314] [ 0.36401611 -0.05815284 0.92957545 0.43095581] [ 0. 0. 0. 1. ]] SLAMing on 104.306502481 meters Centerline goodness [0,1] 0.6836196018849947 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92996601 -0.02932552 -0.36647405 3.96154633] [ 0.04855048 0.99787953 0.04335084 0.43795547] [ 0.36442567 -0.05810729 0.92941781 0.43066665] [ 0. 0. 0. 1. ]] SLAMing on 104.336502481 meters Centerline goodness [0,1] 0.6810641466796774 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92990989 -0.02904698 -0.3666386 3.9622581 ] [ 0.04829493 0.99788835 0.04343321 0.43824431] [ 0.36460279 -0.05809576 0.92934907 0.43060105] [ 0. 0. 0. 1. ]] SLAMing on 104.36650248099998 meters Centerline goodness [0,1] 0.6857495881383855 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93019434 -0.02458385 -0.36624326 3.96061247] [ 0.04481994 0.99789583 0.04685174 0.4382288 ] [ 0.36432082 -0.05999622 0.9293389 0.43082033] [ 0. 0. 0. 1. ]] SLAMing on 104.39650248099998 meters Centerline goodness [0,1] 0.69031708764416 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93011479 -0.02469834 -0.36643753 3.96010096] [ 0.04481289 0.99791324 0.04648632 0.43937583] [ 0.36452473 -0.05965874 0.92928067 0.43160365] [ 0. 0. 0. 1. ]] SLAMing on 104.42650248099999 meters Centerline goodness [0,1] 0.688172875842305 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93009349 -0.0245516 -0.36650146 3.96036 ] [ 0.04458636 0.99793209 0.04629898 0.43992162] [ 0.36460685 -0.05940335 0.92926481 0.43177839] [ 0. 0. 0. 1. ]] SLAMing on 104.45650248099999 meters Centerline goodness [0,1] 0.6889966969446738 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.93001216 -0.02432443 -0.36672293 3.96136988] [ 0.0443928 0.99793658 0.04638818 0.44011526] [ 0.36483786 -0.05942143 0.92917298 0.43157558] [ 0. 0. 0. 1. ]] SLAMing on 104.48650248099999 meters Centerline goodness [0,1] 0.6871209970840968 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92983093 -0.02397134 -0.3672054 3.96222674] [ 0.0440632 0.99794927 0.04642946 0.44090993] [ 0.36533939 -0.0593518 0.92898035 0.43198115] [ 0. 0. 0. 1. ]] SLAMing on 104.51650248099999 meters Centerline goodness [0,1] 0.6882307494205511 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92980595 -0.02393386 -0.36727111 3.96229123] [ 0.04399273 0.99795648 0.0463411 0.44140308] [ 0.36541147 -0.05924549 0.92895879 0.43212765] [ 0. 0. 0. 1. ]] SLAMing on 104.54650248099999 meters Centerline goodness [0,1] 0.6903572899505765 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92992163 -0.02435077 -0.36695067 3.96175504] [ 0.04425366 0.9979643 0.04592236 0.44139187] [ 0.36508543 -0.0589431 0.92910621 0.43202057] [ 0. 0. 0. 1. ]] SLAMing on 104.57650248099999 meters Centerline goodness [0,1] 0.6913280462917517 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92999112 -0.02460966 -0.36675725 3.9612962 ] [ 0.04446513 0.99796113 0.04578693 0.44067979] [ 0.36488268 -0.05888935 0.92918926 0.43199718] [ 0. 0. 0. 1. ]] SLAMing on 104.60650248099999 meters Centerline goodness [0,1] 0.6873553761505631 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92991716 -0.0244582 -0.36695486 3.96185253] [ 0.0443957 0.99795489 0.04598971 0.43966763] [ 0.36507957 -0.05905784 0.92910122 0.43207864] [ 0. 0. 0. 1. ]] SLAMing on 104.636502481 meters Centerline goodness [0,1] 0.685922906238712 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92977259 -0.02399471 -0.36735159 3.96307037] [ 0.04407813 0.99795099 0.04637817 0.43941732] [ 0.36548606 -0.05931332 0.92892512 0.43202234] [ 0. 0. 0. 1. ]] SLAMing on 104.666502481 meters Centerline goodness [0,1] 0.6889962038065233 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92971692 -0.02403833 -0.36748959 3.96278726] [ 0.0441104 0.9979524 0.04631717 0.4396685 ] [ 0.36562373 -0.05927196 0.92887358 0.43243567] [ 0. 0. 0. 1. ]] SLAMing on 104.696502481 meters Centerline goodness [0,1] 0.6906141367323291 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92969902 -0.02417515 -0.36752591 3.9617064 ] [ 0.04415868 0.99796215 0.04606041 0.44029142] [ 0.36566343 -0.05905177 0.92887197 0.433319 ] [ 0. 0. 0. 1. ]] SLAMing on 104.726502481 meters Centerline goodness [0,1] 0.6937653285142635 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.9297845 -0.02454708 -0.36728493 3.96151005] [ 0.04445616 0.99795892 0.04584362 0.43977288] [ 0.36540995 -0.05895277 0.92897801 0.43305535] [ 0. 0. 0. 1. ]] SLAMing on 104.75650248099998 meters Centerline goodness [0,1] 0.6938581625840907 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92985052 -0.02472213 -0.36710603 3.96197699] [ 0.04465041 0.99794808 0.04589085 0.43849676] [ 0.36521824 -0.05906307 0.92904639 0.43247738] [ 0. 0. 0. 1. ]] SLAMing on 104.78650248099999 meters Centerline goodness [0,1] 0.6907484006885389 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92985082 -0.02485723 -0.36709613 3.96250708] [ 0.0448796 0.99792785 0.04610676 0.43714075] [ 0.36518936 -0.05934753 0.92903961 0.43202203] [ 0. 0. 0. 1. ]] SLAMing on 104.81650248099999 meters Centerline goodness [0,1] 0.6883103519242643 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92983219 -0.02479091 -0.36714781 3.96263115] [ 0.04487992 0.99791983 0.0462796 0.43679852] [ 0.36523677 -0.05950983 0.92901059 0.43199868] [ 0. 0. 0. 1. ]] SLAMing on 104.84650248099999 meters Centerline goodness [0,1] 0.692183454251801 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92995341 -0.02510401 -0.36681936 3.9618855 ] [ 0.04523473 0.99789892 0.04638504 0.43527778] [ 0.36488419 -0.0597289 0.92913507 0.43188495] [ 0. 0. 0. 1. ]] SLAMing on 104.87650248099999 meters Centerline goodness [0,1] 0.6952946901974847 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93004788 -0.02545332 -0.36655568 3.96120033] [ 0.04561307 0.99787912 0.04644043 0.4334929 ] [ 0.3645962 -0.05991155 0.92923636 0.43184427] [ 0. 0. 0. 1. ]] SLAMing on 104.90650248099999 meters Centerline goodness [0,1] 0.6912563429125125 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93004965 -0.02541622 -0.36655377 3.96081477] [ 0.04564753 0.9978687 0.04663003 0.4326715 ] [ 0.36458737 -0.06010051 0.92922762 0.43212 ] [ 0. 0. 0. 1. ]] SLAMing on 104.93650248099999 meters Centerline goodness [0,1] 0.6911379529561348 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.93004994 -0.0254253 -0.36655239 3.96032529] [ 0.04564786 0.99786979 0.04660629 0.43276178] [ 0.36458658 -0.06007851 0.92922936 0.43247874] [ 0. 0. 0. 1. ]] SLAMing on 104.96650248099999 meters Centerline goodness [0,1] 0.6959150868777588 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92996839 -0.0253902 -0.36676168 3.95992225] [ 0.04548599 0.99789362 0.04625298 0.4337947 ] [ 0.36481477 -0.05969633 0.92916443 0.43335772] [ 0. 0. 0. 1. ]] SLAMing on 104.996502481 meters Centerline goodness [0,1] 0.6978908979623065 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92998 -0.02528629 -0.36673941 3.96020749] [ 0.04532343 0.99790686 0.04612682 0.43439501] [ 0.3648054 -0.05951891 0.92917949 0.43326696] [ 0. 0. 0. 1. ]] SLAMing on 105.026502481 meters Centerline goodness [0,1] 0.698348363562671 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92984089 -0.02491648 -0.36711726 3.96096209] [ 0.0448355 0.99794262 0.04582913 0.43544663] [ 0.36522006 -0.05907369 0.929045 0.43390626] [ 0. 0. 0. 1. ]] SLAMing on 105.056502481 meters Centerline goodness [0,1] 0.6988193985038929 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92983906 -0.02504837 -0.36711294 3.9604989 ] [ 0.04486711 0.99795397 0.04555019 0.43598336] [ 0.36522086 -0.05882564 0.92906042 0.43431306] [ 0. 0. 0. 1. ]] SLAMing on 105.086502481 meters Centerline goodness [0,1] 0.6975278720310227 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.92972844 -0.02491075 -0.36740234 3.96085257] [ 0.04473407 0.99796052 0.04553752 0.43619321] [ 0.36551866 -0.05877293 0.92894664 0.43470566] [ 0. 0. 0. 1. ]] SLAMing on 105.11650248099998 meters Centerline goodness [0,1] 0.6977922640116117 Centerline is valid? [False, False] Translation: X:3.96, Y:0.44, Z:0.43 [[ 0.9295742 -0.02430985 -0.36783263 3.96207797] [ 0.04428635 0.99796092 0.04596429 0.4360159 ] [ 0.36596521 -0.05901719 0.92875532 0.43478525] [ 0. 0. 0. 1. ]] SLAMing on 105.14650248099998 meters Centerline goodness [0,1] 0.6981443823080834 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92953677 -0.02401616 -0.36794647 3.9626323 ] [ 0.04413651 0.99794905 0.04636438 0.43425701] [ 0.36607834 -0.05933727 0.92869033 0.43474009] [ 0. 0. 0. 1. ]] SLAMing on 105.17650248099999 meters Centerline goodness [0,1] 0.6983621589953897 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92952754 -0.02401021 -0.36797018 3.96286052] [ 0.04419347 0.99793925 0.04652093 0.43333178] [ 0.36609491 -0.05950437 0.92867311 0.43462155] [ 0. 0. 0. 1. ]] SLAMing on 105.20650248099999 meters Centerline goodness [0,1] 0.7011304458275118 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.44 [[ 0.92948911 -0.02383256 -0.36807879 3.962526 ] [ 0.04413482 0.99792706 0.04683692 0.43226609] [ 0.36619954 -0.0597795 0.92861419 0.43507822] [ 0. 0. 0. 1. ]] SLAMing on 105.23650248099999 meters Centerline goodness [0,1] 0.7017321074820948 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.44 [[ 0.92951097 -0.02404421 -0.36800982 3.9620271 ] [ 0.04434064 0.99791992 0.04679472 0.43164713] [ 0.36611918 -0.05981399 0.92864365 0.43525333] [ 0. 0. 0. 1. ]] SLAMing on 105.26650248099999 meters Centerline goodness [0,1] 0.7030047496888573 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92967526 -0.02629022 -0.36744079 3.9614668 ] [ 0.04607772 0.99791552 0.04518252 0.42914266] [ 0.36548701 -0.05893591 0.92894876 0.43493921] [ 0. 0. 0. 1. ]] SLAMing on 105.29650248099999 meters Centerline goodness [0,1] 0.7037684685369624 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.44 [[ 0.92973322 -0.02659786 -0.36727197 3.96079942] [ 0.04649449 0.99788487 0.04543191 0.42659622] [ 0.36528675 -0.05931568 0.92900336 0.43502477] [ 0. 0. 0. 1. ]] SLAMing on 105.32650248099999 meters Centerline goodness [0,1] 0.7018671408611711 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.44 [[ 0.92969948 -0.02667698 -0.36735164 3.96080386] [ 0.04662513 0.9978741 0.04553428 0.42576624] [ 0.36535597 -0.05946101 0.92896685 0.43515733] [ 0. 0. 0. 1. ]] SLAMing on 105.35650248099999 meters Centerline goodness [0,1] 0.7014860917058301 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.43 [[ 0.92963568 -0.02654275 -0.36752276 3.96160121] [ 0.04664881 0.99785483 0.04593072 0.42509982] [ 0.36551523 -0.05984334 0.92887964 0.43480827] [ 0. 0. 0. 1. ]] SLAMing on 105.386502481 meters Centerline goodness [0,1] 0.7019201462968607 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92968341 -0.02688433 -0.36737718 3.96082318] [ 0.04692619 0.99785107 0.0457294 0.42466469] [ 0.36535831 -0.05975348 0.92894716 0.43508082] [ 0. 0. 0. 1. ]] SLAMing on 105.416502481 meters Centerline goodness [0,1] 0.7068672898143222 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92988395 -0.02785254 -0.36679705 3.95866079] [ 0.04766492 0.99784621 0.04506659 0.42358618] [ 0.36475182 -0.05939005 0.92920876 0.4355591 ] [ 0. 0. 0. 1. ]] SLAMing on 105.446502481 meters Centerline goodness [0,1] 0.7005284049250373 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92982337 -0.02779601 -0.36695489 3.95892327] [ 0.04760555 0.99785014 0.04504232 0.42375396] [ 0.36491399 -0.05935049 0.92914762 0.43570646] [ 0. 0. 0. 1. ]] SLAMing on 105.476502481 meters Centerline goodness [0,1] 0.7052975933862501 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92980945 -0.02763902 -0.367002 3.95871637] [ 0.04741212 0.99786258 0.04497058 0.42432113] [ 0.36497462 -0.05921441 0.92913249 0.43605826] [ 0. 0. 0. 1. ]] SLAMing on 105.50650248099998 meters Centerline goodness [0,1] 0.7086502383125444 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.9298088 -0.02773685 -0.36699627 3.95813879] [ 0.04745029 0.99786838 0.04480148 0.42460378] [ 0.36497132 -0.05907089 0.92914292 0.43648002] [ 0. 0. 0. 1. ]] SLAMing on 105.53650248099999 meters Centerline goodness [0,1] 0.7043891585760518 Centerline is valid? [False, False] Translation: X:3.96, Y:0.43, Z:0.44 [[ 0.9296142 -0.02719508 -0.3675294 3.95919746] [ 0.04698982 0.99788048 0.04501671 0.42512425] [ 0.36552618 -0.05911832 0.92892176 0.43689843] [ 0. 0. 0. 1. ]] SLAMing on 105.56650248099999 meters Centerline goodness [0,1] 0.704250920276335 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92953209 -0.02692479 -0.36775693 3.95991214] [ 0.04682131 0.99787621 0.04528618 0.42383449] [ 0.36575657 -0.05931382 0.92881861 0.43699536] [ 0. 0. 0. 1. ]] SLAMing on 105.59650248099999 meters Centerline goodness [0,1] 0.7039583018582867 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92956768 -0.02696738 -0.36766383 3.9597031 ] [ 0.04687767 0.9978716 0.0453294 0.42332945] [ 0.36565888 -0.05937197 0.92885336 0.43696599] [ 0. 0. 0. 1. ]] SLAMing on 105.62650248099999 meters Centerline goodness [0,1] 0.7081668049166729 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92951297 -0.02674705 -0.36781821 3.95941845] [ 0.04673987 0.99786787 0.04555319 0.42307988] [ 0.36581556 -0.05953406 0.92878128 0.43745465] [ 0. 0. 0. 1. ]] SLAMing on 105.65650248099999 meters Centerline goodness [0,1] 0.7104455071734206 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92948181 -0.02683776 -0.36789033 3.95917561] [ 0.04681788 0.99786703 0.04549141 0.42292207] [ 0.36588475 -0.05950729 0.92875575 0.43778 ] [ 0. 0. 0. 1. ]] SLAMing on 105.68650248099999 meters Centerline goodness [0,1] 0.7112502514584591 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92957079 -0.02709832 -0.36764633 3.95828171] [ 0.04708786 0.99785351 0.04550934 0.42119082] [ 0.36562396 -0.05961584 0.92885148 0.4380282 ] [ 0. 0. 0. 1. ]] SLAMing on 105.71650248099999 meters Centerline goodness [0,1] 0.7091259511413697 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92958608 -0.02717672 -0.36760187 3.95782566] [ 0.04721714 0.99784181 0.04563176 0.41985336] [ 0.3655684 -0.05977576 0.92886307 0.43827854] [ 0. 0. 0. 1. ]] SLAMing on 105.746502481 meters Centerline goodness [0,1] 0.710688836104513 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.9292699 -0.03170543 -0.36803833 3.9590662 ] [ 0.0507353 0.99782256 0.04214342 0.41952985] [ 0.36590077 -0.05783515 0.92885506 0.43851114] [ 0. 0. 0. 1. ]] SLAMing on 105.776502481 meters Centerline goodness [0,1] 0.711748565727114 Centerline is valid? [False, False] Translation: X:3.96, Y:0.42, Z:0.44 [[ 0.92931741 -0.03151147 -0.36793502 3.95981059] [ 0.05075318 0.99779648 0.04273521 0.41754104] [ 0.36577762 -0.05838844 0.92886895 0.43778703] [ 0. 0. 0. 1. ]] SLAMing on 105.806502481 meters Centerline goodness [0,1] 0.7076773856599269 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92924519 -0.03193874 -0.36808054 3.96035635] [ 0.05139705 0.99774437 0.04318014 0.41486588] [ 0.36587117 -0.0590432 0.92879071 0.43741233] [ 0. 0. 0. 1. ]] SLAMing on 105.836502481 meters Centerline goodness [0,1] 0.7038245107315373 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92933336 -0.03201485 -0.36785127 3.960314 ] [ 0.05159294 0.99771993 0.04350993 0.4134224 ] [ 0.36561957 -0.05941376 0.92886615 0.4369542 ] [ 0. 0. 0. 1. ]] SLAMing on 105.86650248099998 meters Centerline goodness [0,1] 0.711978933770557 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92921739 -0.03741364 -0.36763469 3.95952425] [ 0.05577537 0.99766389 0.03944459 0.41293384] [ 0.36530009 -0.05715756 0.92913339 0.43735161] [ 0. 0. 0. 1. ]] SLAMing on 105.89650248099998 meters Centerline goodness [0,1] 0.709114287127244 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92941359 -0.03786915 -0.36709168 3.95846669] [ 0.05624839 0.99763532 0.03949536 0.41127238] [ 0.36472797 -0.05735584 0.92934591 0.43698878] [ 0. 0. 0. 1. ]] SLAMing on 105.92650248099999 meters Centerline goodness [0,1] 0.7096606776561303 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92961057 -0.03887764 -0.366487 3.9555858 ] [ 0.05721103 0.9975886 0.03929223 0.40941806] [ 0.36407567 -0.05749357 0.92959314 0.43755356] [ 0. 0. 0. 1. ]] SLAMing on 105.95650248099999 meters Centerline goodness [0,1] 0.706172595845463 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.92956685 -0.03898437 -0.36658654 3.95474715] [ 0.05747366 0.99755922 0.03965338 0.40877351] [ 0.36414592 -0.05792953 0.92953855 0.43802413] [ 0. 0. 0. 1. ]] SLAMing on 105.98650248099999 meters Centerline goodness [0,1] 0.7027520671356288 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92953326 -0.03894272 -0.36667613 3.95504492] [ 0.05751999 0.9975479 0.03987036 0.40784775] [ 0.36422434 -0.05815203 0.92949393 0.43799188] [ 0. 0. 0. 1. ]] SLAMing on 106.01650248099999 meters Centerline goodness [0,1] 0.7027520671356288 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92953326 -0.03894272 -0.36667613 3.95504492] [ 0.05751999 0.9975479 0.03987036 0.40784775] [ 0.36422434 -0.05815203 0.92949393 0.43799188] [ 0. 0. 0. 1. ]] SLAMing on 106.04650248099999 meters Centerline goodness [0,1] 0.6995834052308527 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.9293144 -0.04364621 -0.36670118 3.95620297] [ 0.0611808 0.99746547 0.0363255 0.40662096] [ 0.36418629 -0.05619288 0.92962934 0.43771682] [ 0. 0. 0. 1. ]] SLAMing on 106.07650248099999 meters Centerline goodness [0,1] 0.6993711309816253 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92956427 -0.04549214 -0.3658425 3.95510459] [ 0.06261454 0.9974215 0.03506808 0.4031032 ] [ 0.36330385 -0.05550509 0.93001586 0.43731822] [ 0. 0. 0. 1. ]] SLAMing on 106.10650248099999 meters Centerline goodness [0,1] 0.7004021776448085 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93001445 -0.04249125 -0.36505837 3.95279064] [ 0.06030382 0.9974744 0.03752685 0.40110369] [ 0.36254181 -0.05691493 0.930228 0.43731418] [ 0. 0. 0. 1. ]] SLAMing on 106.136502481 meters Centerline goodness [0,1] 0.7078607551431237 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93023056 -0.03708945 -0.36509653 3.95179108] [ 0.05614644 0.99755066 0.04171645 0.40077156] [ 0.36265504 -0.05930478 0.93003455 0.4377709 ] [ 0. 0. 0. 1. ]] SLAMing on 106.166502481 meters Centerline goodness [0,1] 0.7081263220030498 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93013593 -0.03649639 -0.36539728 3.95279742] [ 0.05563562 0.99756803 0.04198459 0.40112238] [ 0.36297636 -0.05938048 0.92990436 0.43775985] [ 0. 0. 0. 1. ]] SLAMing on 106.196502481 meters Centerline goodness [0,1] 0.7169179229480738 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93003393 -0.03477554 -0.36582448 3.95528191] [ 0.05419491 0.9976064 0.04294629 0.40074382] [ 0.36345536 -0.05976733 0.92969246 0.43723524] [ 0. 0. 0. 1. ]] SLAMing on 106.226502481 meters Centerline goodness [0,1] 0.7141624978437122 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92998746 -0.03439245 -0.36597881 3.95613677] [ 0.05383857 0.99762085 0.0430587 0.4007779 ] [ 0.3636272 -0.05974783 0.92962652 0.43708215] [ 0. 0. 0. 1. ]] SLAMing on 106.25650248099998 meters Centerline goodness [0,1] 0.7189040692683166 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92998828 -0.03331245 -0.36607661 3.95751406] [ 0.05284708 0.99765609 0.04346849 0.40093591] [ 0.36377051 -0.05977126 0.92956894 0.43671085] [ 0. 0. 0. 1. ]] SLAMing on 106.28650248099999 meters Centerline goodness [0,1] 0.7213751721424355 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92991774 -0.03277171 -0.36630452 3.95840694] [ 0.05240095 0.99766642 0.04377051 0.40103475] [ 0.36401529 -0.05989768 0.92946497 0.43660592] [ 0. 0. 0. 1. ]] SLAMing on 106.31650248099999 meters Centerline goodness [0,1] 0.7221017884416416 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93011705 -0.02748182 -0.36623357 3.95850183] [ 0.04840968 0.99766964 0.04808105 0.39939015] [ 0.36405876 -0.06245025 0.92927993 0.43622209] [ 0. 0. 0. 1. ]] SLAMing on 106.34650248099999 meters Centerline goodness [0,1] 0.7237511734769504 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93003764 -0.0270998 -0.36646362 3.95905293] [ 0.04805599 0.99768188 0.04818186 0.40024069] [ 0.3643084 -0.06242171 0.92918401 0.43633427] [ 0. 0. 0. 1. ]] SLAMing on 106.37650248099999 meters Centerline goodness [0,1] 0.7216393037896556 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93004573 -0.02709047 -0.36644378 3.95957215] [ 0.04804957 0.99768157 0.04819467 0.3998215 ] [ 0.36428859 -0.06243071 0.92919117 0.43603033] [ 0. 0. 0. 1. ]] SLAMing on 106.40650248099999 meters Centerline goodness [0,1] 0.7208021535649898 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93007935 -0.02754279 -0.36632471 3.95983167] [ 0.04833546 0.99769115 0.047708 0.39972517] [ 0.36416491 -0.0620787 0.92926323 0.43576409] [ 0. 0. 0. 1. ]] SLAMing on 106.43650248099999 meters Centerline goodness [0,1] 0.7217481635378793 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93007933 -0.02759687 -0.3663207 3.96021356] [ 0.04834977 0.99769575 0.04759722 0.40007191] [ 0.36416307 -0.06198071 0.92927049 0.43553444] [ 0. 0. 0. 1. ]] SLAMing on 106.46650248099999 meters Centerline goodness [0,1] 0.7226400158321789 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93002051 -0.02749498 -0.36647766 3.96009132] [ 0.04823544 0.99770326 0.04755574 0.40118446] [ 0.36432841 -0.06190503 0.92921073 0.43585348] [ 0. 0. 0. 1. ]] SLAMing on 106.496502481 meters Centerline goodness [0,1] 0.7229118243410316 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.930048 -0.02780583 -0.36638444 3.95939549] [ 0.04842722 0.99771033 0.04721126 0.4018866 ] [ 0.36423279 -0.06165172 0.92926505 0.43615006] [ 0. 0. 0. 1. ]] SLAMing on 106.526502481 meters Centerline goodness [0,1] 0.7246007811341276 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93004702 -0.02825245 -0.36635276 3.95861317] [ 0.04879532 0.99770549 0.04693377 0.40154864] [ 0.36418616 -0.06152691 0.9292916 0.43662518] [ 0. 0. 0. 1. ]] SLAMing on 106.556502481 meters Centerline goodness [0,1] 0.7249220567130202 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93007735 -0.02844535 -0.36626081 3.9585035 ] [ 0.04897529 0.99769912 0.04688163 0.40102367] [ 0.36408452 -0.06154127 0.92933047 0.4365436 ] [ 0. 0. 0. 1. ]] SLAMing on 106.586502481 meters Centerline goodness [0,1] 0.7252923868160126 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93024309 -0.02915949 -0.36578342 3.95696297] [ 0.04957581 0.9976852 0.04654549 0.40011324] [ 0.36357946 -0.06143263 0.92953537 0.43667256] [ 0. 0. 0. 1. ]] SLAMing on 106.61650248099998 meters Centerline goodness [0,1] 0.7244407172631526 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93024488 -0.02938136 -0.36576112 3.95615781] [ 0.04975549 0.99768301 0.0464005 0.40036978] [ 0.36355035 -0.06136245 0.92955139 0.4371392 ] [ 0. 0. 0. 1. ]] SLAMing on 106.64650248099998 meters Centerline goodness [0,1] 0.7254310238207139 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93018089 -0.02954667 -0.36591051 3.95599496] [ 0.04989366 0.99768201 0.04627348 0.40095508] [ 0.36369511 -0.06129932 0.92949893 0.43746519] [ 0. 0. 0. 1. ]] SLAMing on 106.67650248099999 meters Centerline goodness [0,1] 0.7250611881628717 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93027244 -0.03015012 -0.36562845 3.95584042] [ 0.05045178 0.99766212 0.0460967 0.39995963] [ 0.36338384 -0.0613291 0.9296187 0.43701572] [ 0. 0. 0. 1. ]] SLAMing on 106.70650248099999 meters Centerline goodness [0,1] 0.7258509433032856 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93044238 -0.03124572 -0.36510367 3.95383964] [ 0.05136625 0.99764172 0.04552489 0.39871984] [ 0.3628202 -0.06111229 0.9298531 0.43735638] [ 0. 0. 0. 1. ]] SLAMing on 106.73650248099999 meters Centerline goodness [0,1] 0.7261740671458108 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93044035 -0.0313673 -0.36509842 3.95378078] [ 0.05151405 0.99763201 0.04557052 0.39843374] [ 0.36280444 -0.06120835 0.92985293 0.43735175] [ 0. 0. 0. 1. ]] SLAMing on 106.76650248099999 meters Centerline goodness [0,1] 0.7237372248427674 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93042196 -0.03154868 -0.36512964 3.95458753] [ 0.05185452 0.99759747 0.04593902 0.39695292] [ 0.36280309 -0.06167629 0.92982254 0.43669197] [ 0. 0. 0. 1. ]] SLAMing on 106.79650248099999 meters Centerline goodness [0,1] 0.7248766840904071 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93044077 -0.0314352 -0.3650915 3.95522435] [ 0.05188543 0.99757746 0.04633706 0.39557929] [ 0.36275044 -0.06205682 0.92981776 0.43618929] [ 0. 0. 0. 1. ]] SLAMing on 106.82650248099999 meters Centerline goodness [0,1] 0.7209228204373835 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93043953 -0.03133431 -0.36510332 3.95596614] [ 0.05196828 0.99755038 0.04682452 0.39450367] [ 0.36274174 -0.06254118 0.9297887 0.43556916] [ 0. 0. 0. 1. ]] SLAMing on 106.85650248099999 meters Centerline goodness [0,1] 0.7209817037182766 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93055189 -0.03151797 -0.36480104 3.95529786] [ 0.05211381 0.99754635 0.04674869 0.39446394] [ 0.36243252 -0.06251326 0.92991116 0.43547046] [ 0. 0. 0. 1. ]] SLAMing on 106.886502481 meters Centerline goodness [0,1] 0.7216168458253571 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93058875 -0.0318633 -0.36467699 3.95453625] [ 0.05234176 0.99755038 0.04640658 0.3949634 ] [ 0.36230501 -0.06227327 0.92997695 0.43576443] [ 0. 0. 0. 1. ]] SLAMing on 106.916502481 meters Centerline goodness [0,1] 0.7258231466876972 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93057742 -0.03197134 -0.36469646 3.95437771] [ 0.05237075 0.99755937 0.04618013 0.39585523] [ 0.36232993 -0.06207361 0.92998059 0.43590938] [ 0. 0. 0. 1. ]] SLAMing on 106.946502481 meters Centerline goodness [0,1] 0.7251454778577768 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93047575 -0.03159382 -0.36498865 3.95572332] [ 0.05194316 0.99758692 0.0460679 0.39782301] [ 0.36265244 -0.06182373 0.92987151 0.43564818] [ 0. 0. 0. 1. ]] SLAMing on 106.976502481 meters Centerline goodness [0,1] 0.7261825284968968 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.9305137 -0.03177768 -0.36487592 3.95549909] [ 0.05197407 0.99760396 0.04566222 0.39935408] [ 0.36255062 -0.06145341 0.92993576 0.43560891] [ 0. 0. 0. 1. ]] SLAMing on 107.00650248099998 meters Centerline goodness [0,1] 0.7257632831086439 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.9307399 -0.02756958 -0.36464114 3.9546108 ] [ 0.04865144 0.99762522 0.04875401 0.40060365] [ 0.36243107 -0.06311762 0.9298709 0.43552493] [ 0. 0. 0. 1. ]] SLAMing on 107.03650248099999 meters Centerline goodness [0,1] 0.7281261641624239 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93073224 -0.0277104 -0.36465001 3.95528606] [ 0.04868207 0.99763884 0.04844373 0.4018008 ] [ 0.36244662 -0.06284006 0.92988364 0.43513695] [ 0. 0. 0. 1. ]] SLAMing on 107.06650248099999 meters Centerline goodness [0,1] 0.7260287605115192 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93077534 -0.02790009 -0.36452551 3.95636542] [ 0.04871361 0.9976575 0.04802598 0.40277454] [ 0.36233168 -0.06245876 0.92995412 0.4342796 ] [ 0. 0. 0. 1. ]] SLAMing on 107.09650248099999 meters Centerline goodness [0,1] 0.725938294372726 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93094653 -0.02340526 -0.36440464 3.95585567] [ 0.04525811 0.9976447 0.05154365 0.40331872] [ 0.36233997 -0.06447665 0.92981316 0.43410216] [ 0. 0. 0. 1. ]] SLAMing on 107.12650248099999 meters Centerline goodness [0,1] 0.7258032328876471 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.43 [[ 0.93077365 -0.0233059 -0.36485237 3.95644477] [ 0.0451154 0.99766035 0.05136558 0.40476134] [ 0.36280163 -0.06427019 0.92964742 0.4345439 ] [ 0. 0. 0. 1. ]] SLAMing on 107.15650248099999 meters Centerline goodness [0,1] 0.7235122097528056 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.93069034 -0.02338436 -0.3650598 3.9568562 ] [ 0.04509207 0.99767755 0.05105109 0.40595205] [ 0.36301817 -0.06397406 0.92958331 0.43470002] [ 0. 0. 0. 1. ]] SLAMing on 107.18650248099999 meters Centerline goodness [0,1] 0.722889155662265 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.43 [[ 0.93068533 -0.0236365 -0.36505634 3.95640133] [ 0.04525521 0.99768413 0.05077739 0.40632494] [ 0.36301072 -0.06377847 0.92959966 0.43499284] [ 0. 0. 0. 1. ]] SLAMing on 107.21650248099999 meters Centerline goodness [0,1] 0.7234874912787801 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.93065188 -0.02404777 -0.36511475 3.95558868] [ 0.04545972 0.99770601 0.05016113 0.40756985] [ 0.36307091 -0.06328056 0.92961018 0.43573511] [ 0. 0. 0. 1. ]] SLAMing on 107.246502481 meters Centerline goodness [0,1] 0.7258229044858557 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93069723 -0.02433509 -0.36498009 3.95495235] [ 0.04565072 0.99771105 0.04988659 0.40801423] [ 0.36293068 -0.06309092 0.92967783 0.43591703] [ 0. 0. 0. 1. ]] SLAMing on 107.276502481 meters Centerline goodness [0,1] 0.7246380423135388 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93066996 -0.02467945 -0.36502651 3.95469415] [ 0.04589158 0.99771681 0.04954932 0.40846611] [ 0.36297024 -0.06286571 0.92967764 0.43618624] [ 0. 0. 0. 1. ]] SLAMing on 107.306502481 meters Centerline goodness [0,1] 0.7254196047273811 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.93070313 -0.02461121 -0.36494653 3.95558082] [ 0.04589094 0.99770685 0.04974995 0.40708587] [ 0.36288525 -0.06305017 0.92969832 0.43557737] [ 0. 0. 0. 1. ]] SLAMing on 107.336502481 meters Centerline goodness [0,1] 0.7246384002778674 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.93078767 -0.02503031 -0.36470233 3.95526632] [ 0.04629193 0.99769222 0.04967177 0.40510384] [ 0.36261738 -0.06311664 0.92979832 0.43540584] [ 0. 0. 0. 1. ]] SLAMing on 107.36650248099998 meters Centerline goodness [0,1] 0.7243732383919299 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93064157 -0.02435874 -0.36512042 3.95462383] [ 0.04579801 0.99768996 0.05017266 0.40559251] [ 0.36305484 -0.06341455 0.92960733 0.43654788] [ 0. 0. 0. 1. ]] SLAMing on 107.39650248099998 meters Centerline goodness [0,1] 0.7257469614080254 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93063788 -0.02450764 -0.36511987 3.95422853] [ 0.04591104 0.99769075 0.05005344 0.40554798] [ 0.36305002 -0.06334466 0.92961397 0.43683877] [ 0. 0. 0. 1. ]] SLAMing on 107.42650248099999 meters Centerline goodness [0,1] 0.7251188354129531 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93058452 -0.02451253 -0.36525552 3.95417609] [ 0.04589186 0.99769604 0.04996557 0.40543286] [ 0.3631892 -0.06325944 0.92956541 0.43720076] [ 0. 0. 0. 1. ]] SLAMing on 107.45650248099999 meters Centerline goodness [0,1] 0.7233410856549063 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93058172 -0.02464277 -0.36525389 3.9542571 ] [ 0.04597022 0.99770025 0.04980905 0.40558224] [ 0.36318646 -0.06314219 0.92957445 0.43718232] [ 0. 0. 0. 1. ]] SLAMing on 107.48650248099999 meters Centerline goodness [0,1] 0.7251319931586644 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93055008 -0.02460493 -0.36533704 3.95483221] [ 0.04596857 0.99769613 0.04989314 0.40499515] [ 0.36326773 -0.06322209 0.92953726 0.43698593] [ 0. 0. 0. 1. ]] SLAMing on 107.51650248099999 meters Centerline goodness [0,1] 0.7218520078281765 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93053327 -0.02446058 -0.36538953 3.95616506] [ 0.04590884 0.99768718 0.0501265 0.40393766] [ 0.36331833 -0.06341898 0.92950407 0.43625688] [ 0. 0. 0. 1. ]] SLAMing on 107.54650248099999 meters Centerline goodness [0,1] 0.7210332285919292 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93046221 -0.02412392 -0.36559283 3.95642578] [ 0.04558711 0.9976988 0.05018884 0.40489025] [ 0.36354077 -0.06336514 0.92942077 0.43655718] [ 0. 0. 0. 1. ]] SLAMing on 107.57650248099999 meters Centerline goodness [0,1] 0.724283096429102 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.93044817 -0.02436153 -0.3656128 3.95608523] [ 0.04572193 0.9977082 0.04987842 0.40513708] [ 0.36355977 -0.06312581 0.92942962 0.43689899] [ 0. 0. 0. 1. ]] SLAMing on 107.60650248099999 meters Centerline goodness [0,1] 0.7211751936454684 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93051293 -0.02448557 -0.36543966 3.95664767] [ 0.04577714 0.99771399 0.0497117 0.40451632] [ 0.36338705 -0.06298617 0.92950664 0.43635741] [ 0. 0. 0. 1. ]] SLAMing on 107.636502481 meters Centerline goodness [0,1] 0.7216316866845882 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93047833 -0.02464619 -0.36551696 3.9564454 ] [ 0.04587702 0.99771931 0.04951232 0.40463105] [ 0.36346304 -0.06283897 0.92948689 0.43664698] [ 0. 0. 0. 1. ]] SLAMing on 107.666502481 meters Centerline goodness [0,1] 0.7245398319493384 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93052635 -0.02472413 -0.36538941 3.95495589] [ 0.04586481 0.99773084 0.04929094 0.40508823] [ 0.36334161 -0.06262503 0.92954881 0.43748999] [ 0. 0. 0. 1. ]] SLAMing on 107.696502481 meters Centerline goodness [0,1] 0.7237762237762237 Centerline is valid? [False, False] Translation: X:3.95, Y:0.41, Z:0.44 [[ 0.93051718 -0.02491563 -0.36539976 3.95434397] [ 0.04601037 0.99773177 0.04913612 0.40516121] [ 0.36334669 -0.06253419 0.92955293 0.43791323] [ 0. 0. 0. 1. ]] SLAMing on 107.726502481 meters Centerline goodness [0,1] 0.7241480899538446 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93022995 -0.0290521 -0.36582539 3.95567867] [ 0.04917291 0.99773953 0.04580242 0.40454785] [ 0.36366779 -0.06059548 0.92955577 0.43821463] [ 0. 0. 0. 1. ]] SLAMing on 107.75650248099998 meters Centerline goodness [0,1] 0.7231460454667547 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.93029865 -0.02918243 -0.36564028 3.95546147] [ 0.04940252 0.99771608 0.04606529 0.40251849] [ 0.36346089 -0.06091803 0.92961561 0.43802438] [ 0. 0. 0. 1. ]] SLAMing on 107.78650248099999 meters Centerline goodness [0,1] 0.7238221177392496 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93042561 -0.03120087 -0.36515023 3.95354369] [ 0.05110564 0.99768018 0.04497194 0.39916774] [ 0.36289998 -0.06050428 0.92986173 0.43842394] [ 0. 0. 0. 1. ]] SLAMing on 107.81650248099999 meters Centerline goodness [0,1] 0.7244136590108154 Centerline is valid? [False, False] Translation: X:3.95, Y:0.40, Z:0.44 [[ 0.93042635 -0.03130202 -0.36513969 3.95425191] [ 0.05138177 0.99764645 0.04540345 0.39683084] [ 0.36285909 -0.06100608 0.9298449 0.43788742] [ 0. 0. 0. 1. ]] SLAMing on 107.84650248099999 meters Centerline goodness [0,1] 0.7266673124424856 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93032599 -0.03622147 -0.36494048 3.95401837] [ 0.05540879 0.99756991 0.04223918 0.39361201] [ 0.36252368 -0.05951711 0.9300722 0.43787358] [ 0. 0. 0. 1. ]] SLAMing on 107.87650248099999 meters Centerline goodness [0,1] 0.7261089681774349 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.9304695 -0.03667424 -0.36452917 3.95271661] [ 0.05588712 0.99754092 0.0422935 0.39195512] [ 0.36208168 -0.0597253 0.93023102 0.43794754] [ 0. 0. 0. 1. ]] SLAMing on 107.90650248099999 meters Centerline goodness [0,1] 0.7251891839784066 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93054042 -0.03870335 -0.36413814 3.95147327] [ 0.05756149 0.99749664 0.04107459 0.38880877] [ 0.36163684 -0.0591819 0.93043877 0.43822187] [ 0. 0. 0. 1. ]] SLAMing on 107.93650248099999 meters Centerline goodness [0,1] 0.7251891839784066 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93054042 -0.03870335 -0.36413814 3.95147327] [ 0.05756149 0.99749664 0.04107459 0.38880877] [ 0.36163684 -0.0591819 0.93043877 0.43822187] [ 0. 0. 0. 1. ]] SLAMing on 107.96650248099999 meters Centerline goodness [0,1] 0.7236148389570551 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93058653 -0.03871664 -0.36401886 3.95143311] [ 0.0576846 0.99747708 0.04137575 0.38683581] [ 0.36149854 -0.059502 0.93047209 0.43807425] [ 0. 0. 0. 1. ]] SLAMing on 107.996502481 meters Centerline goodness [0,1] 0.7233307751343054 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.9306371 -0.0387358 -0.36388751 3.95049863] [ 0.05779073 0.99746081 0.04161932 0.38549965] [ 0.36135137 -0.05976181 0.93051261 0.43841986] [ 0. 0. 0. 1. ]] SLAMing on 108.026502481 meters Centerline goodness [0,1] 0.7251202987718752 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.9305703 -0.03859367 -0.36407339 3.95047649] [ 0.05768398 0.99746346 0.04170375 0.38576799] [ 0.36154041 -0.05980947 0.93043611 0.43875668] [ 0. 0. 0. 1. ]] SLAMing on 108.056502481 meters Centerline goodness [0,1] 0.7238816704224001 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93054968 -0.03854646 -0.3641311 3.95046898] [ 0.05764495 0.9974649 0.0417233 0.38601477] [ 0.3615997 -0.05981592 0.93041266 0.43887066] [ 0. 0. 0. 1. ]] SLAMing on 108.086502481 meters Centerline goodness [0,1] 0.727227047591702 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93060679 -0.03878872 -0.36395939 3.94951583] [ 0.05780038 0.99746583 0.0414854 0.38589912] [ 0.36142789 -0.05964358 0.93049047 0.43928884] [ 0. 0. 0. 1. ]] SLAMing on 108.11650248099998 meters Centerline goodness [0,1] 0.7274641148325358 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93065072 -0.03887482 -0.36383785 3.94933338] [ 0.05787091 0.99746317 0.04145089 0.38542713] [ 0.36130346 -0.05963193 0.93053954 0.43925664] [ 0. 0. 0. 1. ]] SLAMing on 108.14650248099998 meters Centerline goodness [0,1] 0.7312573190258824 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93067837 -0.03889001 -0.36376551 3.94926488] [ 0.05784969 0.99746788 0.0413671 0.3852748 ] [ 0.36123564 -0.05954319 0.93057156 0.43926203] [ 0. 0. 0. 1. ]] SLAMing on 108.17650248099999 meters Centerline goodness [0,1] 0.7313665714491466 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93052928 -0.03835044 -0.36420392 3.94984961] [ 0.05736874 0.99748846 0.04154038 0.38596491] [ 0.36169611 -0.05954846 0.93039234 0.43975799] [ 0. 0. 0. 1. ]] SLAMing on 108.20650248099999 meters Centerline goodness [0,1] 0.7272552783109405 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93040928 -0.03806248 -0.36454056 3.95067146] [ 0.05712576 0.99749783 0.04164994 0.38631108] [ 0.36204312 -0.05957615 0.93025559 0.43987175] [ 0. 0. 0. 1. ]] SLAMing on 108.23650248099999 meters Centerline goodness [0,1] 0.7301254726296269 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.9303842 -0.03781594 -0.36463022 3.95145842] [ 0.05692595 0.99750299 0.04179985 0.38640559] [ 0.36213904 -0.05964684 0.93021372 0.43954384] [ 0. 0. 0. 1. ]] SLAMing on 108.26650248099999 meters Centerline goodness [0,1] 0.7297141207045914 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93034342 -0.0370645 -0.36481139 3.95244282] [ 0.0562744 0.99752465 0.04216359 0.38648304] [ 0.36234558 -0.05975616 0.93012627 0.43940049] [ 0. 0. 0. 1. ]] SLAMing on 108.29650248099999 meters Centerline goodness [0,1] 0.7298556462125235 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93025205 -0.03706023 -0.36504475 3.95232464] [ 0.05620691 0.997537 0.041961 0.38739104] [ 0.36259056 -0.05955235 0.93004387 0.43992921] [ 0. 0. 0. 1. ]] SLAMing on 108.32650248099999 meters Centerline goodness [0,1] 0.7294949446200623 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93030614 -0.03709356 -0.36490349 3.95214859] [ 0.05617172 0.99754557 0.04180388 0.38750431] [ 0.36245721 -0.05938766 0.93010638 0.43992265] [ 0. 0. 0. 1. ]] SLAMing on 108.35650248099999 meters Centerline goodness [0,1] 0.7273932963588137 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93034845 -0.03710154 -0.36479479 3.95216863] [ 0.05618558 0.99754342 0.04183659 0.38695892] [ 0.36234644 -0.05941881 0.93014755 0.43974868] [ 0. 0. 0. 1. ]] SLAMing on 108.386502481 meters Centerline goodness [0,1] 0.7275761166598147 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93024033 -0.03699509 -0.36508121 3.95271423] [ 0.05608014 0.99755053 0.0418086 0.38753172] [ 0.36264025 -0.05936585 0.93003642 0.43992066] [ 0. 0. 0. 1. ]] SLAMing on 108.416502481 meters Centerline goodness [0,1] 0.7278682976357396 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93016346 -0.03678926 -0.36529782 3.95319946] [ 0.05590689 0.99755674 0.04189232 0.38803768] [ 0.36286412 -0.05938937 0.9299476 0.43998982] [ 0. 0. 0. 1. ]] SLAMing on 108.446502481 meters Centerline goodness [0,1] 0.7274375649735271 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93020307 -0.03675455 -0.36520042 3.95304841] [ 0.05585962 0.99755975 0.04188366 0.38816462] [ 0.36276983 -0.05936026 0.92998624 0.43992751] [ 0. 0. 0. 1. ]] SLAMing on 108.476502481 meters Centerline goodness [0,1] 0.7265320923486038 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93032104 -0.0367009 -0.36490521 3.95268688] [ 0.05581566 0.99755857 0.04197032 0.38761378] [ 0.36247397 -0.0594133 0.93009821 0.43970081] [ 0. 0. 0. 1. ]] SLAMing on 108.50650248099998 meters Centerline goodness [0,1] 0.7260158285879741 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93028887 -0.03675356 -0.3649819 3.95259692] [ 0.05583759 0.99756163 0.04186826 0.38809956] [ 0.36255314 -0.05932928 0.93007272 0.43989338] [ 0. 0. 0. 1. ]] SLAMing on 108.53650248099999 meters Centerline goodness [0,1] 0.726067036411864 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.9303475 -0.0368824 -0.36481942 3.95242143] [ 0.05598214 0.99755165 0.04191319 0.38734501] [ 0.36238036 -0.0594172 0.93013444 0.43973502] [ 0. 0. 0. 1. ]] SLAMing on 108.56650248099999 meters Centerline goodness [0,1] 0.7246139391457274 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93034402 -0.03695707 -0.36482076 3.95246117] [ 0.05605275 0.99754871 0.04188869 0.3871762 ] [ 0.36237839 -0.0594201 0.93013502 0.43969345] [ 0. 0. 0. 1. ]] SLAMing on 108.59650248099999 meters Centerline goodness [0,1] 0.723729424486363 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93037698 -0.0369384 -0.36473856 3.95250868] [ 0.05603077 0.99754955 0.0418981 0.38730891] [ 0.36229714 -0.05941761 0.93016683 0.43951033] [ 0. 0. 0. 1. ]] SLAMing on 108.62650248099999 meters Centerline goodness [0,1] 0.7263914343590239 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93038717 -0.03685035 -0.36472148 3.95341612] [ 0.05597727 0.99754801 0.04200612 0.38710081] [ 0.36227925 -0.05949806 0.93016866 0.43888632] [ 0. 0. 0. 1. ]] SLAMing on 108.65650248099999 meters Centerline goodness [0,1] 0.7244681364272276 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93036986 -0.03686783 -0.36476387 3.95388774] [ 0.05601024 0.99754493 0.04203518 0.38725453] [ 0.36231861 -0.05953877 0.93015072 0.43861323] [ 0. 0. 0. 1. ]] SLAMing on 108.68650248099999 meters Centerline goodness [0,1] 0.7245191726140074 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93023988 -0.0366497 -0.36511718 3.95451642] [ 0.05589458 0.99754124 0.04227623 0.38765083] [ 0.36267003 -0.0597351 0.93000116 0.43870212] [ 0. 0. 0. 1. ]] SLAMing on 108.71650248099999 meters Centerline goodness [0,1] 0.7234896085065249 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93028532 -0.03699349 -0.36496672 3.9544654 ] [ 0.05626117 0.99751972 0.04229757 0.38686359] [ 0.36249677 -0.05988226 0.93005925 0.43840044] [ 0. 0. 0. 1. ]] SLAMing on 108.746502481 meters Centerline goodness [0,1] 0.7235444626822438 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93027452 -0.03712897 -0.36498048 3.95469599] [ 0.05641852 0.99750962 0.04232612 0.38630287] [ 0.36250001 -0.05996657 0.93005255 0.43825329] [ 0. 0. 0. 1. ]] SLAMing on 108.776502481 meters Centerline goodness [0,1] 0.7240862502417327 Centerline is valid? [False, False] Translation: X:3.95, Y:0.39, Z:0.44 [[ 0.93030418 -0.03728991 -0.36488848 3.95471832] [ 0.05658125 0.99750079 0.0423172 0.38583014] [ 0.36239854 -0.06001371 0.93008906 0.43813276] [ 0. 0. 0. 1. ]] SLAMing on 108.806502481 meters Centerline goodness [0,1] 0.7257589652010232 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.9304609 -0.03814431 -0.36440023 3.95330502] [ 0.05734553 0.99746995 0.04201414 0.38467772] [ 0.36187568 -0.05998924 0.93029419 0.43809108] [ 0. 0. 0. 1. ]] SLAMing on 108.836502481 meters Centerline goodness [0,1] 0.7254134029590948 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93049691 -0.03830681 -0.36429122 3.95324123] [ 0.05754149 0.99745549 0.04208952 0.38415558] [ 0.36175197 -0.06012603 0.93033348 0.43786899] [ 0. 0. 0. 1. ]] SLAMing on 108.86650248099998 meters Centerline goodness [0,1] 0.7250253979004402 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93055592 -0.03873458 -0.3640952 3.95317776] [ 0.05797122 0.99743225 0.0420504 0.38368495] [ 0.36153149 -0.06023729 0.93041198 0.43746324] [ 0. 0. 0. 1. ]] SLAMing on 108.89650248099998 meters Centerline goodness [0,1] 0.7249891309598571 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.9306145 -0.03932541 -0.36388207 3.95295377] [ 0.05856388 0.99740043 0.04198399 0.3824912 ] [ 0.36128509 -0.06038125 0.93049835 0.43712405] [ 0. 0. 0. 1. ]] SLAMing on 108.92650248099999 meters Centerline goodness [0,1] 0.7225574435219154 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93065823 -0.03947728 -0.36375377 3.95296575] [ 0.05875125 0.99738577 0.04207037 0.38219575] [ 0.36114201 -0.06052413 0.93054461 0.43679356] [ 0. 0. 0. 1. ]] SLAMing on 108.95650248099999 meters Centerline goodness [0,1] 0.722945819009345 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93068015 -0.03960873 -0.3636834 3.95259737] [ 0.05889233 0.99737689 0.04208356 0.38208176] [ 0.36106254 -0.0605845 0.93057152 0.43686604] [ 0. 0. 0. 1. ]] SLAMing on 108.98650248099999 meters Centerline goodness [0,1] 0.7229875317758141 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93072368 -0.04007946 -0.36352038 3.95145887] [ 0.05929564 0.99736274 0.04185212 0.38219133] [ 0.36088427 -0.06050794 0.93064565 0.43725156] [ 0. 0. 0. 1. ]] SLAMing on 109.01650248099999 meters Centerline goodness [0,1] 0.7180701924006574 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93064962 -0.04026489 -0.36368947 3.95135139] [ 0.05945404 0.99735893 0.0417178 0.38234047] [ 0.36104918 -0.06044747 0.93058562 0.43762805] [ 0. 0. 0. 1. ]] SLAMing on 109.04650248099999 meters Centerline goodness [0,1] 0.7197826192440195 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93061812 -0.04056442 -0.36373678 3.95082929] [ 0.05970499 0.99735183 0.0415288 0.38275426] [ 0.36108896 -0.06036436 0.93057558 0.43803457] [ 0. 0. 0. 1. ]] SLAMing on 109.07650248099999 meters Centerline goodness [0,1] 0.7190090657875601 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.9306699 -0.0407882 -0.36357923 3.95064781] [ 0.05989368 0.99734483 0.04142518 0.38239853] [ 0.36092421 -0.06032927 0.93064177 0.43792511] [ 0. 0. 0. 1. ]] SLAMing on 109.10650248099999 meters Centerline goodness [0,1] 0.7150195042764035 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93059863 -0.04072214 -0.36376902 3.95213653] [ 0.05987364 0.997342 0.04152203 0.38219104] [ 0.36111125 -0.06042052 0.93056328 0.4373501 ] [ 0. 0. 0. 1. ]] SLAMing on 109.136502481 meters Centerline goodness [0,1] 0.7134926791428294 Centerline is valid? [False, False] Translation: X:3.95, Y:0.38, Z:0.44 [[ 0.93037971 -0.04027896 -0.36437784 3.95387046] [ 0.05948663 0.99736026 0.04163952 0.38329954] [ 0.36173878 -0.06041617 0.93031981 0.43732875] [ 0. 0. 0. 1. ]] SLAMing on 109.166502481 meters Centerline goodness [0,1] 0.7136905196988524 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93029767 -0.03711432 -0.36492298 3.95654075] [ 0.05699468 0.99741081 0.04385527 0.38516291] [ 0.36235046 -0.06159713 0.93000427 0.43651187] [ 0. 0. 0. 1. ]] SLAMing on 109.196502481 meters Centerline goodness [0,1] 0.7199365156879503 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.9305105 -0.032307 -0.36483758 3.95626563] [ 0.05320228 0.99745984 0.04736449 0.38613191] [ 0.36238063 -0.06348334 0.92986566 0.43635633] [ 0. 0. 0. 1. ]] SLAMing on 109.226502481 meters Centerline goodness [0,1] 0.7227722772277227 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93038552 -0.03217807 -0.36516757 3.95636585] [ 0.05295087 0.99748987 0.04701244 0.38796924] [ 0.36273818 -0.06307563 0.92975399 0.43700919] [ 0. 0. 0. 1. ]] SLAMing on 109.25650248099998 meters Centerline goodness [0,1] 0.7223598675334233 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93025742 -0.03202642 -0.3655071 3.95688968] [ 0.05270195 0.9975164 0.04672823 0.38937033] [ 0.36310279 -0.06273222 0.92963489 0.43741686] [ 0. 0. 0. 1. ]] SLAMing on 109.28650248099999 meters Centerline goodness [0,1] 0.7197449104733873 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93010872 -0.03179218 -0.36590577 3.95774664] [ 0.05231074 0.99755713 0.04629651 0.3915074 ] [ 0.36354004 -0.06220159 0.92949965 0.43778948] [ 0. 0. 0. 1. ]] SLAMing on 109.31650248099999 meters Centerline goodness [0,1] 0.7211644761085862 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93004746 -0.03167665 -0.36607145 3.95812506] [ 0.05215995 0.99756962 0.04619743 0.39241355] [ 0.36371838 -0.06206007 0.92943934 0.4378906 ] [ 0. 0. 0. 1. ]] SLAMing on 109.34650248099999 meters Centerline goodness [0,1] 0.7217247995277217 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93001836 -0.03144185 -0.36616561 3.95834021] [ 0.05189316 0.99758609 0.04614208 0.39341685] [ 0.36383093 -0.06191447 0.929405 0.43803697] [ 0. 0. 0. 1. ]] SLAMing on 109.37650248099999 meters Centerline goodness [0,1] 0.7209095622546478 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.93003182 -0.03165089 -0.36611343 3.95765164] [ 0.05199484 0.99759479 0.04583851 0.39412005] [ 0.36378202 -0.06166728 0.92944058 0.43846012] [ 0. 0. 0. 1. ]] SLAMing on 109.40650248099999 meters Centerline goodness [0,1] 0.7212269272529859 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92997645 -0.03143516 -0.36627261 3.95652703] [ 0.05171389 0.99761652 0.0456831 0.39565199] [ 0.36396355 -0.06142559 0.92938551 0.439624 ] [ 0. 0. 0. 1. ]] SLAMing on 109.43650248099999 meters Centerline goodness [0,1] 0.7217814685746768 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92989503 -0.0315802 -0.36646682 3.95662314] [ 0.05181438 0.99761935 0.04550728 0.39636088] [ 0.36415726 -0.06130525 0.92931758 0.43991854] [ 0. 0. 0. 1. ]] SLAMing on 109.46650248099999 meters Centerline goodness [0,1] 0.7202722772277228 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92973759 -0.03183347 -0.36684416 3.95837758] [ 0.05203913 0.9976162 0.04531939 0.39611797] [ 0.364527 -0.06122539 0.92917787 0.4395243 ] [ 0. 0. 0. 1. ]] SLAMing on 109.496502481 meters Centerline goodness [0,1] 0.719794917521177 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92974157 -0.03197009 -0.36682219 3.95914327] [ 0.05217942 0.99760942 0.04530727 0.39596416] [ 0.36449679 -0.06126462 0.92918714 0.43895365] [ 0. 0. 0. 1. ]] SLAMing on 109.526502481 meters Centerline goodness [0,1] 0.7190217795287297 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92969398 -0.03201722 -0.36693868 3.95981332] [ 0.05221856 0.99760965 0.04525714 0.39622559] [ 0.36461256 -0.0612363 0.92914358 0.43873377] [ 0. 0. 0. 1. ]] SLAMing on 109.556502481 meters Centerline goodness [0,1] 0.718935790725327 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92970808 -0.0324222 -0.36686739 3.95863336] [ 0.05249499 0.99761277 0.04486695 0.39716649] [ 0.36453691 -0.06097186 0.92919066 0.43936596] [ 0. 0. 0. 1. ]] SLAMing on 109.586502481 meters Centerline goodness [0,1] 0.7181545627988801 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92970473 -0.03277652 -0.36684439 3.95749266] [ 0.0527381 0.99761542 0.0445216 0.39782007] [ 0.36451036 -0.06073862 0.92921635 0.44008536] [ 0. 0. 0. 1. ]] SLAMing on 109.61650248099998 meters Centerline goodness [0,1] 0.7190607255324952 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92962157 -0.03307936 -0.36702792 3.95728446] [ 0.05293609 0.99762077 0.04416526 0.39895527] [ 0.36469372 -0.060486 0.92916088 0.44056637] [ 0. 0. 0. 1. ]] SLAMing on 109.64650248099998 meters Centerline goodness [0,1] 0.7186370164924967 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92933294 -0.03781582 -0.36730131 3.95862737] [ 0.05649988 0.9975911 0.04024616 0.39949608] [ 0.36489457 -0.05815456 0.92923086 0.44061908] [ 0. 0. 0. 1. ]] SLAMing on 109.67650248099999 meters Centerline goodness [0,1] 0.7147092980158631 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92933456 -0.03778649 -0.36730023 3.9591452 ] [ 0.05653366 0.99758246 0.04041256 0.39877245] [ 0.36488522 -0.05832161 0.92922407 0.44029887] [ 0. 0. 0. 1. ]] SLAMing on 109.70650248099999 meters Centerline goodness [0,1] 0.7142503343404825 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92922057 -0.0376809 -0.36759935 3.95947375] [ 0.05648439 0.99758072 0.04052434 0.39928868] [ 0.36518303 -0.05841968 0.92910091 0.44053527] [ 0. 0. 0. 1. ]] SLAMing on 109.73650248099999 meters Centerline goodness [0,1] 0.7131482997246819 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92918506 -0.03767877 -0.36768932 3.95952818] [ 0.05649539 0.99757935 0.04054268 0.39930114] [ 0.36527168 -0.0584444 0.9290645 0.44069613] [ 0. 0. 0. 1. ]] SLAMing on 109.76650248099999 meters Centerline goodness [0,1] 0.7111105629286102 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92913157 -0.03755264 -0.36783737 3.9593735 ] [ 0.05642724 0.99757728 0.04068828 0.3988208 ] [ 0.36541825 -0.05856081 0.92899953 0.44112886] [ 0. 0. 0. 1. ]] SLAMing on 109.79650248099999 meters Centerline goodness [0,1] 0.7122724458204335 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92911258 -0.03766907 -0.36787343 3.9589104 ] [ 0.05649355 0.99757985 0.04053286 0.39925595] [ 0.36545628 -0.05844206 0.92899205 0.44150623] [ 0. 0. 0. 1. ]] SLAMing on 109.82650248099999 meters Centerline goodness [0,1] 0.7122724458204335 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92911258 -0.03766907 -0.36787343 3.9589104 ] [ 0.05649355 0.99757985 0.04053286 0.39925595] [ 0.36545628 -0.05844206 0.92899205 0.44150623] [ 0. 0. 0. 1. ]] SLAMing on 109.85650248099999 meters Centerline goodness [0,1] 0.7131719631719632 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92921214 -0.03809549 -0.36757792 3.9585259 ] [ 0.05684292 0.99756913 0.04030778 0.39865103] [ 0.36514884 -0.05834868 0.92911881 0.44126917] [ 0. 0. 0. 1. ]] SLAMing on 109.886502481 meters Centerline goodness [0,1] 0.7135348226018396 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92924675 -0.03823293 -0.36747615 3.95858194] [ 0.05697794 0.99756201 0.04029336 0.39814152] [ 0.36503971 -0.05838051 0.92915969 0.44107582] [ 0. 0. 0. 1. ]] SLAMing on 109.916502481 meters Centerline goodness [0,1] 0.7138744105237032 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92910973 -0.03784481 -0.36786258 3.95903477] [ 0.05666447 0.99757192 0.04048957 0.39860066] [ 0.36543706 -0.05846399 0.92899823 0.4414933 ] [ 0. 0. 0. 1. ]] SLAMing on 109.946502481 meters Centerline goodness [0,1] 0.71364797500062 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92903696 -0.03764449 -0.36806688 3.95935176] [ 0.05648689 0.99757954 0.0405498 0.39891794] [ 0.36564951 -0.05846322 0.92891468 0.44170456] [ 0. 0. 0. 1. ]] SLAMing on 109.976502481 meters Centerline goodness [0,1] 0.7160139531431682 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92904002 -0.03732003 -0.36809218 3.95985822] [ 0.0562023 0.99758919 0.04070755 0.39893585] [ 0.36568557 -0.05850657 0.92889776 0.44150817] [ 0. 0. 0. 1. ]] SLAMing on 110.00650248099998 meters Centerline goodness [0,1] 0.7158384708707817 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.9289954 -0.03715159 -0.36822181 3.9601623 ] [ 0.05604578 0.99759638 0.04074714 0.39920519] [ 0.36582292 -0.05849118 0.92884464 0.44156702] [ 0. 0. 0. 1. ]] SLAMing on 110.03650248099999 meters Centerline goodness [0,1] 0.7171497166052025 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92895628 -0.0366356 -0.36837219 3.96135195] [ 0.05555433 0.99761842 0.04088039 0.39983865] [ 0.3659972 -0.05844077 0.92877916 0.44119131] [ 0. 0. 0. 1. ]] SLAMing on 110.06650248099999 meters Centerline goodness [0,1] 0.7163453230305873 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92889576 -0.03638728 -0.36854935 3.96216651] [ 0.05534134 0.99762591 0.04098623 0.40006658] [ 0.36618301 -0.05846795 0.92870421 0.44100713] [ 0. 0. 0. 1. ]] SLAMing on 110.09650248099999 meters Centerline goodness [0,1] 0.7152214751829148 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92883709 -0.03594797 -0.36874029 3.96292265] [ 0.05496993 0.99763731 0.04120808 0.40007825] [ 0.36638772 -0.05854522 0.92861859 0.44092752] [ 0. 0. 0. 1. ]] SLAMing on 110.12650248099999 meters Centerline goodness [0,1] 0.7161674574930803 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92890115 -0.03594949 -0.36857873 3.9631352 ] [ 0.05496425 0.99763724 0.04121727 0.39978698] [ 0.36622613 -0.05854542 0.92868232 0.44058013] [ 0. 0. 0. 1. ]] SLAMing on 110.15650248099999 meters Centerline goodness [0,1] 0.7194432791254349 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92903187 -0.03594989 -0.36824908 3.96272312] [ 0.05499606 0.99762985 0.04135356 0.39851608] [ 0.36588962 -0.05867102 0.92880703 0.44030564] [ 0. 0. 0. 1. ]] SLAMing on 110.18650248099999 meters Centerline goodness [0,1] 0.7207604862772174 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92903206 -0.03595527 -0.36824808 3.96229449] [ 0.05501707 0.99762708 0.0413924 0.39822056] [ 0.36588599 -0.0587148 0.92880569 0.44061379] [ 0. 0. 0. 1. ]] SLAMing on 110.21650248099999 meters Centerline goodness [0,1] 0.7194134491952207 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92895779 -0.03567495 -0.36846263 3.96269535] [ 0.05483936 0.99762538 0.0416683 0.39764194] [ 0.36610116 -0.05891435 0.92870826 0.44078276] [ 0. 0. 0. 1. ]] SLAMing on 110.246502481 meters Centerline goodness [0,1] 0.7173607515348768 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92890392 -0.03539767 -0.36862516 3.96397998] [ 0.05468584 0.99761964 0.04200604 0.39675058] [ 0.36626078 -0.05917815 0.92862855 0.44026679] [ 0. 0. 0. 1. ]] SLAMing on 110.276502481 meters Centerline goodness [0,1] 0.7180981896890988 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92889603 -0.03518257 -0.36866565 3.96492578] [ 0.05460081 0.99760895 0.04236909 0.39547551] [ 0.36629349 -0.05948592 0.92859598 0.43975582] [ 0. 0. 0. 1. ]] SLAMing on 110.306502481 meters Centerline goodness [0,1] 0.7210526315789474 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.9290723 -0.03544956 -0.3681956 3.96377 ] [ 0.05492205 0.99758409 0.04253892 0.39340113] [ 0.36579808 -0.05974378 0.9287747 0.43968877] [ 0. 0. 0. 1. ]] SLAMing on 110.336502481 meters Centerline goodness [0,1] 0.7214703507011575 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92911829 -0.03562979 -0.36806212 3.96304475] [ 0.05510781 0.99757368 0.04254264 0.39288127] [ 0.3656533 -0.05981024 0.92882743 0.43994174] [ 0. 0. 0. 1. ]] SLAMing on 110.36650248099998 meters Centerline goodness [0,1] 0.7204981076791601 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92907826 -0.03559229 -0.36816677 3.96398192] [ 0.05525884 0.99754529 0.04301001 0.39140327] [ 0.3657322 -0.06030413 0.92876443 0.43936041] [ 0. 0. 0. 1. ]] SLAMing on 110.39650248099998 meters Centerline goodness [0,1] 0.7191905909854628 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92892969 -0.04057114 -0.36802665 3.96406627] [ 0.0591326 0.99747647 0.03929408 0.39059943] [ 0.36550372 -0.05826382 0.92898458 0.43939803] [ 0. 0. 0. 1. ]] SLAMing on 110.42650248099999 meters Centerline goodness [0,1] 0.7219738568443559 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92903906 -0.04089118 -0.36771502 3.96337656] [ 0.05948757 0.99745212 0.03937636 0.38951349] [ 0.36516798 -0.05845664 0.9291045 0.43923475] [ 0. 0. 0. 1. ]] SLAMing on 110.45650248099999 meters Centerline goodness [0,1] 0.7222828591525383 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92920579 -0.041657 -0.36720743 3.96159869] [ 0.06024692 0.9974094 0.03930396 0.38827736] [ 0.36461886 -0.05864458 0.92930829 0.43929965] [ 0. 0. 0. 1. ]] SLAMing on 110.48650248099999 meters Centerline goodness [0,1] 0.7231829725480712 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92924541 -0.04173119 -0.36709874 3.96125301] [ 0.0604016 0.99739174 0.03951408 0.38706172] [ 0.36449228 -0.05889163 0.92934232 0.43930845] [ 0. 0. 0. 1. ]] SLAMing on 110.51650248099999 meters Centerline goodness [0,1] 0.7248609431680774 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92928531 -0.04198781 -0.36696845 3.96094878] [ 0.06067951 0.99737373 0.03954302 0.38613675] [ 0.36434437 -0.05901421 0.92939255 0.43927323] [ 0. 0. 0. 1. ]] SLAMing on 110.54650248099999 meters Centerline goodness [0,1] 0.7233008540839649 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92931929 -0.04216635 -0.36686189 3.96120914] [ 0.0610114 0.99733848 0.03991949 0.38473349] [ 0.36420222 -0.05948071 0.92941852 0.43868201] [ 0. 0. 0. 1. ]] SLAMing on 110.57650248099999 meters Centerline goodness [0,1] 0.722723662358293 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92941834 -0.04285757 -0.36653073 3.95938387] [ 0.06160442 0.99731485 0.03959774 0.38457737] [ 0.36384948 -0.05938278 0.92956293 0.43921594] [ 0. 0. 0. 1. ]] SLAMing on 110.60650248099999 meters Centerline goodness [0,1] 0.7190006986436677 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92946375 -0.04303105 -0.36639524 3.9588919 ] [ 0.06180391 0.99730021 0.03965559 0.38398243] [ 0.36369963 -0.05950309 0.92961388 0.43924519] [ 0. 0. 0. 1. ]] SLAMing on 110.636502481 meters Centerline goodness [0,1] 0.7177279722970373 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92943588 -0.04301063 -0.36646832 3.96009291] [ 0.06192972 0.99727784 0.04002025 0.38273025] [ 0.36374944 -0.05989154 0.92956944 0.43848521] [ 0. 0. 0. 1. ]] SLAMing on 110.666502481 meters Centerline goodness [0,1] 0.7184564000288344 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92945491 -0.0430974 -0.36640986 3.96013219] [ 0.062035 0.99726963 0.0400617 0.38240577] [ 0.36368287 -0.05996578 0.9295907 0.43834149] [ 0. 0. 0. 1. ]] SLAMing on 110.696502481 meters Centerline goodness [0,1] 0.7181613921024954 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.9293224 -0.04274764 -0.36678675 3.96041968] [ 0.06174176 0.99728208 0.04020469 0.3828094 ] [ 0.36407119 -0.06000918 0.92943589 0.43888934] [ 0. 0. 0. 1. ]] SLAMing on 110.726502481 meters Centerline goodness [0,1] 0.7173165275539413 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92921346 -0.04252368 -0.36708867 3.96118427] [ 0.06155425 0.99729038 0.04028614 0.38335894] [ 0.36438088 -0.06003029 0.92931315 0.43891678] [ 0. 0. 0. 1. ]] SLAMing on 110.75650248099998 meters Centerline goodness [0,1] 0.7225862401233378 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92908514 -0.04210091 -0.36746201 3.96274402] [ 0.06116059 0.99731107 0.04037342 0.384216 ] [ 0.36477417 -0.05998454 0.92916181 0.43865412] [ 0. 0. 0. 1. ]] SLAMing on 110.78650248099999 meters Centerline goodness [0,1] 0.7265293323041297 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92906514 -0.04200592 -0.36752343 3.96329742] [ 0.06103963 0.99732088 0.0403142 0.3844339 ] [ 0.36484535 -0.05988802 0.92914008 0.43847323] [ 0. 0. 0. 1. ]] SLAMing on 110.81650248099999 meters Centerline goodness [0,1] 0.7276414912111262 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.9290765 -0.04135195 -0.36756887 3.96420157] [ 0.06036952 0.9973587 0.04038746 0.38511888] [ 0.36492791 -0.059713 0.92911893 0.43822897] [ 0. 0. 0. 1. ]] SLAMing on 110.84650248099999 meters Centerline goodness [0,1] 0.7268296214077166 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92895833 -0.04102558 -0.36790395 3.96484843] [ 0.06001209 0.99738337 0.0403108 0.38610197] [ 0.36528751 -0.05952574 0.92898962 0.43851053] [ 0. 0. 0. 1. ]] SLAMing on 110.87650248099999 meters Centerline goodness [0,1] 0.7269615459312488 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92903907 -0.03515864 -0.36830732 3.96638121] [ 0.05543342 0.99746532 0.04461028 0.38683987] [ 0.36580535 -0.06186123 0.92863321 0.43797491] [ 0. 0. 0. 1. ]] SLAMing on 110.90650248099999 meters Centerline goodness [0,1] 0.7245222543282422 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92921256 -0.03022694 -0.36830741 3.96630953] [ 0.05164365 0.99749062 0.04842922 0.38666334] [ 0.36591932 -0.06402178 0.92844185 0.43781778] [ 0. 0. 0. 1. ]] SLAMing on 110.93650248099999 meters Centerline goodness [0,1] 0.7242085252613877 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92950349 -0.02992762 -0.36759706 3.96492584] [ 0.05104597 0.99754887 0.04785986 0.38878372] [ 0.3652637 -0.06325025 0.92875284 0.43792193] [ 0. 0. 0. 1. ]] SLAMing on 110.96650248099999 meters Centerline goodness [0,1] 0.7250565102204507 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92951085 -0.03003339 -0.36756983 3.96476351] [ 0.05104488 0.99756262 0.04757351 0.38935347] [ 0.36524512 -0.06298265 0.92877833 0.43803466] [ 0. 0. 0. 1. ]] SLAMing on 110.996502481 meters Centerline goodness [0,1] 0.7232737936550253 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92956847 -0.0298285 -0.36744077 3.96378843] [ 0.05068999 0.9975959 0.04725395 0.39111899] [ 0.36514789 -0.06255135 0.92884571 0.43865006] [ 0. 0. 0. 1. ]] SLAMing on 111.026502481 meters Centerline goodness [0,1] 0.7252016276406521 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92952705 -0.03005081 -0.36752743 3.96354249] [ 0.05084269 0.99759921 0.04701958 0.3915862 ] [ 0.3652321 -0.06239205 0.92882331 0.4389622 ] [ 0. 0. 0. 1. ]] SLAMing on 111.056502481 meters Centerline goodness [0,1] 0.7226451346158523 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92922487 -0.0345906 -0.36789214 3.96507775] [ 0.05423357 0.99759395 0.04318604 0.39253926] [ 0.36551315 -0.06008164 0.92886508 0.43899881] [ 0. 0. 0. 1. ]] SLAMing on 111.086502481 meters Centerline goodness [0,1] 0.7240702128691268 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92917099 -0.03469979 -0.36801794 3.9656181 ] [ 0.05438727 0.99758253 0.0432565 0.39171799] [ 0.36562727 -0.06020817 0.92881197 0.43886543] [ 0. 0. 0. 1. ]] SLAMing on 111.11650248099998 meters Centerline goodness [0,1] 0.7235999223527128 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92932213 -0.03541415 -0.36756798 3.96437411] [ 0.05504128 0.99755562 0.04304919 0.39060691] [ 0.36514496 -0.06023798 0.92899976 0.43879405] [ 0. 0. 0. 1. ]] SLAMing on 111.14650248099998 meters Centerline goodness [0,1] 0.7238076811454 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92938661 -0.03565279 -0.36738182 3.96358645] [ 0.05527518 0.99754371 0.04302553 0.38995726] [ 0.36494544 -0.06029445 0.92907449 0.43896375] [ 0. 0. 0. 1. ]] SLAMing on 111.17650248099999 meters Centerline goodness [0,1] 0.7252539912917271 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92948863 -0.03588047 -0.36710145 3.96281351] [ 0.05556764 0.99752001 0.04319789 0.38885266] [ 0.36464108 -0.06055091 0.92917731 0.4388752 ] [ 0. 0. 0. 1. ]] SLAMing on 111.20650248099999 meters Centerline goodness [0,1] 0.7238208175019966 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92940069 -0.03570238 -0.36734138 3.96311087] [ 0.05546093 0.99751848 0.04337014 0.38892414] [ 0.3648814 -0.06068133 0.92907445 0.43907885] [ 0. 0. 0. 1. ]] SLAMing on 111.23650248099999 meters Centerline goodness [0,1] 0.7245021561122147 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92940512 -0.0356759 -0.36733275 3.9627458 ] [ 0.05547694 0.9975126 0.0434848 0.38914564] [ 0.36486769 -0.0607935 0.92907251 0.43922613] [ 0. 0. 0. 1. ]] SLAMing on 111.26650248099999 meters Centerline goodness [0,1] 0.7258599404516957 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92944009 -0.03588306 -0.36722407 3.96261624] [ 0.05565519 0.99750671 0.04339196 0.3886027 ] [ 0.36475144 -0.06076815 0.92911981 0.43916978] [ 0. 0. 0. 1. ]] SLAMing on 111.29650248099999 meters Centerline goodness [0,1] 0.7256275822078331 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92947765 -0.03641194 -0.36707692 3.96320563] [ 0.0561155 0.99749164 0.04314489 0.38750099] [ 0.36458517 -0.06070092 0.92918946 0.43858809] [ 0. 0. 0. 1. ]] SLAMing on 111.32650248099999 meters Centerline goodness [0,1] 0.7249395258829221 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92943593 -0.03634585 -0.36718911 3.96379036] [ 0.05607564 0.99749132 0.04320401 0.38783706] [ 0.36469766 -0.06074572 0.92914239 0.43837003] [ 0. 0. 0. 1. ]] SLAMing on 111.35650248099999 meters Centerline goodness [0,1] 0.7248117387830213 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92934801 -0.0363396 -0.36741218 3.96387046] [ 0.05604529 0.99749735 0.04310398 0.38965997] [ 0.3649263 -0.06065032 0.92905884 0.43859665] [ 0. 0. 0. 1. ]] SLAMing on 111.386502481 meters Centerline goodness [0,1] 0.7255182446357133 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92938699 -0.0364965 -0.36729801 3.96372448] [ 0.05615932 0.99749604 0.04298587 0.38999103] [ 0.36480948 -0.06057772 0.92910946 0.43849835] [ 0. 0. 0. 1. ]] SLAMing on 111.416502481 meters Centerline goodness [0,1] 0.7261316274110692 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92958817 -0.03731621 -0.36670606 3.96266418] [ 0.05675996 0.99748798 0.04237978 0.39001208] [ 0.36420343 -0.06020997 0.92937109 0.43818983] [ 0. 0. 0. 1. ]] SLAMing on 111.446502481 meters Centerline goodness [0,1] 0.7271669011010331 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92962288 -0.0376376 -0.3665852 3.9621379 ] [ 0.05698527 0.99748714 0.04209605 0.39004913] [ 0.36407963 -0.06002341 0.92943166 0.43837528] [ 0. 0. 0. 1. ]] SLAMing on 111.476502481 meters Centerline goodness [0,1] 0.7257974530018193 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92963927 -0.03778829 -0.36652814 3.96091567] [ 0.05708937 0.99748696 0.04195912 0.39040313] [ 0.36402147 -0.05993171 0.92946036 0.43908807] [ 0. 0. 0. 1. ]] SLAMing on 111.50650248099998 meters Centerline goodness [0,1] 0.726435614849188 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92958819 -0.0376237 -0.36667459 3.96108562] [ 0.05697051 0.99748864 0.04208065 0.3906002 ] [ 0.3641705 -0.06000732 0.9293971 0.43926964] [ 0. 0. 0. 1. ]] SLAMing on 111.53650248099999 meters Centerline goodness [0,1] 0.7267037046022465 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92955112 -0.0374789 -0.36678338 3.96155538] [ 0.05695474 0.99747527 0.04241758 0.39015055] [ 0.36426758 -0.06031936 0.92933885 0.4390894 ] [ 0. 0. 0. 1. ]] SLAMing on 111.56650248099999 meters Centerline goodness [0,1] 0.7277448791379477 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92951277 -0.03746267 -0.36688222 3.96206608] [ 0.05701773 0.99746367 0.04260511 0.38949885] [ 0.36435559 -0.06052079 0.92929126 0.43889878] [ 0. 0. 0. 1. ]] SLAMing on 111.59650248099999 meters Centerline goodness [0,1] 0.7294507301034716 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92915589 -0.0417334 -0.367325 3.9641794 ] [ 0.0603403 0.99740341 0.03931261 0.38903279] [ 0.36473056 -0.05869204 0.92926146 0.43869411] [ 0. 0. 0. 1. ]] SLAMing on 111.62650248099999 meters Centerline goodness [0,1] 0.7290093827636943 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92917018 -0.0416363 -0.36729988 3.96497127] [ 0.06038359 0.99738573 0.03969285 0.38775289] [ 0.36468699 -0.0590603 0.92925523 0.43807044] [ 0. 0. 0. 1. ]] SLAMing on 111.65650248099999 meters Centerline goodness [0,1] 0.7277534954480693 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92919824 -0.04170369 -0.36722122 3.96483129] [ 0.06053558 0.99736787 0.03990954 0.38664307] [ 0.36459027 -0.05931382 0.92927703 0.437979 ] [ 0. 0. 0. 1. ]] SLAMing on 111.68650248099999 meters Centerline goodness [0,1] 0.7299094237810754 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92944454 -0.04249398 -0.36650664 3.9628172 ] [ 0.06125114 0.9973327 0.03969615 0.38417258] [ 0.36384221 -0.05934432 0.92956823 0.43807537] [ 0. 0. 0. 1. ]] SLAMing on 111.71650248099999 meters Centerline goodness [0,1] 0.7301130918152194 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92951895 -0.0423428 -0.36633537 3.96208397] [ 0.06125979 0.99731348 0.04016289 0.38252572] [ 0.36365059 -0.05977379 0.92961569 0.43823901] [ 0. 0. 0. 1. ]] SLAMing on 111.746502481 meters Centerline goodness [0,1] 0.7301130918152194 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92951895 -0.0423428 -0.36633537 3.96208397] [ 0.06125979 0.99731348 0.04016289 0.38252572] [ 0.36365059 -0.05977379 0.92961569 0.43823901] [ 0. 0. 0. 1. ]] SLAMing on 111.776502481 meters Centerline goodness [0,1] 0.7314354354354354 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92949091 -0.04224167 -0.36641819 3.9618955 ] [ 0.06122445 0.99730869 0.04033529 0.38193883] [ 0.36372822 -0.05992504 0.92957559 0.43852718] [ 0. 0. 0. 1. ]] SLAMing on 111.806502481 meters Centerline goodness [0,1] 0.7304085733422638 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92945617 -0.04206716 -0.36652637 3.9622229 ] [ 0.06115927 0.99730081 0.04062805 0.38085588] [ 0.36382793 -0.06017848 0.92952019 0.43855647] [ 0. 0. 0. 1. ]] SLAMing on 111.836502481 meters Centerline goodness [0,1] 0.7292689351308637 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92935725 -0.04161519 -0.36682869 3.96473079] [ 0.06098817 0.99728055 0.04137566 0.37802138] [ 0.36410926 -0.06082498 0.92936794 0.43754482] [ 0. 0. 0. 1. ]] SLAMing on 111.86650248099998 meters Centerline goodness [0,1] 0.7275575111196135 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92932763 -0.04108633 -0.36696331 3.96550572] [ 0.06073615 0.99726323 0.04215654 0.37604387] [ 0.36422696 -0.06146517 0.9292797 0.43726139] [ 0. 0. 0. 1. ]] SLAMing on 111.89650248099998 meters Centerline goodness [0,1] 0.7292080273638386 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92932013 -0.04100295 -0.36699163 3.96545535] [ 0.0607213 0.99725629 0.04234176 0.37551456] [ 0.36424857 -0.06163326 0.92926009 0.43734148] [ 0. 0. 0. 1. ]] SLAMing on 111.92650248099999 meters Centerline goodness [0,1] 0.7290960317081323 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92933322 -0.04082761 -0.36697803 3.9656749 ] [ 0.06065455 0.99724704 0.04265398 0.37430536] [ 0.3642263 -0.06189864 0.92925118 0.43718726] [ 0. 0. 0. 1. ]] SLAMing on 111.95650248099999 meters Centerline goodness [0,1] 0.7293087821399609 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92937594 -0.04078694 -0.36687434 3.96564336] [ 0.06064918 0.99724238 0.04277056 0.37378719] [ 0.36411816 -0.06200056 0.92928677 0.4370492 ] [ 0. 0. 0. 1. ]] SLAMing on 111.98650248099999 meters Centerline goodness [0,1] 0.7319009364453106 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92949503 -0.04052698 -0.36660135 3.96435018] [ 0.06035557 0.99725966 0.04278294 0.37375336] [ 0.36386287 -0.06189296 0.92939393 0.43756385] [ 0. 0. 0. 1. ]] SLAMing on 112.01650248099999 meters Centerline goodness [0,1] 0.7311581759206258 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92949448 -0.04042979 -0.36661349 3.96423744] [ 0.06024745 0.99726671 0.04277089 0.373896 ] [ 0.36388221 -0.06184284 0.92938969 0.43767704] [ 0. 0. 0. 1. ]] SLAMing on 112.04650248099999 meters Centerline goodness [0,1] 0.730915757893233 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92943333 -0.03987588 -0.36682913 3.96449786] [ 0.0597816 0.99728232 0.04305956 0.37401274] [ 0.36411517 -0.06195062 0.92929127 0.43796073] [ 0. 0. 0. 1. ]] SLAMing on 112.07650248099999 meters Centerline goodness [0,1] 0.7315695387915624 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92938934 -0.03973416 -0.36695592 3.96451015] [ 0.05965076 0.99728882 0.0430906 0.37396028] [ 0.36424887 -0.06193714 0.92923977 0.43822989] [ 0. 0. 0. 1. ]] SLAMing on 112.10650248099999 meters Centerline goodness [0,1] 0.730426729358125 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92946087 -0.03960241 -0.36678896 3.96456704] [ 0.05950873 0.99729606 0.04311935 0.37330763] [ 0.36408955 -0.0619049 0.92930435 0.43798972] [ 0. 0. 0. 1. ]] SLAMing on 112.136502481 meters Centerline goodness [0,1] 0.7298841079141785 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92943527 -0.03946702 -0.3668684 3.96463178] [ 0.05941639 0.99729635 0.04323995 0.37287066] [ 0.36416996 -0.06198673 0.92926739 0.43814347] [ 0. 0. 0. 1. ]] SLAMing on 112.166502481 meters Centerline goodness [0,1] 0.7286123812457059 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92943411 -0.03956658 -0.36686064 3.96373962] [ 0.05952537 0.99728955 0.04324686 0.37256843] [ 0.36415515 -0.06203262 0.92927013 0.43871641] [ 0. 0. 0. 1. ]] SLAMing on 112.196502481 meters Centerline goodness [0,1] 0.7297464000189785 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92946069 -0.03948474 -0.36680211 3.96384962] [ 0.05954304 0.99727631 0.0435268 0.37162552] [ 0.36408441 -0.06229696 0.92928017 0.43851225] [ 0. 0. 0. 1. ]] SLAMing on 112.226502481 meters Centerline goodness [0,1] 0.7288376052208456 Centerline is valid? [False, False] Translation: X:3.96, Y:0.37, Z:0.44 [[ 0.92948623 -0.03934829 -0.36675204 3.96457462] [ 0.05955359 0.99725771 0.04393664 0.36999305] [ 0.36401747 -0.0626799 0.92928064 0.43794859] [ 0. 0. 0. 1. ]] SLAMing on 112.25650248099998 meters Centerline goodness [0,1] 0.7292391611022289 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92912778 -0.0435713 -0.36718267 3.96664438] [ 0.06289716 0.9971846 0.04082673 0.36839183] [ 0.36437003 -0.061028 0.92925242 0.43775784] [ 0. 0. 0. 1. ]] SLAMing on 112.28650248099999 meters Centerline goodness [0,1] 0.7302673344148973 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92907934 -0.04311483 -0.36735906 3.96793385] [ 0.06280627 0.99714949 0.04181217 0.36595676] [ 0.36450918 -0.06191928 0.92913888 0.43706076] [ 0. 0. 0. 1. ]] SLAMing on 112.31650248099999 meters Centerline goodness [0,1] 0.7288788647683488 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92904335 -0.04303512 -0.36745943 3.96803244] [ 0.06284763 0.99713405 0.04211727 0.36515143] [ 0.36459378 -0.06222273 0.92908541 0.43714343] [ 0. 0. 0. 1. ]] SLAMing on 112.34650248099999 meters Centerline goodness [0,1] 0.7309539504661455 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92918891 -0.04375387 -0.36700623 3.96604234] [ 0.06355146 0.9970932 0.04202822 0.3634207 ] [ 0.36410052 -0.06237594 0.92926856 0.43754771] [ 0. 0. 0. 1. ]] SLAMing on 112.37650248099999 meters Centerline goodness [0,1] 0.7313884716485167 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92920987 -0.04382712 -0.36694442 3.96603199] [ 0.06372065 0.99707214 0.04227086 0.36188813] [ 0.36401745 -0.06266044 0.92928196 0.437471 ] [ 0. 0. 0. 1. ]] SLAMing on 112.40650248099999 meters Centerline goodness [0,1] 0.7304472221570788 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92894391 -0.04876925 -0.36699423 3.96619592] [ 0.06751915 0.996978 0.03841922 0.36158167] [ 0.3640115 -0.06046844 0.9294295 0.43791143] [ 0. 0. 0. 1. ]] SLAMing on 112.43650248099999 meters Centerline goodness [0,1] 0.7307593427910346 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92900999 -0.04895298 -0.36680247 3.96550097] [ 0.06770142 0.99696579 0.03841536 0.36088762] [ 0.36380897 -0.0605213 0.92950536 0.43808551] [ 0. 0. 0. 1. ]] SLAMing on 112.46650248099999 meters Centerline goodness [0,1] 0.7279456547200749 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92896886 -0.0490945 -0.36688771 3.96530426] [ 0.06786444 0.99695419 0.03842862 0.36074151] [ 0.36388361 -0.06059762 0.92947117 0.43832096] [ 0. 0. 0. 1. ]] SLAMing on 112.496502481 meters Centerline goodness [0,1] 0.7273516303072953 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92891719 -0.04896049 -0.3670364 3.96574507] [ 0.06779385 0.9969528 0.03858903 0.36073941] [ 0.36402863 -0.06072882 0.92940581 0.43828078] [ 0. 0. 0. 1. ]] SLAMing on 112.526502481 meters Centerline goodness [0,1] 0.7239978395134208 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92893305 -0.04928113 -0.36695336 3.96511333] [ 0.06802885 0.99694696 0.03832525 0.36077008] [ 0.36394432 -0.06056501 0.92944952 0.43859778] [ 0. 0. 0. 1. ]] SLAMing on 112.556502481 meters Centerline goodness [0,1] 0.7260782700669879 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92890718 -0.0493855 -0.3670048 3.96512801] [ 0.06812434 0.99694242 0.03827383 0.36070433] [ 0.36399248 -0.06055479 0.92943133 0.43869049] [ 0. 0. 0. 1. ]] SLAMing on 112.586502481 meters Centerline goodness [0,1] 0.720763555451458 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.9288372 -0.04922811 -0.36720301 3.96567577] [ 0.06801345 0.99694566 0.03838659 0.36075959] [ 0.36419174 -0.06062963 0.92934839 0.43869811] [ 0. 0. 0. 1. ]] SLAMing on 112.61650248099998 meters Centerline goodness [0,1] 0.7209493210759598 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92882853 -0.04929878 -0.36721546 3.96541385] [ 0.06805231 0.99694672 0.03828997 0.36122816] [ 0.3642066 -0.06055468 0.92934745 0.43889528] [ 0. 0. 0. 1. ]] SLAMing on 112.64650248099998 meters Centerline goodness [0,1] 0.7263212362113978 Centerline is valid? [False, False] Translation: X:3.96, Y:0.36, Z:0.44 [[ 0.92880782 -0.0493075 -0.36726666 3.96499194] [ 0.06800081 0.99695653 0.03812557 0.36207063] [ 0.36426902 -0.06038576 0.92933398 0.43929018] [ 0. 0. 0. 1. ]] SLAMing on 112.67650248099999 meters Centerline goodness [0,1] 0.7183826986365773 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92877391 -0.04920846 -0.36736569 3.96541463] [ 0.06792233 0.99695984 0.03817893 0.36227452] [ 0.36437012 -0.06041193 0.92929264 0.43920231] [ 0. 0. 0. 1. ]] SLAMing on 112.70650248099999 meters Centerline goodness [0,1] 0.7114070316353132 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92874141 -0.04908526 -0.36746433 3.96604369] [ 0.06783727 0.99696169 0.03828171 0.36218739] [ 0.3644688 -0.06048159 0.92924941 0.43897887] [ 0. 0. 0. 1. ]] SLAMing on 112.73650248099999 meters Centerline goodness [0,1] 0.7192748225704448 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.9286967 -0.04874002 -0.36762325 3.96699387] [ 0.06753186 0.99697712 0.03841957 0.36221453] [ 0.3646394 -0.06050641 0.92918087 0.43873409] [ 0. 0. 0. 1. ]] SLAMing on 112.76650248099999 meters Centerline goodness [0,1] 0.717073284726117 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92859861 -0.04861047 -0.36788808 3.9674744 ] [ 0.0674012 0.99698695 0.03839391 0.36267677] [ 0.36491327 -0.06044863 0.9290771 0.43894835] [ 0. 0. 0. 1. ]] SLAMing on 112.79650248099999 meters Centerline goodness [0,1] 0.7170607118588467 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92850635 -0.04827516 -0.36816499 3.96796479] [ 0.06708763 0.99700544 0.03846289 0.36376031] [ 0.3652057 -0.06041236 0.92896456 0.43912885] [ 0. 0. 0. 1. ]] SLAMing on 112.82650248099999 meters Centerline goodness [0,1] 0.7169152947237769 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92840553 -0.048225 -0.36842572 3.96825511] [ 0.06700483 0.99701563 0.03834307 0.36448182] [ 0.36547711 -0.06028422 0.92886613 0.43945233] [ 0. 0. 0. 1. ]] SLAMing on 112.85650248099999 meters Centerline goodness [0,1] 0.7176735248629142 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92831616 -0.04808613 -0.36866901 3.96945219] [ 0.06686374 0.99702597 0.03832048 0.36495289] [ 0.36572989 -0.06022411 0.92877053 0.43915126] [ 0. 0. 0. 1. ]] SLAMing on 112.886502481 meters Centerline goodness [0,1] 0.7159786919484664 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:0.44 [[ 0.92827736 -0.04805647 -0.36877055 3.97020703] [ 0.06685779 0.99702453 0.03836829 0.36492853] [ 0.36582944 -0.0602716 0.92872825 0.43883964] [ 0. 0. 0. 1. ]] SLAMing on 112.916502481 meters Centerline goodness [0,1] 0.7100731913296425 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92828849 -0.04855513 -0.36867719 3.96959283] [ 0.06721728 0.99701684 0.03793765 0.36602809] [ 0.3657353 -0.05999857 0.928783 0.43898993] [ 0. 0. 0. 1. ]] SLAMing on 112.946502481 meters Centerline goodness [0,1] 0.7084057290443766 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92817373 -0.04872281 -0.36894391 3.96966816] [ 0.0673297 0.99701755 0.03771891 0.36685075] [ 0.36600578 -0.05985058 0.92868599 0.43942007] [ 0. 0. 0. 1. ]] SLAMing on 112.976502481 meters Centerline goodness [0,1] 0.7079239414716901 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92807489 -0.04919575 -0.36912977 3.96974042] [ 0.06767659 0.99701066 0.03727754 0.36845693] [ 0.36619242 -0.05957779 0.92862996 0.43962049] [ 0. 0. 0. 1. ]] SLAMing on 113.00650248099998 meters Centerline goodness [0,1] 0.7053877223232634 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92807548 -0.0497226 -0.36905766 3.96913522] [ 0.06805731 0.99700174 0.03682027 0.36927046] [ 0.36612033 -0.05928906 0.92867686 0.43987481] [ 0. 0. 0. 1. ]] SLAMing on 113.03650248099999 meters Centerline goodness [0,1] 0.701923983778176 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92801827 -0.0500883 -0.36915207 3.9686864 ] [ 0.06832505 0.9969957 0.03648651 0.36985596] [ 0.36621548 -0.05908248 0.92865251 0.44035105] [ 0. 0. 0. 1. ]] SLAMing on 113.06650248099999 meters Centerline goodness [0,1] 0.6944234939191101 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92805899 -0.05085273 -0.36894513 3.96781908] [ 0.06884976 0.99698556 0.0357701 0.37109812] [ 0.36601396 -0.05859854 0.92876261 0.44054066] [ 0. 0. 0. 1. ]] SLAMing on 113.09650248099999 meters Centerline goodness [0,1] 0.6871697666153299 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92794153 -0.05090247 -0.36923362 3.96878119] [ 0.06881194 0.99699821 0.03548915 0.37321517] [ 0.36631877 -0.05833953 0.92865874 0.44038993] [ 0. 0. 0. 1. ]] SLAMing on 113.12650248099999 meters Centerline goodness [0,1] 0.6867723615712258 Centerline is valid? [False, False] Translation: X:3.97, Y:0.37, Z:0.44 [[ 0.92784111 -0.05097363 -0.36947606 3.96888941] [ 0.06880868 0.99700707 0.03524574 0.37447592] [ 0.36657364 -0.05812561 0.92857158 0.44075903] [ 0. 0. 0. 1. ]] SLAMing on 113.15650248099999 meters Centerline goodness [0,1] 0.6920151187391542 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92787458 -0.05140183 -0.36933266 3.9676588 ] [ 0.06906439 0.99700672 0.03475221 0.37570252] [ 0.36644082 -0.05775342 0.92864723 0.44129785] [ 0. 0. 0. 1. ]] SLAMing on 113.18650248099999 meters Centerline goodness [0,1] 0.689112499403882 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92781026 -0.05151004 -0.36947915 3.96762765] [ 0.06901442 0.99702562 0.03430628 0.37775515] [ 0.36661306 -0.0573291 0.92860553 0.44161502] [ 0. 0. 0. 1. ]] SLAMing on 113.21650248099999 meters Centerline goodness [0,1] 0.6997770799875356 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92773143 -0.05131925 -0.36970358 3.96866945] [ 0.06881652 0.99703998 0.03428666 0.37864193] [ 0.36684968 -0.05725053 0.92851693 0.4413539 ] [ 0. 0. 0. 1. ]] SLAMing on 113.246502481 meters Centerline goodness [0,1] 0.6969529750479846 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92772515 -0.05157742 -0.3696834 3.96796042] [ 0.06891752 0.99704814 0.0338434 0.37993175] [ 0.36684659 -0.05687504 0.92854122 0.44182112] [ 0. 0. 0. 1. ]] SLAMing on 113.276502481 meters Centerline goodness [0,1] 0.6942779030169313 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92768369 -0.0516151 -0.36978217 3.96747075] [ 0.06886298 0.9970606 0.03358647 0.3810592 ] [ 0.36696166 -0.05662192 0.92851123 0.4423661 ] [ 0. 0. 0. 1. ]] SLAMing on 113.306502481 meters Centerline goodness [0,1] 0.6931325301204819 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.9279224 -0.04686567 -0.36981566 3.96771758] [ 0.0652346 0.99717204 0.03731457 0.38146085] [ 0.36702106 -0.0587498 0.92835554 0.4418157 ] [ 0. 0. 0. 1. ]] SLAMing on 113.336502481 meters Centerline goodness [0,1] 0.6954960599561414 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92789917 -0.04694624 -0.36986372 3.9677651 ] [ 0.0652275 0.99718165 0.03706938 0.38223645] [ 0.36708105 -0.05852193 0.92834621 0.44192619] [ 0. 0. 0. 1. ]] SLAMing on 113.36650248099998 meters Centerline goodness [0,1] 0.6960496559688207 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92784201 -0.04713083 -0.36998363 3.96711356] [ 0.06522196 0.99720179 0.03653329 0.38371489] [ 0.3672265 -0.05802818 0.92831968 0.44271893] [ 0. 0. 0. 1. ]] SLAMing on 113.39650248099998 meters Centerline goodness [0,1] 0.6926172232663486 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92772875 -0.04693609 -0.37029228 3.96782865] [ 0.06501758 0.9972166 0.03649342 0.38482727] [ 0.36754875 -0.0579315 0.92819818 0.4428157 ] [ 0. 0. 0. 1. ]] SLAMing on 113.42650248099999 meters Centerline goodness [0,1] 0.6939110692461898 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92754351 -0.04681963 -0.37077077 3.969073 ] [ 0.06487499 0.99723044 0.03636861 0.38623001] [ 0.36804113 -0.05778722 0.92801205 0.44285154] [ 0. 0. 0. 1. ]] SLAMing on 113.45650248099999 meters Centerline goodness [0,1] 0.6868747595228935 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92724333 -0.04643443 -0.37156918 3.97117729] [ 0.06449206 0.99725731 0.03631292 0.38853318] [ 0.36886391 -0.05763417 0.92769484 0.44291146] [ 0. 0. 0. 1. ]] SLAMing on 113.48650248099999 meters Centerline goodness [0,1] 0.6867862176216164 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92726484 -0.04741549 -0.37139156 3.97002039] [ 0.06515906 0.99724798 0.03536618 0.39050815] [ 0.36869258 -0.05699334 0.92780253 0.44328581] [ 0. 0. 0. 1. ]] SLAMing on 113.51650248099999 meters Centerline goodness [0,1] 0.6864400629006895 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92730274 -0.04784473 -0.37124184 3.96992813] [ 0.06551012 0.99723393 0.03511275 0.39042562] [ 0.368535 -0.05688024 0.92787208 0.4430489 ] [ 0. 0. 0. 1. ]] SLAMing on 113.54650248099999 meters Centerline goodness [0,1] 0.6816414791778026 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92733582 -0.04830817 -0.37109917 3.96988437] [ 0.06589537 0.99721772 0.03485152 0.39035287] [ 0.36838305 -0.05677278 0.927939 0.44276423] [ 0. 0. 0. 1. ]] SLAMing on 113.57650248099999 meters Centerline goodness [0,1] 0.6782961756339501 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92728581 -0.04904618 -0.37112732 3.96941786] [ 0.06645179 0.99720166 0.03424935 0.39238385] [ 0.36840898 -0.05642101 0.92795016 0.44293042] [ 0. 0. 0. 1. ]] SLAMing on 113.60650248099999 meters Centerline goodness [0,1] 0.6713200126247298 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92718526 -0.04916017 -0.3713634 3.96925138] [ 0.06651481 0.99720392 0.03406052 0.39366643] [ 0.36865062 -0.05628158 0.92786266 0.4434122 ] [ 0. 0. 0. 1. ]] SLAMing on 113.636502481 meters Centerline goodness [0,1] 0.6713200126247298 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92718526 -0.04916017 -0.3713634 3.96925138] [ 0.06651481 0.99720392 0.03406052 0.39366643] [ 0.36865062 -0.05628158 0.92786266 0.4434122 ] [ 0. 0. 0. 1. ]] SLAMing on 113.666502481 meters Centerline goodness [0,1] 0.6532022581273116 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92724524 -0.05025149 -0.37106744 3.96740698] [ 0.06729905 0.99718271 0.03312821 0.396031 ] [ 0.36835729 -0.05569046 0.9280148 0.4439214 ] [ 0. 0. 0. 1. ]] SLAMing on 113.696502481 meters Centerline goodness [0,1] 0.6362816104567512 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.9272499 -0.05123664 -0.37092107 3.96689369] [ 0.0680229 0.99716056 0.03230626 0.39767248] [ 0.36821259 -0.05518711 0.92810229 0.44390455] [ 0. 0. 0. 1. ]] SLAMing on 113.726502481 meters Centerline goodness [0,1] 0.6215821026465858 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92728168 -0.05171549 -0.37077513 3.96663556] [ 0.06839901 0.99714536 0.03197971 0.3980523 ] [ 0.36806286 -0.05501485 0.92817191 0.44377292] [ 0. 0. 0. 1. ]] SLAMing on 113.75650248099998 meters Centerline goodness [0,1] 0.6067237551538218 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92733584 -0.05210595 -0.37058496 3.96663531] [ 0.0687146 0.99713109 0.03174724 0.39829346] [ 0.36786757 -0.05490495 0.92825584 0.44338223] [ 0. 0. 0. 1. ]] SLAMing on 113.78650248099999 meters Centerline goodness [0,1] 0.6289248101885868 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92733033 -0.05276852 -0.37050498 3.96601053] [ 0.06919938 0.99711529 0.0311855 0.40001628] [ 0.36779057 -0.05455798 0.92830681 0.44353455] [ 0. 0. 0. 1. ]] SLAMing on 113.81650248099999 meters Centerline goodness [0,1] 0.5779314389034134 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92724766 -0.05284054 -0.37070158 3.96574209] [ 0.06922216 0.99711899 0.03101625 0.40106904] [ 0.36799467 -0.05442051 0.92823399 0.44404253] [ 0. 0. 0. 1. ]] SLAMing on 113.84650248099999 meters Centerline goodness [0,1] 0.6132884487800083 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.9275763 -0.04869073 -0.37044759 3.96491113] [ 0.06610533 0.99721772 0.03445152 0.40126795] [ 0.36773943 -0.05644497 0.92821424 0.44364423] [ 0. 0. 0. 1. ]] SLAMing on 113.87650248099999 meters Centerline goodness [0,1] 0.6178231426047698 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92742184 -0.04839069 -0.3708734 3.96635802] [ 0.06581216 0.99723697 0.03445556 0.40251028] [ 0.36818134 -0.05636282 0.92804404 0.44351995] [ 0. 0. 0. 1. ]] SLAMing on 113.90650248099999 meters Centerline goodness [0,1] 0.6186855638394724 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92778664 -0.04363321 -0.37055108 3.966445 ] [ 0.06216134 0.99733476 0.03820132 0.40266417] [ 0.36789662 -0.05847662 0.92802616 0.44250208] [ 0. 0. 0. 1. ]] SLAMing on 113.93650248099999 meters Centerline goodness [0,1] 0.6332013087652832 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.9277964 -0.04370199 -0.37051852 3.9659141 ] [ 0.06207943 0.99735463 0.03781375 0.40420732] [ 0.36788582 -0.05808504 0.92805504 0.44290363] [ 0. 0. 0. 1. ]] SLAMing on 113.96650248099999 meters Centerline goodness [0,1] 0.6441595019270678 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92778746 -0.04373643 -0.37053686 3.96557233] [ 0.06196007 0.99737705 0.03741615 0.40586255] [ 0.36792851 -0.05767272 0.92806383 0.44326301] [ 0. 0. 0. 1. ]] SLAMing on 113.996502481 meters Centerline goodness [0,1] 0.6636751289170963 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92811933 -0.0390321 -0.37023103 3.96532077] [ 0.05829904 0.99745731 0.04098958 0.40641857] [ 0.36768973 -0.05962734 0.92803494 0.44259365] [ 0. 0. 0. 1. ]] SLAMing on 114.026502481 meters Centerline goodness [0,1] 0.6797610156833458 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92841522 -0.03409014 -0.36997709 3.96536467] [ 0.05446452 0.99751196 0.04476052 0.40680272] [ 0.36753068 -0.06170697 0.92796199 0.44185848] [ 0. 0. 0. 1. ]] SLAMing on 114.056502481 meters Centerline goodness [0,1] 0.6790868668802941 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92829539 -0.03391526 -0.3702937 3.96599671] [ 0.05421587 0.99753492 0.04455027 0.40822949] [ 0.36786996 -0.0614316 0.92784581 0.44213928] [ 0. 0. 0. 1. ]] SLAMing on 114.086502481 meters Centerline goodness [0,1] 0.6882877497135456 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92821343 -0.03293061 -0.37058791 3.96778169] [ 0.05330437 0.99756983 0.04486723 0.410349 ] [ 0.36820981 -0.06140032 0.92771307 0.44166684] [ 0. 0. 0. 1. ]] SLAMing on 114.11650248099998 meters Centerline goodness [0,1] 0.6908052284973059 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92811197 -0.03293112 -0.37084189 3.96808679] [ 0.05318499 0.99759177 0.04451982 0.41167147] [ 0.36848273 -0.0610426 0.92762831 0.44204762] [ 0. 0. 0. 1. ]] SLAMing on 114.14650248099998 meters Centerline goodness [0,1] 0.6929807069146019 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92807044 -0.03302582 -0.37093739 3.96815717] [ 0.05315539 0.9976088 0.04417214 0.41290451] [ 0.36859158 -0.06071218 0.92760675 0.4422484 ] [ 0. 0. 0. 1. ]] SLAMing on 114.17650248099999 meters Centerline goodness [0,1] 0.6915623435152729 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92799536 -0.03291154 -0.37113534 3.96893034] [ 0.05291024 0.99763695 0.04382953 0.41449276] [ 0.36881583 -0.06031046 0.92754382 0.44225726] [ 0. 0. 0. 1. ]] SLAMing on 114.20650248099999 meters Centerline goodness [0,1] 0.6946951464099478 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92788967 -0.03286958 -0.37140321 3.96930104] [ 0.05279073 0.99765353 0.04359552 0.41556712] [ 0.36909876 -0.06005848 0.92744762 0.44257827] [ 0. 0. 0. 1. ]] SLAMing on 114.23650248099999 meters Centerline goodness [0,1] 0.696484580834567 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92774933 -0.03270967 -0.37176774 3.96922976] [ 0.0524518 0.99769239 0.04311276 0.41793383] [ 0.36949964 -0.05949772 0.92732413 0.44353897] [ 0. 0. 0. 1. ]] SLAMing on 114.26650248099999 meters Centerline goodness [0,1] 0.6917564520170383 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92769573 -0.03275712 -0.37189731 3.96956608] [ 0.05240253 0.99770678 0.04283872 0.41902769] [ 0.36964119 -0.05922966 0.92728487 0.44365178] [ 0. 0. 0. 1. ]] SLAMing on 114.29650248099999 meters Centerline goodness [0,1] 0.697149882081389 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92771408 -0.03291544 -0.37183754 3.9694222 ] [ 0.0524077 0.99772377 0.04243479 0.41980732] [ 0.36959439 -0.0588545 0.92732741 0.44381653] [ 0. 0. 0. 1. ]] SLAMing on 114.32650248099999 meters Centerline goodness [0,1] 0.6981552401692073 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92773284 -0.03322078 -0.37176357 3.9685582 ] [ 0.05259711 0.99772804 0.04209869 0.42008462] [ 0.36952039 -0.05861003 0.92737239 0.44432898] [ 0. 0. 0. 1. ]] SLAMing on 114.35650248099999 meters Centerline goodness [0,1] 0.7000851319545296 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92774872 -0.03357425 -0.37169218 3.96744756] [ 0.05285465 0.99772686 0.04180317 0.42058808] [ 0.36944376 -0.0584285 0.92741437 0.44492694] [ 0. 0. 0. 1. ]] SLAMing on 114.386502481 meters Centerline goodness [0,1] 0.6997518610421836 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.9277226 -0.03361393 -0.37175379 3.96764624] [ 0.052896 0.99772524 0.04178934 0.42055633] [ 0.36950344 -0.05843321 0.9273903 0.44495598] [ 0. 0. 0. 1. ]] SLAMing on 114.416502481 meters Centerline goodness [0,1] 0.701578514251515 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92786367 -0.03417402 -0.37135044 3.96700432] [ 0.05340799 0.99770458 0.04163117 0.41908211] [ 0.36907533 -0.05846113 0.927559 0.44467444] [ 0. 0. 0. 1. ]] SLAMing on 114.446502481 meters Centerline goodness [0,1] 0.7023471370907459 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92795153 -0.03428942 -0.3711202 3.96689263] [ 0.05358473 0.99768792 0.04180289 0.41768736] [ 0.36882874 -0.05867743 0.92764342 0.44430897] [ 0. 0. 0. 1. ]] SLAMing on 114.476502481 meters Centerline goodness [0,1] 0.7022577023824373 Centerline is valid? [False, False] Translation: X:3.97, Y:0.42, Z:0.44 [[ 0.92808272 -0.0343602 -0.37078543 3.966962 ] [ 0.05379591 0.99765983 0.04220031 0.41562352] [ 0.36846772 -0.05911211 0.92775929 0.44358973] [ 0. 0. 0. 1. ]] SLAMing on 114.50650248099998 meters Centerline goodness [0,1] 0.7021790561573902 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92806146 -0.03420497 -0.370853 3.96726338] [ 0.05375714 0.99764872 0.04251114 0.41481664] [ 0.36852693 -0.05938894 0.92771809 0.4434829 ] [ 0. 0. 0. 1. ]] SLAMing on 114.53650248099999 meters Centerline goodness [0,1] 0.7048734887199302 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.9280484 -0.03409412 -0.37089588 3.96717759] [ 0.05373777 0.99763935 0.04275489 0.41418595] [ 0.36856263 -0.05960973 0.92768975 0.44357844] [ 0. 0. 0. 1. ]] SLAMing on 114.56650248099999 meters Centerline goodness [0,1] 0.7038600874453467 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92813626 -0.03413259 -0.37067244 3.96676807] [ 0.05387978 0.99761912 0.04304731 0.41290607] [ 0.36832059 -0.05992552 0.92776553 0.44338768] [ 0. 0. 0. 1. ]] SLAMing on 114.59650248099999 meters Centerline goodness [0,1] 0.6995136235048887 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92826737 -0.03428763 -0.37032965 3.96622796] [ 0.05408825 0.99760068 0.04321283 0.41141576] [ 0.36795945 -0.06014355 0.92789471 0.4431088 ] [ 0. 0. 0. 1. ]] SLAMing on 114.62650248099999 meters Centerline goodness [0,1] 0.7095416161065848 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92854382 -0.03509431 -0.36956024 3.9636713 ] [ 0.05473268 0.99758391 0.04278644 0.40990374] [ 0.36716579 -0.05995611 0.92822117 0.44350761] [ 0. 0. 0. 1. ]] SLAMing on 114.65650248099999 meters Centerline goodness [0,1] 0.7112459747337132 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92856738 -0.03517463 -0.3694934 3.96315767] [ 0.05478895 0.99758357 0.04272227 0.40968611] [ 0.36709781 -0.05991466 0.92825074 0.44379327] [ 0. 0. 0. 1. ]] SLAMing on 114.68650248099999 meters Centerline goodness [0,1] 0.7119445475925239 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.9284946 -0.03472209 -0.36971903 3.96400564] [ 0.0544179 0.99759308 0.04297375 0.40961168] [ 0.36733701 -0.06002023 0.92814928 0.44377758] [ 0. 0. 0. 1. ]] SLAMing on 114.71650248099999 meters Centerline goodness [0,1] 0.7119044070154519 Centerline is valid? [False, False] Translation: X:3.96, Y:0.41, Z:0.44 [[ 0.92836677 -0.03444271 -0.370066 3.9647081 ] [ 0.05417125 0.9976033 0.04304806 0.41021377] [ 0.36769637 -0.06001133 0.92800755 0.44396105] [ 0. 0. 0. 1. ]] SLAMing on 114.746502481 meters Centerline goodness [0,1] 0.7072381521306252 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92814325 -0.03330634 -0.37073009 3.9672976 ] [ 0.05319273 0.99763445 0.0435436 0.41163992] [ 0.36840283 -0.06013484 0.92771933 0.44365102] [ 0. 0. 0. 1. ]] SLAMing on 114.776502481 meters Centerline goodness [0,1] 0.7052761951944513 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92815498 -0.03306203 -0.37072259 3.96849174] [ 0.05296915 0.99764199 0.04364319 0.41145843] [ 0.36840549 -0.06014451 0.92771765 0.44300976] [ 0. 0. 0. 1. ]] SLAMing on 114.806502481 meters Centerline goodness [0,1] 0.7093392945851962 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92822653 -0.03309588 -0.37054038 3.96887914] [ 0.05298582 0.99764188 0.04362549 0.41075052] [ 0.36822277 -0.06012772 0.92779127 0.44255091] [ 0. 0. 0. 1. ]] SLAMing on 114.836502481 meters Centerline goodness [0,1] 0.7066062496904868 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92830792 -0.03308959 -0.37033699 3.96855505] [ 0.05294364 0.99764646 0.04357189 0.4102753 ] [ 0.36802361 -0.06005512 0.927875 0.44253129] [ 0. 0. 0. 1. ]] SLAMing on 114.86650248099998 meters Centerline goodness [0,1] 0.7061529330299733 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92852377 -0.02828456 -0.37019398 3.96768661] [ 0.04937856 0.99764394 0.04762706 0.40885146] [ 0.36797467 -0.0625025 0.92773276 0.44252866] [ 0. 0. 0. 1. ]] SLAMing on 114.89650248099998 meters Centerline goodness [0,1] 0.7063846688511568 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92846606 -0.02806256 -0.37035559 3.96823481] [ 0.04924549 0.99763921 0.04786333 0.40846024] [ 0.36813809 -0.06267782 0.9276561 0.44245972] [ 0. 0. 0. 1. ]] SLAMing on 114.92650248099999 meters Centerline goodness [0,1] 0.7065055946133281 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92850099 -0.0278938 -0.37028077 3.96904119] [ 0.04919614 0.99762496 0.04820966 0.40724412] [ 0.36805659 -0.0629791 0.92766803 0.44179722] [ 0. 0. 0. 1. ]] SLAMing on 114.95650248099999 meters Centerline goodness [0,1] 0.7029203933389336 Centerline is valid? [False, False] Translation: X:3.97, Y:0.41, Z:0.44 [[ 0.92826978 -0.0322303 -0.37050832 3.97030414] [ 0.05255055 0.99760932 0.04487845 0.40573471] [ 0.36817611 -0.06112972 0.92774431 0.44179866] [ 0. 0. 0. 1. ]] SLAMing on 114.98650248099999 meters Centerline goodness [0,1] 0.7079591433928747 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92837822 -0.03242653 -0.3702194 3.96959392] [ 0.0527969 0.99758996 0.04501956 0.40403727] [ 0.36786732 -0.06134162 0.92785281 0.44176887] [ 0. 0. 0. 1. ]] SLAMing on 115.01650248099999 meters Centerline goodness [0,1] 0.7055720489731825 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92848423 -0.03245961 -0.36995054 3.96774987] [ 0.0529746 0.99756208 0.04542662 0.40216717] [ 0.3675741 -0.06177589 0.9279402 0.44240136] [ 0. 0. 0. 1. ]] SLAMing on 115.04650248099999 meters Centerline goodness [0,1] 0.7062562648216513 Centerline is valid? [False, False] Translation: X:3.97, Y:0.40, Z:0.44 [[ 0.92847304 -0.03241621 -0.36998245 3.96727845] [ 0.05302897 0.99754782 0.0456758 0.40121711] [ 0.36759455 -0.06202854 0.92791525 0.44273066] [ 0. 0. 0. 1. ]] SLAMing on 115.07650248099999 meters Centerline goodness [0,1] 0.7109710824540836 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92878809 -0.03390554 -0.36905705 3.96451234] [ 0.05421709 0.99752356 0.04480233 0.39795765] [ 0.36662405 -0.06162107 0.92832626 0.4430789 ] [ 0. 0. 0. 1. ]] SLAMing on 115.10650248099999 meters Centerline goodness [0,1] 0.7095474195833231 Centerline is valid? [False, False] Translation: X:3.96, Y:0.40, Z:0.44 [[ 0.92886687 -0.03385234 -0.3688636 3.96451441] [ 0.05430784 0.99750014 0.04521194 0.39572466] [ 0.36641097 -0.06202806 0.92838328 0.44275182] [ 0. 0. 0. 1. ]] SLAMing on 115.136502481 meters Centerline goodness [0,1] 0.709034587053027 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92892146 -0.03367474 -0.36874237 3.96519793] [ 0.05431689 0.99747556 0.0457403 0.39346226] [ 0.36627121 -0.06251809 0.92840556 0.44211102] [ 0. 0. 0. 1. ]] SLAMing on 115.166502481 meters Centerline goodness [0,1] 0.7028976706905345 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92881473 -0.03330265 -0.3690449 3.96648189] [ 0.05424309 0.99744399 0.04650994 0.39048075] [ 0.36655271 -0.06321725 0.9282471 0.44180293] [ 0. 0. 0. 1. ]] SLAMing on 115.196502481 meters Centerline goodness [0,1] 0.7054306888591908 Centerline is valid? [False, False] Translation: X:3.97, Y:0.39, Z:0.44 [[ 0.92892803 -0.03330417 -0.36875946 3.96505157] [ 0.05435437 0.99742245 0.04684076 0.38917722] [ 0.36624897 -0.06355538 0.9283439 0.44216893] [ 0. 0. 0. 1. ]] SLAMing on 115.22650248099998 meters Centerline goodness [0,1] 0.702197322467986 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92897404 -0.03351741 -0.36862423 3.96409384] [ 0.05456947 0.99741117 0.04683084 0.38826921] [ 0.36610027 -0.06362026 0.92839811 0.44255813] [ 0. 0. 0. 1. ]] SLAMing on 115.25650248099998 meters Centerline goodness [0,1] 0.7031371217998448 Centerline is valid? [False, False] Translation: X:3.96, Y:0.39, Z:0.44 [[ 0.92901851 -0.03365629 -0.36849946 3.96376513] [ 0.05474261 0.99739772 0.0469151 0.38694974] [ 0.36596154 -0.06375762 0.92844338 0.44260883] [ 0. 0. 0. 1. ]] SLAMing on 115.28650248099999 meters Centerline goodness [0,1] 0.7014611761864509 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92904153 -0.0338442 -0.36842421 3.96351646] [ 0.05501682 0.9973733 0.04711311 0.38430304] [ 0.36586197 -0.06403956 0.92846322 0.44270378] [ 0. 0. 0. 1. ]] SLAMing on 115.31650248099999 meters Centerline goodness [0,1] 0.7006760019314341 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92904238 -0.03345689 -0.36845745 3.96377788] [ 0.05478204 0.99736472 0.04756616 0.38314065] [ 0.36589505 -0.06437583 0.92842693 0.44264302] [ 0. 0. 0. 1. ]] SLAMing on 115.34650248099999 meters Centerline goodness [0,1] 0.7037431086178547 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92895721 -0.0332546 -0.36869042 3.96426699] [ 0.05463466 0.99736645 0.04769919 0.38277655] [ 0.36613324 -0.06445378 0.92832761 0.44281147] [ 0. 0. 0. 1. ]] SLAMing on 115.37650248099999 meters Centerline goodness [0,1] 0.7033414440241875 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92892579 -0.03303477 -0.36878934 3.9649138 ] [ 0.05445543 0.99737026 0.04782446 0.3825351 ] [ 0.36623964 -0.06450795 0.92828188 0.44263792] [ 0. 0. 0. 1. ]] SLAMing on 115.40650248099999 meters Centerline goodness [0,1] 0.7021528785679729 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92884121 -0.03228836 -0.36906839 3.96616704] [ 0.05383225 0.99738488 0.04822326 0.38204309] [ 0.36654618 -0.06465953 0.92815033 0.44250092] [ 0. 0. 0. 1. ]] SLAMing on 115.43650248099999 meters Centerline goodness [0,1] 0.7018278018278018 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92879425 -0.03205594 -0.36920679 3.96658105] [ 0.05360672 0.99739535 0.04825797 0.38205455] [ 0.36669818 -0.06461369 0.92809349 0.4426277 ] [ 0. 0. 0. 1. ]] SLAMing on 115.46650248099999 meters Centerline goodness [0,1] 0.7025284358472796 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92887553 -0.03118399 -0.36907697 3.9665422 ] [ 0.05278544 0.99742382 0.04857376 0.38240152] [ 0.36661144 -0.06460087 0.92812864 0.4426825 ] [ 0. 0. 0. 1. ]] SLAMing on 115.496502481 meters Centerline goodness [0,1] 0.7023418638338967 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92889061 -0.03116204 -0.36904087 3.96631928] [ 0.05271109 0.99743368 0.048452 0.38288042] [ 0.36658393 -0.06445916 0.92814936 0.44281415] [ 0. 0. 0. 1. ]] SLAMing on 115.526502481 meters Centerline goodness [0,1] 0.702576112412178 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92890304 -0.03099039 -0.36902403 3.96640755] [ 0.05257603 0.99743459 0.04857989 0.38257775] [ 0.36657182 -0.06452783 0.92814938 0.44275361] [ 0. 0. 0. 1. ]] SLAMing on 115.556502481 meters Centerline goodness [0,1] 0.702576112412178 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92890304 -0.03099039 -0.36902403 3.96640755] [ 0.05257603 0.99743459 0.04857989 0.38257775] [ 0.36657182 -0.06452783 0.92814938 0.44275361] [ 0. 0. 0. 1. ]] SLAMing on 115.586502481 meters Centerline goodness [0,1] 0.702694871051869 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92892205 -0.03067016 -0.36900292 3.96616214] [ 0.05235324 0.99743113 0.04889042 0.38197126] [ 0.36655553 -0.06473389 0.92814146 0.44290203] [ 0. 0. 0. 1. ]] SLAMing on 115.61650248099998 meters Centerline goodness [0,1] 0.7018453044025766 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.9289365 -0.03074021 -0.36896072 3.96608031] [ 0.05243137 0.99742628 0.04890579 0.38176642] [ 0.36650775 -0.06477548 0.92815743 0.44289 ] [ 0. 0. 0. 1. ]] SLAMing on 115.64650248099998 meters Centerline goodness [0,1] 0.700245641075041 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92860041 -0.03491822 -0.36943471 3.96880428] [ 0.05569964 0.99739965 0.04573282 0.38078518] [ 0.36687714 -0.06304489 0.92813065 0.44230982] [ 0. 0. 0. 1. ]] SLAMing on 115.67650248099999 meters Centerline goodness [0,1] 0.6993479777686885 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92858903 -0.03489547 -0.36946546 3.96962277] [ 0.05583561 0.99737362 0.04613292 0.37907618] [ 0.36688527 -0.06346785 0.92809861 0.44179349] [ 0. 0. 0. 1. ]] SLAMing on 115.70650248099999 meters Centerline goodness [0,1] 0.698654211907456 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92879341 -0.03576667 -0.36886791 3.96706269] [ 0.05666964 0.99733332 0.04598691 0.37837329] [ 0.36623946 -0.06361595 0.92834351 0.44221122] [ 0. 0. 0. 1. ]] SLAMing on 115.73650248099999 meters Centerline goodness [0,1] 0.7020063510392609 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92886245 -0.03631748 -0.36864018 3.96599838] [ 0.05714504 0.99731777 0.04573513 0.37798488] [ 0.36599042 -0.0635476 0.9284464 0.44250189] [ 0. 0. 0. 1. ]] SLAMing on 115.76650248099999 meters Centerline goodness [0,1] 0.7027306877287613 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92896264 -0.03658882 -0.3683608 3.96582365] [ 0.05744914 0.99729642 0.04581976 0.37653069] [ 0.36568841 -0.06372685 0.92855311 0.44214972] [ 0. 0. 0. 1. ]] SLAMing on 115.79650248099999 meters Centerline goodness [0,1] 0.6996506174021251 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92867951 -0.04126837 -0.36858011 3.96671007] [ 0.06105542 0.99724278 0.04217898 0.37631724] [ 0.3658232 -0.06167457 0.92863859 0.44230635] [ 0. 0. 0. 1. ]] SLAMing on 115.82650248099999 meters Centerline goodness [0,1] 0.7003182503409825 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92867552 -0.04146708 -0.36856785 3.96646383] [ 0.06125166 0.99723249 0.04213771 0.37638756] [ 0.3658005 -0.06170765 0.92864533 0.44238041] [ 0. 0. 0. 1. ]] SLAMing on 115.85650248099999 meters Centerline goodness [0,1] 0.7020434594905742 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92872033 -0.04175504 -0.36842241 3.96499362] [ 0.06149211 0.99722395 0.04198943 0.37713079] [ 0.36564638 -0.06165151 0.92870976 0.44297261] [ 0. 0. 0. 1. ]] SLAMing on 115.886502481 meters Centerline goodness [0,1] 0.7028209419077217 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92870607 -0.04188877 -0.36844317 3.96451099] [ 0.06158959 0.99722302 0.04186854 0.3774954 ] [ 0.36566619 -0.06157583 0.92870698 0.44332132] [ 0. 0. 0. 1. ]] SLAMing on 115.916502481 meters Centerline goodness [0,1] 0.6998352317501253 Centerline is valid? [False, False] Translation: X:3.96, Y:0.38, Z:0.44 [[ 0.92878869 -0.0421011 -0.36821064 3.96488524] [ 0.06178697 0.99721231 0.04183287 0.37690946] [ 0.36542297 -0.06160451 0.92880081 0.44269312] [ 0. 0. 0. 1. ]] SLAMing on 115.946502481 meters Centerline goodness [0,1] 0.7017812313209802 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92883902 -0.04220928 -0.36807126 3.96547557] [ 0.06190864 0.99720311 0.04187216 0.37611702] [ 0.36527441 -0.06167928 0.92885428 0.4420949 ] [ 0. 0. 0. 1. ]] SLAMing on 115.97650248099998 meters Centerline goodness [0,1] 0.6973134328358208 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92882669 -0.04215561 -0.36810853 3.96610823] [ 0.06189155 0.99720012 0.04196846 0.37591708] [ 0.36530866 -0.06176424 0.92883516 0.4417377 ] [ 0. 0. 0. 1. ]] SLAMing on 116.00650248099998 meters Centerline goodness [0,1] 0.6998708813543111 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92876136 -0.04191173 -0.36830117 3.96656104] [ 0.0616989 0.99720612 0.04210935 0.37645413] [ 0.36550731 -0.06183331 0.92875242 0.44176925] [ 0. 0. 0. 1. ]] SLAMing on 116.03650248099999 meters Centerline goodness [0,1] 0.699593398708443 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92865078 -0.04156337 -0.36861933 3.96739656] [ 0.06142181 0.99721525 0.04229782 0.37685669] [ 0.36583478 -0.06192117 0.92861762 0.44182835] [ 0. 0. 0. 1. ]] SLAMing on 116.06650248099999 meters Centerline goodness [0,1] 0.6989709428646467 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92859691 -0.04130988 -0.3687835 3.96810792] [ 0.06124036 0.99721789 0.04249826 0.37664205] [ 0.36600191 -0.06204819 0.92854328 0.44169387] [ 0. 0. 0. 1. ]] SLAMing on 116.09650248099999 meters Centerline goodness [0,1] 0.6983522240213353 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92855718 -0.04102689 -0.36891511 3.96890479] [ 0.06101095 0.9972249 0.04266326 0.37667822] [ 0.36614099 -0.06212314 0.92848343 0.44147697] [ 0. 0. 0. 1. ]] SLAMing on 116.12650248099999 meters Centerline goodness [0,1] 0.7007557638955324 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92850328 -0.04050214 -0.3691087 3.97036577] [ 0.06058922 0.99723669 0.04298752 0.37672895] [ 0.36634766 -0.06227806 0.92839153 0.44093565] [ 0. 0. 0. 1. ]] SLAMing on 116.15650248099999 meters Centerline goodness [0,1] 0.6984975198293835 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.9284661 -0.04008025 -0.36924826 3.97075106] [ 0.06019516 0.99725519 0.04311172 0.37760356] [ 0.36650681 -0.06225473 0.92833028 0.44101346] [ 0. 0. 0. 1. ]] SLAMing on 116.18650248099999 meters Centerline goodness [0,1] 0.6994193409639418 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92845247 -0.03996004 -0.36929557 3.97096868] [ 0.06009385 0.99725863 0.04317352 0.37789104] [ 0.36655797 -0.06227695 0.92830859 0.44098535] [ 0. 0. 0. 1. ]] SLAMing on 116.21650248099999 meters Centerline goodness [0,1] 0.7024330725615445 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92850096 -0.04002089 -0.36916703 3.97096221] [ 0.06013906 0.9972571 0.04314595 0.37781919] [ 0.3664277 -0.06226241 0.92836099 0.44077638] [ 0. 0. 0. 1. ]] SLAMing on 116.246502481 meters Centerline goodness [0,1] 0.702098507247422 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.9284993 -0.0398786 -0.36918659 3.97112338] [ 0.05999847 0.99726438 0.04317338 0.37807422] [ 0.36645495 -0.06223709 0.92835194 0.44075132] [ 0. 0. 0. 1. ]] SLAMing on 116.276502481 meters Centerline goodness [0,1] 0.704775199768942 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92841519 -0.03988992 -0.36939685 3.97121693] [ 0.05997771 0.99727089 0.0430517 0.37866788] [ 0.3666714 -0.06212543 0.92827394 0.44108856] [ 0. 0. 0. 1. ]] SLAMing on 116.306502481 meters Centerline goodness [0,1] 0.7046675823513819 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92832508 -0.03957814 -0.36965674 3.97180038] [ 0.05968175 0.99728643 0.04310301 0.37968138] [ 0.36694772 -0.06207537 0.9281681 0.44121586] [ 0. 0. 0. 1. ]] SLAMing on 116.336502481 meters Centerline goodness [0,1] 0.7069651861323554 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92827023 -0.03946991 -0.36980605 3.97259448] [ 0.05958911 0.99729056 0.04313565 0.3801175 ] [ 0.36710152 -0.06207795 0.92810711 0.44097343] [ 0. 0. 0. 1. ]] SLAMing on 116.36650248099998 meters Centerline goodness [0,1] 0.7042019638043897 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92823277 -0.03936015 -0.36991174 3.9732632 ] [ 0.05951538 0.99729095 0.04322815 0.37998668] [ 0.36720817 -0.06214123 0.92806068 0.44076638] [ 0. 0. 0. 1. ]] SLAMing on 116.39650248099998 meters Centerline goodness [0,1] 0.7075819228083693 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92844746 -0.03983178 -0.36932202 3.97282174] [ 0.05991526 0.99727406 0.04306531 0.37873412] [ 0.3665999 -0.0621119 0.92830309 0.44007709] [ 0. 0. 0. 1. ]] SLAMing on 116.42650248099999 meters Centerline goodness [0,1] 0.7078543600596412 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92846687 -0.03990903 -0.36926486 3.97297559] [ 0.06001305 0.9972661 0.04311324 0.37828875] [ 0.36653472 -0.06218992 0.9283236 0.43985863] [ 0. 0. 0. 1. ]] SLAMing on 116.45650248099999 meters Centerline goodness [0,1] 0.7093056825289901 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92834828 -0.03970738 -0.36958462 3.97397653] [ 0.05992969 0.99725902 0.04339219 0.37845996] [ 0.36684861 -0.06243216 0.92818335 0.4396845 ] [ 0. 0. 0. 1. ]] SLAMing on 116.48650248099999 meters Centerline goodness [0,1] 0.7084124732527108 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92835239 -0.03954481 -0.36959174 3.97407039] [ 0.05984655 0.99725397 0.04362236 0.37813851] [ 0.36685179 -0.06261572 0.92816972 0.4396274 ] [ 0. 0. 0. 1. ]] SLAMing on 116.51650248099999 meters Centerline goodness [0,1] 0.7096362322331968 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92849961 -0.04002273 -0.36917021 3.97302051] [ 0.06022233 0.99724317 0.04335133 0.37794028] [ 0.36641744 -0.06248398 0.92835016 0.43955014] [ 0. 0. 0. 1. ]] SLAMing on 116.54650248099999 meters Centerline goodness [0,1] 0.711183574879227 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92851689 -0.04003341 -0.3691256 3.97318205] [ 0.06023213 0.9972424 0.04335526 0.37788125] [ 0.36637204 -0.06248932 0.92836771 0.43939753] [ 0. 0. 0. 1. ]] SLAMing on 116.57650248099999 meters Centerline goodness [0,1] 0.7109854409818313 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.9285014 -0.0397688 -0.36919316 3.97352708] [ 0.05999074 0.99725277 0.04345135 0.37801831] [ 0.3664509 -0.06249281 0.92833636 0.43938928] [ 0. 0. 0. 1. ]] SLAMing on 116.60650248099999 meters Centerline goodness [0,1] 0.7105206152068742 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92845233 -0.039731 -0.36932061 3.97400556] [ 0.05994325 0.9972574 0.04341056 0.37843789] [ 0.36658296 -0.06244291 0.92828757 0.43933236] [ 0. 0. 0. 1. ]] SLAMing on 116.636502481 meters Centerline goodness [0,1] 0.7115928369462772 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92846628 -0.03953706 -0.36930636 3.97451041] [ 0.05976801 0.99726416 0.04349693 0.37885531] [ 0.36657626 -0.06245814 0.92828919 0.43900147] [ 0. 0. 0. 1. ]] SLAMing on 116.666502481 meters Centerline goodness [0,1] 0.7109716354858178 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92846609 -0.03942988 -0.36931829 3.97448443] [ 0.05965961 0.99727 0.04351174 0.37944787] [ 0.36659439 -0.06243256 0.92828375 0.4390394 ] [ 0. 0. 0. 1. ]] SLAMing on 116.696502481 meters Centerline goodness [0,1] 0.711432224446964 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92850203 -0.03948418 -0.36922214 3.97403188] [ 0.05968025 0.99727216 0.04343389 0.37994658] [ 0.36650001 -0.06236372 0.92832565 0.43915447] [ 0. 0. 0. 1. ]] SLAMing on 116.72650248099998 meters Centerline goodness [0,1] 0.7114877133518944 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92858808 -0.03977928 -0.36897397 3.97320623] [ 0.05989434 0.99726868 0.0432186 0.38005074] [ 0.36624698 -0.06223173 0.92843436 0.43927391] [ 0. 0. 0. 1. ]] SLAMing on 116.75650248099998 meters Centerline goodness [0,1] 0.7119856887298748 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92862496 -0.03984101 -0.36887447 3.97340683] [ 0.05996385 0.99726336 0.04324494 0.37973148] [ 0.36614207 -0.06227747 0.92847267 0.43900187] [ 0. 0. 0. 1. ]] SLAMing on 116.78650248099999 meters Centerline goodness [0,1] 0.7125544267053701 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92859448 -0.040007 -0.36893322 3.97427824] [ 0.06014646 0.99725235 0.04324522 0.37965257] [ 0.36618941 -0.0623473 0.92844931 0.4384799 ] [ 0. 0. 0. 1. ]] SLAMing on 116.81650248099999 meters Centerline goodness [0,1] 0.7123884171565426 Centerline is valid? [False, False] Translation: X:3.97, Y:0.38, Z:0.44 [[ 0.92861344 -0.03992547 -0.36889435 3.97491671] [ 0.06012829 0.99724549 0.04342825 0.37947856] [ 0.36614434 -0.06250904 0.92845622 0.43797168] [ 0. 0. 0. 1. ]] SLAMing on 116.84650248099999 meters Centerline goodness [0,1] 0.7131314108767176 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.92868629 -0.04008465 -0.36869363 3.97515913] [ 0.06030389 0.99723277 0.04347692 0.37921408] [ 0.36593061 -0.06261008 0.92853366 0.43738808] [ 0. 0. 0. 1. ]] SLAMing on 116.87650248099999 meters Centerline goodness [0,1] 0.7123049422677423 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.928654 -0.04009756 -0.36877356 3.97529855] [ 0.06033516 0.99722959 0.04350641 0.37954493] [ 0.36600741 -0.06265241 0.92850054 0.43738807] [ 0. 0. 0. 1. ]] SLAMing on 116.90650248099999 meters Centerline goodness [0,1] 0.7135774866946949 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.92839806 -0.03995242 -0.36943315 3.97638058] [ 0.06019197 0.99724212 0.04341753 0.38182562] [ 0.36667967 -0.06254566 0.92824246 0.43775059] [ 0. 0. 0. 1. ]] SLAMing on 116.93650248099999 meters Centerline goodness [0,1] 0.7118821015829853 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.92841899 -0.03995762 -0.36937998 3.97660457] [ 0.06016414 0.99724706 0.04334266 0.38245959] [ 0.36663123 -0.06246357 0.92826712 0.4375481 ] [ 0. 0. 0. 1. ]] SLAMing on 116.96650248099999 meters Centerline goodness [0,1] 0.7134686526479751 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.92855224 -0.04090994 -0.36894052 3.97529636] [ 0.0608164 0.99724445 0.0424838 0.38369237] [ 0.36618588 -0.06188607 0.92848157 0.43759811] [ 0. 0. 0. 1. ]] SLAMing on 116.996502481 meters Centerline goodness [0,1] 0.7170863572159174 Centerline is valid? [False, False] Translation: X:3.98, Y:0.38, Z:0.44 [[ 0.92854085 -0.04125711 -0.36893053 3.97511528] [ 0.06103026 0.9972484 0.04208247 0.38457209] [ 0.36617919 -0.06159122 0.92850381 0.43774262] [ 0. 0. 0. 1. ]] SLAMing on 117.026502481 meters Centerline goodness [0,1] 0.710281959900114 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92850198 -0.04140505 -0.36901179 3.97563333] [ 0.06111786 0.99725126 0.04188704 0.38527276] [ 0.36626314 -0.06144541 0.92848036 0.4375754 ] [ 0. 0. 0. 1. ]] SLAMing on 117.056502481 meters Centerline goodness [0,1] 0.714351772980603 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.9285168 -0.04180873 -0.36892898 3.97572212] [ 0.06137018 0.99725434 0.04144242 0.38677762] [ 0.36618337 -0.06112122 0.92853322 0.43730412] [ 0. 0. 0. 1. ]] SLAMing on 117.086502481 meters Centerline goodness [0,1] 0.7149695918716263 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.9284544 -0.04198421 -0.36906605 3.97539021] [ 0.06144311 0.997263 0.04112495 0.38792391] [ 0.36632932 -0.0608592 0.92849286 0.43777415] [ 0. 0. 0. 1. ]] SLAMing on 117.11650248099998 meters Centerline goodness [0,1] 0.7151441133365901 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92829381 -0.04209198 -0.36945753 3.97531484] [ 0.06141104 0.99728318 0.0406809 0.3906789 ] [ 0.36674144 -0.0604526 0.92835672 0.43849505] [ 0. 0. 0. 1. ]] SLAMing on 117.14650248099998 meters Centerline goodness [0,1] 0.7117211990595611 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92823154 -0.04193934 -0.3696313 3.97587371] [ 0.06129406 0.99728678 0.04076911 0.39123821] [ 0.36691858 -0.06049938 0.92828368 0.43842313] [ 0. 0. 0. 1. ]] SLAMing on 117.17650248099999 meters Centerline goodness [0,1] 0.7124896042267991 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92823019 -0.0420858 -0.36961806 3.97632763] [ 0.06142547 0.99728128 0.04070579 0.39149014] [ 0.36690003 -0.06048831 0.92829173 0.43807711] [ 0. 0. 0. 1. ]] SLAMing on 117.20650248099999 meters Centerline goodness [0,1] 0.7131307703580675 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92828918 -0.04217242 -0.36945999 3.97590898] [ 0.06148981 0.99727914 0.04066109 0.39149835] [ 0.36673997 -0.06046327 0.92835661 0.43808451] [ 0. 0. 0. 1. ]] SLAMing on 117.23650248099999 meters Centerline goodness [0,1] 0.7112660550458716 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92829532 -0.04236863 -0.36942212 3.97520019] [ 0.06161615 0.99727976 0.04045399 0.39199521] [ 0.36670322 -0.06031562 0.92838073 0.43849793] [ 0. 0. 0. 1. ]] SLAMing on 117.26650248099999 meters Centerline goodness [0,1] 0.7112963551470408 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92810229 -0.04215517 -0.36993118 3.97551706] [ 0.06138129 0.99729845 0.04035031 0.39342965] [ 0.36723082 -0.06015607 0.92818251 0.43927686] [ 0. 0. 0. 1. ]] SLAMing on 117.29650248099999 meters Centerline goodness [0,1] 0.7124615573871325 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92821586 -0.03757649 -0.37013961 3.9757142 ] [ 0.05789488 0.99735548 0.0439343 0.39334893] [ 0.36750987 -0.06220971 0.92793666 0.43923069] [ 0. 0. 0. 1. ]] SLAMing on 117.32650248099999 meters Centerline goodness [0,1] 0.7130109879304836 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.92807815 -0.03735709 -0.37050694 3.97662161] [ 0.05767188 0.99736992 0.04389978 0.39390345] [ 0.36789251 -0.06211025 0.92779169 0.4394229 ] [ 0. 0. 0. 1. ]] SLAMing on 117.35650248099999 meters Centerline goodness [0,1] 0.7134799774393683 Centerline is valid? [False, False] Translation: X:3.98, Y:0.39, Z:0.44 [[ 0.9279502 -0.03705032 -0.37085806 3.97801014] [ 0.05742289 0.99737813 0.04403952 0.39406669] [ 0.36825404 -0.06216222 0.92764477 0.43924513] [ 0. 0. 0. 1. ]] SLAMing on 117.386502481 meters Centerline goodness [0,1] 0.7114832183456505 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92761729 -0.03653844 -0.37174065 3.98000372] [ 0.05698644 0.99739757 0.04416588 0.39506761] [ 0.36915947 -0.06215321 0.92728543 0.4396332 ] [ 0. 0. 0. 1. ]] SLAMing on 117.416502481 meters Centerline goodness [0,1] 0.7107291049199762 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92749361 -0.03644503 -0.37205828 3.97997243] [ 0.05685841 0.99741048 0.04403922 0.39600388] [ 0.36948982 -0.06200074 0.92716405 0.44027705] [ 0. 0. 0. 1. ]] SLAMing on 117.446502481 meters Centerline goodness [0,1] 0.7107291049199762 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92749361 -0.03644503 -0.37205828 3.97997243] [ 0.05685841 0.99741048 0.04403922 0.39600388] [ 0.36948982 -0.06200074 0.92716405 0.44027705] [ 0. 0. 0. 1. ]] SLAMing on 117.47650248099998 meters Centerline goodness [0,1] 0.7107505371564051 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92709193 -0.03627294 -0.37307483 3.98047974] [ 0.05660523 0.99744041 0.04368603 0.39802709] [ 0.37053529 -0.06161895 0.9267722 0.44192152] [ 0. 0. 0. 1. ]] SLAMing on 117.50650248099998 meters Centerline goodness [0,1] 0.7077597306130534 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92682873 -0.0358753 -0.3737666 3.98171958] [ 0.05630385 0.99744903 0.0438783 0.39829051] [ 0.37123898 -0.06171217 0.92648434 0.44245308] [ 0. 0. 0. 1. ]] SLAMing on 117.53650248099999 meters Centerline goodness [0,1] 0.7064270152505447 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92665531 -0.03548323 -0.37423371 3.98264766] [ 0.05603107 0.99745166 0.04416675 0.39768663] [ 0.37171286 -0.06189607 0.92628205 0.44279451] [ 0. 0. 0. 1. ]] SLAMing on 117.56650248099999 meters Centerline goodness [0,1] 0.7045566989906986 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92649425 -0.03521807 -0.37465729 3.98304591] [ 0.0558778 0.99744902 0.04441987 0.39688345] [ 0.37213717 -0.06208978 0.92609869 0.44339198] [ 0. 0. 0. 1. ]] SLAMing on 117.59650248099999 meters Centerline goodness [0,1] 0.6981500234643219 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.44 [[ 0.92617152 -0.03512878 -0.37546276 3.98344578] [ 0.0558757 0.99744517 0.04450894 0.39617596] [ 0.37293997 -0.06220216 0.92576815 0.44469761] [ 0. 0. 0. 1. ]] SLAMing on 117.62650248099999 meters Centerline goodness [0,1] 0.6968303416901548 Centerline is valid? [False, False] Translation: X:3.98, Y:0.40, Z:0.45 [[ 0.92596253 -0.03465121 -0.37602219 3.98450776] [ 0.05557112 0.99744337 0.04492862 0.39548577] [ 0.37350401 -0.06249819 0.92552079 0.44510765] [ 0. 0. 0. 1. ]] SLAMing on 117.65650248099999 meters Centerline goodness [0,1] 0.6906426824145684 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92563274 -0.03463405 -0.37683486 3.98515776] [ 0.05570419 0.99742563 0.04515699 0.39352701] [ 0.37430078 -0.06279007 0.92517908 0.44628729] [ 0. 0. 0. 1. ]] SLAMing on 117.68650248099999 meters Centerline goodness [0,1] 0.6857276948918092 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92545338 -0.03436514 -0.37729971 3.98624899] [ 0.05558734 0.99741656 0.04549997 0.39214567] [ 0.37476137 -0.06308118 0.9249728 0.44654896] [ 0. 0. 0. 1. ]] SLAMing on 117.71650248099999 meters Centerline goodness [0,1] 0.6742802113684627 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92503295 -0.03384605 -0.37837612 3.98880584] [ 0.05537075 0.99739878 0.04614923 0.39028823] [ 0.37582991 -0.06364053 0.92450082 0.4469261 ] [ 0. 0. 0. 1. ]] SLAMing on 117.746502481 meters Centerline goodness [0,1] 0.6712298302404309 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92486934 -0.03347422 -0.37880891 3.98981521] [ 0.05518694 0.99738783 0.04660378 0.38876877] [ 0.37625937 -0.06400771 0.92430076 0.44720391] [ 0. 0. 0. 1. ]] SLAMing on 117.776502481 meters Centerline goodness [0,1] 0.6672322636173613 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92439962 -0.03345748 -0.37995517 3.98945494] [ 0.05525611 0.99738383 0.04660756 0.3880289 ] [ 0.37740177 -0.06407886 0.92382996 0.44963266] [ 0. 0. 0. 1. ]] SLAMing on 117.806502481 meters Centerline goodness [0,1] 0.6600718539298194 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92410452 -0.0333948 -0.38067784 3.98914712] [ 0.05520475 0.99739098 0.04651516 0.38843631] [ 0.37813129 -0.0640001 0.92353707 0.45123084] [ 0. 0. 0. 1. ]] SLAMing on 117.836502481 meters Centerline goodness [0,1] 0.6530642418865972 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.45 [[ 0.92346361 -0.03366112 -0.38220661 3.98835282] [ 0.05535778 0.99741056 0.04590956 0.38917962] [ 0.37967154 -0.06355391 0.92293576 0.4547888 ] [ 0. 0. 0. 1. ]] SLAMing on 117.86650248099998 meters Centerline goodness [0,1] 0.65576077831004 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.46 [[ 0.92309864 -0.03345147 -0.38310561 3.98920593] [ 0.05520464 0.99741833 0.04592524 0.389135 ] [ 0.38058029 -0.06354274 0.92256217 0.4560172 ] [ 0. 0. 0. 1. ]] SLAMing on 117.89650248099998 meters Centerline goodness [0,1] 0.6425013562164028 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.46 [[ 0.92254522 -0.03327684 -0.38445151 3.9906253 ] [ 0.0550647 0.99743177 0.04580108 0.38902819] [ 0.38194004 -0.06342327 0.9220083 0.45778266] [ 0. 0. 0. 1. ]] SLAMing on 117.92650248099999 meters Centerline goodness [0,1] 0.6418383907932916 Centerline is valid? [False, False] Translation: X:3.99, Y:0.39, Z:0.46 [[ 0.92191336 -0.03644518 -0.38567798 3.99322533] [ 0.057406 0.99742582 0.04296847 0.39069856] [ 0.38311918 -0.06175343 0.92163236 0.45883412] [ 0. 0. 0. 1. ]] SLAMing on 117.95650248099999 meters Centerline goodness [0,1] 0.635333053421917 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.46 [[ 0.92136907 -0.03604088 -0.38701434 3.99517949] [ 0.05713918 0.9974335 0.0431454 0.39036331] [ 0.38446607 -0.06186652 0.92106372 0.46020163] [ 0. 0. 0. 1. ]] SLAMing on 117.98650248099999 meters Centerline goodness [0,1] 0.6312106020747505 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.46 [[ 0.92097224 -0.03562064 -0.38799653 3.99620715] [ 0.05681833 0.99744533 0.0432954 0.39065222] [ 0.38546312 -0.06191917 0.92064336 0.46144239] [ 0. 0. 0. 1. ]] SLAMing on 118.01650248099999 meters Centerline goodness [0,1] 0.6257535329578021 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.46 [[ 0.92035609 -0.03550164 -0.38946669 3.99701665] [ 0.05663625 0.99747216 0.04291411 0.39154291] [ 0.38695866 -0.0615542 0.92004026 0.46392614] [ 0. 0. 0. 1. ]] SLAMing on 118.04650248099999 meters Centerline goodness [0,1] 0.6239906581529976 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.47 [[ 0.91995621 -0.03513123 -0.39044382 3.99781338] [ 0.0563178 0.99748894 0.04294317 0.39207473] [ 0.38795475 -0.06149477 0.91962466 0.46534644] [ 0. 0. 0. 1. ]] SLAMing on 118.07650248099999 meters Centerline goodness [0,1] 0.6216513394642142 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.47 [[ 0.91962761 -0.03019993 -0.39162868 3.99758486] [ 0.0525742 0.99753232 0.04653204 0.39180912] [ 0.389257 -0.06338171 0.918946 0.46761478] [ 0. 0. 0. 1. ]] SLAMing on 118.10650248099999 meters Centerline goodness [0,1] 0.6183596576590065 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.47 [[ 0.91938217 -0.03017807 -0.3922062 3.99792352] [ 0.05250725 0.99754533 0.04632829 0.39194801] [ 0.38984537 -0.06318707 0.91870996 0.46865239] [ 0. 0. 0. 1. ]] SLAMing on 118.136502481 meters Centerline goodness [0,1] 0.6156877416136675 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.47 [[ 0.9188664 -0.030547 -0.39338458 3.99776939] [ 0.05266394 0.99757295 0.04554898 0.39267755] [ 0.39103843 -0.06257061 0.91824499 0.47119113] [ 0. 0. 0. 1. ]] SLAMing on 118.166502481 meters Centerline goodness [0,1] 0.6126308933313293 Centerline is valid? [False, False] Translation: X:4.00, Y:0.39, Z:0.47 [[ 0.91852667 -0.03054898 -0.394177 3.99784027] [ 0.05258015 0.99759278 0.04521023 0.39355447] [ 0.39184701 -0.06225269 0.91792185 0.47277196] [ 0. 0. 0. 1. ]] SLAMing on 118.196502481 meters Centerline goodness [0,1] 0.6097536526075733 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.48 [[ 0.91772989 -0.03098609 -0.39599458 3.99771908] [ 0.05264901 0.99764541 0.04395121 0.39666316] [ 0.39370031 -0.06118406 0.9172004 0.47653872] [ 0. 0. 0. 1. ]] SLAMing on 118.22650248099998 meters Centerline goodness [0,1] 0.6062757098424802 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.48 [[ 0.91731363 -0.03064759 -0.39698416 3.99885314] [ 0.05237498 0.99765756 0.04400297 0.39705169] [ 0.39470566 -0.06115656 0.91677004 0.47778555] [ 0. 0. 0. 1. ]] SLAMing on 118.25650248099998 meters Centerline goodness [0,1] 0.6045217654019487 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.48 [[ 0.9167112 -0.03104337 -0.39834268 3.99867909] [ 0.05255792 0.99768296 0.04320148 0.39843359] [ 0.39607859 -0.06053934 0.91621872 0.48056873] [ 0. 0. 0. 1. ]] SLAMing on 118.28650248099999 meters Centerline goodness [0,1] 0.6045020120724346 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.48 [[ 0.9162461 -0.03097086 -0.39941695 3.99895392] [ 0.0524034 0.9977063 0.04284893 0.39913803] [ 0.39717374 -0.06019097 0.91576748 0.48261206] [ 0. 0. 0. 1. ]] SLAMing on 118.31650248099999 meters Centerline goodness [0,1] 0.6018413419094464 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.49 [[ 0.91571172 -0.03096515 -0.400641 3.99905135] [ 0.05226986 0.99773439 0.04235494 0.40048549] [ 0.39842178 -0.05972636 0.91525562 0.48500326] [ 0. 0. 0. 1. ]] SLAMing on 118.34650248099999 meters Centerline goodness [0,1] 0.5972755762232107 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.49 [[ 0.91522625 -0.0267326 -0.40205259 3.99696955] [ 0.04890536 0.99778991 0.04498403 0.40213471] [ 0.39996148 -0.06083309 0.91451088 0.48878955] [ 0. 0. 0. 1. ]] SLAMing on 118.37650248099999 meters Centerline goodness [0,1] 0.5960181132839182 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.49 [[ 0.91444676 -0.02710306 -0.40379765 3.99703057] [ 0.0488755 0.99784807 0.04370829 0.4046355 ] [ 0.40174407 -0.05970471 0.91380361 0.49242047] [ 0. 0. 0. 1. ]] SLAMing on 118.40650248099999 meters Centerline goodness [0,1] 0.5937270958121668 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.49 [[ 0.91411185 -0.02724741 -0.40454556 3.99728937] [ 0.0489123 0.9978635 0.04331309 0.4047662 ] [ 0.40250107 -0.05938026 0.91349158 0.49383659] [ 0. 0. 0. 1. ]] SLAMing on 118.43650248099999 meters Centerline goodness [0,1] 0.5946444360237464 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.50 [[ 0.91372075 -0.02728583 -0.40542556 3.99747167] [ 0.04889336 0.99787651 0.04303376 0.40493547] [ 0.40339043 -0.05914346 0.91311457 0.49549565] [ 0. 0. 0. 1. ]] SLAMing on 118.46650248099999 meters Centerline goodness [0,1] 0.5899282393369719 Centerline is valid? [False, False] Translation: X:4.00, Y:0.41, Z:0.50 [[ 0.91286135 -0.02744754 -0.40734602 3.99752314] [ 0.04886256 0.99791108 0.04226023 0.40670972] [ 0.40533517 -0.0584817 0.91229562 0.49924505] [ 0. 0. 0. 1. ]] SLAMing on 118.496502481 meters Centerline goodness [0,1] 0.5883676254992164 Centerline is valid? [False, False] Translation: X:4.00, Y:0.41, Z:0.50 [[ 0.91245251 -0.02730955 -0.40827026 3.99794168] [ 0.04875555 0.9979183 0.04221327 0.4066565 ] [ 0.40626754 -0.05842304 0.91188455 0.50079864] [ 0. 0. 0. 1. ]] SLAMing on 118.526502481 meters Centerline goodness [0,1] 0.5856716719753274 Centerline is valid? [False, False] Translation: X:4.00, Y:0.41, Z:0.50 [[ 0.91178874 -0.02821096 -0.40968945 3.99636351] [ 0.04939353 0.9979288 0.04121154 0.40665085] [ 0.40767828 -0.05781222 0.91129368 0.50447216] [ 0. 0. 0. 1. ]] SLAMing on 118.556502481 meters Centerline goodness [0,1] 0.5832870627429205 Centerline is valid? [False, False] Translation: X:3.99, Y:0.41, Z:0.51 [[ 0.91122067 -0.03073108 -0.4107706 3.99260867] [ 0.0511923 0.99793083 0.03890249 0.40621375] [ 0.40872513 -0.05647704 0.9109084 0.50885937] [ 0. 0. 0. 1. ]] SLAMing on 118.586502481 meters Centerline goodness [0,1] 0.5805720045357188 Centerline is valid? [False, False] Translation: X:3.99, Y:0.41, Z:0.51 [[ 0.91074229 -0.03080936 -0.41182432 3.99187634] [ 0.05125187 0.99793622 0.03868511 0.40572744] [ 0.40978254 -0.05633893 0.91044176 0.51134568] [ 0. 0. 0. 1. ]] SLAMing on 118.61650248099998 meters Centerline goodness [0,1] 0.5751629034702228 Centerline is valid? [False, False] Translation: X:4.00, Y:0.41, Z:0.52 [[ 0.91159289 -0.03131008 -0.40990008 4.00325918] [ 0.05421881 0.99754224 0.0443824 0.40568397] [ 0.40750302 -0.06268298 0.91105002 0.51925559] [ 0. 0. 0. 1. ]] SLAMing on 118.64650248099998 meters Centerline goodness [0,1] 0.5763041065482797 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.52 [[ 0.91123668 -0.03163148 -0.41066672 4.00234508] [ 0.05450639 0.99753864 0.04411022 0.40495309] [ 0.40826065 -0.06257882 0.91071792 0.52129643] [ 0. 0. 0. 1. ]] SLAMing on 118.67650248099999 meters Centerline goodness [0,1] 0.575335916662473 Centerline is valid? [False, False] Translation: X:4.00, Y:0.41, Z:0.53 [[ 0.90988762 -0.03748754 -0.4131576 3.99954634] [ 0.05866829 0.99752735 0.03869396 0.40514617] [ 0.41068547 -0.05944641 0.90983711 0.52817203] [ 0. 0. 0. 1. ]] SLAMing on 118.70650248099999 meters Centerline goodness [0,1] 0.5739512121288565 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.53 [[ 0.90952062 -0.03792579 -0.41392497 3.99895915] [ 0.05908851 0.99751241 0.0384388 0.40416698] [ 0.41143747 -0.0594191 0.90949908 0.52992483] [ 0. 0. 0. 1. ]] SLAMing on 118.73650248099999 meters Centerline goodness [0,1] 0.5689104578943398 Centerline is valid? [False, False] Translation: X:4.00, Y:0.40, Z:0.53 [[ 0.90901568 -0.0382558 -0.41500239 3.99881589] [ 0.05940468 0.99750406 0.03816718 0.40337996] [ 0.41250645 -0.05934764 0.90901941 0.53202234] [ 0. 0. 0. 1. ]] SLAMing on 118.76650248099999 meters Centerline goodness [0,1] 0.5593169261677549 Centerline is valid? [False, False] Translation: X:4.01, Y:0.40, Z:0.54 [[ 0.90947976 -0.04031029 -0.41378937 4.01054338] [ 0.06366702 0.99705276 0.04280531 0.40296086] [ 0.41084434 -0.0652753 0.90936575 0.54008711] [ 0. 0. 0. 1. ]] SLAMing on 118.79650248099999 meters Centerline goodness [0,1] 0.5567995974336395 Centerline is valid? [False, False] Translation: X:4.02, Y:0.40, Z:0.55 [[ 0.91019293 -0.04015389 -0.41223355 4.02275662] [ 0.06602868 0.99662804 0.0487111 0.40354548] [ 0.40888757 -0.07155573 0.9097751 0.54819195] [ 0. 0. 0. 1. ]] SLAMing on 118.82650248099999 meters Centerline goodness [0,1] 0.5547402924861321 Centerline is valid? [False, False] Translation: X:4.02, Y:0.40, Z:0.55 [[ 0.90979187 -0.04025398 -0.41310819 4.02302046] [ 0.0660955 0.9966364 0.04844874 0.40351173] [ 0.4097684 -0.07138286 0.90939229 0.54975078] [ 0. 0. 0. 1. ]] SLAMing on 118.85650248099999 meters Centerline goodness [0,1] 0.5484300427028385 Centerline is valid? [False, False] Translation: X:4.02, Y:0.40, Z:0.55 [[ 0.90939043 -0.04005712 -0.41401024 4.02412394] [ 0.06597035 0.99664329 0.0484774 0.40292519] [ 0.41067866 -0.07139729 0.90898045 0.5508973 ] [ 0. 0. 0. 1. ]] SLAMing on 118.886502481 meters Centerline goodness [0,1] 0.5470508098289519 Centerline is valid? [False, False] Translation: X:4.02, Y:0.40, Z:0.56 [[ 0.90839726 -0.04077573 -0.41611509 4.02346832] [ 0.06631731 0.99668599 0.04710683 0.40436079] [ 0.41281526 -0.07038735 0.90809095 0.55540591] [ 0. 0. 0. 1. ]] SLAMing on 118.916502481 meters Centerline goodness [0,1] 0.542792395820219 Centerline is valid? [False, False] Translation: X:4.02, Y:0.41, Z:0.56 [[ 0.9078876 -0.04113768 -0.41719036 4.02249181] [ 0.06647424 0.99670968 0.04637886 0.4055163 ] [ 0.41390975 -0.06983921 0.90763495 0.55808276] [ 0. 0. 0. 1. ]] SLAMing on 118.946502481 meters Centerline goodness [0,1] 0.5397418735635087 Centerline is valid? [False, False] Translation: X:4.02, Y:0.41, Z:0.57 [[ 0.9069673 -0.03963781 -0.41933181 4.0173854 ] [ 0.06480605 0.99683982 0.04594075 0.40806335] [ 0.41618565 -0.06884199 0.90666989 0.56554189] [ 0. 0. 0. 1. ]] SLAMing on 118.97650248099998 meters Centerline goodness [0,1] 0.5286666327516916 Centerline is valid? [False, False] Translation: X:4.02, Y:0.41, Z:0.57 [[ 0.90598095 -0.03555523 -0.42182264 4.01558664] [ 0.06138061 0.9969693 0.04779779 0.40992372] [ 0.41884476 -0.06919562 0.9054176 0.57144857] [ 0. 0. 0. 1. ]] SLAMing on 119.00650248099998 meters Centerline goodness [0,1] 0.5262716388316937 Centerline is valid? [False, False] Translation: X:4.02, Y:0.41, Z:0.57 [[ 0.90538077 -0.03566712 -0.42309989 4.01610369] [ 0.06127774 0.99700982 0.04707924 0.4116882 ] [ 0.42015556 -0.06855124 0.90485912 0.57372054] [ 0. 0. 0. 1. ]] SLAMing on 119.03650248099999 meters Centerline goodness [0,1] 0.5278714490087881 Centerline is valid? [False, False] Translation: X:4.02, Y:0.42, Z:0.58 [[ 0.90390141 -0.03612196 -0.4262129 4.01661057] [ 0.06085748 0.99715153 0.04455541 0.41611235] [ 0.42338942 -0.06621194 0.90352497 0.58032844] [ 0. 0. 0. 1. ]] SLAMing on 119.06650248099999 meters Centerline goodness [0,1] 0.5315809719194768 Centerline is valid? [False, False] Translation: X:4.02, Y:0.42, Z:0.58 [[ 0.90370615 -0.0316621 -0.42698091 4.01553553] [ 0.05745362 0.99721019 0.04765418 0.41641943] [ 0.42428088 -0.06759697 0.90300409 0.58221862] [ 0. 0. 0. 1. ]] SLAMing on 119.09650248099999 meters Centerline goodness [0,1] 0.522971199135202 Centerline is valid? [False, False] Translation: X:4.01, Y:0.42, Z:0.59 [[ 0.90239093 -0.02739654 -0.43004656 4.01367299] [ 0.05347878 0.99738179 0.04867833 0.42105422] [ 0.42758699 -0.06692525 0.90149342 0.58989649] [ 0. 0. 0. 1. ]] SLAMing on 119.12650248099999 meters Centerline goodness [0,1] 0.5249421445101569 Centerline is valid? [False, False] Translation: X:4.01, Y:0.42, Z:0.59 [[ 0.90144227 -0.02778716 -0.4320066 4.01296518] [ 0.05332767 0.99746483 0.04711757 0.42437388] [ 0.42960212 -0.06551167 0.90063879 0.59436418] [ 0. 0. 0. 1. ]] SLAMing on 119.15650248099999 meters Centerline goodness [0,1] 0.5233550589695841 Centerline is valid? [False, False] Translation: X:4.01, Y:0.43, Z:0.60 [[ 0.9005691 -0.024972 -0.43399504 4.00859067] [ 0.05021261 0.9976419 0.04679041 0.42868429] [ 0.43180318 -0.06393003 0.89969937 0.60207679] [ 0. 0. 0. 1. ]] SLAMing on 119.18650248099999 meters Centerline goodness [0,1] 0.5205052237642289 Centerline is valid? [False, False] Translation: X:4.01, Y:0.43, Z:0.61 [[ 0.89986113 -0.02584682 -0.43541001 4.00739423] [ 0.05052228 0.99770009 0.04518883 0.43139201] [ 0.43324062 -0.06266158 0.89909737 0.60565078] [ 0. 0. 0. 1. ]] SLAMing on 119.21650248099999 meters Centerline goodness [0,1] 0.516812636847044 Centerline is valid? [False, False] Translation: X:4.01, Y:0.44, Z:0.61 [[ 0.89826641 -0.02708486 -0.43861586 4.00511987] [ 0.05037565 0.99786574 0.04154821 0.43717055] [ 0.43655441 -0.05941692 0.89771369 0.61452984] [ 0. 0. 0. 1. ]] SLAMing on 119.246502481 meters Centerline goodness [0,1] 0.517232355481119 Centerline is valid? [False, False] Translation: X:4.00, Y:0.44, Z:0.62 [[ 0.89794648 -0.0226015 -0.43952394 4.00401038] [ 0.04702801 0.99789005 0.04476394 0.43736383] [ 0.43758483 -0.06086556 0.89711476 0.61661173] [ 0. 0. 0. 1. ]] SLAMing on 119.276502481 meters Centerline goodness [0,1] 0.5101751437649344 Centerline is valid? [False, False] Translation: X:4.00, Y:0.44, Z:0.62 [[ 0.89768243 -0.01845117 -0.44025652 4.00262424] [ 0.04394131 0.99789115 0.04777461 0.43712402] [ 0.43844659 -0.06223188 0.89660013 0.61857332] [ 0. 0. 0. 1. ]] SLAMing on 119.306502481 meters Centerline goodness [0,1] 0.5062389532276361 Centerline is valid? [False, False] Translation: X:4.00, Y:0.44, Z:0.63 [[ 0.89644012 -0.02029021 -0.44270014 3.99951686] [ 0.04457406 0.99801368 0.04451787 0.44212134] [ 0.44091752 -0.05964054 0.89556392 0.62579919] [ 0. 0. 0. 1. ]] SLAMing on 119.336502481 meters Centerline goodness [0,1] 0.49443472730163773 Centerline is valid? [False, False] Translation: X:4.00, Y:0.45, Z:0.63 [[ 0.89529204 -0.02145157 -0.44496291 3.99851111] [ 0.04489632 0.99809926 0.04221594 0.44621942] [ 0.44321155 -0.0577728 0.89455342 0.63124873] [ 0. 0. 0. 1. ]] SLAMing on 119.36650248099998 meters Centerline goodness [0,1] 0.49443472730163773 Centerline is valid? [False, False] Translation: X:4.00, Y:0.45, Z:0.63 [[ 0.89529204 -0.02145157 -0.44496291 3.99851111] [ 0.04489632 0.99809926 0.04221594 0.44621942] [ 0.44321155 -0.0577728 0.89455342 0.63124873] [ 0. 0. 0. 1. ]] SLAMing on 119.39650248099998 meters Centerline goodness [0,1] 0.48971466489714666 Centerline is valid? [False, False] Translation: X:4.00, Y:0.45, Z:0.63 [[ 0.89506958 -0.01731109 -0.44559036 3.99816348] [ 0.04192634 0.99808672 0.04544313 0.44554187] [ 0.44395115 -0.05935673 0.89408285 0.63234687] [ 0. 0. 0. 1. ]] SLAMing on 119.42650248099999 meters Centerline goodness [0,1] 0.5030710734132787 Centerline is valid? [False, False] Translation: X:4.00, Y:0.45, Z:0.63 [[ 0.89479271 -0.01358062 -0.44627522 3.9968204 ] [ 0.03920363 0.9980665 0.04823203 0.44503503] [ 0.44475733 -0.06065327 0.89359504 0.6341308 ] [ 0. 0. 0. 1. ]] SLAMing on 119.45650248099999 meters Centerline goodness [0,1] 0.4835918454820649 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:0.64 [[ 0.89402338 -0.01142975 -0.44787448 3.99175465] [ 0.03706849 0.99813404 0.04852179 0.44833456] [ 0.44648417 -0.05998164 0.89277886 0.6403961 ] [ 0. 0. 0. 1. ]] SLAMing on 119.48650248099999 meters Centerline goodness [0,1] 0.48720161834120024 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:0.65 [[ 0.89338611 -0.00888891 -0.44920179 3.98766673] [ 0.03456756 0.9982006 0.04899639 0.45231696] [ 0.44795797 -0.05930051 0.89208582 0.6458435 ] [ 0. 0. 0. 1. ]] SLAMing on 119.51650248099999 meters Centerline goodness [0,1] 0.4820748345265433 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:0.65 [[ 0.89330277 -0.00450177 -0.44943285 3.986671 ] [ 0.03121911 0.99815619 0.05205373 0.45293841] [ 0.44836985 -0.06053064 0.89179623 0.64700507] [ 0. 0. 0. 1. ]] SLAMing on 119.54650248099999 meters Centerline goodness [0,1] 0.4776579773440699 Centerline is valid? [False, False] Translation: X:3.98, Y:0.46, Z:0.65 [[ 8.92941293e-01 -1.39285784e-03 -4.50170976e-01 3.98392553e+00] [ 2.83026968e-02 9.98190603e-01 5.30516411e-02 4.57965363e-01] [ 4.49282545e-01 -6.01130537e-02 8.91365029e-01 6.50788146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57650248099999 meters Centerline goodness [0,1] 0.47146917358985574 Centerline is valid? [False, False] Translation: X:3.98, Y:0.46, Z:0.65 [[ 8.92999850e-01 2.58701419e-03 -4.50049526e-01 3.98227514e+00] [ 2.51944384e-02 9.98128008e-01 5.57289801e-02 4.58752286e-01] [ 4.49351209e-01 -6.11047159e-02 8.91262983e-01 6.51824917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60650248099999 meters Centerline goodness [0,1] 0.4699736755511682 Centerline is valid? [False, False] Translation: X:3.98, Y:0.46, Z:0.65 [[ 0.89300208 0.00651816 -0.45000533 3.97998318] [ 0.02212654 0.99805008 0.05836486 0.45966798] [ 0.44950829 -0.062077 0.89111657 0.65328005] [ 0. 0. 0. 1. ]] SLAMing on 119.636502481 meters Centerline goodness [0,1] 0.47256460681937784 Centerline is valid? [False, False] Translation: X:3.97, Y:0.47, Z:0.66 [[ 0.89251322 0.0094619 -0.45092197 3.97485248] [ 0.0189301 0.99811304 0.05841235 0.46630808] [ 0.45062379 -0.06066979 0.89064997 0.65970737] [ 0. 0. 0. 1. ]] SLAMing on 119.666502481 meters Centerline goodness [0,1] 0.47201648382246475 Centerline is valid? [False, False] Translation: X:3.97, Y:0.47, Z:0.66 [[ 0.89261102 0.01351945 -0.45062489 3.97289614] [ 0.01573869 0.99800649 0.06111742 0.46729225] [ 0.45055284 -0.06164633 0.89061881 0.6606923 ] [ 0. 0. 0. 1. ]] SLAMing on 119.696502481 meters Centerline goodness [0,1] 0.47327581377107963 Centerline is valid? [False, False] Translation: X:3.97, Y:0.47, Z:0.66 [[ 0.89278037 0.01603741 -0.45020664 3.96809597] [ 0.01305801 0.99802495 0.06144661 0.47156896] [ 0.4503029 -0.06073713 0.89080767 0.66433372] [ 0. 0. 0. 1. ]] SLAMing on 119.72650248099998 meters Centerline goodness [0,1] 0.4708647674811395 Centerline is valid? [False, False] Translation: X:3.96, Y:0.48, Z:0.67 [[ 0.89291514 0.01845473 -0.44984661 3.96262923] [ 0.01043485 0.99804287 0.06165667 0.47575521] [ 0.45010406 -0.05974825 0.89097502 0.66854619] [ 0. 0. 0. 1. ]] SLAMing on 119.75650248099998 meters Centerline goodness [0,1] 0.47276418179767676 Centerline is valid? [False, False] Translation: X:3.96, Y:0.48, Z:0.67 [[ 0.89274529 0.01755019 -0.45021976 3.96082936] [ 0.01079886 0.9981206 0.06032127 0.47850596] [ 0.45043227 -0.05871339 0.89087794 0.67062821] [ 0. 0. 0. 1. ]] SLAMing on 119.78650248099999 meters Centerline goodness [0,1] 0.4595635066662892 Centerline is valid? [False, False] Translation: X:3.96, Y:0.48, Z:0.67 [[ 0.89303782 0.02026454 -0.44952508 3.95797022] [ 0.00858726 0.99803604 0.06205104 0.47855078] [ 0.44989967 -0.05927411 0.89110991 0.67139076] [ 0. 0. 0. 1. ]] SLAMing on 119.81650248099999 meters Centerline goodness [0,1] 0.47012426942064345 Centerline is valid? [False, False] Translation: X:3.96, Y:0.48, Z:0.67 [[ 0.89277202 0.01897339 -0.45010902 3.95622618] [ 0.00900101 0.99816209 0.05992851 0.48408986] [ 0.45041881 -0.05755393 0.8909604 0.67439497] [ 0. 0. 0. 1. ]] SLAMing on 119.84650248099999 meters Centerline goodness [0,1] 0.46722220642188794 Centerline is valid? [False, False] Translation: X:3.95, Y:0.48, Z:0.67 [[ 0.89296566 0.02185371 -0.44959397 3.95463643] [ 0.00671103 0.99806335 0.0618427 0.48439376] [ 0.45007476 -0.05824065 0.89108964 0.67477708] [ 0. 0. 0. 1. ]] SLAMing on 119.87650248099999 meters Centerline goodness [0,1] 0.46901947347381645 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:0.68 [[ 8.93171920e-01 2.55412510e-02 -4.48989494e-01 3.95191869e+00] [ 3.48260924e-03 9.97963135e-01 6.36981402e-02 4.88442671e-01] [ 4.49701893e-01 -5.84570452e-02 8.91263699e-01 6.76404399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90650248099999 meters Centerline goodness [0,1] 0.467357214789239 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:0.68 [[ 8.93599846e-01 2.44554783e-02 -4.48197775e-01 3.94968113e+00] [ 3.82630323e-03 9.98063400e-01 6.20871039e-02 4.93884530e-01] [ 4.48848165e-01 -5.71959670e-02 8.91775726e-01 6.77131736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93650248099999 meters Centerline goodness [0,1] 0.4595677233429395 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:0.68 [[ 0.89371184 0.0237068 -0.44801466 3.94808214] [ 0.00415395 0.99812286 0.06110233 0.49641388] [ 0.44862221 -0.05646891 0.89193575 0.67798206] [ 0. 0. 0. 1. ]] SLAMing on 119.96650248099999 meters Centerline goodness [0,1] 0.45720930232558143 Centerline is valid? [False, False] Translation: X:3.94, Y:0.50, Z:0.68 [[ 8.94533051e-01 2.61558642e-02 -4.46235915e-01 3.94210622e+00] [ 1.73067206e-03 9.98076449e-01 6.19710214e-02 5.01010572e-01] [ 4.46998463e-01 -5.62074148e-02 8.92767103e-01 6.79530984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.996502481 meters Centerline goodness [0,1] 0.450914899796689 Centerline is valid? [False, False] Translation: X:3.94, Y:0.50, Z:0.68 [[ 8.94540915e-01 2.53105499e-02 -4.46268896e-01 3.94056575e+00] [ 2.02198562e-03 9.98156172e-01 6.06643902e-02 5.03922688e-01] [ 4.46981502e-01 -5.51691284e-02 8.92840358e-01 6.81029784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.026502481 meters Centerline goodness [0,1] 0.44948273349847 Centerline is valid? [False, False] Translation: X:3.94, Y:0.51, Z:0.68 [[ 8.95486531e-01 2.68029905e-02 -4.44280848e-01 3.93715787e+00] [ 4.37607381e-04 9.98131660e-01 6.10982559e-02 5.07518676e-01] [ 4.45088397e-01 -5.49070858e-02 8.93801729e-01 6.80630946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.056502481 meters Centerline goodness [0,1] 0.45338561479487327 Centerline is valid? [False, False] Translation: X:3.94, Y:0.51, Z:0.68 [[ 8.95576083e-01 2.62159039e-02 -4.44135346e-01 3.93609924e+00] [ 6.60468845e-04 9.98183016e-01 6.02513860e-02 5.10031191e-01] [ 4.44907904e-01 -5.42530378e-02 8.93931521e-01 6.81292526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.086502481 meters Centerline goodness [0,1] 0.44831526516261355 Centerline is valid? [False, False] Translation: X:3.93, Y:0.51, Z:0.68 [[ 8.95906631e-01 2.96693728e-02 -4.43250536e-01 3.93382206e+00] [-2.02404926e-03 9.98029553e-01 6.27129568e-02 5.10054802e-01] [ 4.44237788e-01 -5.52877929e-02 8.94201346e-01 6.81380105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11650248099998 meters Centerline goodness [0,1] 0.4532623717251316 Centerline is valid? [False, False] Translation: X:3.93, Y:0.51, Z:0.68 [[ 0.89648325 0.0332036 -0.44183175 3.93008945] [-0.00500161 0.99788298 0.06484244 0.51140578] [ 0.44304939 -0.0559203 0.89475145 0.68212497] [ 0. 0. 0. 1. ]] SLAMing on 120.14650248099998 meters Centerline goodness [0,1] 0.44900133155792277 Centerline is valid? [False, False] Translation: X:3.93, Y:0.51, Z:0.68 [[ 0.89722509 0.03653648 -0.44005934 3.92583937] [-0.00772616 0.99771741 0.06708409 0.51121698] [ 0.44150588 -0.05678956 0.89545938 0.68241207] [ 0. 0. 0. 1. ]] SLAMing on 120.17650248099999 meters Centerline goodness [0,1] 0.4549749040448775 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.68 [[ 0.89731781 0.03614153 -0.43990287 3.92428451] [-0.00762074 0.99776203 0.06642926 0.51153372] [ 0.44131924 -0.05625577 0.89558507 0.68355653] [ 0. 0. 0. 1. ]] SLAMing on 120.20650248099999 meters Centerline goodness [0,1] 0.45225863596102744 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.68 [[ 0.8976247 0.03538982 -0.43933752 3.9222999 ] [-0.00727453 0.99782509 0.06551468 0.51159074] [ 0.44070056 -0.05561162 0.89592989 0.68429857] [ 0. 0. 0. 1. ]] SLAMing on 120.23650248099999 meters Centerline goodness [0,1] 0.4631405056196348 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.68 [[ 0.89833369 0.03423208 -0.43797801 3.91977641] [-0.00682609 0.99792679 0.06399638 0.51180585] [ 0.43926072 -0.05450042 0.89670493 0.68477901] [ 0. 0. 0. 1. ]] SLAMing on 120.26650248099999 meters Centerline goodness [0,1] 0.4630000589171036 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.68 [[ 0.89891562 0.03360706 -0.43683094 3.9186103 ] [-0.00672646 0.99799479 0.06293774 0.51214326] [ 0.43807015 -0.05363739 0.89733916 0.6847345 ] [ 0. 0. 0. 1. ]] SLAMing on 120.29650248099999 meters Centerline goodness [0,1] 0.46956598447424136 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.69 [[ 0.89876914 0.03381905 -0.43711589 3.91854823] [-0.00704903 0.99800623 0.06272061 0.51254411] [ 0.43836553 -0.0532901 0.8972156 0.68573639] [ 0. 0. 0. 1. ]] SLAMing on 120.32650248099999 meters Centerline goodness [0,1] 0.46999206838812024 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.69 [[ 0.89855863 0.03412139 -0.437525 3.91819115] [-0.00750424 0.99802168 0.0624213 0.51349194] [ 0.43878934 -0.05280591 0.89703704 0.68719837] [ 0. 0. 0. 1. ]] SLAMing on 120.35650248099999 meters Centerline goodness [0,1] 0.49042731523689087 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.69 [[ 0.89918334 0.03868614 -0.43585858 3.91579659] [-0.01127735 0.99780208 0.06529803 0.51315771] [ 0.43742672 -0.05379957 0.89764329 0.68720679] [ 0. 0. 0. 1. ]] SLAMing on 120.386502481 meters Centerline goodness [0,1] 0.48669279966989887 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:0.69 [[ 0.89924711 0.03853262 -0.43574061 3.91534768] [-0.01134521 0.99783214 0.06482513 0.51386466] [ 0.43729387 -0.05335024 0.89773483 0.68772049] [ 0. 0. 0. 1. ]] SLAMing on 120.416502481 meters Centerline goodness [0,1] 0.494238683127572 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.89938143 0.03859924 -0.4354574 3.9147907 ] [-0.01173323 0.99786691 0.06421811 0.51501922] [ 0.4370073 -0.05264726 0.89791586 0.68868148] [ 0. 0. 0. 1. ]] SLAMing on 120.446502481 meters Centerline goodness [0,1] 0.4962803963656679 Centerline is valid? [False, False] Translation: X:3.92, Y:0.52, Z:0.69 [[ 0.89921564 0.03882386 -0.4357797 3.91507023] [-0.01202148 0.99787139 0.06409503 0.51563391] [ 0.43734051 -0.05239653 0.89776828 0.68940205] [ 0. 0. 0. 1. ]] SLAMing on 120.47650248099998 meters Centerline goodness [0,1] 0.5085010921542004 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.89948788 0.03873295 -0.43522559 3.91437312] [-0.01242323 0.99792765 0.0631354 0.51784261] [ 0.43676907 -0.05138262 0.89810501 0.69017735] [ 0. 0. 0. 1. ]] SLAMing on 120.50650248099998 meters Centerline goodness [0,1] 0.5092999263080324 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.8994077 0.03870955 -0.43539334 3.91416945] [-0.01264293 0.99795808 0.06260857 0.51891462] [ 0.43692785 -0.05080598 0.89806058 0.69116548] [ 0. 0. 0. 1. ]] SLAMing on 120.53650248099999 meters Centerline goodness [0,1] 0.5095866938461993 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.89992003 0.03894336 -0.4343125 3.91187215] [-0.01340196 0.99800364 0.06171805 0.52150379] [ 0.43584897 -0.04972067 0.89864539 0.69248811] [ 0. 0. 0. 1. ]] SLAMing on 120.56650248099999 meters Centerline goodness [0,1] 0.5109219355029411 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.89962405 0.03928337 -0.43489469 3.9119706 ] [-0.01381125 0.99800669 0.06157844 0.52267787] [ 0.43644682 -0.049391 0.89837337 0.69373939] [ 0. 0. 0. 1. ]] SLAMing on 120.59650248099999 meters Centerline goodness [0,1] 0.5124550933760874 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.69 [[ 0.8997509 0.03936362 -0.43462492 3.91108805] [-0.01419531 0.99803654 0.06100453 0.5247295 ] [ 0.43617291 -0.04871925 0.89854306 0.69465186] [ 0. 0. 0. 1. ]] SLAMing on 120.62650248099999 meters Centerline goodness [0,1] 0.512060137914706 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.89985519 0.0390381 -0.43443832 3.91043599] [-0.0140448 0.9980637 0.0605937 0.5247999 ] [ 0.43596258 -0.04842395 0.89866108 0.69502071] [ 0. 0. 0. 1. ]] SLAMing on 120.65650248099999 meters Centerline goodness [0,1] 0.5099359258275017 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90000632 0.03393322 -0.43455397 3.910251 ] [-0.01043936 0.99835717 0.05633818 0.52539233] [ 0.43575181 -0.04616825 0.898882 0.69580263] [ 0. 0. 0. 1. ]] SLAMing on 120.68650248099999 meters Centerline goodness [0,1] 0.5065659397409036 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90013715 0.03398479 -0.43427888 3.91013111] [-0.01044264 0.99834901 0.05648185 0.52424464] [ 0.43548141 -0.04630639 0.89900593 0.6955615 ] [ 0. 0. 0. 1. ]] SLAMing on 120.71650248099999 meters Centerline goodness [0,1] 0.5012367491166078 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.900335 0.03391297 -0.43387418 3.90891789] [-0.01049902 0.9983616 0.0562485 0.52319055] [ 0.43507087 -0.04608724 0.89921594 0.69621102] [ 0. 0. 0. 1. ]] SLAMing on 120.746502481 meters Centerline goodness [0,1] 0.509875489359197 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90037193 0.0339714 -0.43379295 3.90852765] [-0.01057141 0.99836118 0.05624233 0.52293296] [ 0.43499267 -0.04605321 0.89925551 0.69648652] [ 0. 0. 0. 1. ]] SLAMing on 120.776502481 meters Centerline goodness [0,1] 0.5133792048929664 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90063478 0.03395255 -0.43324844 3.90691669] [-0.010785 0.99838255 0.05582084 0.52337267] [ 0.43444295 -0.0456016 0.89954423 0.69742892] [ 0. 0. 0. 1. ]] SLAMing on 120.806502481 meters Centerline goodness [0,1] 0.5153296687145419 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90061165 0.03394318 -0.43329727 3.90636877] [-0.01088631 0.99839467 0.0555839 0.52378023] [ 0.43448838 -0.0453425 0.89953538 0.6980929 ] [ 0. 0. 0. 1. ]] SLAMing on 120.836502481 meters Centerline goodness [0,1] 0.5207359727243335 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90103351 0.03366798 -0.43244084 3.90535632] [-0.01083781 0.99841921 0.05515096 0.52385615] [ 0.43361406 -0.04500615 0.89997405 0.69790887] [ 0. 0. 0. 1. ]] SLAMing on 120.86650248099998 meters Centerline goodness [0,1] 0.5214599824098505 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90111931 0.0337782 -0.43225341 3.90607047] [-0.0109398 0.99841459 0.05521433 0.523305 ] [ 0.43343316 -0.04502593 0.9000602 0.69746575] [ 0. 0. 0. 1. ]] SLAMing on 120.89650248099998 meters Centerline goodness [0,1] 0.523924006098276 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90130034 0.03397467 -0.43186042 3.90683105] [-0.01111001 0.99840475 0.05535821 0.52328092] [ 0.43305226 -0.0450964 0.90024 0.69669039] [ 0. 0. 0. 1. ]] SLAMing on 120.92650248099999 meters Centerline goodness [0,1] 0.5245007477786575 Centerline is valid? [False, False] Translation: X:3.91, Y:0.52, Z:0.70 [[ 0.90117163 0.03425821 -0.43210655 3.90736972] [-0.01140783 0.99840108 0.05536371 0.52392097] [ 0.43331231 -0.0449628 0.90012154 0.69704873] [ 0. 0. 0. 1. ]] SLAMing on 120.95650248099999 meters Centerline goodness [0,1] 0.5184978893058161 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90119379 0.03544606 -0.4319645 3.90866541] [-0.01244313 0.99835529 0.05596315 0.52614419] [ 0.43323771 -0.04505866 0.90015265 0.69663854] [ 0. 0. 0. 1. ]] SLAMing on 120.98650248099999 meters Centerline goodness [0,1] 0.5208400456928619 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90113367 0.03570585 -0.43206851 3.90921008] [-0.01274967 0.99835428 0.05591228 0.52697323] [ 0.43335384 -0.0448757 0.9001059 0.69677849] [ 0. 0. 0. 1. ]] SLAMing on 121.01650248099999 meters Centerline goodness [0,1] 0.514835840112366 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90142325 0.03582023 -0.43145456 3.90860701] [-0.01307115 0.99836881 0.05557749 0.52796371] [ 0.43274158 -0.04445924 0.90042107 0.69687891] [ 0. 0. 0. 1. ]] SLAMing on 121.04650248099999 meters Centerline goodness [0,1] 0.5145562960364785 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90128729 0.03628625 -0.43169959 3.90937039] [-0.01343365 0.99834772 0.05586922 0.52741076] [ 0.43301358 -0.04455492 0.90028556 0.69706536] [ 0. 0. 0. 1. ]] SLAMing on 121.07650248099999 meters Centerline goodness [0,1] 0.5123880117897686 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90139395 0.03658008 -0.43145202 3.90967789] [-0.01371383 0.99833705 0.0559916 0.52714273] [ 0.43278271 -0.04455363 0.90039663 0.69681335] [ 0. 0. 0. 1. ]] SLAMing on 121.10650248099999 meters Centerline goodness [0,1] 0.5082000640857585 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90144129 0.03661233 -0.43135037 3.90963426] [-0.01382654 0.99834382 0.05584295 0.52718953] [ 0.43268052 -0.04437505 0.90045456 0.69696004] [ 0. 0. 0. 1. ]] SLAMing on 121.136502481 meters Centerline goodness [0,1] 0.5051660088228465 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90168534 0.0366601 -0.43083591 3.91009117] [-0.01405117 0.99835739 0.05554353 0.52709813] [ 0.43216445 -0.04402903 0.90071934 0.69652444] [ 0. 0. 0. 1. ]] SLAMing on 121.166502481 meters Centerline goodness [0,1] 0.5043785884126892 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90162356 0.03693163 -0.43094201 3.91077907] [-0.01430659 0.99834918 0.05562584 0.52685036] [ 0.43228496 -0.04398825 0.90066351 0.69656805] [ 0. 0. 0. 1. ]] SLAMing on 121.196502481 meters Centerline goodness [0,1] 0.4976979875488635 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90149475 0.0374981 -0.43116251 3.91079002] [-0.0149051 0.99833847 0.05566098 0.52792151] [ 0.43253331 -0.04375156 0.9005558 0.69738551] [ 0. 0. 0. 1. ]] SLAMing on 121.22650248099998 meters Centerline goodness [0,1] 0.4985541611242843 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90130771 0.03798461 -0.43151081 3.91164059] [-0.01528729 0.99831665 0.05594789 0.52779783] [ 0.43290959 -0.04382963 0.90037118 0.69765653] [ 0. 0. 0. 1. ]] SLAMing on 121.25650248099998 meters Centerline goodness [0,1] 0.4985541611242843 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90130771 0.03798461 -0.43151081 3.91164059] [-0.01528729 0.99831665 0.05594789 0.52779783] [ 0.43290959 -0.04382963 0.90037118 0.69765653] [ 0. 0. 0. 1. ]] SLAMing on 121.28650248099999 meters Centerline goodness [0,1] 0.497599907466312 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.9014865 0.03830081 -0.4311092 3.91366349] [-0.01551974 0.99829676 0.05623804 0.52721912] [ 0.43252888 -0.04400713 0.90054547 0.69618695] [ 0. 0. 0. 1. ]] SLAMing on 121.31650248099999 meters Centerline goodness [0,1] 0.4943628584643849 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90156907 0.03837171 -0.43093018 3.91457973] [-0.01559943 0.99829452 0.05625576 0.52682235] [ 0.43235386 -0.04399619 0.90063004 0.69562352] [ 0. 0. 0. 1. ]] SLAMing on 121.34650248099999 meters Centerline goodness [0,1] 0.49757449757449757 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90164565 0.03865084 -0.43074497 3.91476067] [-0.01589811 0.99828741 0.05629825 0.52696556] [ 0.43218326 -0.04391304 0.90071598 0.69557853] [ 0. 0. 0. 1. ]] SLAMing on 121.37650248099999 meters Centerline goodness [0,1] 0.5010252115401277 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.9015599 0.03899155 -0.43089374 3.9132092 ] [-0.01640702 0.99829555 0.05600726 0.5283123 ] [ 0.43234311 -0.04342421 0.90066296 0.69727306] [ 0. 0. 0. 1. ]] SLAMing on 121.40650248099999 meters Centerline goodness [0,1] 0.5058137857410774 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90145487 0.03904695 -0.43110839 3.9133578 ] [-0.0165635 0.99830539 0.05578537 0.52877544] [ 0.43255608 -0.04314733 0.90057401 0.69786645] [ 0. 0. 0. 1. ]] SLAMing on 121.43650248099999 meters Centerline goodness [0,1] 0.5007921647702722 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90146952 0.03886621 -0.43109409 3.91399069] [-0.01651134 0.99832334 0.05547877 0.5289927 ] [ 0.43252754 -0.04289448 0.90059979 0.69778073] [ 0. 0. 0. 1. ]] SLAMing on 121.46650248099999 meters Centerline goodness [0,1] 0.5027042577675489 Centerline is valid? [False, False] Translation: X:3.91, Y:0.53, Z:0.70 [[ 0.90159855 0.03854162 -0.43085334 3.91484542] [-0.01630875 0.99834331 0.05517847 0.52908028] [ 0.43226622 -0.04272215 0.90073344 0.69710878] [ 0. 0. 0. 1. ]] SLAMing on 121.496502481 meters Centerline goodness [0,1] 0.5054632238771637 Centerline is valid? [False, False] Translation: X:3.92, Y:0.53, Z:0.70 [[ 0.90144777 0.03884331 -0.43114164 3.91584853] [-0.01659898 0.99833522 0.0552383 0.52905524] [ 0.43256952 -0.04263793 0.90059181 0.69730695] [ 0. 0. 0. 1. ]] SLAMing on 121.526502481 meters Centerline goodness [0,1] 0.4941582733812949 Centerline is valid? [False, False] Translation: X:3.92, Y:0.53, Z:0.70 [[ 0.90119454 0.03945141 -0.43161555 3.917713 ] [-0.0171723 0.99831683 0.05539519 0.52979093] [ 0.43307449 -0.04251002 0.90035514 0.69750872] [ 0. 0. 0. 1. ]] SLAMing on 121.556502481 meters Centerline goodness [0,1] 0.4973483975097994 Centerline is valid? [False, False] Translation: X:3.92, Y:0.53, Z:0.70 [[ 0.90098906 0.03980941 -0.43201148 3.91891654] [-0.01750858 0.99830641 0.05547759 0.52999513] [ 0.43348836 -0.04242079 0.90016016 0.69778607] [ 0. 0. 0. 1. ]] SLAMing on 121.586502481 meters Centerline goodness [0,1] 0.5025195081920009 Centerline is valid? [False, False] Translation: X:3.92, Y:0.53, Z:0.70 [[ 0.90081036 0.04024467 -0.43234368 3.91981545] [-0.01785442 0.99828652 0.05572479 0.52999713] [ 0.43384549 -0.04247822 0.89998538 0.69802631] [ 0. 0. 0. 1. ]] SLAMing on 121.61650248099998 meters Centerline goodness [0,1] 0.49736029772379775 Centerline is valid? [False, False] Translation: X:3.92, Y:0.53, Z:0.70 [[ 0.90070377 0.04048439 -0.43254333 3.91988517] [-0.01818215 0.99828898 0.05557454 0.5307866 ] [ 0.43405314 -0.04219163 0.89989874 0.69875386] [ 0. 0. 0. 1. ]] SLAMing on 121.64650248099998 meters Centerline goodness [0,1] 0.5035307681222079 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90223535 0.03727106 -0.42963034 3.94002815] [-0.01449502 0.99831625 0.05616546 0.53257334] [ 0.4310003 -0.04444696 0.90125646 0.70754221] [ 0. 0. 0. 1. ]] SLAMing on 121.67650248099999 meters Centerline goodness [0,1] 0.5055496295442097 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90213066 0.03698982 -0.42987444 3.93998564] [-0.01438517 0.99834298 0.05571679 0.53245627] [ 0.43122308 -0.04408 0.90116791 0.70822878] [ 0. 0. 0. 1. ]] SLAMing on 121.70650248099999 meters Centerline goodness [0,1] 0.5043871004861771 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90195659 0.03276008 -0.43058226 3.94025492] [-0.01138539 0.99857564 0.05212543 0.5337262 ] [ 0.43167659 -0.04211253 0.90104487 0.70941425] [ 0. 0. 0. 1. ]] SLAMing on 121.73650248099999 meters Centerline goodness [0,1] 0.5116479972355804 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90170905 0.02783476 -0.43144642 3.94014183] [-0.00785692 0.99881558 0.04801787 0.53429356] [ 0.43227197 -0.0399083 0.90085974 0.71109752] [ 0. 0. 0. 1. ]] SLAMing on 121.76650248099999 meters Centerline goodness [0,1] 0.5168332758818799 Centerline is valid? [False, False] Translation: X:3.94, Y:0.54, Z:0.71 [[ 0.90122572 0.02351208 -0.43271167 3.94053787] [-0.00474423 0.99900251 0.04440141 0.53508347] [ 0.43332401 -0.03796281 0.9004383 0.7130943 ] [ 0. 0. 0. 1. ]] SLAMing on 121.79650248099999 meters Centerline goodness [0,1] 0.5193179861071244 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90098962 0.0234585 -0.43320597 3.94091743] [-0.00470781 0.99900692 0.04430577 0.5343411 ] [ 0.43381511 -0.03787959 0.9002053 0.71384492] [ 0. 0. 0. 1. ]] SLAMing on 121.82650248099999 meters Centerline goodness [0,1] 0.5162657502863688 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.71 [[ 0.90079019 0.02360224 -0.43361269 3.94144481] [-0.00478942 0.99900112 0.04442768 0.53357395] [ 0.43422816 -0.03794327 0.90000345 0.71430611] [ 0. 0. 0. 1. ]] SLAMing on 121.85650248099999 meters Centerline goodness [0,1] 0.5268635321100917 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.72 [[ 8.99963164e-01 2.05192311e-02 -4.35482796e-01 3.94330726e+00] [-2.47582644e-03 9.99116216e-01 4.19601971e-02 5.33644497e-01] [ 4.35958914e-01 -3.66844519e-02 8.99218592e-01 7.16257199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.886502481 meters Centerline goodness [0,1] 0.5274300283610738 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.72 [[ 8.99432831e-01 1.62587788e-02 -4.36756495e-01 3.94441964e+00] [ 6.09455613e-04 9.99260196e-01 3.84537267e-02 5.34514273e-01] [ 4.37058591e-01 -3.48527280e-02 8.98757518e-01 7.17795469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.916502481 meters Centerline goodness [0,1] 0.530446201718576 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.72 [[ 0.89899747 0.01145409 -0.43780401 3.94518834] [ 0.00410979 0.99939328 0.03458587 0.5350685 ] [ 0.43793454 -0.0328919 0.89840496 0.71921892] [ 0. 0. 0. 1. ]] SLAMing on 121.946502481 meters Centerline goodness [0,1] 0.5350481948326014 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.72 [[ 0.89846539 0.0071181 -0.43898665 3.9461283 ] [ 0.00719886 0.99949531 0.03094042 0.5360992 ] [ 0.43898533 -0.0309591 0.8979607 0.72080502] [ 0. 0. 0. 1. ]] SLAMing on 121.97650248099998 meters Centerline goodness [0,1] 0.5387813211845103 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.72 [[ 8.97836552e-01 2.61536047e-03 -4.40321117e-01 3.94761895e+00] [ 1.03803457e-02 9.99578744e-01 2.71032027e-02 5.37037595e-01] [ 4.40206513e-01 -2.89049315e-02 8.97431184e-01 7.22561246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00650248099998 meters Centerline goodness [0,1] 0.537672696197123 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.72 [[ 8.97511609e-01 2.89215424e-03 -4.40981345e-01 3.94813213e+00] [ 1.01147163e-02 9.99580420e-01 2.71417742e-02 5.37117102e-01] [ 4.40874816e-01 -2.88204586e-02 8.97105778e-01 7.23543395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03650248099999 meters Centerline goodness [0,1] 0.5376690828149078 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.72 [[ 8.97114730e-01 3.34847611e-03 -4.41784958e-01 3.94842207e+00] [ 9.70571341e-03 9.99580569e-01 2.72852434e-02 5.37369683e-01] [ 4.41691024e-01 -2.87658320e-02 8.96705953e-01 7.24831575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06650248099999 meters Centerline goodness [0,1] 0.5398108733537126 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.96680267e-01 3.88392470e-03 -4.42661738e-01 3.94847538e+00] [ 9.21805458e-03 9.99580868e-01 2.74429512e-02 5.37443657e-01] [ 4.42582791e-01 -2.86880328e-02 8.96268637e-01 7.26468223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09650248099999 meters Centerline goodness [0,1] 0.5427722715717918 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.96528924e-01 3.79753223e-03 -4.42968924e-01 3.94818295e+00] [ 9.18496834e-03 9.99588930e-01 2.71589277e-02 5.37431663e-01] [ 4.42889969e-01 -2.84174198e-02 8.96125508e-01 7.27473703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12650248099999 meters Centerline goodness [0,1] 0.5425298492576867 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.96472537e-01 3.87614951e-03 -4.43082347e-01 3.94868632e+00] [ 9.07224650e-03 9.99591555e-01 2.71001231e-02 5.37069440e-01] [ 4.43006416e-01 -2.83142684e-02 8.96071212e-01 7.27687449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15650248099999 meters Centerline goodness [0,1] 0.5447091980527798 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.96194657e-01 -5.63574114e-04 -4.43660702e-01 3.94933589e+00] [ 1.21812320e-02 9.99653459e-01 2.33362481e-02 5.38285938e-01] [ 4.43493804e-01 -2.63181548e-02 8.95890954e-01 7.28743536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18650248099999 meters Centerline goodness [0,1] 0.5428368592929149 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.96011255e-01 -2.44945828e-04 -4.44031272e-01 3.95032213e+00] [ 1.18738434e-02 9.99655461e-01 2.34087926e-02 5.37836484e-01] [ 4.43872552e-01 -2.62468994e-02 8.95705453e-01 7.29157453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21650248099999 meters Centerline goodness [0,1] 0.5416405938904374 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.95782095e-01 2.11155367e-04 -4.44493413e-01 3.95120293e+00] [ 1.14632437e-02 9.99656310e-01 2.35766177e-02 5.37959970e-01] [ 4.44345623e-01 -2.62148483e-02 8.95471803e-01 7.29692607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.246502481 meters Centerline goodness [0,1] 0.536242244016813 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.95276276e-01 1.26167611e-03 -4.45509592e-01 3.95247784e+00] [ 1.04553265e-02 9.99661075e-01 2.38415837e-02 5.39288837e-01] [ 4.45388678e-01 -2.60027525e-02 8.94959654e-01 7.31165750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.276502481 meters Centerline goodness [0,1] 0.5387313901089499 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:0.73 [[ 8.95005190e-01 2.21777440e-03 -4.46050211e-01 3.95406220e+00] [ 9.56798195e-03 9.99662109e-01 2.41686211e-02 5.39986911e-01] [ 4.45953095e-01 -2.58988417e-02 8.94681556e-01 7.31708831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.306502481 meters Centerline goodness [0,1] 0.5310553682646706 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.73 [[ 8.94652230e-01 2.79545207e-03 -4.46754488e-01 3.95544501e+00] [ 9.06531332e-03 9.99660954e-01 2.44089480e-02 5.40334109e-01] [ 4.46671252e-01 -2.58874891e-02 8.94323560e-01 7.32309845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.336502481 meters Centerline goodness [0,1] 0.5322552947910704 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.73 [[ 8.94330543e-01 3.45737688e-03 -4.47393481e-01 3.95703629e+00] [ 8.49706965e-03 9.99658533e-01 2.47106533e-02 5.40491842e-01] [ 4.47326145e-01 -2.59010256e-02 8.93995781e-01 7.32767959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36650248099998 meters Centerline goodness [0,1] 0.528412017167382 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.73 [[ 0.89389576 0.00470872 -0.44825015 3.96096432] [ 0.00749945 0.99964781 0.02545629 0.5401029 ] [ 0.44821215 -0.0261169 0.89354562 0.73251334] [ 0. 0. 0. 1. ]] SLAMing on 122.39650248099998 meters Centerline goodness [0,1] 0.526460245304057 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.73 [[ 0.89366659 0.0054131 -0.44869893 3.96258121] [ 0.00692963 0.99964152 0.02586131 0.5396117 ] [ 0.44867807 -0.02622071 0.89330872 0.73268956] [ 0. 0. 0. 1. ]] SLAMing on 122.42650248099999 meters Centerline goodness [0,1] 0.5254847091744953 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.73 [[ 0.89334566 0.00599785 -0.44933013 3.9618249 ] [ 0.00624243 0.9996488 0.02575477 0.54043308] [ 0.4493268 -0.02581283 0.89299447 0.73464427] [ 0. 0. 0. 1. ]] SLAMing on 122.45650248099999 meters Centerline goodness [0,1] 0.5194419030192132 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.74 [[ 0.89307131 0.00610298 -0.44987374 3.96109742] [ 0.00603379 0.99965561 0.02553937 0.54023149] [ 0.44987468 -0.02552292 0.89272692 0.73623539] [ 0. 0. 0. 1. ]] SLAMing on 122.48650248099999 meters Centerline goodness [0,1] 0.5178591806458975 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.74 [[ 0.89306456 0.00632434 -0.44988408 3.96149207] [ 0.00586362 0.99965269 0.02569269 0.53908632] [ 0.44989032 -0.02558319 0.89271731 0.73627664] [ 0. 0. 0. 1. ]] SLAMing on 122.51650248099999 meters Centerline goodness [0,1] 0.5224432869382063 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.74 [[ 0.89290875 0.00659791 -0.45018934 3.96211398] [ 0.00565942 0.99964915 0.02587566 0.53773599] [ 0.45020211 -0.02565242 0.89255813 0.7366654 ] [ 0. 0. 0. 1. ]] SLAMing on 122.54650248099999 meters Centerline goodness [0,1] 0.5185090630584631 Centerline is valid? [False, False] Translation: X:3.96, Y:0.54, Z:0.74 [[ 0.89273713 0.00716096 -0.45052097 3.96265132] [ 0.005251 0.99964045 0.02629435 0.53527899] [ 0.45054727 -0.02583963 0.89237854 0.73725019] [ 0. 0. 0. 1. ]] SLAMing on 122.57650248099999 meters Centerline goodness [0,1] 0.5209526509781683 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:0.74 [[ 0.89247329 0.00746723 -0.45103843 3.96273204] [ 0.00500172 0.99963771 0.0264466 0.5345047 ] [ 0.4510725 -0.02585886 0.89211261 0.73817602] [ 0. 0. 0. 1. ]] SLAMing on 122.60650248099999 meters Centerline goodness [0,1] 0.5185132883328156 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:0.74 [[ 0.89221691 0.00796733 -0.45153683 3.96340636] [ 0.00461901 0.99963107 0.02676538 0.53226983] [ 0.4515835 -0.02596618 0.89185094 0.73892402] [ 0. 0. 0. 1. ]] SLAMing on 122.636502481 meters Centerline goodness [0,1] 0.513650578987406 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:0.74 [[ 0.89180935 0.00430354 -0.45239095 3.96443172] [ 0.0071883 0.99969374 0.02368042 0.53287082] [ 0.45235431 -0.02437034 0.89150528 0.74002336] [ 0. 0. 0. 1. ]] SLAMing on 122.666502481 meters Centerline goodness [0,1] 0.5151302295524149 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89164123 0.00489048 -0.45271624 3.96536989] [ 0.00681133 0.99968359 0.02421429 0.53093786] [ 0.45269141 -0.02467406 0.8913258 0.74023675] [ 0. 0. 0. 1. ]] SLAMing on 122.696502481 meters Centerline goodness [0,1] 0.5094429500112083 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.8914106 0.00534306 -0.45316509 3.96620834] [ 0.0064916 0.99967737 0.02455622 0.53023899] [ 0.45315009 -0.02483144 0.89108832 0.74061447] [ 0. 0. 0. 1. ]] SLAMing on 122.72650248099998 meters Centerline goodness [0,1] 0.5057731555257345 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89105266 0.00617812 -0.4538579 3.96878683] [ 0.00595453 0.99966221 0.02529829 0.52866696] [ 0.45386089 -0.02524462 0.89071488 0.74049911] [ 0. 0. 0. 1. ]] SLAMing on 122.75650248099998 meters Centerline goodness [0,1] 0.505038065382893 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.8908046 0.00697655 -0.45433302 3.97086025] [ 0.00541216 0.99964829 0.02596173 0.52764703] [ 0.45435435 -0.02558575 0.89045353 0.7403342 ] [ 0. 0. 0. 1. ]] SLAMing on 122.78650248099999 meters Centerline goodness [0,1] 0.5016674606955693 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89050711 0.00786443 -0.45490135 3.97262278] [ 0.00481299 0.99963181 0.02670366 0.52699783] [ 0.45494387 -0.02596924 0.89014138 0.74041052] [ 0. 0. 0. 1. ]] SLAMing on 122.81650248099999 meters Centerline goodness [0,1] 0.4996642417459429 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89026047 0.00813996 -0.45537901 3.97293953] [ 0.00450833 0.9996338 0.02668232 0.52751488] [ 0.45542944 -0.02580721 0.88989775 0.74122994] [ 0. 0. 0. 1. ]] SLAMing on 122.84650248099999 meters Centerline goodness [0,1] 0.5021173963036711 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89016261 0.00822821 -0.45556868 3.97226341] [ 0.00422044 0.99964514 0.02630157 0.52912642] [ 0.45562343 -0.02533537 0.88981201 0.74231975] [ 0. 0. 0. 1. ]] SLAMing on 122.87650248099999 meters Centerline goodness [0,1] 0.5014039422698939 Centerline is valid? [False, False] Translation: X:3.97, Y:0.53, Z:0.74 [[ 0.89011489 0.00828394 -0.45566091 3.97296004] [ 0.00408968 0.99964933 0.02616269 0.52982977] [ 0.45571786 -0.02515131 0.88976887 0.74234257] [ 0. 0. 0. 1. ]] SLAMing on 122.90650248099999 meters Centerline goodness [0,1] 0.4964449315684456 Centerline is valid? [False, False] Translation: X:3.98, Y:0.53, Z:0.74 [[ 8.89926273e-01 8.74249900e-03 -4.56020610e-01 3.97517146e+00] [ 3.68299685e-03 9.99645944e-01 2.63518777e-02 5.30854836e-01] [ 4.56089535e-01 -2.51307507e-02 8.89578991e-01 7.42003708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93650248099999 meters Centerline goodness [0,1] 0.49580494397207053 Centerline is valid? [False, False] Translation: X:3.98, Y:0.53, Z:0.74 [[ 8.89662467e-01 9.10958013e-03 -4.56527885e-01 3.97609151e+00] [ 3.32963392e-03 9.99644973e-01 2.64356170e-02 5.31763135e-01] [ 4.56606622e-01 -2.50388470e-02 8.89316282e-01 7.42508039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96650248099999 meters Centerline goodness [0,1] 0.4937551332521454 Centerline is valid? [False, False] Translation: X:3.98, Y:0.53, Z:0.74 [[ 8.89346997e-01 1.03074255e-02 -4.57116698e-01 3.97688633e+00] [ 2.27885956e-03 9.99633533e-01 2.69741734e-02 5.34954447e-01] [ 4.57227214e-01 -2.50311049e-02 8.88997592e-01 7.43278154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.996502481 meters Centerline goodness [0,1] 0.48839191838822427 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.74 [[ 8.89155087e-01 1.05699993e-02 -4.57483887e-01 3.97779375e+00] [ 1.96574909e-03 9.99635744e-01 2.69168056e-02 5.36035613e-01] [ 4.57601757e-01 -2.48325132e-02 8.88810429e-01 7.43636707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.026502481 meters Centerline goodness [0,1] 0.483945929095701 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.74 [[ 8.88996496e-01 1.12950367e-02 -4.57774674e-01 3.97971721e+00] [ 1.28557860e-03 9.99630238e-01 2.71612561e-02 5.38167985e-01] [ 4.57912194e-01 -2.47347668e-02 8.88653259e-01 7.43492817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.056502481 meters Centerline goodness [0,1] 0.4875459022460076 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.74 [[ 8.88821194e-01 1.15494954e-02 -4.58108605e-01 3.98027926e+00] [ 9.75203141e-04 9.99632412e-01 2.70940800e-02 5.39332058e-01] [ 4.58253133e-01 -2.45285415e-02 8.88483211e-01 7.43950748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.086502481 meters Centerline goodness [0,1] 0.48769402281107965 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.74 [[ 8.88633858e-01 1.14990195e-02 -4.58473161e-01 3.98034344e+00] [ 8.76137954e-04 9.99641228e-01 2.67702907e-02 5.40685269e-01] [ 4.58616506e-01 -2.41906725e-02 8.88304966e-01 7.44671738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11650248099998 meters Centerline goodness [0,1] 0.48928970837037244 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.88476901e-01 1.14828207e-02 -4.58777660e-01 3.98108813e+00] [ 7.33377749e-04 9.99650115e-01 2.64406777e-02 5.42175426e-01] [ 4.58920754e-01 -2.38283887e-02 8.88157615e-01 7.45045927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14650248099998 meters Centerline goodness [0,1] 0.491283494643729 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.88199165e-01 1.17341804e-02 -4.59308777e-01 3.98243951e+00] [ 4.81895637e-04 9.99649481e-01 2.64703992e-02 5.42521926e-01] [ 4.59458389e-01 -2.37323253e-02 8.87882180e-01 7.45399922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17650248099999 meters Centerline goodness [0,1] 0.491283494643729 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.88199165e-01 1.17341804e-02 -4.59308777e-01 3.98243951e+00] [ 4.81895637e-04 9.99649481e-01 2.64703992e-02 5.42521926e-01] [ 4.59458389e-01 -2.37323253e-02 8.87882180e-01 7.45399922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20650248099999 meters Centerline goodness [0,1] 0.49299487150101706 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.88121067e-01 1.15499290e-02 -4.59464437e-01 3.98289293e+00] [ 6.14659916e-04 9.99653453e-01 2.63172030e-02 5.42451331e-01] [ 4.59609173e-01 -2.36552768e-02 8.87806193e-01 7.45523384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23650248099999 meters Centerline goodness [0,1] 0.4913414318945464 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.87901579e-01 1.18344490e-02 -4.59881215e-01 3.98391701e+00] [ 3.94534371e-04 9.99649096e-01 2.64864132e-02 5.41876226e-01] [ 4.60033293e-01 -2.36987671e-02 8.87585341e-01 7.45820481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26650248099999 meters Centerline goodness [0,1] 0.49146180734628386 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.87635192e-01 1.20447362e-02 -4.60389715e-01 3.98465596e+00] [ 3.23130302e-04 9.99641415e-01 2.67756612e-02 5.40777772e-01] [ 4.60547132e-01 -2.39157850e-02 8.87313008e-01 7.46261659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29650248099999 meters Centerline goodness [0,1] 0.4960213725546523 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.87296527e-01 1.25082969e-02 -4.61029733e-01 3.98568282e+00] [-2.61164809e-06 9.99632288e-01 2.71162124e-02 5.39977906e-01] [ 4.61199385e-01 -2.40589171e-02 8.86970290e-01 7.46845399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32650248099999 meters Centerline goodness [0,1] 0.501709033462588 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.87116169e-01 1.26423479e-02 -4.61373031e-01 3.98620267e+00] [-1.52132040e-06 9.99624868e-01 2.73883710e-02 5.38537594e-01] [ 4.61546209e-01 -2.42959648e-02 8.86783403e-01 7.47164053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35650248099999 meters Centerline goodness [0,1] 0.5055584207208756 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.87289727e-01 1.18177320e-02 -4.61061039e-01 3.98420110e+00] [ 5.84619811e-04 9.99642051e-01 2.67474976e-02 5.37839638e-01] [ 4.61212098e-01 -2.40023252e-02 8.86965213e-01 7.47859625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.386502481 meters Centerline goodness [0,1] 0.5088940448569219 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.87156854e-01 1.19599294e-02 -4.61312993e-01 3.98404926e+00] [ 4.02126837e-04 9.99643679e-01 2.66899429e-02 5.37428302e-01] [ 4.61467827e-01 -2.38636721e-02 8.86835932e-01 7.48588107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.416502481 meters Centerline goodness [0,1] 0.5081717650438029 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.86997621e-01 1.20033170e-02 -4.61617959e-01 3.98405421e+00] [ 3.40906691e-04 9.99644807e-01 2.66485234e-02 5.37049055e-01] [ 4.61773866e-01 -2.37945455e-02 8.86678474e-01 7.49201722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.446502481 meters Centerline goodness [0,1] 0.5150434332393719 Centerline is valid? [False, False] Translation: X:3.98, Y:0.54, Z:0.75 [[ 8.86712270e-01 1.21487231e-02 -4.62162048e-01 3.98452619e+00] [ 2.09403544e-04 9.99644027e-01 2.66791251e-02 5.36431404e-01] [ 4.62321648e-01 -2.37534860e-02 8.86394080e-01 7.50001960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47650248099998 meters Centerline goodness [0,1] 0.5196945337620579 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.86373596e-01 1.23751532e-02 -4.62805255e-01 3.98505333e+00] [-1.71657546e-05 9.99643571e-01 2.66970329e-02 5.36549737e-01] [ 4.62970677e-01 -2.36556006e-02 8.86057879e-01 7.50888550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50650248099998 meters Centerline goodness [0,1] 0.5129326466611042 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.85936982e-01 1.23981778e-02 -4.63639892e-01 3.98548072e+00] [-2.21707813e-04 9.99653858e-01 2.63080622e-02 5.37492722e-01] [ 4.63805579e-01 -2.32044926e-02 8.85633071e-01 7.52364136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53650248099999 meters Centerline goodness [0,1] 0.5139408952128579 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.85880465e-01 1.18810618e-02 -4.63761406e-01 3.98535809e+00] [ 7.20983225e-05 9.99668459e-01 2.57481391e-02 5.38058832e-01] [ 4.63913565e-01 -2.28432099e-02 8.85585903e-01 7.52775655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56650248099999 meters Centerline goodness [0,1] 0.5105012277914199 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.85427835e-01 8.28429153e-03 -4.64703045e-01 3.98703752e+00] [ 2.48381123e-03 9.99742517e-01 2.25550363e-02 5.41289040e-01] [ 4.64770244e-01 -2.11250916e-02 8.85179276e-01 7.53803121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59650248099999 meters Centerline goodness [0,1] 0.5113485032713798 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.75 [[ 8.85042577e-01 8.67270497e-03 -4.65429287e-01 3.98832362e+00] [ 2.08641056e-03 9.99742491e-01 2.25964161e-02 5.41873099e-01] [ 4.65505407e-01 -2.09698669e-02 8.84796576e-01 7.54521559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62650248099999 meters Centerline goodness [0,1] 0.5051783324605807 Centerline is valid? [False, False] Translation: X:3.99, Y:0.54, Z:0.76 [[ 8.84420175e-01 1.08068956e-02 -4.66566356e-01 3.98914844e+00] [ 2.81204610e-04 9.99719333e-01 2.36891610e-02 5.44706837e-01] [ 4.66691413e-01 -2.10823725e-02 8.84168909e-01 7.56186690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65650248099999 meters Centerline goodness [0,1] 0.5058641615124285 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.83878038e-01 1.13222901e-02 -4.67580388e-01 3.99003442e+00] [-3.22100829e-04 9.99721452e-01 2.35990191e-02 5.46291470e-01] [ 4.67717340e-01 -2.07080466e-02 8.83635483e-01 7.57649524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68650248099999 meters Centerline goodness [0,1] 0.5021790634414578 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.83522193e-01 1.25311939e-02 -4.68221640e-01 3.99108598e+00] [-1.53134280e-03 9.99713991e-01 2.38661215e-02 5.49039032e-01] [ 4.68386795e-01 -2.03692402e-02 8.83288687e-01 7.58720512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71650248099999 meters Centerline goodness [0,1] 0.4970474742750234 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.83262741e-01 1.27220667e-02 -4.68705750e-01 3.99167544e+00] [-1.83005455e-03 9.99717758e-01 2.36866243e-02 5.49854971e-01] [ 4.68874804e-01 -2.00637556e-02 8.83036729e-01 7.59490565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.746502481 meters Centerline goodness [0,1] 0.4962819837227004 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.82963654e-01 1.30362775e-02 -4.69260314e-01 3.99231913e+00] [-2.35667896e-03 9.99724843e-01 2.33384932e-02 5.51226071e-01] [ 4.69435440e-01 -1.95011453e-02 8.82751422e-01 7.60636183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.776502481 meters Centerline goodness [0,1] 0.4923675283658907 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.82685964e-01 1.34186656e-02 -4.69771676e-01 3.99354814e+00] [-2.75334413e-03 9.99722792e-01 2.33828649e-02 5.51426015e-01] [ 4.69955219e-01 -1.93462835e-02 8.82478223e-01 7.61157325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.806502481 meters Centerline goodness [0,1] 0.492480654110089 Centerline is valid? [False, False] Translation: X:3.99, Y:0.55, Z:0.76 [[ 8.82512051e-01 1.37391396e-02 -4.70089051e-01 3.99476161e+00] [-3.04685934e-03 9.99719229e-01 2.34985094e-02 5.51125711e-01] [ 4.70279913e-01 -1.93054225e-02 8.82306128e-01 7.61295013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.836502481 meters Centerline goodness [0,1] 0.4879386284747542 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.76 [[ 8.82512812e-01 1.38297469e-02 -4.70084966e-01 3.99575130e+00] [-3.16255715e-03 9.99719441e-01 2.34742024e-02 5.50542011e-01] [ 4.70277722e-01 -1.92296137e-02 8.82308952e-01 7.61102809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86650248099998 meters Centerline goodness [0,1] 0.4864359760548985 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.76 [[ 8.82335322e-01 1.43383080e-02 -4.70402798e-01 3.99669613e+00] [-3.56443043e-03 9.99710712e-01 2.37862896e-02 5.49919778e-01] [ 4.70607771e-01 -1.93107655e-02 8.82131181e-01 7.61351289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89650248099998 meters Centerline goodness [0,1] 0.48238933146575624 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.76 [[ 0.88189092 0.0153304 -0.47120418 3.99817684] [-0.00440066 0.99969531 0.02428845 0.54910173] [ 0.47143296 -0.01934616 0.88168968 0.76230363] [ 0. 0. 0. 1. ]] SLAMing on 123.92650248099999 meters Centerline goodness [0,1] 0.4788250767207365 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.76 [[ 0.88127541 0.0164544 -0.47231653 3.99923667] [-0.00542206 0.99967996 0.0247097 0.54948299] [ 0.47257196 -0.01921512 0.88108259 0.76396463] [ 0. 0. 0. 1. ]] SLAMing on 123.95650248099999 meters Centerline goodness [0,1] 0.47812390619530976 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 0.88088182 0.01689818 -0.47303454 3.99977428] [-0.00592063 0.99967772 0.02468606 0.54974942] [ 0.47329924 -0.01894484 0.88069797 0.76516269] [ 0. 0. 0. 1. ]] SLAMing on 123.98650248099999 meters Centerline goodness [0,1] 0.4771622369072225 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 0.88067653 0.01715704 -0.47340732 4.00038026] [-0.00622537 0.99967679 0.02464888 0.55004034] [ 0.47367721 -0.01876055 0.88049869 0.76571468] [ 0. 0. 0. 1. ]] SLAMing on 124.01650248099999 meters Centerline goodness [0,1] 0.4778527001104459 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.80555829e-01 1.22429141e-02 -4.73784280e-01 4.00137705e+00] [-2.86624801e-03 9.99785579e-01 2.05080625e-02 5.51024826e-01] [ 4.73933769e-01 -1.67005107e-02 8.80402110e-01 7.66325623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04650248099999 meters Centerline goodness [0,1] 0.470215535946767 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.79989021e-01 7.61739681e-03 -4.74932940e-01 4.00320829e+00] [ 3.94856883e-04 9.99859325e-01 1.67682514e-02 5.50579693e-01] [ 4.74993860e-01 -1.49434077e-02 8.79862221e-01 7.67575115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07650248099999 meters Centerline goodness [0,1] 0.470459012602613 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.79726247e-01 8.05447982e-03 -4.75412301e-01 4.00371189e+00] [ 5.62336831e-05 9.99854744e-01 1.70436905e-02 5.49873226e-01] [ 4.75480523e-01 -1.50205161e-02 8.79598009e-01 7.68224801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10650248099999 meters Centerline goodness [0,1] 0.46924256008329235 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.79268591e-01 8.56715806e-03 -4.76249250e-01 4.00372548e+00] [-3.82267992e-04 9.99850610e-01 1.72803673e-02 5.49479879e-01] [ 4.76326147e-01 -1.50120294e-02 8.79140512e-01 7.69638785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.136502481 meters Centerline goodness [0,1] 0.47540936180061333 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.79058217e-01 8.79051497e-03 -4.76633379e-01 4.00299011e+00] [-5.36375290e-04 9.99847578e-01 1.74508760e-02 5.48361452e-01] [ 4.76714131e-01 -1.50846816e-02 8.78928944e-01 7.70720492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.166502481 meters Centerline goodness [0,1] 0.479534695762614 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.78610332e-01 3.84506026e-03 -4.77523925e-01 4.00321264e+00] [ 2.90751635e-03 9.99905976e-01 1.34009466e-02 5.49143464e-01] [ 4.77530554e-01 -1.31626188e-02 8.78516542e-01 7.72262784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.196502481 meters Centerline goodness [0,1] 0.4816328880700138 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.78675688e-01 -1.59701657e-03 -4.77416469e-01 4.00305365e+00] [ 6.94755598e-03 9.99931288e-01 9.44194847e-03 5.48327673e-01] [ 4.77368586e-01 -1.16132882e-02 8.78626408e-01 7.72357222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22650248099998 meters Centerline goodness [0,1] 0.4847805466931103 Centerline is valid? [False, False] Translation: X:4.00, Y:0.55, Z:0.77 [[ 8.78654610e-01 -1.64039675e-03 -4.77455113e-01 4.00332419e+00] [ 7.09328234e-03 9.99928585e-01 9.61821438e-03 5.46908898e-01] [ 4.77405238e-01 -1.18378123e-02 8.78603497e-01 7.72318016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25650248099998 meters Centerline goodness [0,1] 0.49025890430553565 Centerline is valid? [False, False] Translation: X:4.00, Y:0.54, Z:0.77 [[ 8.78347268e-01 -3.46647556e-03 -4.78010523e-01 4.00316069e+00] [ 8.66341390e-03 9.99924905e-01 8.66773948e-03 5.43482866e-01] [ 4.77944580e-01 -1.17544883e-02 8.78311340e-01 7.73053234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28650248099999 meters Centerline goodness [0,1] 0.49643072159628454 Centerline is valid? [False, False] Translation: X:4.00, Y:0.54, Z:0.77 [[ 8.78428510e-01 -3.53990758e-03 -4.77860671e-01 4.00315638e+00] [ 8.88520504e-03 9.99920687e-01 8.92601309e-03 5.41656005e-01] [ 4.77791173e-01 -1.20867544e-02 8.78390292e-01 7.72770209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31650248099999 meters Centerline goodness [0,1] 0.5018722309561241 Centerline is valid? [False, False] Translation: X:4.00, Y:0.54, Z:0.77 [[ 8.78427780e-01 -3.63195413e-03 -4.77861322e-01 4.00305127e+00] [ 9.09526940e-03 9.99917051e-01 9.11955884e-03 5.40007033e-01] [ 4.77788563e-01 -1.23571513e-02 8.78387950e-01 7.72777161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34650248099999 meters Centerline goodness [0,1] 0.5116810418689667 Centerline is valid? [False, False] Translation: X:4.00, Y:0.54, Z:0.77 [[ 8.78231699e-01 -3.77857512e-03 -4.78220456e-01 4.00340529e+00] [ 9.50675718e-03 9.99909128e-01 9.55815190e-03 5.37295061e-01] [ 4.78140883e-01 -1.29405977e-02 8.78187814e-01 7.72849924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37650248099999 meters Centerline goodness [0,1] 0.5187512496072663 Centerline is valid? [False, False] Translation: X:4.00, Y:0.54, Z:0.77 [[ 8.77831470e-01 -3.92216529e-03 -4.78953574e-01 4.00477172e+00] [ 9.87790740e-03 9.99902044e-01 9.91611117e-03 5.35162128e-01] [ 4.78867765e-01 -1.34357335e-02 8.77784224e-01 7.73030370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40650248099999 meters Centerline goodness [0,1] 0.5206764772986539 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 8.77847579e-01 -3.69350979e-03 -4.78925866e-01 4.00560230e+00] [ 9.85119025e-03 9.99897957e-01 1.03454646e-02 5.34018997e-01] [ 4.78838784e-01 -1.37997309e-02 8.77794387e-01 7.72550146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43650248099999 meters Centerline goodness [0,1] 0.5260327756913623 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 0.87779041 -0.00404263 -0.47902782 4.00550145] [ 0.01021118 0.99989509 0.01027303 0.53344679] [ 0.47893604 -0.013909 0.8777396 0.77269267] [ 0. 0. 0. 1. ]] SLAMing on 124.46650248099999 meters Centerline goodness [0,1] 0.5308758125213822 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 0.87778785 -0.00404645 -0.47903248 4.00587409] [ 0.01019071 0.99989577 0.01022739 0.53369331] [ 0.47894116 -0.01385916 0.8777376 0.77264511] [ 0. 0. 0. 1. ]] SLAMing on 124.496502481 meters Centerline goodness [0,1] 0.5303756994404476 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 8.77706334e-01 -3.98857296e-03 -4.79182306e-01 4.00659318e+00] [ 1.01238086e-02 9.99896518e-01 1.02206835e-02 5.33832625e-01] [ 4.79091953e-01 -1.38219086e-02 8.77655886e-01 7.72666942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.526502481 meters Centerline goodness [0,1] 0.5341110033654669 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 8.77659882e-01 -3.93199561e-03 -4.79267848e-01 4.00772494e+00] [ 1.00811913e-02 9.99896567e-01 1.02578720e-02 5.34588856e-01] [ 4.79177942e-01 -1.38345136e-02 8.77608743e-01 7.72328753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.556502481 meters Centerline goodness [0,1] 0.5411879315778918 Centerline is valid? [False, False] Translation: X:4.01, Y:0.53, Z:0.77 [[ 8.77893449e-01 8.61175888e-04 -4.78855250e-01 4.00747116e+00] [ 6.60326193e-03 9.99881530e-01 1.39040644e-02 5.34699633e-01] [ 4.78810494e-01 -1.53682937e-02 8.77783758e-01 7.71826462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.586502481 meters Centerline goodness [0,1] 0.5424398625429554 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.77762791e-01 9.40867745e-04 -4.79094561e-01 4.00742159e+00] [ 6.41398839e-03 9.99885375e-01 1.37148713e-02 5.35743370e-01] [ 4.79052548e-01 -1.51113107e-02 8.77656142e-01 7.72430292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61650248099998 meters Centerline goodness [0,1] 0.5429220331186753 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.77580043e-01 1.06887459e-03 -4.79428957e-01 4.00755646e+00] [ 6.20558848e-03 9.99888417e-01 1.35883656e-02 5.36608259e-01] [ 4.79389986e-01 -1.49000173e-02 8.77475487e-01 7.73034806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64650248099998 meters Centerline goodness [0,1] 0.5478735698601641 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.77511094e-01 1.32458490e-03 -4.79554508e-01 4.00840816e+00] [ 5.92708871e-03 9.99889847e-01 1.36074731e-02 5.37721356e-01] [ 4.79519708e-01 -1.47830708e-02 8.77406582e-01 7.72994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67650248099999 meters Centerline goodness [0,1] 0.5475420253018313 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.77387783e-01 1.72893787e-03 -4.79778791e-01 4.00964697e+00] [ 5.58977005e-03 9.99888800e-01 1.38254164e-02 5.37707229e-01] [ 4.79749343e-01 -1.48121046e-02 8.77280554e-01 7.72955749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70650248099999 meters Centerline goodness [0,1] 0.5469084388917809 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.76950771e-01 2.46162187e-03 -4.80573914e-01 4.01155929e+00] [ 4.89695740e-03 9.99889195e-01 1.40576496e-02 5.38502788e-01] [ 4.80555268e-01 -1.46812166e-02 8.76841546e-01 7.73594607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73650248099999 meters Centerline goodness [0,1] 0.5434499145200081 Centerline is valid? [False, False] Translation: X:4.01, Y:0.54, Z:0.77 [[ 8.76618711e-01 2.96377630e-03 -4.81176529e-01 4.01316333e+00] [ 4.40155787e-03 9.99889805e-01 1.41776194e-02 5.39120622e-01] [ 4.81165525e-01 -1.45462928e-02 8.76509066e-01 7.74065785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76650248099999 meters Centerline goodness [0,1] 0.5367367657722988 Centerline is valid? [False, False] Translation: X:4.02, Y:0.54, Z:0.77 [[ 8.76014375e-01 4.36035586e-03 -4.82265282e-01 4.01783283e+00] [ 3.24228479e-03 9.99883287e-01 1.49298224e-02 5.40169361e-01] [ 4.82274095e-01 -1.46423805e-02 8.75897995e-01 7.73996330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79650248099999 meters Centerline goodness [0,1] 0.5325701667732001 Centerline is valid? [False, False] Translation: X:4.02, Y:0.54, Z:0.77 [[ 8.75599446e-01 5.04127224e-03 -4.83011589e-01 4.01987669e+00] [ 2.59218467e-03 9.99882099e-01 1.51350268e-02 5.41149475e-01] [ 4.83030941e-01 -1.45042763e-02 8.75483144e-01 7.74525462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82650248099999 meters Centerline goodness [0,1] 0.5246264526840066 Centerline is valid? [False, False] Translation: X:4.02, Y:0.54, Z:0.78 [[ 8.75176208e-01 5.45613753e-03 -4.83773538e-01 4.02115346e+00] [ 2.07479845e-03 9.99884884e-01 1.50304287e-02 5.42657338e-01] [ 4.83799856e-01 -1.41580062e-02 8.75064140e-01 7.75451905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85650248099999 meters Centerline goodness [0,1] 0.5219267553067413 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74912453e-01 6.54019764e-03 -4.84236951e-01 4.02274021e+00] [ 9.52972432e-04 9.99883617e-01 1.52264380e-02 5.46042823e-01] [ 4.84280178e-01 -1.37832647e-02 8.74804396e-01 7.76029911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.886502481 meters Centerline goodness [0,1] 0.517731531478941 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74619431e-01 6.66289398e-03 -4.84764331e-01 4.02328019e+00] [ 6.25766131e-04 9.99889208e-01 1.48720988e-02 5.47426786e-01] [ 4.84809715e-01 -1.33107756e-02 8.74518361e-01 7.76986042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.916502481 meters Centerline goodness [0,1] 0.5140039216833973 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74652522e-01 6.94463576e-03 -4.84700667e-01 4.02178127e+00] [ 9.86268629e-06 9.99897119e-01 1.43440028e-02 5.50592860e-01] [ 4.84750415e-01 -1.25507987e-02 8.74562469e-01 7.78255236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.946502481 meters Centerline goodness [0,1] 0.525859552857393 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74456023e-01 6.99685231e-03 -4.85054335e-01 4.02155209e+00] [-2.49722894e-04 9.99902338e-01 1.39732743e-02 5.51424394e-01] [ 4.85104733e-01 -1.20978847e-02 8.74372369e-01 7.79309990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97650248099998 meters Centerline goodness [0,1] 0.5243044404869646 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74481500e-01 6.83005475e-03 -4.85010780e-01 4.02035233e+00] [-3.28510075e-04 9.99908970e-01 1.34886838e-02 5.51966584e-01] [ 4.85058757e-01 -1.16362735e-02 8.74404139e-01 7.80194101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00650248099998 meters Centerline goodness [0,1] 0.5244851392464311 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74492572e-01 6.88939265e-03 -4.84989977e-01 4.01990914e+00] [-4.57001740e-04 9.99910380e-01 1.33799272e-02 5.52234592e-01] [ 4.85038692e-01 -1.14790057e-02 8.74417349e-01 7.80569169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03650248099999 meters Centerline goodness [0,1] 0.5256080449017774 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74442944e-01 7.20068737e-03 -4.85074930e-01 4.02051534e+00] [-7.85174935e-04 9.99909536e-01 1.34277096e-02 5.52002760e-01] [ 4.85127737e-01 -1.13608972e-02 8.74369492e-01 7.80760767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06650248099999 meters Centerline goodness [0,1] 0.5256080449017774 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74442944e-01 7.20068737e-03 -4.85074930e-01 4.02051534e+00] [-7.85174935e-04 9.99909536e-01 1.34277096e-02 5.52002760e-01] [ 4.85127737e-01 -1.13608972e-02 8.74369492e-01 7.80760767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09650248099999 meters Centerline goodness [0,1] 0.5211868119031626 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74178834e-01 7.64772691e-03 -4.85543900e-01 4.02199898e+00] [-1.15719093e-03 9.99905947e-01 1.36659441e-02 5.51478883e-01] [ 4.85602747e-01 -1.13846121e-02 8.74105464e-01 7.81014981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12650248099999 meters Centerline goodness [0,1] 0.5205703122722104 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.74029554e-01 8.13739085e-03 -4.85804613e-01 4.02315351e+00] [-1.35865505e-03 9.99896767e-01 1.43041996e-02 5.47810666e-01] [ 4.85870860e-01 -1.18422523e-02 8.73950381e-01 7.80910482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15650248099999 meters Centerline goodness [0,1] 0.5190744032873837 Centerline is valid? [False, False] Translation: X:4.02, Y:0.55, Z:0.78 [[ 8.73640498e-01 8.98682653e-03 -4.86488969e-01 4.02462876e+00] [-2.01713093e-03 9.99887722e-01 1.48483742e-02 5.46619097e-01] [ 4.86567787e-01 -1.19908291e-02 8.73560535e-01 7.81523512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18650248099999 meters Centerline goodness [0,1] 0.5207722456089419 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.78 [[ 8.72905916e-01 4.77892044e-03 -4.87865169e-01 4.02730272e+00] [ 1.00162024e-03 9.99932366e-01 1.15870487e-02 5.46416454e-01] [ 4.87887546e-01 -1.06030590e-02 8.72842092e-01 7.82596942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21650248099999 meters Centerline goodness [0,1] 0.516017441860465 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.78 [[ 8.72730564e-01 5.29256689e-03 -4.88173485e-01 4.02908427e+00] [ 6.70742811e-04 9.99927293e-01 1.20398998e-02 5.45229021e-01] [ 4.88201713e-01 -1.08350274e-02 8.72663560e-01 7.82410021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.246502481 meters Centerline goodness [0,1] 0.5173916833754686 Centerline is valid? [False, False] Translation: X:4.03, Y:0.54, Z:0.78 [[ 8.72357034e-01 5.97661559e-03 -4.88832778e-01 4.03082370e+00] [ 1.47308303e-04 9.99922008e-01 1.24882274e-02 5.44407984e-01] [ 4.88869291e-01 -1.09662021e-02 8.72288117e-01 7.82830847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.276502481 meters Centerline goodness [0,1] 0.5166395159413544 Centerline is valid? [False, False] Translation: X:4.03, Y:0.54, Z:0.78 [[ 8.71879799e-01 6.56975905e-03 -4.89675866e-01 4.03244421e+00] [-3.08161515e-04 9.99917173e-01 1.28667462e-02 5.44600062e-01] [ 4.89719839e-01 -1.10673569e-02 8.71809608e-01 7.83439072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.306502481 meters Centerline goodness [0,1] 0.5158897067414417 Centerline is valid? [False, False] Translation: X:4.03, Y:0.54, Z:0.78 [[ 8.71551899e-01 6.78015726e-03 -4.90256378e-01 4.03337500e+00] [-5.62529156e-04 9.99917551e-01 1.28286447e-02 5.44964651e-01] [ 4.90302937e-01 -1.09050461e-02 8.71483855e-01 7.84108529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.336502481 meters Centerline goodness [0,1] 0.5203121346738369 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.71193642e-01 6.90207808e-03 -4.90891026e-01 4.03347210e+00] [-8.15116868e-04 9.99920126e-01 1.26125796e-02 5.45653638e-01] [ 4.90938870e-01 -1.05878656e-02 8.71129682e-01 7.85314897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36650248099998 meters Centerline goodness [0,1] 0.5227392603879739 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.70866613e-01 6.97302979e-03 -4.91469957e-01 4.03319071e+00] [-1.04158042e-03 9.99923300e-01 1.23413797e-02 5.46636245e-01] [ 4.91518318e-01 -1.02357900e-02 8.70807081e-01 7.86555965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39650248099998 meters Centerline goodness [0,1] 0.5118370934661588 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.70783900e-01 6.42546629e-03 -4.91623955e-01 4.03209495e+00] [-8.19362355e-04 9.99932176e-01 1.16177068e-02 5.47965022e-01] [ 4.91665261e-01 -9.71369384e-03 8.70730105e-01 7.87522499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42650248099999 meters Centerline goodness [0,1] 0.5156231748627497 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.70284246e-01 1.54295694e-03 -4.92547410e-01 4.03208880e+00] [ 2.49864591e-03 9.99968396e-01 7.54737568e-03 5.49954892e-01] [ 4.92543489e-01 -7.79906373e-03 8.70252886e-01 7.89256975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45650248099999 meters Centerline goodness [0,1] 0.5201893297493134 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.70163723e-01 1.57920395e-03 -4.92760186e-01 4.03154965e+00] [ 2.58428484e-03 9.99966487e-01 7.76828578e-03 5.48187913e-01] [ 4.92755939e-01 -8.03311316e-03 8.70130481e-01 7.89802493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48650248099999 meters Centerline goodness [0,1] 0.5198842883440961 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.69933429e-01 1.80234148e-03 -4.93165875e-01 4.03183582e+00] [ 2.38293948e-03 9.99966286e-01 7.85796348e-03 5.47806683e-01] [ 4.93163411e-01 -8.01108955e-03 8.69899806e-01 7.90446599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51650248099999 meters Centerline goodness [0,1] 0.5193651164830025 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.69759014e-01 1.98102471e-03 -4.93472727e-01 4.03320054e+00] [ 2.19754296e-03 9.99966478e-01 7.88755059e-03 5.48218972e-01] [ 4.93471810e-01 -7.94469575e-03 8.69725505e-01 7.90513602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54650248099999 meters Centerline goodness [0,1] 0.5203651685393258 Centerline is valid? [False, False] Translation: X:4.03, Y:0.55, Z:0.79 [[ 8.69637798e-01 2.18098021e-03 -4.93685471e-01 4.03437590e+00] [ 2.02034255e-03 9.99966146e-01 7.97648070e-03 5.48669691e-01] [ 4.93686154e-01 -7.93406287e-03 8.69603951e-01 7.90424146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57650248099999 meters Centerline goodness [0,1] 0.5185737249744264 Centerline is valid? [False, False] Translation: X:4.04, Y:0.55, Z:0.79 [[ 8.69299563e-01 3.06377535e-03 -4.94276120e-01 4.03595414e+00] [ 1.45178095e-03 9.99960650e-01 8.75156042e-03 5.47126931e-01] [ 4.94283483e-01 -8.32530831e-03 8.69260909e-01 7.90643597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60650248099999 meters Centerline goodness [0,1] 0.5239523573779086 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.69192455e-01 2.50301359e-03 -4.94467603e-01 4.03504511e+00] [ 2.00765507e-03 9.99961082e-01 8.59096690e-03 5.43204960e-01] [ 4.94469863e-01 -8.45992400e-03 8.69153602e-01 7.91265825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.636502481 meters Centerline goodness [0,1] 0.5232929164007658 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.68655794e-01 -2.18760041e-03 -4.95411269e-01 4.03538939e+00] [ 5.39297670e-03 9.99972754e-01 5.04045791e-03 5.41881590e-01] [ 4.95386745e-01 -7.05016440e-03 8.68643925e-01 7.92791378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.666502481 meters Centerline goodness [0,1] 0.5230653903817322 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.68071870e-01 -6.94071216e-03 -4.96390023e-01 4.03685866e+00] [ 8.68037808e-03 9.99961607e-01 1.19814322e-03 5.42210048e-01] [ 4.96362649e-01 -5.34892750e-03 8.68098790e-01 7.94058873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.696502481 meters Centerline goodness [0,1] 0.5298261823641508 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.68080492e-01 -6.41860503e-03 -4.96381972e-01 4.03841434e+00] [ 8.36309650e-03 9.99963592e-01 1.69520577e-03 5.40658644e-01] [ 4.96353018e-01 -5.62286539e-03 8.68102566e-01 7.93512328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72650248099998 meters Centerline goodness [0,1] 0.5182614730632429 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.67419940e-01 -5.54153920e-03 -4.97545916e-01 4.04019999e+00] [ 7.56782962e-03 9.99969249e-01 2.05632785e-03 5.41072753e-01] [ 4.97519221e-01 -5.54904250e-03 8.67435204e-01 7.94793401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75650248099998 meters Centerline goodness [0,1] 0.5151620571693628 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.79 [[ 8.67149076e-01 7.27847178e-04 -4.98048141e-01 4.04222816e+00] [ 2.88146435e-03 9.99974864e-01 6.47826539e-03 5.41216112e-01] [ 4.98040337e-01 -7.05272981e-03 8.67125182e-01 7.94945521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78650248099999 meters Centerline goodness [0,1] 0.5073973079600835 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.66779354e-01 1.12151364e-03 -4.98690579e-01 4.04315146e+00] [ 2.36279318e-03 9.99977011e-01 6.35566089e-03 5.42567115e-01] [ 4.98686243e-01 -6.68725834e-03 8.66756778e-01 7.95904973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81650248099999 meters Centerline goodness [0,1] 0.5084209303676172 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.66547756e-01 1.18049038e-03 -4.99092769e-01 4.04348269e+00] [ 2.11136188e-03 9.99979584e-01 6.03106749e-03 5.44003180e-01] [ 4.99089700e-01 -6.27997345e-03 8.66527572e-01 7.96676173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84650248099999 meters Centerline goodness [0,1] 0.5060097549645801 Centerline is valid? [False, False] Translation: X:4.04, Y:0.55, Z:0.80 [[ 8.66643997e-01 9.65078148e-04 -4.98926098e-01 4.04352783e+00] [ 2.03303204e-03 9.99982996e-01 5.46569275e-03 5.45663006e-01] [ 4.98922889e-01 -5.75114255e-03 8.66627299e-01 7.96837570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87650248099999 meters Centerline goodness [0,1] 0.5053457292271935 Centerline is valid? [False, False] Translation: X:4.04, Y:0.55, Z:0.80 [[ 8.66587259e-01 1.02484802e-03 -4.99024521e-01 4.04367210e+00] [ 1.91997985e-03 9.99983642e-01 5.38783410e-03 5.45513231e-01] [ 4.99021880e-01 -5.62714541e-03 8.66571116e-01 7.97156852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90650248099999 meters Centerline goodness [0,1] 0.5041076077523865 Centerline is valid? [False, False] Translation: X:4.04, Y:0.55, Z:0.80 [[ 8.66335137e-01 1.23081974e-03 -4.99461626e-01 4.04339404e+00] [ 1.72545343e-03 9.99983621e-01 5.45711698e-03 5.45078088e-01] [ 4.99460163e-01 -5.58948996e-03 8.66318823e-01 7.98103138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93650248099999 meters Centerline goodness [0,1] 0.5054050137661208 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.66216347e-01 1.48969023e-03 -4.99666910e-01 4.04354472e+00] [ 1.49635933e-03 9.99983338e-01 5.57538686e-03 5.44943618e-01] [ 4.99666890e-01 -5.57717249e-03 8.66199685e-01 7.98507078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96650248099999 meters Centerline goodness [0,1] 0.509650828665138 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.66187055e-01 1.63486982e-03 -4.99717233e-01 4.04370518e+00] [ 1.37037276e-03 9.99983117e-01 5.64687622e-03 5.44741471e-01] [ 4.99718029e-01 -5.57604997e-03 8.66170191e-01 7.98697653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.996502481 meters Centerline goodness [0,1] 0.50597898647472 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.66063357e-01 1.88566211e-03 -4.99930701e-01 4.04427369e+00] [ 1.14840581e-03 9.99982744e-01 5.76124203e-03 5.44815404e-01] [ 4.99932938e-01 -5.56372393e-03 8.66046247e-01 7.98965230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.026502481 meters Centerline goodness [0,1] 0.5096167793217488 Centerline is valid? [False, False] Translation: X:4.04, Y:0.55, Z:0.80 [[ 8.65860817e-01 1.95517218e-03 -5.00281145e-01 4.04445524e+00] [ 1.00922016e-03 9.99983502e-01 5.65478861e-03 5.45119860e-01] [ 5.00283947e-01 -5.40115370e-03 8.65844559e-01 7.99612597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.056502481 meters Centerline goodness [0,1] 0.5049910045847601 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.65486510e-01 2.00186562e-03 -5.00928232e-01 4.04368059e+00] [ 8.92854560e-04 9.99984262e-01 5.53889262e-03 5.44820316e-01] [ 5.00931437e-01 -5.24109290e-03 8.65471101e-01 8.01144530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.086502481 meters Centerline goodness [0,1] 0.5146564708608504 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.65230074e-01 2.08184290e-03 -5.01370706e-01 4.04376598e+00] [ 8.36434181e-04 9.99983994e-01 5.59569506e-03 5.43700940e-01] [ 5.01374331e-01 -5.26092725e-03 8.65214484e-01 8.01950067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11650248099998 meters Centerline goodness [0,1] 0.513004276962201 Centerline is valid? [False, False] Translation: X:4.04, Y:0.54, Z:0.80 [[ 8.65240153e-01 2.26806777e-03 -5.01352504e-01 4.04466485e+00] [ 7.43298782e-04 9.99982865e-01 5.80661477e-03 5.42534149e-01] [ 5.01357084e-01 -5.39677096e-03 8.65223641e-01 8.01722647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14650248099998 meters Centerline goodness [0,1] 0.5149764593743682 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.80 [[ 8.65148144e-01 2.67394476e-03 -5.01509260e-01 4.04609342e+00] [ 4.68823384e-04 9.99981037e-01 6.14045637e-03 5.41367006e-01] [ 5.01516170e-01 -5.54752370e-03 8.65130485e-01 8.01568962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17650248099999 meters Centerline goodness [0,1] 0.5147717099373321 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.80 [[ 8.64620054e-01 3.39588403e-03 -5.02414799e-01 4.04851967e+00] [-4.61216685e-05 9.99977690e-01 6.67960131e-03 5.39819755e-01] [ 5.02426273e-01 -5.75214504e-03 8.64600921e-01 8.02088056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20650248099999 meters Centerline goodness [0,1] 0.5121169232546721 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.80 [[ 8.64052135e-01 3.93070035e-03 -5.03386985e-01 4.04955372e+00] [-6.16982949e-04 9.99977033e-01 6.74928978e-03 5.39975000e-01] [ 5.03401953e-01 -5.52115706e-03 8.64034716e-01 8.03519375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23650248099999 meters Centerline goodness [0,1] 0.5097908772741735 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.80 [[ 8.63808898e-01 4.36092710e-03 -5.03800724e-01 4.05047251e+00] [-1.05223548e-03 9.99975973e-01 6.85170106e-03 5.40379181e-01] [ 5.03818499e-01 -5.38844335e-03 8.63792733e-01 8.04037471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26650248099999 meters Centerline goodness [0,1] 0.5039258293495581 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.80 [[ 8.63598248e-01 4.60393319e-03 -5.04159569e-01 4.05110806e+00] [-1.36294677e-03 9.99975971e-01 6.79702288e-03 5.40918414e-01] [ 5.04178747e-01 -5.18275439e-03 8.63583771e-01 8.04618528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29650248099999 meters Centerline goodness [0,1] 0.5001304915180513 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.81 [[ 8.63508950e-01 4.96644967e-03 -5.04309059e-01 4.05062601e+00] [-1.99331629e-03 9.99977310e-01 6.43472582e-03 5.42828652e-01] [ 5.04329575e-01 -4.55119588e-03 8.63499257e-01 8.05690642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32650248099999 meters Centerline goodness [0,1] 0.5012886971127393 Centerline is valid? [False, False] Translation: X:4.05, Y:0.54, Z:0.81 [[ 8.63186234e-01 5.13018280e-03 -5.04859592e-01 4.05036513e+00] [-2.38127212e-03 9.99978621e-01 6.08999384e-03 5.44048436e-01] [ 5.04880041e-01 -4.05459078e-03 8.63179996e-01 8.07095576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35650248099999 meters Centerline goodness [0,1] 0.492976957455453 Centerline is valid? [False, False] Translation: X:4.05, Y:0.55, Z:0.81 [[ 8.62692535e-01 5.78189151e-03 -5.05695719e-01 4.05154164e+00] [-3.18141236e-03 9.99976903e-01 6.00593827e-03 5.46650221e-01] [ 5.05718765e-01 -3.57245150e-03 8.62691004e-01 8.08386777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386502481 meters Centerline goodness [0,1] 0.49243390538033394 Centerline is valid? [False, False] Translation: X:4.05, Y:0.55, Z:0.81 [[ 8.62445999e-01 6.17127126e-03 -5.06111465e-01 4.05314992e+00] [-3.56136322e-03 9.99974904e-01 6.12440765e-03 5.47023626e-01] [ 5.06136559e-01 -3.47952411e-03 8.62446333e-01 8.08566759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.416502481 meters Centerline goodness [0,1] 0.49384218609638064 Centerline is valid? [False, False] Translation: X:4.05, Y:0.55, Z:0.81 [[ 8.61927894e-01 6.40134657e-03 -5.06990462e-01 4.05414804e+00] [-3.99995303e-03 9.99975031e-01 5.82558424e-03 5.48090205e-01] [ 5.07015095e-01 -2.99329552e-03 8.61931978e-01 8.09959949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446502481 meters Centerline goodness [0,1] 0.49290502306955686 Centerline is valid? [False, False] Translation: X:4.05, Y:0.55, Z:0.81 [[ 8.61528106e-01 6.65271361e-03 -5.07666293e-01 4.05483875e+00] [-4.35903423e-03 9.99974216e-01 5.70672432e-03 5.48642547e-01] [ 5.07691168e-01 -2.70356864e-03 8.61534891e-01 8.11022438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47650248099998 meters Centerline goodness [0,1] 0.4922081314025364 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.81 [[ 8.60431320e-01 2.73279909e-03 -5.09559100e-01 4.05767638e+00] [-1.75576421e-03 9.99995583e-01 2.39829394e-03 5.50549504e-01] [ 5.09563403e-01 -1.16890159e-03 8.60432317e-01 8.13093553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50650248099998 meters Centerline goodness [0,1] 0.48812703204830465 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.81 [[ 8.59878324e-01 3.33740887e-03 -5.10488128e-01 4.05950348e+00] [-2.24872759e-03 9.99993691e-01 2.74983026e-03 5.49906363e-01] [ 5.10494085e-01 -1.21657069e-03 8.59880404e-01 8.13945756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53650248099999 meters Centerline goodness [0,1] 0.49290945019179355 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.81 [[ 8.59273820e-01 3.97823424e-03 -5.11500417e-01 4.06109265e+00] [-2.71865498e-03 9.99991151e-01 3.21041770e-03 5.49236510e-01] [ 5.11508662e-01 -1.36803473e-03 8.59277032e-01 8.14903751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56650248099999 meters Centerline goodness [0,1] 0.48586798487932537 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.59087539e-01 4.27711241e-03 -5.11810812e-01 4.06202322e+00] [-2.96525155e-03 9.99989893e-01 3.37948806e-03 5.48846816e-01] [ 5.11820093e-01 -1.38562828e-03 8.59091539e-01 8.15151770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59650248099999 meters Centerline goodness [0,1] 0.49063757126732843 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58798226e-01 1.70814995e-05 -5.12313973e-01 4.06242323e+00] [-1.25021637e-04 9.99999977e-01 -1.76233454e-04 5.50761716e-01] [ 5.12313958e-01 2.15399309e-04 8.58798208e-01 8.16287354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62650248099999 meters Centerline goodness [0,1] 0.48611633899875495 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58696411e-01 4.36027935e-05 -5.12484606e-01 4.06207855e+00] [-2.38707489e-04 9.99999922e-01 -3.14886481e-04 5.50957073e-01] [ 5.12484552e-01 3.92725804e-04 8.58696355e-01 8.16902134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65650248099999 meters Centerline goodness [0,1] 0.4989718787106491 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58547526e-01 -3.14375989e-04 -5.12733895e-01 4.06003781e+00] [-2.20095920e-04 9.99999494e-01 -9.81676153e-04 5.51525401e-01] [ 5.12733944e-01 9.55666270e-04 8.58547022e-01 8.18641437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68650248099999 meters Centerline goodness [0,1] 0.49789982908953967 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58494417e-01 -2.95937647e-04 -5.12822823e-01 4.05957239e+00] [-3.03958699e-04 9.99999364e-01 -1.08591950e-03 5.51353287e-01] [ 5.12822818e-01 1.08813279e-03 8.58493781e-01 8.19160799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71650248099999 meters Centerline goodness [0,1] 0.5009685160021973 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58470052e-01 -1.77217016e-04 -5.12863665e-01 4.05933862e+00] [-4.38779030e-04 9.99999321e-01 -1.08000545e-03 5.50915780e-01] [ 5.12863508e-01 1.15218615e-03 8.58469391e-01 8.19504747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746502481 meters Centerline goodness [0,1] 0.49666618559676723 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58640361e-01 -4.38710552e-04 -5.12578324e-01 4.05843580e+00] [-2.58674633e-04 9.99999136e-01 -1.28920522e-03 5.50292242e-01] [ 5.12578447e-01 1.23955465e-03 8.58639505e-01 8.19633689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.776502481 meters Centerline goodness [0,1] 0.49883207889955883 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58742643e-01 -4.41283410e-04 -5.12406947e-01 4.05861823e+00] [-1.84198758e-04 9.99999299e-01 -1.16989520e-03 5.48884725e-01] [ 5.12407104e-01 1.09902362e-03 8.58741959e-01 8.19437757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806502481 meters Centerline goodness [0,1] 0.5004902809021168 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58649750e-01 -4.19996987e-05 -5.12562781e-01 4.05998340e+00] [-4.06730224e-04 9.99999626e-01 -7.63298669e-04 5.47651824e-01] [ 5.12562621e-01 8.63880986e-04 8.58649412e-01 8.19203579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.836502481 meters Centerline goodness [0,1] 0.5018420446695833 Centerline is valid? [False, False] Translation: X:4.06, Y:0.55, Z:0.82 [[ 8.58509776e-01 3.42857750e-04 -5.12797082e-01 4.06119782e+00] [-5.98216104e-04 9.99999766e-01 -3.32912783e-04 5.46319824e-01] [ 5.12796847e-01 5.92572351e-04 8.58509780e-01 8.19091324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099998 meters Centerline goodness [0,1] 0.5027780176756773 Centerline is valid? [False, False] Translation: X:4.06, Y:0.54, Z:0.82 [[ 8.58428777e-01 8.09517780e-04 -5.12932139e-01 4.06212146e+00] [-8.12254154e-04 9.99999646e-01 2.18849911e-04 5.44464761e-01] [ 5.12932134e-01 2.28764199e-04 8.58429131e-01 8.18929331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89650248099998 meters Centerline goodness [0,1] 0.5008784309207683 Centerline is valid? [False, False] Translation: X:4.06, Y:0.54, Z:0.82 [[ 8.58353669e-01 1.30859956e-03 -5.13056787e-01 4.06344177e+00] [-1.10637965e-03 9.99999143e-01 6.99597803e-04 5.43374055e-01] [ 5.13057263e-01 -3.28667514e-05 8.58354381e-01 8.18638563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92650248099999 meters Centerline goodness [0,1] 0.49880784809399326 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58329058e-01 2.12803832e-03 -5.13095215e-01 4.06617651e+00] [-1.50124996e-03 9.99997535e-01 1.63608348e-03 5.40882428e-01] [ 5.13097431e-01 -6.34013824e-04 8.58330137e-01 8.17511409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95650248099999 meters Centerline goodness [0,1] 0.502804647701906 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58148005e-01 2.80355781e-03 -5.13394723e-01 4.06731132e+00] [-1.95779425e-03 9.99995689e-01 2.18831329e-03 5.39949743e-01] [ 5.13398645e-01 -8.72775446e-04 8.58149794e-01 8.17622769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98650248099999 meters Centerline goodness [0,1] 0.502804647701906 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58148005e-01 2.80355781e-03 -5.13394723e-01 4.06731132e+00] [-1.95779425e-03 9.99995689e-01 2.18831329e-03 5.39949743e-01] [ 5.13398645e-01 -8.72775446e-04 8.58149794e-01 8.17622769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01650248099999 meters Centerline goodness [0,1] 0.502578730515458 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58097006e-01 3.63095181e-03 -5.13474775e-01 4.06759299e+00] [-2.43655830e-03 9.99992533e-01 2.99940988e-03 5.38782459e-01] [ 5.13481832e-01 -1.32267341e-03 8.58099446e-01 8.17589870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04650248099999 meters Centerline goodness [0,1] 0.5072839292911844 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58117197e-01 3.93573522e-03 -5.13438785e-01 4.06767771e+00] [-2.63598642e-03 9.99991213e-01 3.25981481e-03 5.38067149e-01] [ 5.13447103e-01 -1.44388549e-03 8.58120031e-01 8.17597609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07650248099999 meters Centerline goodness [0,1] 0.5088107626412166 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58585796e-01 3.86733805e-03 -5.12655318e-01 4.06624660e+00] [-2.53005046e-03 9.99991333e-01 3.30639142e-03 5.36830392e-01] [ 5.12663662e-01 -1.54177689e-03 8.58588139e-01 8.17204503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10650248099999 meters Centerline goodness [0,1] 0.5116820415553065 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58711865e-01 3.87820336e-03 -5.12444038e-01 4.06568981e+00] [-2.50597705e-03 9.99991186e-01 3.36867408e-03 5.35958812e-01] [ 5.12452586e-01 -1.60854741e-03 8.58714015e-01 8.17200490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.136502481 meters Centerline goodness [0,1] 0.5149345982463706 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.58885735e-01 3.86793227e-03 -5.12152647e-01 4.06525116e+00] [-2.44360646e-03 9.99991048e-01 3.45428054e-03 5.34995656e-01] [ 5.12161423e-01 -1.71533276e-03 8.58887498e-01 8.17044826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.166502481 meters Centerline goodness [0,1] 0.5232648146555432 Centerline is valid? [False, False] Translation: X:4.07, Y:0.54, Z:0.82 [[ 8.58447484e-01 -1.00136471e-03 -5.12900492e-01 4.06574200e+00] [ 1.00813515e-03 9.99999457e-01 -2.65028184e-04 5.35019740e-01] [ 5.12900478e-01 -2.89560233e-04 8.58448027e-01 8.18151159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.196502481 meters Centerline goodness [0,1] 0.5243182859761686 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.58228889e-01 1.03746602e-04 -5.13267146e-01 4.06811861e+00] [ 3.26085589e-04 9.99999668e-01 7.47374235e-04 5.33378666e-01] [ 5.13267053e-01 -8.08787178e-04 8.58228570e-01 8.17794521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22650248099998 meters Centerline goodness [0,1] 0.5245793562071832 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.58132409e-01 8.96125021e-04 -5.13427663e-01 4.06945224e+00] [-2.45745690e-04 9.99999079e-01 1.33464148e-03 5.32529288e-01] [ 5.13428386e-01 -1.01912647e-03 8.58131839e-01 8.17666146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25650248099998 meters Centerline goodness [0,1] 0.5213942032306106 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.58241316e-01 1.69604254e-03 -5.13243575e-01 4.07100248e+00] [-7.98144046e-04 9.99997741e-01 1.96989999e-03 5.32095990e-01] [ 5.13245756e-01 -1.28100726e-03 8.58240731e-01 8.16858978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28650248099999 meters Centerline goodness [0,1] 0.5236976331021834 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.58122980e-01 2.16130397e-03 -5.13439656e-01 4.07153073e+00] [-1.20265444e-03 9.99996858e-01 2.19942452e-03 5.32195597e-01] [ 5.13442797e-01 -1.26988624e-03 8.58122883e-01 8.17113491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31650248099999 meters Centerline goodness [0,1] 0.5245469144299151 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.57950999e-01 3.32339697e-03 -5.13720778e-01 4.07155097e+00] [-2.23807504e-03 9.99993765e-01 2.73147901e-03 5.33486504e-01] [ 5.13726653e-01 -1.19372950e-03 8.57953088e-01 8.17912476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34650248099999 meters Centerline goodness [0,1] 0.5229020778326254 Centerline is valid? [False, False] Translation: X:4.07, Y:0.53, Z:0.82 [[ 8.57730510e-01 3.76076508e-03 -5.14085819e-01 4.07225793e+00] [-2.66373716e-03 9.99992331e-01 2.87105295e-03 5.33981313e-01] [ 5.14092674e-01 -1.09320022e-03 8.57733949e-01 8.18381560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37650248099999 meters Centerline goodness [0,1] 0.5196630828494222 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.57600244e-01 4.76839608e-03 -5.14294745e-01 4.07515614e+00] [-3.47924158e-03 9.99987927e-01 3.46987813e-03 5.34354439e-01] [ 5.14305081e-01 -1.18641268e-03 8.57606481e-01 8.17788236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40650248099999 meters Centerline goodness [0,1] 0.5134296630375457 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.57450537e-01 5.28056989e-03 -5.14539301e-01 4.07693121e+00] [-3.90416241e-03 9.99985323e-01 3.75649874e-03 5.34720356e-01] [ 5.14551586e-01 -1.21216686e-03 8.57458568e-01 8.17591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43650248099999 meters Centerline goodness [0,1] 0.5093569436858596 Centerline is valid? [False, False] Translation: X:4.08, Y:0.54, Z:0.82 [[ 8.57160675e-01 5.91755043e-03 -5.15015107e-01 4.07875742e+00] [-4.41528957e-03 9.99981677e-01 4.14129487e-03 5.35005635e-01] [ 5.15030176e-01 -1.27581428e-03 8.57171097e-01 8.17704743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46650248099999 meters Centerline goodness [0,1] 0.5044094760504928 Centerline is valid? [False, False] Translation: X:4.08, Y:0.54, Z:0.82 [[ 8.56409539e-01 7.36040763e-03 -5.16244638e-01 4.08183194e+00] [-5.57718560e-03 9.99971922e-01 5.00508059e-03 5.35565598e-01] [ 5.16266982e-01 -1.40720660e-03 8.56426543e-01 8.18548137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.496502481 meters Centerline goodness [0,1] 0.5032851132499567 Centerline is valid? [False, False] Translation: X:4.08, Y:0.54, Z:0.82 [[ 8.55938782e-01 8.12037911e-03 -5.17013406e-01 4.08327370e+00] [-6.23202802e-03 9.99966063e-01 5.38838844e-03 5.35558513e-01] [ 5.17039615e-01 -1.39008861e-03 8.55960340e-01 8.19350822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.526502481 meters Centerline goodness [0,1] 0.4945725720537848 Centerline is valid? [False, False] Translation: X:4.08, Y:0.54, Z:0.82 [[ 8.55605226e-01 8.87884428e-03 -5.17552763e-01 4.08454094e+00] [-6.91300086e-03 9.99959709e-01 5.72634732e-03 5.35580048e-01] [ 5.17582754e-01 -1.32164999e-03 8.55632133e-01 8.19973969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.556502481 meters Centerline goodness [0,1] 0.4940054181797222 Centerline is valid? [False, False] Translation: X:4.08, Y:0.54, Z:0.82 [[ 8.55624857e-01 8.97042230e-03 -5.17518729e-01 4.08476040e+00] [-7.06741138e-03 9.99959074e-01 5.64810927e-03 5.35174302e-01] [ 5.17548215e-01 -1.17514493e-03 8.55653238e-01 8.20113922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.586502481 meters Centerline goodness [0,1] 0.49629757189598755 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.55757209e-01 8.76579669e-03 -5.17303354e-01 4.08465773e+00] [-6.94625889e-03 9.99961003e-01 5.45355778e-03 5.34677768e-01] [ 5.17330986e-01 -1.07359835e-03 8.55784727e-01 8.19987905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61650248099998 meters Centerline goodness [0,1] 0.5017666829450461 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.55668473e-01 8.79438233e-03 -5.17449634e-01 4.08471235e+00] [-7.04213014e-03 9.99960893e-01 5.34991133e-03 5.34078321e-01] [ 5.17476447e-01 -9.33802797e-04 8.55696941e-01 8.20408363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64650248099998 meters Centerline goodness [0,1] 0.49349754543105673 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.55393127e-01 9.13442019e-03 -5.17898794e-01 4.08429754e+00] [-7.39308014e-03 9.99957950e-01 5.42585961e-03 5.33266231e-01] [ 5.17926579e-01 -8.12375720e-04 8.55424689e-01 8.21531329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67650248099999 meters Centerline goodness [0,1] 0.4914188956491792 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.55099007e-01 9.70902509e-03 -5.18373825e-01 4.08479320e+00] [-7.86437234e-03 9.99952509e-01 5.75597545e-03 5.32660802e-01] [ 5.18405092e-01 -8.45244123e-04 8.55134753e-01 8.22240027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70650248099999 meters Centerline goodness [0,1] 0.4866227441993698 Centerline is valid? [False, False] Translation: X:4.08, Y:0.53, Z:0.82 [[ 8.54716846e-01 1.02784070e-02 -5.18992743e-01 4.08482569e+00] [-8.35776333e-03 9.99946836e-01 6.03927409e-03 5.31006138e-01] [ 5.19027225e-01 -8.24250786e-04 8.54757310e-01 8.23449697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73650248099999 meters Centerline goodness [0,1] 0.4958209297000229 Centerline is valid? [False, False] Translation: X:4.09, Y:0.53, Z:0.83 [[ 8.54748360e-01 5.12888281e-03 -5.19017279e-01 4.09136800e+00] [ 5.90620220e-04 9.99940919e-01 1.08539960e-02 5.34499510e-01] [ 5.19042284e-01 -9.58397736e-03 8.54694831e-01 8.26017950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76650248099999 meters Centerline goodness [0,1] 0.49348831895813106 Centerline is valid? [False, False] Translation: X:4.09, Y:0.53, Z:0.83 [[ 8.53716458e-01 1.18537205e-03 -5.20736790e-01 4.09416998e+00] [ 3.36624790e-03 9.99963952e-01 7.79501399e-03 5.33870979e-01] [ 5.20727258e-01 -8.40766086e-03 8.53681693e-01 8.27659736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79650248099999 meters Centerline goodness [0,1] 0.49115560999230923 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.52758017e-01 -3.04451785e-03 -5.22297324e-01 4.09591456e+00] [ 6.22057383e-03 9.99971288e-01 4.32744657e-03 5.34313740e-01] [ 5.22269153e-01 -6.93925382e-03 8.52752472e-01 8.29641017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82650248099999 meters Centerline goodness [0,1] 0.4852583328617509 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.51856418e-01 -7.14424734e-03 -5.23726648e-01 4.09727913e+00] [ 9.07836597e-03 9.99958157e-01 1.12561758e-03 5.33826021e-01] [ 5.23696692e-01 -5.71344674e-03 8.51885633e-01 8.31547326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85650248099999 meters Centerline goodness [0,1] 0.48974788009415504 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.51508802e-01 -6.51151415e-03 -5.24299877e-01 4.09851573e+00] [ 8.62650644e-03 9.99961525e-01 1.59123162e-03 5.32681359e-01] [ 5.24269343e-01 -5.87782399e-03 8.51532212e-01 8.32062226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.886502481 meters Centerline goodness [0,1] 0.4833012566511944 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.51192023e-01 -5.74098302e-03 -5.24822999e-01 4.10057558e+00] [ 8.19391913e-03 9.99963666e-01 2.35093389e-03 5.30142928e-01] [ 5.24790433e-01 -6.30145339e-03 8.51208137e-01 8.32068038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.916502481 meters Centerline goodness [0,1] 0.4868342902395565 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.50839378e-01 -5.20279335e-03 -5.25400118e-01 4.10119514e+00] [ 7.79617466e-03 9.99965902e-01 2.72302270e-03 5.28943149e-01] [ 5.25368036e-01 -6.41296602e-03 8.50850927e-01 8.32824505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.946502481 meters Centerline goodness [0,1] 0.485223348242088 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.83 [[ 8.50558709e-01 -4.89283570e-03 -5.25857341e-01 4.10083124e+00] [ 7.52594680e-03 9.99967565e-01 2.86880580e-03 5.28354655e-01] [ 5.25826248e-01 -6.39766213e-03 8.50567944e-01 8.33796926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97650248099998 meters Centerline goodness [0,1] 0.4836343115124153 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.84 [[ 8.50230935e-01 -4.74969543e-03 -5.26388448e-01 4.09975056e+00] [ 7.36018099e-03 9.99968808e-01 2.86538637e-03 5.27032492e-01] [ 5.26358419e-01 -6.31055438e-03 8.50239373e-01 8.35243998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00650248099998 meters Centerline goodness [0,1] 0.4889151142206861 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.84 [[ 8.49424689e-01 -9.57345965e-03 -5.27623015e-01 4.09951956e+00] [ 1.06318564e-02 9.99942953e-01 -1.02715803e-03 5.26784077e-01] [ 5.27602749e-01 -4.73711872e-03 8.49478016e-01 8.37650512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03650248099999 meters Centerline goodness [0,1] 0.4908094435075885 Centerline is valid? [False, False] Translation: X:4.10, Y:0.53, Z:0.84 [[ 8.49165622e-01 -9.21213048e-03 -5.28046289e-01 4.09950891e+00] [ 1.03499036e-02 9.99946118e-01 -8.00785436e-04 5.25703328e-01] [ 5.28025214e-01 -4.78522873e-03 8.49215211e-01 8.38438064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066502481 meters Centerline goodness [0,1] 0.48321827468148393 Centerline is valid? [False, False] Translation: X:4.10, Y:0.52, Z:0.84 [[ 8.48684139e-01 -8.65191617e-03 -5.28829251e-01 4.10041888e+00] [ 1.00068408e-02 9.99949885e-01 -3.00353139e-04 5.23326267e-01] [ 5.28805347e-01 -5.03700517e-03 8.48728186e-01 8.39329759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.096502481 meters Centerline goodness [0,1] 0.4870213600941863 Centerline is valid? [False, False] Translation: X:4.10, Y:0.52, Z:0.84 [[ 8.48325867e-01 -8.00304700e-03 -5.29413991e-01 4.10200127e+00] [ 9.57853101e-03 9.99954098e-01 2.32400326e-04 5.21926093e-01] [ 5.29387830e-01 -5.26815954e-03 8.48363585e-01 8.39688031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126502481 meters Centerline goodness [0,1] 0.4800168161434978 Centerline is valid? [False, False] Translation: X:4.10, Y:0.52, Z:0.84 [[ 8.47855380e-01 -7.16407404e-03 -5.30179150e-01 4.10361526e+00] [ 8.98399172e-03 9.99959278e-01 8.55075893e-04 5.20849221e-01] [ 5.30151434e-01 -5.48810579e-03 8.47885215e-01 8.40323934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.156502481 meters Centerline goodness [0,1] 0.48458260918315865 Centerline is valid? [False, False] Translation: X:4.11, Y:0.52, Z:0.84 [[ 8.47110139e-01 -6.21956297e-03 -5.31380965e-01 4.10554015e+00] [ 8.28897067e-03 9.99964506e-01 1.50989392e-03 5.19513932e-01] [ 5.31352713e-01 -5.68364768e-03 8.47131625e-01 8.41484765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186502481 meters Centerline goodness [0,1] 0.4781341924639305 Centerline is valid? [False, False] Translation: X:4.11, Y:0.52, Z:0.84 [[ 8.46903159e-01 -5.53728241e-03 -5.31718326e-01 4.10704230e+00] [ 7.82834992e-03 9.99967246e-01 2.05513556e-03 5.18301803e-01] [ 5.31689530e-01 -5.90297791e-03 8.46918767e-01 8.41537256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.216502481 meters Centerline goodness [0,1] 0.46910120232056274 Centerline is valid? [False, False] Translation: X:4.11, Y:0.52, Z:0.84 [[ 8.46471948e-01 -4.72481344e-03 -5.32412356e-01 4.10812661e+00] [ 7.20895667e-03 9.99970668e-01 2.58728920e-03 5.16509273e-01] [ 5.32384515e-01 -6.02820533e-03 8.46481181e-01 8.42376070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246502481 meters Centerline goodness [0,1] 0.47927685892592287 Centerline is valid? [False, False] Translation: X:4.11, Y:0.52, Z:0.84 [[ 8.46042262e-01 -4.22836107e-03 -5.33099065e-01 4.10842232e+00] [ 6.75961884e-03 9.99973244e-01 2.79624439e-03 5.16019730e-01] [ 5.33072977e-01 -5.96928741e-03 8.46048207e-01 8.43496087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.276502481 meters Centerline goodness [0,1] 0.47337956490129185 Centerline is valid? [False, False] Translation: X:4.11, Y:0.52, Z:0.84 [[ 8.45271667e-01 -3.17924265e-03 -5.34327336e-01 4.10989548e+00] [ 5.88589913e-03 9.99977029e-01 3.36126195e-03 5.15208394e-01] [ 5.34304376e-01 -5.98617629e-03 8.45270962e-01 8.44998896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306502481 meters Centerline goodness [0,1] 0.4712836421564518 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.44939956e-01 -2.47203997e-03 -5.34855457e-01 4.11140683e+00] [ 5.32152526e-03 9.99978678e-01 3.78491429e-03 5.14621782e-01] [ 5.34834696e-01 -6.04427214e-03 8.44935095e-01 8.45391020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.336502481 meters Centerline goodness [0,1] 0.4716791419953078 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.44676097e-01 -1.72394291e-03 -5.35274994e-01 4.11257736e+00] [ 4.71033923e-03 9.99980034e-01 4.21241884e-03 5.13074004e-01] [ 5.35257045e-01 -6.07945631e-03 8.44667353e-01 8.45916099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.366502481 meters Centerline goodness [0,1] 0.47190258071723834 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.44392727e-01 -1.51701216e-03 -5.35722522e-01 4.11258837e+00] [ 4.52655313e-03 9.99980497e-01 4.30298499e-03 5.12612156e-01] [ 5.35705546e-01 -6.05838569e-03 8.44383126e-01 8.46689742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.396502481 meters Centerline goodness [0,1] 0.47260083449235046 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.44075955e-01 -1.05106510e-03 -5.36222601e-01 4.11259941e+00] [ 4.13978704e-03 9.99981050e-01 4.55640906e-03 5.11329947e-01] [ 5.36207651e-01 -6.06580270e-03 8.44064311e-01 8.47664877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.426502481 meters Centerline goodness [0,1] 0.476489725551261 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.43807708e-01 -8.80260969e-04 -5.36644927e-01 4.11255464e+00] [ 3.99514366e-03 9.99981247e-01 4.64159526e-03 5.10452969e-01] [ 5.36630778e-01 -6.06058744e-03 8.43795400e-01 8.48459100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.456502481 meters Centerline goodness [0,1] 0.47529581289661094 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.43290355e-01 -5.82367045e-04 -5.37457941e-01 4.11213067e+00] [ 3.72068616e-03 9.99981776e-01 4.75434843e-03 5.08846676e-01] [ 5.37445378e-01 -6.00900850e-03 8.43277154e-01 8.50062483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.486502481 meters Centerline goodness [0,1] 0.4744189911636797 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.42944798e-01 -1.03648137e-04 -5.38000053e-01 4.11297956e+00] [ 3.38041698e-03 9.99981262e-01 5.10382610e-03 5.07603134e-01] [ 5.37989442e-01 -6.12090817e-03 8.42929353e-01 8.50702910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.516502481 meters Centerline goodness [0,1] 0.4753279028027061 Centerline is valid? [False, False] Translation: X:4.11, Y:0.51, Z:0.85 [[ 8.42145249e-01 -4.67067716e-03 -5.39230530e-01 4.11454845e+00] [ 6.57458134e-03 9.99977097e-01 1.60633014e-03 5.06510980e-01] [ 5.39210678e-01 -4.89797828e-03 8.42156669e-01 8.52212619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54650248099998 meters Centerline goodness [0,1] 0.4747127700511242 Centerline is valid? [False, False] Translation: X:4.12, Y:0.50, Z:0.85 [[ 8.41907127e-01 -4.07481636e-03 -5.39607066e-01 4.11558280e+00] [ 6.20462826e-03 9.99978484e-01 2.12931250e-03 5.04788238e-01] [ 5.39586780e-01 -5.14074462e-03 8.41914295e-01 8.52502549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57650248099998 meters Centerline goodness [0,1] 0.47640720532997016 Centerline is valid? [False, False] Translation: X:4.11, Y:0.50, Z:0.85 [[ 8.41761851e-01 -3.88776332e-03 -5.39835041e-01 4.11490830e+00] [ 6.11429701e-03 9.99978587e-01 2.33238268e-03 5.02181797e-01] [ 5.39814414e-01 -5.26402254e-03 8.41767598e-01 8.53226421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60650248099998 meters Centerline goodness [0,1] 0.4764552800986166 Centerline is valid? [False, False] Translation: X:4.11, Y:0.50, Z:0.85 [[ 8.41678207e-01 -3.52389182e-03 -5.39967941e-01 4.11491622e+00] [ 5.88924324e-03 9.99979137e-01 2.65391568e-03 5.00770127e-01] [ 5.39947324e-01 -5.41374554e-03 8.41681400e-01 8.53516568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63650248099998 meters Centerline goodness [0,1] 0.4789952715445377 Centerline is valid? [False, False] Translation: X:4.11, Y:0.50, Z:0.85 [[ 8.41493635e-01 -2.89970817e-03 -5.40259247e-01 4.11458446e+00] [ 5.49520283e-03 9.99979807e-01 3.19203902e-03 4.98116607e-01] [ 5.40239081e-01 -5.65491466e-03 8.41492577e-01 8.54223427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66650248099998 meters Centerline goodness [0,1] 0.47957376066279667 Centerline is valid? [False, False] Translation: X:4.11, Y:0.50, Z:0.85 [[ 8.41371586e-01 -2.55807323e-03 -5.40451024e-01 4.11442628e+00] [ 5.27265217e-03 9.99980060e-01 3.47531490e-03 4.96774050e-01] [ 5.40431358e-01 -5.77364147e-03 8.41368298e-01 8.54666981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69650248099998 meters Centerline goodness [0,1] 0.48076296054776657 Centerline is valid? [False, False] Translation: X:4.12, Y:0.49, Z:0.85 [[ 8.41280234e-01 -1.88834170e-03 -5.40595969e-01 4.11506345e+00] [ 4.92846358e-03 9.99979132e-01 4.17671760e-03 4.94012966e-01] [ 5.40576801e-01 -6.17809750e-03 8.41271986e-01 8.54702187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72650248099998 meters Centerline goodness [0,1] 0.48265206548845274 Centerline is valid? [False, False] Translation: X:4.12, Y:0.49, Z:0.85 [[ 8.41293589e-01 -1.27519163e-03 -5.40576980e-01 4.11630073e+00] [ 4.64152088e-03 9.99977395e-01 4.86465212e-03 4.91956705e-01] [ 5.40558557e-01 -6.60169998e-03 8.41280491e-01 8.54260117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75650248099998 meters Centerline goodness [0,1] 0.48392477602302997 Centerline is valid? [False, False] Translation: X:4.12, Y:0.49, Z:0.85 [[ 8.40850720e-01 -5.68461307e-03 -5.41237241e-01 4.11774549e+00] [ 7.85361205e-03 9.99967717e-01 1.69848954e-03 4.89826051e-01] [ 5.41210113e-01 -5.67884347e-03 8.40868220e-01 8.54913287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78650248099999 meters Centerline goodness [0,1] 0.49215559853857727 Centerline is valid? [False, False] Translation: X:4.12, Y:0.49, Z:0.85 [[ 8.40868600e-01 -5.29081843e-03 -5.41213456e-01 4.11844462e+00] [ 7.69188831e-03 9.99968051e-01 2.17514541e-03 4.88032723e-01] [ 5.41184656e-01 -5.99196493e-03 8.40882432e-01 8.54669397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.816502481 meters Centerline goodness [0,1] 0.489006864006864 Centerline is valid? [False, False] Translation: X:4.12, Y:0.49, Z:0.85 [[ 8.40876010e-01 -4.81740525e-03 -5.41206364e-01 4.11900116e+00] [ 7.48443944e-03 9.99968271e-01 2.72767150e-03 4.86419402e-01] [ 5.41176052e-01 -6.34425979e-03 8.40885385e-01 8.54449068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.846502481 meters Centerline goodness [0,1] 0.4973093089877112 Centerline is valid? [False, False] Translation: X:4.12, Y:0.48, Z:0.85 [[ 8.40944749e-01 -4.32404947e-03 -5.41103716e-01 4.11906152e+00] [ 7.33266449e-03 9.99967318e-01 3.40499889e-03 4.83099218e-01] [ 5.41071309e-01 -6.83114794e-03 8.40948972e-01 8.54313058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.876502481 meters Centerline goodness [0,1] 0.4973093089877112 Centerline is valid? [False, False] Translation: X:4.12, Y:0.48, Z:0.85 [[ 8.40944749e-01 -4.32404947e-03 -5.41103716e-01 4.11906152e+00] [ 7.33266449e-03 9.99967318e-01 3.40499889e-03 4.83099218e-01] [ 5.41071309e-01 -6.83114794e-03 8.40948972e-01 8.54313058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.906502481 meters Centerline goodness [0,1] 0.5017780273254726 Centerline is valid? [False, False] Translation: X:4.12, Y:0.48, Z:0.85 [[ 8.40987384e-01 -4.10920079e-03 -5.41039124e-01 4.11885138e+00] [ 7.27092873e-03 9.99966695e-01 3.70711713e-03 4.81598398e-01] [ 5.41005872e-01 -7.05149565e-03 8.40989253e-01 8.54330032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.936502481 meters Centerline goodness [0,1] 0.5083175853716962 Centerline is valid? [False, False] Translation: X:4.12, Y:0.48, Z:0.85 [[ 8.41142889e-01 -5.15888280e-03 -5.40788338e-01 4.11749071e+00] [ 8.16137036e-03 9.99961718e-01 3.15501134e-03 4.78693047e-01] [ 5.40751359e-01 -7.06738926e-03 8.41152792e-01 8.54490430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966502481 meters Centerline goodness [0,1] 0.5089621008336218 Centerline is valid? [False, False] Translation: X:4.12, Y:0.48, Z:0.85 [[ 8.41153533e-01 -4.84042690e-03 -5.40774726e-01 4.11785230e+00] [ 8.05158620e-03 9.99961201e-01 3.57335688e-03 4.77291327e-01] [ 5.40736448e-01 -7.35983609e-03 8.41159870e-01 8.54367749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.996502481 meters Centerline goodness [0,1] 0.5162875969816134 Centerline is valid? [False, False] Translation: X:4.12, Y:0.47, Z:0.85 [[ 8.41197570e-01 -5.81659706e-03 -5.40696601e-01 4.11765885e+00] [ 8.95405980e-03 9.99954876e-01 3.17331153e-03 4.74352027e-01] [ 5.40653745e-01 -7.51081166e-03 8.41211695e-01 8.54263493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026502481 meters Centerline goodness [0,1] 0.5252565428366875 Centerline is valid? [False, False] Translation: X:4.12, Y:0.47, Z:0.85 [[ 8.41271486e-01 -5.77623928e-03 -5.40582021e-01 4.11797097e+00] [ 9.10039107e-03 9.99952543e-01 3.47761170e-03 4.72377780e-01] [ 5.40536279e-01 -7.84512336e-03 8.41284128e-01 8.53973957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.056502481 meters Centerline goodness [0,1] 0.5342915376267239 Centerline is valid? [False, False] Translation: X:4.12, Y:0.47, Z:0.85 [[ 8.41026552e-01 -1.07997496e-02 -5.40886037e-01 4.11829636e+00] [ 1.29608007e-02 9.99915988e-01 1.87720150e-04 4.70209839e-01] [ 5.40838568e-01 -7.16819376e-03 8.41095868e-01 8.54276685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086502481 meters Centerline goodness [0,1] 0.5409779522963041 Centerline is valid? [False, False] Translation: X:4.12, Y:0.47, Z:0.85 [[ 8.41088434e-01 -1.03447456e-02 -5.40798698e-01 4.11863130e+00] [ 1.28454178e-02 9.99917132e-01 8.51044962e-04 4.68380981e-01] [ 5.40745079e-01 -7.66258928e-03 8.41151618e-01 8.53942671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.116502481 meters Centerline goodness [0,1] 0.5568304999603416 Centerline is valid? [False, False] Translation: X:4.12, Y:0.47, Z:0.85 [[ 8.41219666e-01 -1.04936317e-02 -5.40591673e-01 4.11775074e+00] [ 1.32827016e-02 9.99910988e-01 1.25967924e-03 4.66199539e-01] [ 5.40530335e-01 -8.24018481e-03 8.41284171e-01 8.53792117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.146502481 meters Centerline goodness [0,1] 0.5602495637921007 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 8.41295492e-01 -1.02133267e-02 -5.40479032e-01 4.11788527e+00] [ 1.32419833e-02 9.99910847e-01 1.71700413e-03 4.64756037e-01] [ 5.40413310e-01 -8.60152215e-03 8.41355732e-01 8.53527490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.176502481 meters Centerline goodness [0,1] 0.5735127291913995 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 8.41608325e-01 -1.17380046e-02 -5.39960782e-01 4.11676437e+00] [ 1.45729315e-02 9.99893331e-01 9.77752370e-04 4.62061082e-01] [ 5.39891708e-01 -8.69169601e-03 8.41689609e-01 8.53093313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.206502481 meters Centerline goodness [0,1] 0.5779263509778632 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 8.41818805e-01 -1.16687390e-02 -5.39634080e-01 4.11685408e+00] [ 1.46762620e-02 9.99891487e-01 1.27360467e-03 4.60608224e-01] [ 5.39560661e-01 -8.99195548e-03 8.41898710e-01 8.52572100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.236502481 meters Centerline goodness [0,1] 0.580115296533207 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 8.41869537e-01 -1.12954255e-02 -5.39562875e-01 4.11687313e+00] [ 1.45333283e-02 9.99892865e-01 1.74391358e-03 4.59485022e-01] [ 5.39485371e-01 -9.30979213e-03 8.41943503e-01 8.52481510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.266502481 meters Centerline goodness [0,1] 0.5808428917184048 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 0.84232461 -0.00646092 -0.53893181 4.11709159] [ 0.0111866 0.99992232 0.00549668 0.45763651] [ 0.53885444 -0.0106588 0.84233146 0.85145962] [ 0. 0. 0. 1. ]] SLAMing on 129.29650248099998 meters Centerline goodness [0,1] 0.5748425684399125 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 0.8422645 -0.00627456 -0.53902796 4.1167757 ] [ 0.01102845 0.99992354 0.00559301 0.45783877] [ 0.53895165 -0.01065544 0.8422693 0.8517549 ] [ 0. 0. 0. 1. ]] SLAMing on 129.32650248099998 meters Centerline goodness [0,1] 0.5805891179025507 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 0.84245404 -0.00610677 -0.5387336 4.11695092] [ 0.01093275 0.99992364 0.00576173 0.45722153] [ 0.53865728 -0.01074383 0.84245647 0.85137029] [ 0. 0. 0. 1. ]] SLAMing on 129.35650248099998 meters Centerline goodness [0,1] 0.5755739210284665 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 0.84254608 -0.00543777 -0.53859681 4.11851113] [ 0.01050484 0.99992474 0.00633767 0.45582405] [ 0.53852181 -0.01099765 0.8425398 0.85073316] [ 0. 0. 0. 1. ]] SLAMing on 129.38650248099998 meters Centerline goodness [0,1] 0.5764872521246459 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 0.84233257 -0.00487721 -0.53893604 4.11979208] [ 0.01008826 0.99992654 0.00671847 0.45566555] [ 0.53886368 -0.01109612 0.8423199 0.85084145] [ 0. 0. 0. 1. ]] SLAMing on 129.41650248099998 meters Centerline goodness [0,1] 0.5686664399152299 Centerline is valid? [False, False] Translation: X:4.12, Y:0.46, Z:0.85 [[ 8.42005252e-01 -3.88133515e-03 -5.39455365e-01 4.12190960e+00] [ 9.39121041e-03 9.99928046e-01 7.46381049e-03 4.55034634e-01] [ 5.39387579e-01 -1.13507065e-02 8.41981117e-01 8.50916368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44650248099998 meters Centerline goodness [0,1] 0.565011197470689 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.42147710e-01 1.67883481e-03 -5.39244301e-01 4.12503174e+00] [ 5.52921773e-03 9.99915701e-01 1.17481285e-02 4.52706608e-01] [ 5.39218567e-01 -1.28752586e-02 8.42067435e-01 8.49526059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47650248099998 meters Centerline goodness [0,1] 0.5591691862757986 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.42154525e-01 2.13310190e-03 -5.39232052e-01 4.12532069e+00] [ 5.06501772e-03 9.99916770e-01 1.18658599e-02 4.52870995e-01] [ 5.39212483e-01 -1.27241075e-02 8.42073628e-01 8.49684793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50650248099998 meters Centerline goodness [0,1] 0.5534261721115119 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.42321366e-01 2.27288104e-03 -5.38970825e-01 4.12546004e+00] [ 4.93797305e-03 9.99916595e-01 1.19339515e-02 4.52574706e-01] [ 5.38952996e-01 -1.27136457e-02 8.42239889e-01 8.49343861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53650248099999 meters Centerline goodness [0,1] 0.5556664215943703 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.42141350e-01 2.55891704e-03 -5.39250775e-01 4.12595588e+00] [ 4.64405285e-03 9.99917243e-01 1.19974871e-02 4.52629837e-01] [ 5.39236848e-01 -1.26078891e-02 8.42059774e-01 8.49702867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.566502481 meters Centerline goodness [0,1] 0.5592037974351578 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41798627e-01 3.42157967e-03 -5.39780849e-01 4.12663355e+00] [ 3.85522389e-03 9.99916297e-01 1.23505965e-02 4.53093678e-01] [ 5.39777926e-01 -1.24776912e-02 8.41714974e-01 8.50482646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.596502481 meters Centerline goodness [0,1] 0.5566929133858267 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41589897e-01 3.87207720e-03 -5.40103186e-01 4.12703717e+00] [ 3.46755596e-03 9.99914961e-01 1.25716866e-02 4.53157638e-01] [ 5.40105935e-01 -1.24530425e-02 8.41504902e-01 8.50914320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.626502481 meters Centerline goodness [0,1] 0.5537283290056916 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41518723e-01 4.40096029e-03 -5.40210024e-01 4.12764687e+00] [ 2.95250404e-03 9.99914416e-01 1.27453597e-02 4.53260503e-01] [ 5.40219882e-01 -1.23204311e-02 8.41433709e-01 8.51108373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.656502481 meters Centerline goodness [0,1] 0.5547437609657737 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41431235e-01 4.64891680e-03 -5.40344210e-01 4.12791394e+00] [ 2.71491899e-03 9.99913999e-01 1.28305893e-02 4.53072895e-01] [ 5.40357388e-01 -1.22630493e-02 8.41346249e-01 8.51351076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.686502481 meters Centerline goodness [0,1] 0.557991273221331 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41562013e-01 4.59574308e-03 -5.40140961e-01 4.12773823e+00] [ 2.62357694e-03 9.99917234e-01 1.25953517e-02 4.52897017e-01] [ 5.40154140e-01 -1.20168709e-02 8.41480303e-01 8.51432314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.716502481 meters Centerline goodness [0,1] 0.5602116180399141 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41459783e-01 4.94461436e-03 -5.40297126e-01 4.12838612e+00] [ 2.33660688e-03 9.99915476e-01 1.27899202e-02 4.52259109e-01] [ 5.40314699e-01 -1.20246655e-02 8.41377105e-01 8.51552218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.746502481 meters Centerline goodness [0,1] 0.5600283041119585 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41289624e-01 5.40243308e-03 -5.40557658e-01 4.12926007e+00] [ 2.02407904e-03 9.99911573e-01 1.31434491e-02 4.51543847e-01] [ 5.40580865e-01 -1.21515787e-02 8.41204296e-01 8.51706403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.776502481 meters Centerline goodness [0,1] 0.5667355425940941 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.41189804e-01 6.18407493e-03 -5.40704606e-01 4.13089845e+00] [ 1.54949477e-03 9.99902931e-01 1.38465509e-02 4.49863971e-01] [ 5.40737749e-01 -1.24853964e-02 8.41098568e-01 8.51397939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.806502481 meters Centerline goodness [0,1] 0.5683691569282137 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.40794832e-01 2.23709047e-03 -5.41349283e-01 4.13170625e+00] [ 4.35296892e-03 9.99931195e-01 1.08929494e-02 4.49610779e-01] [ 5.41336404e-01 -1.15152121e-02 8.40727244e-01 8.52151518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.836502481 meters Centerline goodness [0,1] 0.5667710780475073 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:0.85 [[ 8.40757775e-01 2.76528970e-03 -5.41404393e-01 4.13240981e+00] [ 4.04313329e-03 9.99927004e-01 1.13859135e-02 4.48401679e-01] [ 5.41396358e-01 -1.17617654e-02 8.40685223e-01 8.52022161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.866502481 meters Centerline goodness [0,1] 0.5742065961418793 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:0.86 [[ 8.41086069e-01 -2.97857337e-03 -5.40893107e-01 4.13846426e+00] [ 1.34918279e-02 9.99789239e-01 1.54741164e-02 4.50194734e-01] [ 5.40733017e-01 -2.03127004e-02 8.40948987e-01 8.55298625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.896502481 meters Centerline goodness [0,1] 0.5809291966644222 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:0.86 [[ 8.41136761e-01 -2.90340824e-03 -5.40814682e-01 4.13812190e+00] [ 1.34937753e-02 9.99786950e-01 1.56196218e-02 4.49341429e-01] [ 5.40654111e-01 -2.04358699e-02 8.40996735e-01 8.55356059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.926502481 meters Centerline goodness [0,1] 0.5893645018964316 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:0.86 [[ 0.84060675 -0.00778131 -0.54159001 4.1380872 ] [ 0.01700801 0.99978293 0.01203387 0.44870965] [ 0.54137881 -0.01932712 0.84055663 0.85664787] [ 0. 0. 0. 1. ]] SLAMing on 129.956502481 meters Centerline goodness [0,1] 0.5913623830752184 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:0.86 [[ 0.84042235 -0.00754997 -0.54187938 4.13919403] [ 0.01694736 0.99978005 0.01235447 0.44752722] [ 0.54166692 -0.0195664 0.84036546 0.85668575] [ 0. 0. 0. 1. ]] SLAMing on 129.986502481 meters Centerline goodness [0,1] 0.5995017848429596 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:0.86 [[ 0.83979947 -0.00722809 -0.54284861 4.14104934] [ 0.01690636 0.9997746 0.01284242 0.44565754] [ 0.54263342 -0.01996266 0.83973238 0.8573176 ] [ 0. 0. 0. 1. ]] SLAMing on 130.016502481 meters Centerline goodness [0,1] 0.5977342945417096 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:0.86 [[ 0.83952848 -0.00673252 -0.54327396 4.14198798] [ 0.01662523 0.99977331 0.0133015 0.44474257] [ 0.54306125 -0.02019904 0.8394501 0.85764189] [ 0. 0. 0. 1. ]] SLAMing on 130.04650248099998 meters Centerline goodness [0,1] 0.6092494158128547 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:0.86 [[ 0.8393474 -0.00637047 -0.54355805 4.14306819] [ 0.01645168 0.99977098 0.01368697 0.44379823] [ 0.54334637 -0.02043057 0.83925998 0.85770937] [ 0. 0. 0. 1. ]] SLAMing on 130.07650248099998 meters Centerline goodness [0,1] 0.6098675428688778 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:0.86 [[ 0.8390857 -0.00616691 -0.5439643 4.14398001] [ 0.01644773 0.99976619 0.01403692 0.44248971] [ 0.54375055 -0.02072516 0.83899094 0.85794432] [ 0. 0. 0. 1. ]] SLAMing on 130.10650248099998 meters Centerline goodness [0,1] 0.6184593210305511 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:0.86 [[ 0.8389235 -0.00607631 -0.54421543 4.14396833] [ 0.0163801 0.99976659 0.01408773 0.44193392] [ 0.5440028 -0.02073283 0.83882722 0.85843539] [ 0. 0. 0. 1. ]] SLAMing on 130.13650248099998 meters Centerline goodness [0,1] 0.6199671744370929 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.86 [[ 0.83871878 -0.01185415 -0.54443575 4.14937199] [ 0.02551596 0.99952044 0.01754523 0.44572123] [ 0.54396668 -0.02860731 0.83861903 0.86281158] [ 0. 0. 0. 1. ]] SLAMing on 130.16650248099998 meters Centerline goodness [0,1] 0.6188868848234991 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.86 [[ 0.83843651 -0.01153674 -0.54487717 4.15013436] [ 0.0252736 0.99952338 0.01772706 0.44578989] [ 0.54441296 -0.02863402 0.83832847 0.86324208] [ 0. 0. 0. 1. ]] SLAMing on 130.19650248099998 meters Centerline goodness [0,1] 0.6218474352673375 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.86 [[ 0.83813486 -0.01102814 -0.54535157 4.15105572] [ 0.02492585 0.99952552 0.01809532 0.44572674] [ 0.54489326 -0.02875967 0.83801206 0.86364584] [ 0. 0. 0. 1. ]] SLAMing on 130.22650248099998 meters Centerline goodness [0,1] 0.6192136805125026 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.86 [[ 0.83788221 -0.01106042 -0.54573901 4.15074985] [ 0.02484608 0.99953121 0.01788923 0.4460796 ] [ 0.54528531 -0.02854854 0.83776423 0.86447143] [ 0. 0. 0. 1. ]] SLAMing on 130.25650248099998 meters Centerline goodness [0,1] 0.624724976056739 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.87 [[ 0.83755744 -0.01117854 -0.5462349 4.15050244] [ 0.02478841 0.9995386 0.0175535 0.44697615] [ 0.54578665 -0.02824236 0.83744809 0.86545418] [ 0. 0. 0. 1. ]] SLAMing on 130.28650248099999 meters Centerline goodness [0,1] 0.6211779351124251 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.87 [[ 0.8372725 -0.01083988 -0.54667839 4.15145702] [ 0.02450846 0.99954262 0.0177167 0.44730713] [ 0.5462363 -0.02823196 0.83715522 0.86583757] [ 0. 0. 0. 1. ]] SLAMing on 130.316502481 meters Centerline goodness [0,1] 0.6229887447687869 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.87 [[ 0.83654351 -0.01021796 -0.54780521 4.15214139] [ 0.02399485 0.99955006 0.01799795 0.4478862 ] [ 0.54737482 -0.02820057 0.8364123 0.86730654] [ 0. 0. 0. 1. ]] SLAMing on 130.346502481 meters Centerline goodness [0,1] 0.6203114033947649 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:0.87 [[ 0.83627481 -0.01000394 -0.54821927 4.15299861] [ 0.02383802 0.99955154 0.01812356 0.44783899] [ 0.54779211 -0.02822474 0.83613825 0.86769108] [ 0. 0. 0. 1. ]] SLAMing on 130.376502481 meters Centerline goodness [0,1] 0.6106169519573874 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83544084 -0.01435901 -0.54939277 4.15655148] [ 0.02682152 0.9995327 0.01466254 0.44923125] [ 0.5489255 -0.02698524 0.83543557 0.8684819 ] [ 0. 0. 0. 1. ]] SLAMing on 130.406502481 meters Centerline goodness [0,1] 0.6138598448486107 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83522456 -0.01384001 -0.54973483 4.15851213] [ 0.02646587 0.99953648 0.01504607 0.44896421] [ 0.54927178 -0.02711606 0.83520371 0.86839023] [ 0. 0. 0. 1. ]] SLAMing on 130.436502481 meters Centerline goodness [0,1] 0.6078605123928171 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.8349357 -0.01324471 -0.55018811 4.15966627] [ 0.02603506 0.99954167 0.01544738 0.44897801] [ 0.54973135 -0.02722175 0.83489785 0.86870327] [ 0. 0. 0. 1. ]] SLAMing on 130.466502481 meters Centerline goodness [0,1] 0.6051908317776395 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83438674 -0.0125955 -0.5510355 4.16001501] [ 0.02543513 0.99955371 0.0156666 0.44974225] [ 0.55059224 -0.02708767 0.83433473 0.87003184] [ 0. 0. 0. 1. ]] SLAMing on 130.496502481 meters Centerline goodness [0,1] 0.6017103822287115 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83459128 -0.00735671 -0.55082054 4.16073173] [ 0.02170235 0.99957365 0.0195327 0.44906952] [ 0.550442 -0.02825592 0.83439511 0.8695493 ] [ 0. 0. 0. 1. ]] SLAMing on 130.526502481 meters Centerline goodness [0,1] 0.5996453345850936 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83441196 -0.00703241 -0.55109639 4.1613831 ] [ 0.02141271 0.99957729 0.01966549 0.4494472 ] [ 0.55072514 -0.02820959 0.83420983 0.86982142] [ 0. 0. 0. 1. ]] SLAMing on 130.556502481 meters Centerline goodness [0,1] 0.6011225688552408 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83426727 -0.00692499 -0.55131676 4.16130044] [ 0.02124116 0.99958249 0.01958711 0.44998795] [ 0.55095094 -0.02805149 0.83406605 0.8703031 ] [ 0. 0. 0. 1. ]] SLAMing on 130.586502481 meters Centerline goodness [0,1] 0.5987306064880114 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83439182 -0.00729902 -0.55112341 4.15926583] [ 0.02117435 0.99959866 0.01881905 0.45185945] [ 0.55076486 -0.02737214 0.83421151 0.87123238] [ 0. 0. 0. 1. ]] SLAMing on 130.616502481 meters Centerline goodness [0,1] 0.5964172264750299 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83432266 -0.00751602 -0.5512252 4.15908567] [ 0.02120826 0.99960444 0.01847065 0.45258946] [ 0.55086833 -0.02710101 0.83415204 0.87164105] [ 0. 0. 0. 1. ]] SLAMing on 130.646502481 meters Centerline goodness [0,1] 0.5868042853409982 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.83417645 -0.00748801 -0.5514468 4.16005621] [ 0.02107583 0.99961024 0.01830797 0.4535129 ] [ 0.55109478 -0.02689428 0.83400914 0.87176675] [ 0. 0. 0. 1. ]] SLAMing on 130.676502481 meters Centerline goodness [0,1] 0.5843216812317935 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 0.833909 -0.00746932 -0.55185142 4.16043688] [ 0.02091979 0.99961762 0.01808229 0.45432682] [ 0.55150535 -0.0266236 0.83374639 0.8724047 ] [ 0. 0. 0. 1. ]] SLAMing on 130.706502481 meters Centerline goodness [0,1] 0.57624372909699 Centerline is valid? [False, False] Translation: X:4.16, Y:0.45, Z:0.87 [[ 8.34217691e-01 -2.71429085e-03 -5.51428578e-01 4.16101282e+00] [ 1.74209479e-02 9.99618463e-01 2.14345214e-02 4.54818444e-01] [ 5.51160008e-01 -2.74874655e-02 8.33946692e-01 8.71707909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.736502481 meters Centerline goodness [0,1] 0.5748113998323554 Centerline is valid? [False, False] Translation: X:4.16, Y:0.46, Z:0.87 [[ 8.33766685e-01 -2.07511602e-03 -5.52113040e-01 4.16258700e+00] [ 1.68545675e-02 9.99622540e-01 2.16956370e-02 4.55826382e-01] [ 5.51859619e-01 -2.73947258e-02 8.33486946e-01 8.72299997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.766502481 meters Centerline goodness [0,1] 0.5705832851207069 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32928687e-01 -1.61503566e-04 -5.53380318e-01 4.16577395e+00] [ 1.53550439e-02 9.99621660e-01 2.28201360e-02 4.58885836e-01] [ 5.53167267e-01 -2.75047250e-02 8.32616037e-01 8.73170814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79650248099998 meters Centerline goodness [0,1] 0.5705832851207069 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32928687e-01 -1.61503566e-04 -5.53380318e-01 4.16577395e+00] [ 1.53550439e-02 9.99621660e-01 2.28201360e-02 4.58885836e-01] [ 5.53167267e-01 -2.75047250e-02 8.32616037e-01 8.73170814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82650248099998 meters Centerline goodness [0,1] 0.5657345411579362 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32634703e-01 -1.85496275e-04 -5.53822551e-01 4.16598793e+00] [ 1.52336926e-02 9.99629241e-01 2.25680114e-02 4.59828617e-01] [ 5.53613030e-01 -2.72276719e-02 8.32328822e-01 8.73907613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85650248099998 meters Centerline goodness [0,1] 0.5634834866496218 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32826758e-01 -1.00968603e-03 -5.53532810e-01 4.16586211e+00] [ 1.57051081e-02 9.99638860e-01 2.18059574e-02 4.60783815e-01] [ 5.53310890e-01 -2.68538774e-02 8.32541848e-01 8.73717641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88650248099998 meters Centerline goodness [0,1] 0.565662158243033 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32734296e-01 -1.01729617e-03 -5.53671886e-01 4.16671932e+00] [ 1.57171565e-02 9.99638751e-01 2.18022385e-02 4.60618384e-01] [ 5.53449694e-01 -2.68576194e-02 8.32449461e-01 8.73714421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91650248099998 meters Centerline goodness [0,1] 0.5681650116205367 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32618521e-01 -1.38762197e-03 -5.53845171e-01 4.16695797e+00] [ 1.59400435e-02 9.99642654e-01 2.14587937e-02 4.61629403e-01] [ 5.53617480e-01 -2.66953052e-02 8.32343106e-01 8.73940947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94650248099998 meters Centerline goodness [0,1] 0.5670621887911855 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32422967e-01 -1.22388702e-03 -5.54139429e-01 4.16702668e+00] [ 1.57809237e-02 9.99644334e-01 2.14981121e-02 4.62145560e-01] [ 5.53916029e-01 -2.66403543e-02 8.32146216e-01 8.74435845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97650248099998 meters Centerline goodness [0,1] 0.5728005942905656 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.88 [[ 8.32156709e-01 -1.11178087e-03 -5.54539427e-01 4.16728644e+00] [ 1.56286158e-02 9.99647791e-01 2.14485528e-02 4.62740225e-01] [ 5.54320267e-01 -2.65152407e-02 8.31880991e-01 8.75071222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00650248099998 meters Centerline goodness [0,1] 0.5668600800148371 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32338979e-01 -1.83830781e-03 -5.54263876e-01 4.16718034e+00] [ 1.61632098e-02 9.99649720e-01 2.09568152e-02 4.63241622e-01] [ 5.54031203e-01 -2.64018575e-02 8.32077141e-01 8.74758825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03650248099999 meters Centerline goodness [0,1] 0.5806868537666174 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32687873e-01 -2.66266821e-03 -5.53736234e-01 4.16610581e+00] [ 1.68201072e-02 9.99648630e-01 2.04865890e-02 4.62960205e-01] [ 5.53487119e-01 -2.63728371e-02 8.32440078e-01 8.74427517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.066502481 meters Centerline goodness [0,1] 0.5844293033328052 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32777372e-01 -2.71567451e-03 -5.53601367e-01 4.16574761e+00] [ 1.69102363e-02 9.99646133e-01 2.05341773e-02 4.62733183e-01] [ 5.53349701e-01 -2.64619282e-02 8.32528603e-01 8.74360236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.096502481 meters Centerline goodness [0,1] 0.5850106840425251 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32677156e-01 -2.63512917e-03 -5.53752481e-01 4.16664141e+00] [ 1.69442535e-02 9.99641679e-01 2.07220884e-02 4.63009633e-01] [ 5.53499454e-01 -2.66377320e-02 8.32423441e-01 8.74266261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.126502481 meters Centerline goodness [0,1] 0.5891228256257954 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32624656e-01 -2.22453511e-03 -5.53833218e-01 4.16797268e+00] [ 1.66822857e-02 9.99638924e-01 2.10647360e-02 4.63013690e-01] [ 5.53586383e-01 -2.67782226e-02 8.32361126e-01 8.73987772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.156502481 meters Centerline goodness [0,1] 0.5923717133163697 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32659639e-01 -2.15101645e-03 -5.53780913e-01 4.16936072e+00] [ 1.65756608e-02 9.99641215e-01 2.10401600e-02 4.63821082e-01] [ 5.53536967e-01 -2.66985766e-02 8.32396548e-01 8.73598167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186502481 meters Centerline goodness [0,1] 0.5956841797549762 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:0.87 [[ 8.32659828e-01 -2.22663233e-03 -5.53780329e-01 4.16957017e+00] [ 1.65445864e-02 9.99645569e-01 2.08569512e-02 4.64883989e-01] [ 5.53537612e-01 -2.65288119e-02 8.32401546e-01 8.73643906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.216502481 meters Centerline goodness [0,1] 0.5979507978013768 Centerline is valid? [False, False] Translation: X:4.17, Y:0.47, Z:0.87 [[ 8.33098755e-01 2.84885330e-03 -5.53116939e-01 4.16938212e+00] [ 1.27689490e-02 9.99621188e-01 2.43810463e-02 4.66686907e-01] [ 5.52976869e-01 -2.73745413e-02 8.32746790e-01 8.72921280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246502481 meters Centerline goodness [0,1] 0.5963107106680172 Centerline is valid? [False, False] Translation: X:4.17, Y:0.47, Z:0.87 [[ 8.32662779e-01 2.91203713e-03 -5.53772713e-01 4.16957461e+00] [ 1.24897698e-02 9.99633060e-01 2.40364588e-02 4.68569547e-01] [ 5.53639506e-01 -2.69307583e-02 8.32320870e-01 8.74059925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.276502481 meters Centerline goodness [0,1] 0.5921161714759446 Centerline is valid? [False, False] Translation: X:4.17, Y:0.47, Z:0.88 [[ 8.32235520e-01 2.92823817e-03 -5.54414524e-01 4.17020853e+00] [ 1.22427080e-02 9.99645158e-01 2.36574169e-02 4.70474723e-01] [ 5.54287069e-01 -2.64760778e-02 8.31904359e-01 8.75030327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306502481 meters Centerline goodness [0,1] 0.5936961670973299 Centerline is valid? [False, False] Translation: X:4.17, Y:0.47, Z:0.88 [[ 8.31844333e-01 3.55103475e-03 -5.54997654e-01 4.17273818e+00] [ 1.15121151e-02 9.99653997e-01 2.36507195e-02 4.74713813e-01] [ 5.54889608e-01 -2.60629139e-02 8.31515633e-01 8.75347840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.336502481 meters Centerline goodness [0,1] 0.5902537796976242 Centerline is valid? [False, False] Translation: X:4.17, Y:0.48, Z:0.88 [[ 8.31404560e-01 3.62956160e-03 -5.55655724e-01 4.17411980e+00] [ 1.12382539e-02 9.99664296e-01 2.33451725e-02 4.76653781e-01] [ 5.55553920e-01 -2.56538830e-02 8.31084665e-01 8.76043649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.366502481 meters Centerline goodness [0,1] 0.5888701609395389 Centerline is valid? [False, False] Translation: X:4.18, Y:0.48, Z:0.88 [[ 0.8306163 0.00465113 -0.55682577 4.17736515] [ 0.01019477 0.9996705 0.0235577 0.48174516] [ 0.55675186 -0.02524412 0.83029519 0.87691977] [ 0. 0. 0. 1. ]] SLAMing on 131.396502481 meters Centerline goodness [0,1] 0.5834358007486953 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:0.88 [[ 0.82991284 0.00573666 -0.55786357 4.17993909] [ 0.00905167 0.99967705 0.02374578 0.48702644] [ 0.55781963 -0.02475652 0.8295929 0.87786815] [ 0. 0. 0. 1. ]] SLAMing on 131.426502481 meters Centerline goodness [0,1] 0.5810234541577826 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:0.88 [[ 0.82954785 0.00579339 -0.5584056 4.18076675] [ 0.00882294 0.9996854 0.02347865 0.48889196] [ 0.55836594 -0.02440345 0.82923576 0.87854427] [ 0. 0. 0. 1. ]] SLAMing on 131.456502481 meters Centerline goodness [0,1] 0.5765516106019866 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:0.88 [[ 0.82922333 0.00575944 -0.55888773 4.181383 ] [ 0.00864106 0.99969529 0.02312281 0.49058343] [ 0.55885061 -0.02400335 0.82892089 0.87924273] [ 0. 0. 0. 1. ]] SLAMing on 131.486502481 meters Centerline goodness [0,1] 0.5713616962687595 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:0.88 [[ 0.82883443 0.00661983 -0.55945479 4.18242283] [ 0.0077872 0.99969665 0.02336581 0.49459586] [ 0.55943976 -0.02372297 0.82853146 0.8799563 ] [ 0. 0. 0. 1. ]] SLAMing on 131.516502481 meters Centerline goodness [0,1] 0.5679070410845206 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 0.82853861 0.00659897 -0.55989304 4.18236718] [ 0.00763081 0.99970462 0.02307484 0.49592661] [ 0.55987993 -0.02339083 0.82824352 0.88077823] [ 0. 0. 0. 1. ]] SLAMing on 131.54650248099998 meters Centerline goodness [0,1] 0.5679527189372808 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 0.82847047 0.00604636 -0.56000011 4.18140546] [ 0.00774864 0.99972224 0.0222575 0.49805741] [ 0.55997914 -0.02277892 0.82819351 0.88157543] [ 0. 0. 0. 1. ]] SLAMing on 131.57650248099998 meters Centerline goodness [0,1] 0.5750152413678435 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 0.82853089 0.00574656 -0.55991388 4.18117481] [ 0.00786505 0.99972926 0.0218988 0.49854501] [ 0.55988813 -0.02254759 0.82826137 0.88168286] [ 0. 0. 0. 1. ]] SLAMing on 131.60650248099998 meters Centerline goodness [0,1] 0.5787855282841154 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 0.82875022 0.00518239 -0.55959469 4.18067879] [ 0.0082656 0.99973469 0.02149973 0.49859985] [ 0.55955764 -0.02244329 0.82848751 0.88148152] [ 0. 0. 0. 1. ]] SLAMing on 131.63650248099998 meters Centerline goodness [0,1] 0.5792319423263552 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 0.82856135 0.00535391 -0.55987269 4.18145802] [ 0.00816382 0.99973245 0.02164189 0.49820839] [ 0.55983876 -0.02250234 0.82829596 0.88173068] [ 0. 0. 0. 1. ]] SLAMing on 131.66650248099998 meters Centerline goodness [0,1] 0.5802452013757905 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27745149e-01 1.00376267e-03 -5.61103342e-01 4.18344117e+00] [ 1.12862121e-02 9.99766303e-01 1.84380214e-02 4.99467321e-01] [ 5.60990722e-01 -2.15947141e-02 8.27540379e-01 8.82960293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69650248099998 meters Centerline goodness [0,1] 0.5775049878075815 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27652432e-01 1.30774697e-03 -5.61239470e-01 4.18443415e+00] [ 1.11045944e-02 9.99763371e-01 1.87053524e-02 4.98986776e-01] [ 5.61131126e-01 -2.17138671e-02 8.27442063e-01 8.82902424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72650248099998 meters Centerline goodness [0,1] 0.5807024357765078 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27701917e-01 1.37572369e-03 -5.61166325e-01 4.18466662e+00] [ 1.11038278e-02 9.99761063e-01 1.88287396e-02 4.98872166e-01] [ 5.61058145e-01 -2.18156781e-02 8.27488873e-01 8.82778373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75650248099998 meters Centerline goodness [0,1] 0.576667685383269 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.27615422e-01 1.54811102e-03 -5.61293432e-01 4.18502626e+00] [ 1.09704132e-02 9.99760565e-01 1.89330979e-02 4.98590416e-01] [ 5.61188349e-01 -2.18269447e-02 8.27400279e-01 8.82954908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78650248099999 meters Centerline goodness [0,1] 0.5861226755481543 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27803642e-01 1.50240809e-03 -5.61015929e-01 4.18439895e+00] [ 1.10447315e-02 9.99758965e-01 1.89743542e-02 4.98164239e-01] [ 5.60909211e-01 -2.19033099e-02 8.27587519e-01 8.82832183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.816502481 meters Centerline goodness [0,1] 0.5837056358742403 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27771242e-01 1.48103055e-03 -5.61063791e-01 4.18401940e+00] [ 1.10412423e-02 9.99759866e-01 1.89288596e-02 4.98222510e-01] [ 5.60957095e-01 -2.18636069e-02 8.27556113e-01 8.83116487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.846502481 meters Centerline goodness [0,1] 0.5828558713912222 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27677640e-01 1.60588773e-03 -5.61201519e-01 4.18401438e+00] [ 1.09079233e-02 9.99760963e-01 1.89481812e-02 4.98317648e-01] [ 5.61097800e-01 -2.18045291e-02 8.27462278e-01 8.83438032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.876502481 meters Centerline goodness [0,1] 0.5823768665032316 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.27798130e-01 1.35781198e-03 -5.61024431e-01 4.18393256e+00] [ 1.10972278e-02 9.99761795e-01 1.87937501e-02 4.98777237e-01] [ 5.60916310e-01 -2.17832471e-02 8.27585876e-01 8.83257141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.906502481 meters Centerline goodness [0,1] 0.5840520839129709 Centerline is valid? [False, False] Translation: X:4.18, Y:0.50, Z:0.88 [[ 8.28075283e-01 1.07586524e-03 -5.60615883e-01 4.18451089e+00] [ 1.13569232e-02 9.99760754e-01 1.86937180e-02 4.98715552e-01] [ 5.60501870e-01 -2.18466773e-02 8.27864951e-01 8.82449262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.936502481 meters Centerline goodness [0,1] 0.5782662055115475 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.28030876e-01 1.19552266e-03 -5.60681228e-01 4.18537628e+00] [ 1.12807698e-02 9.99759782e-01 1.87915354e-02 4.98781600e-01] [ 5.60569009e-01 -2.18848873e-02 8.27818482e-01 8.82332968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.966502481 meters Centerline goodness [0,1] 0.5811751601225286 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.27856255e-01 1.50360350e-03 -5.60938286e-01 4.18641981e+00] [ 1.10552017e-02 9.99758446e-01 1.89955980e-02 4.98634890e-01] [ 5.60831351e-01 -2.19269105e-02 8.27639660e-01 8.82479903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.996502481 meters Centerline goodness [0,1] 0.5746098104793758 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.27613188e-01 1.78656387e-03 -5.61296017e-01 4.18766038e+00] [ 1.08249581e-02 9.99758150e-01 1.91432141e-02 4.99210763e-01] [ 5.61194468e-01 -2.19191823e-02 8.27393690e-01 8.82672610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.026502481 meters Centerline goodness [0,1] 0.5724659944697372 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.27172910e-01 2.76035390e-03 -5.61940706e-01 4.19007787e+00] [ 1.01404349e-02 9.99751790e-01 1.98376122e-02 4.99689657e-01] [ 5.61855986e-01 -2.21074586e-02 8.26939606e-01 8.82906836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.056502481 meters Centerline goodness [0,1] 0.5701509223029626 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.26836674e-01 3.38841221e-03 -5.62431892e-01 4.19160342e+00] [ 9.65037261e-03 9.99749178e-01 2.02101703e-02 4.99764543e-01] [ 5.62359302e-01 -2.21381873e-02 8.26596586e-01 8.83282590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086502481 meters Centerline goodness [0,1] 0.5672869735553379 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.26704098e-01 3.74367339e-03 -5.62624492e-01 4.19287384e+00] [ 9.36432151e-03 9.99747799e-01 2.04119308e-02 5.00030965e-01] [ 5.62559013e-01 -2.21432235e-02 8.26460546e-01 8.83291554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.116502481 meters Centerline goodness [0,1] 0.562031127533311 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:0.88 [[ 8.26615039e-01 3.92013197e-03 -5.62754130e-01 4.19457498e+00] [ 9.18076464e-03 9.99748732e-01 2.04496146e-02 5.01029380e-01] [ 5.62692893e-01 -2.20704722e-02 8.26371347e-01 8.83030688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.146502481 meters Centerline goodness [0,1] 0.5630722706017417 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.88 [[ 8.26425268e-01 4.14886236e-03 -5.63031139e-01 4.19553312e+00] [ 8.96515704e-03 9.99749120e-01 2.05261361e-02 5.01521666e-01] [ 5.62975046e-01 -2.20109801e-02 8.26180739e-01 8.83244506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.176502481 meters Centerline goodness [0,1] 0.5573890310066624 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.88 [[ 0.82614312 0.0044038 -0.56344312 4.19684208] [ 0.00868434 0.99975117 0.02054726 0.50266913] [ 0.5633934 -0.02186811 0.8258993 0.88358702] [ 0. 0. 0. 1. ]] SLAMing on 132.206502481 meters Centerline goodness [0,1] 0.5570143379252179 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.88 [[ 0.8258031 0.00473368 -0.56393868 4.1977809 ] [ 0.00836678 0.99975189 0.02064377 0.50283245] [ 0.56389648 -0.02176604 0.8255586 0.8842256 ] [ 0. 0. 0. 1. ]] SLAMing on 132.236502481 meters Centerline goodness [0,1] 0.559456334771452 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82531236 0.00510091 -0.56465342 4.19823168] [ 0.00797791 0.99975406 0.0206922 0.50358704] [ 0.5646201 -0.02158228 0.82506869 0.88536881] [ 0. 0. 0. 1. ]] SLAMing on 132.266502481 meters Centerline goodness [0,1] 0.5570535915334385 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82507386 0.00515071 -0.56500141 4.19845525] [ 0.00784144 0.99975777 0.02056496 0.50413044] [ 0.56497048 -0.02139803 0.82483361 0.88598839] [ 0. 0. 0. 1. ]] SLAMing on 132.29650248099998 meters Centerline goodness [0,1] 0.5544169810258431 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82480099 0.00552606 -0.56539613 4.19990902] [ 0.0075478 0.99975554 0.02078213 0.50399979] [ 0.56537275 -0.02140861 0.82455765 0.88625097] [ 0. 0. 0. 1. ]] SLAMing on 132.32650248099998 meters Centerline goodness [0,1] 0.5564062148164828 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82462381 0.00590215 -0.56565073 4.20082874] [ 0.00728138 0.99975198 0.0210467 0.50341066] [ 0.56563465 -0.02147433 0.82437631 0.8864566 ] [ 0. 0. 0. 1. ]] SLAMing on 132.35650248099998 meters Centerline goodness [0,1] 0.5504365647547658 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82444505 0.00580369 -0.56591225 4.20088451] [ 0.00721988 0.99975819 0.02077121 0.50405764] [ 0.56589595 -0.02121054 0.82420379 0.88711696] [ 0. 0. 0. 1. ]] SLAMing on 132.38650248099998 meters Centerline goodness [0,1] 0.5498801973220577 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82426826 0.00591582 -0.56616856 4.2010239 ] [ 0.00703124 0.99976136 0.02068296 0.50452315] [ 0.5661558 -0.02102917 0.82402996 0.88762378] [ 0. 0. 0. 1. ]] SLAMing on 132.41650248099998 meters Centerline goodness [0,1] 0.5460351551461029 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.82398807 0.00626109 -0.56657255 4.20181506] [ 0.00669938 0.99976139 0.02079135 0.50476143] [ 0.56656754 -0.02092751 0.82374952 0.88819907] [ 0. 0. 0. 1. ]] SLAMing on 132.44650248099998 meters Centerline goodness [0,1] 0.5459924690693921 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:0.89 [[ 0.8237666 0.00637858 -0.5668932 4.20191656] [ 0.00652325 0.99976387 0.02072827 0.50485111] [ 0.56689156 -0.02077324 0.82353047 0.88883019] [ 0. 0. 0. 1. ]] SLAMing on 132.47650248099998 meters Centerline goodness [0,1] 0.544686502218078 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:0.89 [[ 0.82369645 0.00633078 -0.56699567 4.20163925] [ 0.00637195 0.99977119 0.02041971 0.50551548] [ 0.56699521 -0.02043251 0.82346764 0.88940266] [ 0. 0. 0. 1. ]] SLAMing on 132.50650248099998 meters Centerline goodness [0,1] 0.5406377435432714 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:0.89 [[ 0.82353422 0.00658584 -0.56722836 4.20241331] [ 0.00609482 0.99977216 0.02045672 0.50576127] [ 0.56723385 -0.02030396 0.82330645 0.88972101] [ 0. 0. 0. 1. ]] SLAMing on 132.53650248099999 meters Centerline goodness [0,1] 0.5373883453849426 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:0.89 [[ 0.82312661 0.00697795 -0.56781502 4.20359908] [ 0.00560405 0.99977598 0.02041022 0.50679345] [ 0.56783024 -0.01998225 0.82290311 0.89055496] [ 0. 0. 0. 1. ]] SLAMing on 132.566502481 meters Centerline goodness [0,1] 0.5327496020013646 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:0.89 [[ 0.82283966 0.00740909 -0.56822531 4.20484404] [ 0.00519034 0.99977531 0.02055213 0.50723076] [ 0.56824991 -0.01986039 0.82261632 0.8909771 ] [ 0. 0. 0. 1. ]] SLAMing on 132.596502481 meters Centerline goodness [0,1] 0.5284954947272675 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.22276453e-01 8.75031411e-03 -5.69020972e-01 4.20780857e+00] [ 4.06592236e-03 9.99765930e-01 2.12497935e-02 5.07906741e-01] [ 5.69073724e-01 -1.97867999e-02 8.22048405e-01 8.91609258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626502481 meters Centerline goodness [0,1] 0.5261495561119964 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21980661e-01 9.69718091e-03 -5.69432839e-01 4.20966402e+00] [ 3.23090711e-03 9.99759539e-01 2.16892870e-02 5.08480217e-01] [ 5.69506237e-01 -1.96679591e-02 8.21751676e-01 8.91961568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.656502481 meters Centerline goodness [0,1] 0.5244037636089713 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21774620e-01 9.96387872e-03 -5.69725543e-01 4.21007504e+00] [ 2.93797321e-03 9.99759723e-01 2.17224532e-02 5.08680122e-01] [ 5.69805091e-01 -1.95247991e-02 8.21547893e-01 8.92452878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686502481 meters Centerline goodness [0,1] 0.5244037636089713 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21774620e-01 9.96387872e-03 -5.69725543e-01 4.21007504e+00] [ 2.93797321e-03 9.99759723e-01 2.17224532e-02 5.08680122e-01] [ 5.69805091e-01 -1.95247991e-02 8.21547893e-01 8.92452878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.716502481 meters Centerline goodness [0,1] 0.5206675005685695 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21552651e-01 1.01559356e-02 -5.70042190e-01 4.21007886e+00] [ 2.70077381e-03 9.99760787e-01 2.17042427e-02 5.08886296e-01] [ 5.70126255e-01 -1.93707332e-02 8.21328696e-01 8.93084962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746502481 meters Centerline goodness [0,1] 0.5220763723150358 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21440982e-01 1.02624386e-02 -5.70201188e-01 4.20943296e+00] [ 2.51031467e-03 9.99763324e-01 2.16100655e-02 5.08861831e-01] [ 5.70288007e-01 -1.91827778e-02 8.21220804e-01 8.93794027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776502481 meters Centerline goodness [0,1] 0.5204605393755495 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 8.21328211e-01 1.04050413e-02 -5.70361030e-01 4.20974384e+00] [ 2.38662729e-03 9.99762213e-01 2.16753438e-02 5.08185001e-01] [ 5.70450939e-01 -1.91638106e-02 8.21108077e-01 8.94094857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806502481 meters Centerline goodness [0,1] 0.5212138320395201 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 0.82101046 0.0051929 -0.57088953 4.21026542] [ 0.00601992 0.9998243 0.01775196 0.50821491] [ 0.57088141 -0.01801126 0.82083495 0.89495445] [ 0. 0. 0. 1. ]] SLAMing on 132.836502481 meters Centerline goodness [0,1] 0.5230071289695399 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:0.89 [[ 0.82102292 0.00533059 -0.57087034 4.21091609] [ 0.00599611 0.99982073 0.01795955 0.50700572] [ 0.57086374 -0.01816821 0.82084378 0.89479869] [ 0. 0. 0. 1. ]] SLAMing on 132.866502481 meters Centerline goodness [0,1] 0.5285581447772549 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.89 [[ 0.8210969 0.00524457 -0.57076473 4.2109273 ] [ 0.00620652 0.99981663 0.01811564 0.50473995] [ 0.57075508 -0.01841716 0.82091379 0.89465178] [ 0. 0. 0. 1. ]] SLAMing on 132.896502481 meters Centerline goodness [0,1] 0.5271759037502466 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.89 [[ 0.82088799 0.00572909 -0.5710605 4.211657 ] [ 0.00589488 0.9998114 0.01850424 0.50370154] [ 0.57105881 -0.01855624 0.8206994 0.89499135] [ 0. 0. 0. 1. ]] SLAMing on 132.926502481 meters Centerline goodness [0,1] 0.5311311987834755 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 0.82053629 0.00594746 -0.5715635 4.2124084 ] [ 0.00591181 0.99980408 0.01889055 0.50213842] [ 0.57156387 -0.01887936 0.82034037 0.89542081] [ 0. 0. 0. 1. ]] SLAMing on 132.956502481 meters Centerline goodness [0,1] 0.5269939513293009 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 0.82045762 0.00631959 -0.57167242 4.21311279] [ 0.00573035 0.99979777 0.01927647 0.5008966 ] [ 0.57167863 -0.01909141 0.82025548 0.89542588] [ 0. 0. 0. 1. ]] SLAMing on 132.986502481 meters Centerline goodness [0,1] 0.530832231009541 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 8.19873648e-01 1.52181517e-03 -5.72542474e-01 4.21364411e+00] [ 9.19305637e-03 9.99832564e-01 1.58218917e-02 5.00699132e-01] [ 5.72470688e-01 -1.82353673e-02 8.19722382e-01 8.96637973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.016502481 meters Centerline goodness [0,1] 0.5365572988296051 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 8.19856916e-01 1.70970527e-03 -5.72565904e-01 4.21441425e+00] [ 9.16619211e-03 9.99828200e-01 1.61105953e-02 4.99594847e-01] [ 5.72495081e-01 -1.84566320e-02 8.19700393e-01 8.96458792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04650248099998 meters Centerline goodness [0,1] 0.5337977729282077 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 8.19376986e-01 -3.36878821e-03 -5.73245153e-01 4.21440019e+00] [ 1.27849232e-02 9.99841398e-01 1.23985661e-02 4.99582499e-01] [ 5.73112467e-01 -1.74879950e-02 8.19290101e-01 8.97669953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07650248099998 meters Centerline goodness [0,1] 0.5404646197926908 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:0.90 [[ 8.19297417e-01 -2.98758537e-03 -5.73360984e-01 4.21485227e+00] [ 1.25233965e-02 9.99841111e-01 1.26853342e-02 4.99020899e-01] [ 5.73231984e-01 -1.75734885e-02 8.19204654e-01 8.97822995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10650248099998 meters Centerline goodness [0,1] 0.5371515287769784 Centerline is valid? [False, False] Translation: X:4.22, Y:0.50, Z:0.90 [[ 8.18887354e-01 -2.30039537e-03 -5.73949658e-01 4.21635759e+00] [ 1.19642420e-02 9.99843099e-01 1.30626997e-02 4.98963384e-01] [ 5.73829555e-01 -1.75637522e-02 8.18786392e-01 8.98463029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13650248099998 meters Centerline goodness [0,1] 0.5385047306212976 Centerline is valid? [False, False] Translation: X:4.22, Y:0.50, Z:0.90 [[ 8.18786980e-01 -1.79026001e-03 -5.74094657e-01 4.21762212e+00] [ 1.15993668e-02 9.99842595e-01 1.34253685e-02 4.98700844e-01] [ 5.73980257e-01 -1.76516515e-02 8.18678865e-01 8.98381585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16650248099998 meters Centerline goodness [0,1] 0.535761422032518 Centerline is valid? [False, False] Translation: X:4.22, Y:0.50, Z:0.90 [[ 8.18685608e-01 -1.35315827e-03 -5.74240407e-01 4.21861285e+00] [ 1.12421115e-02 9.99843338e-01 1.36716409e-02 4.98666070e-01] [ 5.74131945e-01 -1.76484504e-02 8.18572563e-01 8.98448731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19650248099998 meters Centerline goodness [0,1] 0.5333109111802461 Centerline is valid? [False, False] Translation: X:4.22, Y:0.50, Z:0.90 [[ 8.18294850e-01 -5.89610281e-04 -5.74798392e-01 4.22048332e+00] [ 1.05401122e-02 9.99846728e-01 1.39795095e-02 4.99537092e-01] [ 5.74702049e-01 -1.74978002e-02 8.18175642e-01 8.98994726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22650248099998 meters Centerline goodness [0,1] 0.5338046344610896 Centerline is valid? [False, False] Translation: X:4.22, Y:0.50, Z:0.90 [[ 8.17991428e-01 7.55508264e-05 -5.75230404e-01 4.22224082e+00] [ 9.97493065e-03 9.99847766e-01 1.43159107e-02 4.99807837e-01] [ 5.75143916e-01 -1.74481756e-02 8.17866149e-01 8.99302798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25650248099998 meters Centerline goodness [0,1] 0.5287424140256237 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:0.90 [[ 8.17504956e-01 1.74572462e-03 -5.75918918e-01 4.22500048e+00] [ 8.57842450e-03 9.99847558e-01 1.52076321e-02 5.01715326e-01] [ 5.75857672e-01 -1.73727916e-02 8.17365358e-01 8.99821267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28650248099999 meters Centerline goodness [0,1] 0.523016208597604 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:0.90 [[ 0.81776186 0.00766733 -0.57550564 4.22640659] [ 0.00437028 0.99979972 0.01953002 0.50082243] [ 0.57554012 -0.01848603 0.81756457 0.89893189] [ 0. 0. 0. 1. ]] SLAMing on 133.316502481 meters Centerline goodness [0,1] 0.5220049245747602 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:0.90 [[ 8.17302103e-01 8.29855510e-03 -5.76149639e-01 4.22808371e+00] [ 3.69307917e-03 9.99800307e-01 1.96394453e-02 5.02210005e-01] [ 5.76197565e-01 -1.81791261e-02 8.17108246e-01 8.99695946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.346502481 meters Centerline goodness [0,1] 0.5090211677795141 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:0.90 [[ 8.17014507e-01 1.03697489e-02 -5.76523862e-01 4.23102310e+00] [ 1.87340586e-03 9.99785265e-01 2.06376920e-02 5.05478011e-01] [ 5.76614070e-01 -1.79413569e-02 8.16819639e-01 8.99824629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.376502481 meters Centerline goodness [0,1] 0.5051775147928994 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:0.90 [[ 8.16466704e-01 1.07573187e-02 -5.77292301e-01 4.23188494e+00] [ 1.35595955e-03 9.99787950e-01 2.05478809e-02 5.07064701e-01] [ 5.77390926e-01 -1.75594456e-02 8.16278987e-01 9.00991034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.406502481 meters Centerline goodness [0,1] 0.4966331887696873 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:0.90 [[ 8.16660032e-01 1.58445499e-02 -5.76901502e-01 4.23185844e+00] [-2.49972742e-03 9.99710790e-01 2.39183638e-02 5.08431296e-01] [ 5.77113632e-01 -1.80910752e-02 8.16463452e-01 9.00756556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.436502481 meters Centerline goodness [0,1] 0.4995714775454234 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:0.90 [[ 8.16495012e-01 1.61191676e-02 -5.77127428e-01 4.23298034e+00] [-2.84394421e-03 9.99710347e-01 2.38984178e-02 5.09233548e-01] [ 5.77345484e-01 -1.78716207e-02 8.16304354e-01 9.00969985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466502481 meters Centerline goodness [0,1] 0.49337786150596563 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:0.90 [[ 8.16339733e-01 1.65711163e-02 -5.77334252e-01 4.23469273e+00] [-3.31962985e-03 9.99706435e-01 2.40004916e-02 5.09735109e-01] [ 5.77562482e-01 -1.76760189e-02 8.16155094e-01 9.01064193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.496502481 meters Centerline goodness [0,1] 0.4911839510759295 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.16164949e-01 1.69885732e-02 -5.77569186e-01 4.23529547e+00] [-3.68337192e-03 9.99700349e-01 2.42001198e-02 5.09747134e-01] [ 5.77807242e-01 -1.76238874e-02 8.15982959e-01 9.01387103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526502481 meters Centerline goodness [0,1] 0.49669270684837774 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.15866803e-01 1.75980006e-02 -5.77972033e-01 4.23620476e+00] [-4.13056725e-03 9.99688653e-01 2.46076420e-02 5.09028254e-01] [ 5.78225128e-01 -1.76892058e-02 8.15685475e-01 9.01855673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.556502481 meters Centerline goodness [0,1] 0.4979378217709133 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.15285731e-01 1.36509724e-02 -5.78897942e-01 4.23757506e+00] [-1.40647281e-03 9.99765819e-01 2.15946499e-02 5.08909140e-01] [ 5.79057163e-01 -1.67916057e-02 8.15114007e-01 9.03026431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586502481 meters Centerline goodness [0,1] 0.4949182375652964 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.15265033e-01 1.40436079e-02 -5.78917699e-01 4.23798725e+00] [-1.66288441e-03 9.99758548e-01 2.19107578e-02 5.07751308e-01] [ 5.79085624e-01 -1.69004015e-02 8.15091539e-01 9.03066345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.616502481 meters Centerline goodness [0,1] 0.4977013451387706 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.15046901e-01 9.71135704e-03 -5.79313592e-01 4.23737273e+00] [ 1.23706115e-03 9.99828074e-01 1.85011200e-02 5.07820324e-01] [ 5.79393664e-01 -1.57959268e-02 8.14894760e-01 9.04240236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.646502481 meters Centerline goodness [0,1] 0.5000424796805528 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.90 [[ 8.15074024e-01 1.01173241e-02 -5.79268483e-01 4.23817611e+00] [ 1.02723683e-03 9.99820701e-01 1.89079579e-02 5.06439520e-01] [ 5.79355919e-01 -1.60064313e-02 8.14917489e-01 9.03994837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.676502481 meters Centerline goodness [0,1] 0.4977841759110283 Centerline is valid? [False, False] Translation: X:4.24, Y:0.51, Z:0.91 [[ 0.81451901 0.00550788 -0.58011071 4.23935413] [ 0.00430607 0.99986998 0.01553934 0.50551336] [ 0.58012088 -0.01515508 0.8143894 0.90507988] [ 0. 0. 0. 1. ]] SLAMing on 133.706502481 meters Centerline goodness [0,1] 0.4999859451862263 Centerline is valid? [False, False] Translation: X:4.24, Y:0.50, Z:0.91 [[ 8.14410633e-01 6.04689283e-03 -5.80257491e-01 4.24014425e+00] [ 4.00516225e-03 9.99863313e-01 1.60410045e-02 5.04007357e-01] [ 5.80275176e-01 -1.53879900e-02 8.14275095e-01 9.05154403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.736502481 meters Centerline goodness [0,1] 0.5032771667276155 Centerline is valid? [False, False] Translation: X:4.24, Y:0.50, Z:0.91 [[ 8.14247395e-01 6.85670204e-03 -5.80477532e-01 4.24139743e+00] [ 3.56635675e-03 9.99852291e-01 1.68130296e-02 5.01903050e-01] [ 5.80507072e-01 -1.57601555e-02 8.14102670e-01 9.05156716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.766502481 meters Centerline goodness [0,1] 0.5061237072951992 Centerline is valid? [False, False] Translation: X:4.24, Y:0.50, Z:0.91 [[ 0.81412637 0.0052223 -0.58066425 4.24150174] [ 0.00504541 0.9998582 0.01606636 0.49740433] [ 0.58066582 -0.01600974 0.81398458 0.90531402] [ 0. 0. 0. 1. ]] SLAMing on 133.79650248099998 meters Centerline goodness [0,1] 0.5135165232885103 Centerline is valid? [False, False] Translation: X:4.24, Y:0.49, Z:0.91 [[ 8.13921065e-01 4.04044469e-04 -5.80975332e-01 4.24030088e+00] [ 8.65898086e-03 9.99880248e-01 1.28262296e-02 4.94673857e-01] [ 5.80910941e-01 -1.54701928e-02 8.13820098e-01 9.06286208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82650248099998 meters Centerline goodness [0,1] 0.517178169698653 Centerline is valid? [False, False] Translation: X:4.24, Y:0.49, Z:0.91 [[ 8.13993844e-01 6.80038675e-04 -5.80873100e-01 4.24038054e+00] [ 8.64281231e-03 9.99874437e-01 1.32819876e-02 4.92525545e-01] [ 5.80809197e-01 -1.58318333e-02 8.13885760e-01 9.06110863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85650248099998 meters Centerline goodness [0,1] 0.5257328631254132 Centerline is valid? [False, False] Translation: X:4.24, Y:0.49, Z:0.91 [[ 8.13799893e-01 -4.13807797e-03 -5.81130459e-01 4.24071471e+00] [ 1.22908521e-02 9.99873536e-01 1.00919499e-02 4.88959496e-01] [ 5.81015206e-01 -1.53554163e-02 8.13747837e-01 9.06536092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88650248099998 meters Centerline goodness [0,1] 0.5298289987353604 Centerline is valid? [False, False] Translation: X:4.24, Y:0.49, Z:0.91 [[ 8.13954863e-01 -3.94470048e-03 -5.80914727e-01 4.24106495e+00] [ 1.23430769e-02 9.99868638e-01 1.05050275e-02 4.86104773e-01] [ 5.80796978e-01 -1.57208934e-02 8.13896630e-01 9.06128107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91650248099998 meters Centerline goodness [0,1] 0.5379349998631 Centerline is valid? [False, False] Translation: X:4.24, Y:0.48, Z:0.91 [[ 0.81406472 -0.00482974 -0.58075408 4.24016324] [ 0.01328098 0.99985874 0.0103013 0.48135338] [ 0.58062229 -0.01609891 0.81401387 0.90610107] [ 0. 0. 0. 1. ]] SLAMing on 133.94650248099998 meters Centerline goodness [0,1] 0.5424734711738322 Centerline is valid? [False, False] Translation: X:4.24, Y:0.48, Z:0.91 [[ 0.81400043 -0.00431893 -0.58084821 4.24051285] [ 0.01302931 0.99985652 0.01082477 0.4791785 ] [ 0.58071812 -0.01637942 0.81393991 0.90618619] [ 0. 0. 0. 1. ]] SLAMing on 133.97650248099998 meters Centerline goodness [0,1] 0.5464527027027026 Centerline is valid? [False, False] Translation: X:4.24, Y:0.48, Z:0.91 [[ 8.14049677e-01 -3.81811940e-03 -5.80782700e-01 4.24103034e+00] [ 1.28884800e-02 9.99850900e-01 1.14919279e-02 4.75444614e-01] [ 5.80652228e-01 -1.68404064e-02 8.13977512e-01 9.05971180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00650248099998 meters Centerline goodness [0,1] 0.547576936681995 Centerline is valid? [False, False] Translation: X:4.24, Y:0.47, Z:0.91 [[ 8.13933576e-01 -3.45949692e-03 -5.80947645e-01 4.24132219e+00] [ 1.27122491e-02 9.99848901e-01 1.18564078e-02 4.73960885e-01] [ 5.80818847e-01 -1.70354796e-02 8.13854569e-01 9.06182196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03650248099999 meters Centerline goodness [0,1] 0.5531256783156067 Centerline is valid? [False, False] Translation: X:4.24, Y:0.47, Z:0.91 [[ 8.13810353e-01 -2.91914805e-03 -5.81123212e-01 4.24166045e+00] [ 1.24027898e-02 9.99846856e-01 1.23464656e-02 4.72301265e-01] [ 5.80998176e-01 -1.72552305e-02 8.13721928e-01 9.06436292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066502481 meters Centerline goodness [0,1] 0.5535525495405134 Centerline is valid? [False, False] Translation: X:4.24, Y:0.47, Z:0.91 [[ 8.13657625e-01 -2.23236785e-03 -5.81340077e-01 4.24321447e+00] [ 1.20477966e-02 9.99842614e-01 1.30229540e-02 4.69580034e-01] [ 5.81219510e-01 -1.76000929e-02 8.13556462e-01 9.06387107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.096502481 meters Centerline goodness [0,1] 0.5532455594906593 Centerline is valid? [False, False] Translation: X:4.24, Y:0.47, Z:0.91 [[ 8.13630348e-01 -1.70175408e-03 -5.81380049e-01 4.24458876e+00] [ 1.17536779e-02 9.99839485e-01 1.35224250e-02 4.68046418e-01] [ 5.81263717e-01 -1.78356092e-02 8.13519749e-01 9.06085861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.126502481 meters Centerline goodness [0,1] 0.5485685071574642 Centerline is valid? [False, False] Translation: X:4.25, Y:0.47, Z:0.91 [[ 8.13062647e-01 -5.68844475e-04 -5.82175926e-01 4.24701917e+00] [ 1.09887687e-02 9.99836363e-01 1.43698934e-02 4.66128222e-01] [ 5.82072486e-01 -1.80810202e-02 8.12935851e-01 9.06734658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.156502481 meters Centerline goodness [0,1] 0.5417339795368874 Centerline is valid? [False, False] Translation: X:4.25, Y:0.47, Z:0.91 [[ 8.12601139e-01 1.91674934e-04 -5.82820171e-01 4.24831973e+00] [ 1.04081110e-02 9.99835703e-01 1.48404031e-02 4.65743175e-01] [ 5.82727260e-01 -1.81253855e-02 8.12465636e-01 9.07423805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186502481 meters Centerline goodness [0,1] 0.5316928869167675 Centerline is valid? [False, False] Translation: X:4.25, Y:0.46, Z:0.91 [[ 8.11518963e-01 2.22381841e-03 -5.84321852e-01 4.25247099e+00] [ 8.90176564e-03 9.99829661e-01 1.61681293e-02 4.64929756e-01] [ 5.84258274e-01 -1.83222397e-02 8.11360934e-01 9.08666744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216502481 meters Centerline goodness [0,1] 0.5281265154372541 Centerline is valid? [False, False] Translation: X:4.25, Y:0.46, Z:0.91 [[ 8.10999493e-01 3.03800172e-03 -5.85038967e-01 4.25432478e+00] [ 8.23267696e-03 9.99828245e-01 1.66043244e-02 4.64649625e-01] [ 5.84988927e-01 -1.82825355e-02 8.10835189e-01 9.09390510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246502481 meters Centerline goodness [0,1] 0.524559278697349 Centerline is valid? [False, False] Translation: X:4.26, Y:0.46, Z:0.91 [[ 8.10555151e-01 3.72880483e-03 -5.85650444e-01 4.25569805e+00] [ 7.62778043e-03 9.99827702e-01 1.69228918e-02 4.64615696e-01] [ 5.85612640e-01 -1.81841501e-02 8.10387051e-01 9.10095680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276502481 meters Centerline goodness [0,1] 0.5154137662267853 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.91 [[ 0.80987549 0.00447614 -0.58658473 4.25694439] [ 0.00674033 0.99983386 0.0169357 0.46563967] [ 0.58656308 -0.01766958 0.80971077 0.91157645] [ 0. 0. 0. 1. ]] SLAMing on 134.306502481 meters Centerline goodness [0,1] 0.5080966214762213 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.91 [[ 0.80903401 0.00547415 -0.58773634 4.2583405 ] [ 0.00563491 0.99983843 0.01706905 0.46711824] [ 0.58773482 -0.01712128 0.80887245 0.91337409] [ 0. 0. 0. 1. ]] SLAMing on 134.336502481 meters Centerline goodness [0,1] 0.5029471134436818 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.91 [[ 0.80857491 0.00581161 -0.58836455 4.25904977] [ 0.00519749 0.99984166 0.01701879 0.4678834 ] [ 0.58837029 -0.01681898 0.80841668 0.9143479 ] [ 0. 0. 0. 1. ]] SLAMing on 134.366502481 meters Centerline goodness [0,1] 0.4962444474357248 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.91 [[ 0.80833808 0.00605041 -0.58868747 4.25924892] [ 0.00486674 0.99984434 0.01695881 0.46834681] [ 0.58869845 -0.01657344 0.80818281 0.91497321] [ 0. 0. 0. 1. ]] SLAMing on 134.396502481 meters Centerline goodness [0,1] 0.4924199737046876 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.92 [[ 0.80803837 0.00623399 -0.58909688 4.25913403] [ 0.00448516 0.99984994 0.01673279 0.46814967] [ 0.58911279 -0.01616293 0.80788915 0.9160208 ] [ 0. 0. 0. 1. ]] SLAMing on 134.426502481 meters Centerline goodness [0,1] 0.49165080811600415 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.92 [[ 8.07788905e-01 6.70681625e-03 -5.89433714e-01 4.25983822e+00] [ 4.12569107e-03 9.99846455e-01 1.70307088e-02 4.67396481e-01] [ 5.89457431e-01 -1.61890390e-02 8.07637203e-01 9.16431293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.456502481 meters Centerline goodness [0,1] 0.4878504672897196 Centerline is valid? [False, False] Translation: X:4.26, Y:0.47, Z:0.92 [[ 8.07283928e-01 7.81111951e-03 -5.90111554e-01 4.26071843e+00] [ 3.38558419e-03 9.99834658e-01 1.78660385e-02 4.65127981e-01] [ 5.90153537e-01 -1.64208381e-02 8.07124005e-01 9.17408092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.486502481 meters Centerline goodness [0,1] 0.49037487335359675 Centerline is valid? [False, False] Translation: X:4.26, Y:0.46, Z:0.92 [[ 8.07050105e-01 8.34031641e-03 -5.90424057e-01 4.26089509e+00] [ 3.05445720e-03 9.99827899e-01 1.82986803e-02 4.63540761e-01] [ 5.90475061e-01 -1.65713769e-02 8.06885736e-01 9.17923435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.516502481 meters Centerline goodness [0,1] 0.4877316107079246 Centerline is valid? [False, False] Translation: X:4.26, Y:0.46, Z:0.92 [[ 8.06298273e-01 3.96077579e-03 -5.91495907e-01 4.26199321e+00] [ 6.24269721e-03 9.99864909e-01 1.52050363e-02 4.61343623e-01] [ 5.91476224e-01 -1.59523243e-02 8.06164623e-01 9.19359973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54650248099998 meters Centerline goodness [0,1] 0.4849562218094985 Centerline is valid? [False, False] Translation: X:4.26, Y:0.46, Z:0.92 [[ 8.05442992e-01 -2.74685403e-04 -5.92673191e-01 4.26399745e+00] [ 9.25827470e-03 9.99883705e-01 1.21185826e-02 4.60219999e-01] [ 5.92600938e-01 -1.52479586e-02 8.05351866e-01 9.20716862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57650248099998 meters Centerline goodness [0,1] 0.48874291465804953 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:0.92 [[ 8.05238640e-01 5.56923971e-04 -5.92950607e-01 4.26616429e+00] [ 8.87220559e-03 9.99876293e-01 1.29877561e-02 4.57194864e-01] [ 5.92884489e-01 -1.57190227e-02 8.05134085e-01 9.20570494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60650248099998 meters Centerline goodness [0,1] 0.48874291465804953 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:0.92 [[ 8.05238640e-01 5.56923971e-04 -5.92950607e-01 4.26616429e+00] [ 8.87220559e-03 9.99876293e-01 1.29877561e-02 4.57194864e-01] [ 5.92884489e-01 -1.57190227e-02 8.05134085e-01 9.20570494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63650248099998 meters Centerline goodness [0,1] 0.4892040810946192 Centerline is valid? [False, False] Translation: X:4.27, Y:0.45, Z:0.92 [[ 8.04543185e-01 -3.57188314e-03 -5.93883411e-01 4.26767082e+00] [ 1.20253863e-02 9.99874876e-01 1.02772805e-02 4.54039536e-01] [ 5.93772393e-01 -1.54101934e-02 8.04485470e-01 9.21600525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66650248099998 meters Centerline goodness [0,1] 0.4938653523489933 Centerline is valid? [False, False] Translation: X:4.27, Y:0.45, Z:0.92 [[ 0.80425968 -0.00830642 -0.59421996 4.26690189] [ 0.01553227 0.99985454 0.00704582 0.45126881] [ 0.594075 -0.01489626 0.80427172 0.92251088] [ 0. 0. 0. 1. ]] SLAMing on 134.69650248099998 meters Centerline goodness [0,1] 0.4935695093000809 Centerline is valid? [False, False] Translation: X:4.27, Y:0.45, Z:0.92 [[ 0.80432559 -0.0079454 -0.59413569 4.26677761] [ 0.01542783 0.99985274 0.00751472 0.44885067] [ 0.59398849 -0.01521051 0.80432973 0.9224667 ] [ 0. 0. 0. 1. ]] SLAMing on 134.72650248099998 meters Centerline goodness [0,1] 0.4965060397454215 Centerline is valid? [False, False] Translation: X:4.27, Y:0.44, Z:0.92 [[ 0.80453072 -0.00800623 -0.59385707 4.26635049] [ 0.0157439 0.99984525 0.00784947 0.44408379] [ 0.59370232 -0.01566476 0.80453227 0.92218948] [ 0. 0. 0. 1. ]] SLAMing on 134.75650248099998 meters Centerline goodness [0,1] 0.500675254519011 Centerline is valid? [False, False] Translation: X:4.27, Y:0.44, Z:0.92 [[ 0.80458189 -0.00734555 -0.59379628 4.26663061] [ 0.01546652 0.9998435 0.00858826 0.44186986] [ 0.59364027 -0.01609392 0.80456959 0.92201631] [ 0. 0. 0. 1. ]] SLAMing on 134.78650248099999 meters Centerline goodness [0,1] 0.504831731392005 Centerline is valid? [False, False] Translation: X:4.26, Y:0.44, Z:0.92 [[ 0.80502644 -0.00718024 -0.59319548 4.26448343] [ 0.01557666 0.99983784 0.00903673 0.4388246 ] [ 0.5930344 -0.01651481 0.80500774 0.92175913] [ 0. 0. 0. 1. ]] SLAMing on 134.816502481 meters Centerline goodness [0,1] 0.5062136674848211 Centerline is valid? [False, False] Translation: X:4.26, Y:0.44, Z:0.92 [[ 0.80515202 -0.00670554 -0.59303058 4.26449315] [ 0.01538726 0.99983566 0.00958576 0.43693569] [ 0.59286884 -0.01684311 0.80512288 0.92154155] [ 0. 0. 0. 1. ]] SLAMing on 134.846502481 meters Centerline goodness [0,1] 0.506727844512038 Centerline is valid? [False, False] Translation: X:4.26, Y:0.43, Z:0.92 [[ 0.80529464 -0.00622952 -0.59284209 4.26477534] [ 0.01521387 0.99983264 0.01015982 0.43492883] [ 0.59267958 -0.01720107 0.80525464 0.92121134] [ 0. 0. 0. 1. ]] SLAMing on 134.876502481 meters Centerline goodness [0,1] 0.5111959417913507 Centerline is valid? [False, False] Translation: X:4.27, Y:0.43, Z:0.92 [[ 0.80565568 -0.00583497 -0.59235536 4.26552431] [ 0.01517804 0.99982654 0.01079474 0.43064194] [ 0.59218962 -0.01768764 0.80560449 0.92034986] [ 0. 0. 0. 1. ]] SLAMing on 134.906502481 meters Centerline goodness [0,1] 0.514333981775366 Centerline is valid? [False, False] Translation: X:4.27, Y:0.43, Z:0.92 [[ 0.80575063 -0.00537103 -0.59223059 4.26583167] [ 0.01499204 0.99982342 0.01132964 0.42890319] [ 0.59206517 -0.01800761 0.80568888 0.92009497] [ 0. 0. 0. 1. ]] SLAMing on 134.936502481 meters Centerline goodness [0,1] 0.519221448432438 Centerline is valid? [False, False] Translation: X:4.27, Y:0.43, Z:0.92 [[ 0.80589322 -0.0047293 -0.59204201 4.26596617] [ 0.014711 0.99981932 0.01203808 0.42637305] [ 0.59187811 -0.01841094 0.80581719 0.91989541] [ 0. 0. 0. 1. ]] SLAMing on 134.966502481 meters Centerline goodness [0,1] 0.5215952762719198 Centerline is valid? [False, False] Translation: X:4.27, Y:0.42, Z:0.92 [[ 8.05775590e-01 -4.14392448e-03 -5.92206489e-01 4.26687245e+00] [ 1.43587459e-02 9.99818261e-01 1.25408210e-02 4.24980917e-01] [ 5.92046894e-01 -1.86084300e-02 8.05688651e-01 9.19986595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.996502481 meters Centerline goodness [0,1] 0.5164737310774711 Centerline is valid? [False, False] Translation: X:4.27, Y:0.42, Z:0.92 [[ 8.05700372e-01 -2.94397737e-03 -5.92316000e-01 4.26943392e+00] [ 1.36521504e-02 9.99814298e-01 1.36010373e-02 4.21544562e-01] [ 5.92165965e-01 -1.90447480e-02 8.05590943e-01 9.19612141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026502481 meters Centerline goodness [0,1] 0.514380081300813 Centerline is valid? [False, False] Translation: X:4.27, Y:0.42, Z:0.92 [[ 8.05409900e-01 -2.01326001e-03 -5.92714804e-01 4.27111225e+00] [ 1.30735842e-02 9.99811289e-01 1.43689916e-02 4.20010059e-01] [ 5.92574024e-01 -1.93218349e-02 8.05284231e-01 9.19846360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.056502481 meters Centerline goodness [0,1] 0.5152891618240414 Centerline is valid? [False, False] Translation: X:4.27, Y:0.42, Z:0.92 [[ 8.04856408e-01 -3.30615959e-04 -5.93469506e-01 4.27393856e+00] [ 1.19370180e-02 9.99806558e-01 1.56318620e-02 4.18081995e-01] [ 5.93349535e-01 -1.96656605e-02 8.04704661e-01 9.20377225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086502481 meters Centerline goodness [0,1] 0.5160471257363397 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:0.92 [[ 8.04474862e-01 5.58412115e-04 -5.93986435e-01 4.27550628e+00] [ 1.12888450e-02 9.99804569e-01 1.62291501e-02 4.17144929e-01] [ 5.93879414e-01 -1.97613641e-02 8.04311339e-01 9.20856892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.116502481 meters Centerline goodness [0,1] 0.5127711331846747 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:0.92 [[ 8.04101616e-01 1.74259948e-03 -5.94489323e-01 4.27751835e+00] [ 1.04063168e-02 9.99801230e-01 1.70061747e-02 4.15747141e-01] [ 5.94400791e-01 -1.98611367e-02 8.03923650e-01 9.21298282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.146502481 meters Centerline goodness [0,1] 0.5127266299681834 Centerline is valid? [False, False] Translation: X:4.28, Y:0.42, Z:0.92 [[ 8.03821361e-01 2.36929874e-03 -5.94866040e-01 4.27807858e+00] [ 9.90894544e-03 9.99799998e-01 1.73717210e-02 4.15036440e-01] [ 5.94788225e-01 -1.98582555e-02 8.03637118e-01 9.21858827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.176502481 meters Centerline goodness [0,1] 0.5110858585858586 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 8.03621954e-01 2.86060318e-03 -5.95133239e-01 4.27711157e+00] [ 9.37650154e-03 9.99803473e-01 1.74670188e-02 4.14878439e-01] [ 5.95066245e-01 -1.96171475e-02 8.03437198e-01 9.22830438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.206502481 meters Centerline goodness [0,1] 0.51180406514329 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 8.03373075e-01 3.19460310e-03 -5.95467461e-01 4.27722085e+00] [ 9.03292571e-03 9.99805173e-01 1.75505644e-02 4.14664114e-01] [ 5.95407515e-01 -1.94784642e-02 8.03187699e-01 9.23460810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.236502481 meters Centerline goodness [0,1] 0.508898678414097 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 8.03064756e-01 3.87613661e-03 -5.95879160e-01 4.27830273e+00] [ 8.48629637e-03 9.99803040e-01 1.79405816e-02 4.13518553e-01] [ 5.95831336e-01 -1.94642559e-02 8.02873690e-01 9.24023962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.266502481 meters Centerline goodness [0,1] 0.509695569175123 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 0.80282296 0.00455057 -0.59620013 4.27909076] [ 0.00798485 0.99979913 0.01838322 0.4123996 ] [ 0.59616402 -0.01951904 0.80262536 0.92443918] [ 0. 0. 0. 1. ]] SLAMing on 135.29650248099998 meters Centerline goodness [0,1] 0.5135821721414557 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 0.80278729 0.00485459 -0.59624575 4.27915024] [ 0.00776866 0.99979682 0.01860002 0.41168246] [ 0.5962149 -0.01956389 0.80258647 0.92458752] [ 0. 0. 0. 1. ]] SLAMing on 135.32650248099998 meters Centerline goodness [0,1] 0.510108592303458 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.92 [[ 0.80290111 0.00498939 -0.59609136 4.27892808] [ 0.00762724 0.99979713 0.01864194 0.41000027] [ 0.59606344 -0.01951416 0.80270018 0.92468776] [ 0. 0. 0. 1. ]] SLAMing on 135.35650248099998 meters Centerline goodness [0,1] 0.517963549328081 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.93 [[ 8.02541472e-01 1.14323217e-03 -5.96595239e-01 4.27965495e+00] [ 1.02372727e-02 9.99824541e-01 1.56871306e-02 4.09378416e-01] [ 5.96508495e-01 -1.86970810e-02 8.02388955e-01 9.25553295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38650248099998 meters Centerline goodness [0,1] 0.5170453128506945 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.93 [[ 8.02364063e-01 1.87056172e-03 -5.96831979e-01 4.28025915e+00] [ 9.77413182e-03 9.99819801e-01 1.62736534e-02 4.08088970e-01] [ 5.96754871e-01 -1.88909091e-02 8.02201195e-01 9.25823505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41650248099998 meters Centerline goodness [0,1] 0.5174995646874456 Centerline is valid? [False, False] Translation: X:4.28, Y:0.41, Z:0.93 [[ 8.02142960e-01 2.54005775e-03 -5.97126636e-01 4.28078744e+00] [ 9.36599970e-03 9.99814418e-01 1.68347156e-02 4.06575646e-01] [ 5.97058582e-01 -1.90965365e-02 8.01970306e-01 9.26238385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44650248099998 meters Centerline goodness [0,1] 0.5185469683078524 Centerline is valid? [False, False] Translation: X:4.28, Y:0.40, Z:0.93 [[ 8.01591951e-01 -1.46785505e-03 -5.97869710e-01 4.28238575e+00] [ 1.23747848e-02 9.99823493e-01 1.41367455e-02 4.04063447e-01] [ 5.97743431e-01 -1.87304104e-02 8.01468629e-01 9.27004056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47650248099998 meters Centerline goodness [0,1] 0.5221492419378735 Centerline is valid? [False, False] Translation: X:4.28, Y:0.40, Z:0.93 [[ 8.01576184e-01 -1.06706318e-03 -5.97891698e-01 4.28354290e+00] [ 1.22448469e-02 9.99817969e-01 1.46319287e-02 4.01203621e-01] [ 5.97767250e-01 -1.90496979e-02 8.01443338e-01 9.26841693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50650248099998 meters Centerline goodness [0,1] 0.5275308217495948 Centerline is valid? [False, False] Translation: X:4.28, Y:0.40, Z:0.93 [[ 0.80102052 -0.00484164 -0.59861731 4.28448216] [ 0.01519996 0.9998094 0.01225285 0.39806546] [ 0.59844388 -0.01891375 0.80094144 0.92772223] [ 0. 0. 0. 1. ]] SLAMing on 135.53650248099999 meters Centerline goodness [0,1] 0.5286022137329807 Centerline is valid? [False, False] Translation: X:4.29, Y:0.40, Z:0.93 [[ 0.80169049 -0.00833438 -0.59768126 4.29114214] [ 0.02344226 0.99957192 0.01750535 0.39832462] [ 0.59727951 -0.02804487 0.80154268 0.93120031] [ 0. 0. 0. 1. ]] SLAMing on 135.566502481 meters Centerline goodness [0,1] 0.5381949528969591 Centerline is valid? [False, False] Translation: X:4.29, Y:0.39, Z:0.93 [[ 0.80158766 -0.01258024 -0.59774489 4.29180589] [ 0.02684192 0.99952775 0.01495931 0.39428236] [ 0.59727442 -0.02803582 0.80154679 0.93128201] [ 0. 0. 0. 1. ]] SLAMing on 135.596502481 meters Centerline goodness [0,1] 0.5367536316377592 Centerline is valid? [False, False] Translation: X:4.29, Y:0.39, Z:0.93 [[ 0.80183155 -0.01247362 -0.59741993 4.29238767] [ 0.02698478 0.999518 0.01534874 0.39074753] [ 0.59694052 -0.02842835 0.80178167 0.93077797] [ 0. 0. 0. 1. ]] SLAMing on 135.626502481 meters Centerline goodness [0,1] 0.5459670005322494 Centerline is valid? [False, False] Translation: X:4.29, Y:0.39, Z:0.93 [[ 0.80220164 -0.01227488 -0.59692701 4.29267168] [ 0.02709292 0.99950715 0.01585647 0.38735139] [ 0.59643818 -0.02889258 0.80213884 0.93005573] [ 0. 0. 0. 1. ]] SLAMing on 135.656502481 meters Centerline goodness [0,1] 0.5618216538954289 Centerline is valid? [False, False] Translation: X:4.29, Y:0.38, Z:0.93 [[ 0.80300367 -0.01338228 -0.59582382 4.29030115] [ 0.02820665 0.9994809 0.0155662 0.38302021] [ 0.59530622 -0.02930591 0.8029643 0.92927286] [ 0. 0. 0. 1. ]] SLAMing on 135.686502481 meters Centerline goodness [0,1] 0.5749553549881752 Centerline is valid? [False, False] Translation: X:4.29, Y:0.38, Z:0.93 [[ 0.80360918 -0.01329595 -0.59500882 4.28946094] [ 0.02844218 0.9994661 0.01607967 0.37972211] [ 0.59447736 -0.02984512 0.8035583 0.92840583] [ 0. 0. 0. 1. ]] SLAMing on 135.716502481 meters Centerline goodness [0,1] 0.5768722202187764 Centerline is valid? [False, False] Translation: X:4.29, Y:0.38, Z:0.93 [[ 0.80362844 -0.01264752 -0.59499695 4.29027122] [ 0.02812851 0.99946403 0.01674653 0.37807759] [ 0.59446625 -0.03019437 0.80355347 0.92820566] [ 0. 0. 0. 1. ]] SLAMing on 135.746502481 meters Centerline goodness [0,1] 0.583674255186023 Centerline is valid? [False, False] Translation: X:4.29, Y:0.38, Z:0.93 [[ 0.80381172 -0.01204599 -0.59476181 4.29074325] [ 0.02783242 0.99946163 0.01737254 0.37652101] [ 0.59423234 -0.03051791 0.80371425 0.92780997] [ 0. 0. 0. 1. ]] SLAMing on 135.776502481 meters Centerline goodness [0,1] 0.5952558340743589 Centerline is valid? [False, False] Translation: X:4.29, Y:0.37, Z:0.93 [[ 0.80432871 -0.01176129 -0.59406818 4.29113712] [ 0.02786294 0.9994508 0.01793757 0.37428529] [ 0.59353095 -0.03098019 0.80421467 0.92674222] [ 0. 0. 0. 1. ]] SLAMing on 135.806502481 meters Centerline goodness [0,1] 0.5918817242949225 Centerline is valid? [False, False] Translation: X:4.29, Y:0.37, Z:0.93 [[ 0.80445064 -0.01122828 -0.59391338 4.29227224] [ 0.02759293 0.99944842 0.01847923 0.37301919] [ 0.5933783 -0.03125344 0.80431674 0.92625573] [ 0. 0. 0. 1. ]] SLAMing on 135.836502481 meters Centerline goodness [0,1] 0.5996694056488513 Centerline is valid? [False, False] Translation: X:4.29, Y:0.37, Z:0.93 [[ 0.80475651 -0.01044637 -0.59351313 4.2936547 ] [ 0.02725816 0.99944076 0.01936882 0.37115026] [ 0.59297888 -0.03176526 0.80459121 0.92528512] [ 0. 0. 0. 1. ]] SLAMing on 135.866502481 meters Centerline goodness [0,1] 0.6040949923547401 Centerline is valid? [False, False] Translation: X:4.29, Y:0.37, Z:0.93 [[ 0.80469286 -0.00980054 -0.59361043 4.294521 ] [ 0.02687851 0.9994399 0.01993545 0.37042306] [ 0.59308258 -0.03199728 0.80450558 0.92525639] [ 0. 0. 0. 1. ]] SLAMing on 135.896502481 meters Centerline goodness [0,1] 0.611955251294039 Centerline is valid? [False, False] Translation: X:4.30, Y:0.37, Z:0.92 [[ 0.80458065 -0.00887571 -0.59377707 4.29678112] [ 0.02637461 0.99943574 0.02079872 0.36943579] [ 0.59325742 -0.03239488 0.80436075 0.92486536] [ 0. 0. 0. 1. ]] SLAMing on 135.926502481 meters Centerline goodness [0,1] 0.6126748774363266 Centerline is valid? [False, False] Translation: X:4.30, Y:0.37, Z:0.92 [[ 0.80445614 -0.00797711 -0.59395849 4.29894946] [ 0.02581998 0.99943435 0.02154771 0.36861002] [ 0.59345063 -0.03267018 0.80420707 0.92461053] [ 0. 0. 0. 1. ]] SLAMing on 135.956502481 meters Centerline goodness [0,1] 0.614084237243493 Centerline is valid? [False, False] Translation: X:4.30, Y:0.37, Z:0.92 [[ 0.80435824 -0.00716976 -0.59410135 4.30110387] [ 0.02527555 0.9994349 0.02215934 0.36868362] [ 0.59360674 -0.03284028 0.80408492 0.92423164] [ 0. 0. 0. 1. ]] SLAMing on 135.986502481 meters Centerline goodness [0,1] 0.611080491720783 Centerline is valid? [False, False] Translation: X:4.30, Y:0.37, Z:0.92 [[ 0.80425067 -0.00696739 -0.59424937 4.30190675] [ 0.02507737 0.99943851 0.02222133 0.36936469] [ 0.59376088 -0.03277374 0.80397382 0.92430182] [ 0. 0. 0. 1. ]] SLAMing on 136.016502481 meters Centerline goodness [0,1] 0.6063359292375733 Centerline is valid? [False, False] Translation: X:4.30, Y:0.37, Z:0.92 [[ 0.80390127 -0.0060355 -0.59473215 4.30400298] [ 0.02432031 0.99944575 0.0227312 0.37075106] [ 0.59426533 -0.03273771 0.80360249 0.92451961] [ 0. 0. 0. 1. ]] SLAMing on 136.04650248099998 meters Centerline goodness [0,1] 0.6040989331214026 Centerline is valid? [False, False] Translation: X:4.31, Y:0.37, Z:0.92 [[ 0.80357545 -0.00565163 -0.59517607 4.30511594] [ 0.02396437 0.9994513 0.02286491 0.37167771] [ 0.59472027 -0.0326367 0.80326997 0.92489983] [ 0. 0. 0. 1. ]] SLAMing on 136.07650248099998 meters Centerline goodness [0,1] 0.5978538702676633 Centerline is valid? [False, False] Translation: X:4.31, Y:0.37, Z:0.93 [[ 0.80326294 -0.00524259 -0.59560152 4.30605227] [ 0.02356102 0.99945829 0.02297835 0.37266394] [ 0.59515841 -0.03249063 0.80295132 0.92535326] [ 0. 0. 0. 1. ]] SLAMing on 136.10650248099998 meters Centerline goodness [0,1] 0.5956269565850463 Centerline is valid? [False, False] Translation: X:4.31, Y:0.37, Z:0.93 [[ 8.02924712e-01 -3.52719276e-03 -5.96070018e-01 4.30821546e+00] [ 2.22217921e-02 9.99464492e-01 2.40191951e-02 3.74913330e-01] [ 5.95666097e-01 -3.25313493e-02 8.02573119e-01 9.25549972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13650248099998 meters Centerline goodness [0,1] 0.5858705648869742 Centerline is valid? [False, False] Translation: X:4.31, Y:0.38, Z:0.93 [[ 8.02569944e-01 -3.15564944e-03 -5.96549685e-01 4.30905182e+00] [ 2.18333879e-02 9.99471430e-01 2.40865762e-02 3.75643778e-01] [ 5.96158358e-01 -3.23558628e-02 8.02214628e-01 9.26139329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16650248099998 meters Centerline goodness [0,1] 0.579210079961231 Centerline is valid? [False, False] Translation: X:4.31, Y:0.38, Z:0.93 [[ 8.02142285e-01 -1.47119881e-03 -5.97131133e-01 4.31071507e+00] [ 2.03889324e-02 9.99481346e-01 2.49264999e-02 3.78140769e-01] [ 5.96784756e-01 -3.21694659e-02 8.01756247e-01 9.26784092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19650248099998 meters Centerline goodness [0,1] 0.5716986620127982 Centerline is valid? [False, False] Translation: X:4.31, Y:0.38, Z:0.93 [[ 8.01585013e-01 -9.31520501e-04 -5.97880088e-01 4.31167285e+00] [ 1.98483798e-02 9.99489046e-01 2.50537182e-02 3.79185355e-01] [ 5.97551261e-01 -3.19496361e-02 8.01193929e-01 9.27783698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22650248099998 meters Centerline goodness [0,1] 0.5661343558877778 Centerline is valid? [False, False] Translation: X:4.31, Y:0.38, Z:0.93 [[ 8.01033457e-01 1.05141821e-03 -5.98618656e-01 4.31396123e+00] [ 1.81949385e-02 9.99493665e-01 2.61028288e-02 3.82072523e-01] [ 5.98343000e-01 -3.18010688e-02 8.00608735e-01 9.28470977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25650248099998 meters Centerline goodness [0,1] 0.5571373044407735 Centerline is valid? [False, False] Translation: X:4.32, Y:0.38, Z:0.93 [[ 8.00680776e-01 1.33698184e-03 -5.99089732e-01 4.31502587e+00] [ 1.78351285e-02 9.99501082e-01 2.60671457e-02 3.83156254e-01] [ 5.98825687e-01 -3.15563049e-02 8.00257456e-01 9.29009296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28650248099999 meters Centerline goodness [0,1] 0.5524789158094867 Centerline is valid? [False, False] Translation: X:4.32, Y:0.39, Z:0.93 [[ 8.00290418e-01 2.05141883e-03 -5.99609072e-01 4.31662605e+00] [ 1.70204830e-02 9.99513472e-01 2.61366129e-02 3.85091303e-01] [ 5.99370962e-01 -3.11225169e-02 7.99866138e-01 9.29653956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.316502481 meters Centerline goodness [0,1] 0.5483721610293402 Centerline is valid? [False, False] Translation: X:4.32, Y:0.39, Z:0.93 [[ 7.99980579e-01 2.44817891e-03 -6.00020899e-01 4.31747947e+00] [ 1.65892752e-02 9.99519169e-01 2.61959205e-02 3.86076694e-01] [ 5.99796523e-01 -3.09101395e-02 7.99555310e-01 9.30146693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.346502481 meters Centerline goodness [0,1] 0.5463121364680581 Centerline is valid? [False, False] Translation: X:4.32, Y:0.39, Z:0.93 [[ 7.99489295e-01 2.88612716e-03 -6.00673404e-01 4.31845558e+00] [ 1.61515255e-02 9.99523605e-01 2.63000223e-02 3.86998585e-01] [ 6.00463151e-01 -3.07283781e-02 7.99061807e-01 9.30972415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.376502481 meters Centerline goodness [0,1] 0.5423931623931624 Centerline is valid? [False, False] Translation: X:4.32, Y:0.39, Z:0.93 [[ 7.98797746e-01 3.71856704e-03 -6.01588176e-01 4.32022367e+00] [ 1.53900154e-02 9.99527325e-01 2.66134203e-02 3.88425821e-01] [ 6.01402784e-01 -3.05171914e-02 7.98362945e-01 9.32021595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.406502481 meters Centerline goodness [0,1] 0.541915435059215 Centerline is valid? [False, False] Translation: X:4.33, Y:0.39, Z:0.94 [[ 7.97377596e-01 1.78552619e-03 -6.03478070e-01 4.33257711e+00] [ 1.96292442e-02 9.99389754e-01 2.88931064e-02 3.91095084e-01] [ 6.03161390e-01 -3.48845342e-02 7.96855951e-01 9.42812014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.436502481 meters Centerline goodness [0,1] 0.541098568147388 Centerline is valid? [False, False] Translation: X:4.33, Y:0.39, Z:0.94 [[ 7.96867430e-01 1.74806632e-03 -6.04151673e-01 4.33324401e+00] [ 1.95624346e-02 9.99396794e-01 2.86942496e-02 3.90874818e-01] [ 6.03837404e-01 -3.46841905e-02 7.96352558e-01 9.43796274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466502481 meters Centerline goodness [0,1] 0.5401456286956947 Centerline is valid? [False, False] Translation: X:4.33, Y:0.39, Z:0.94 [[ 7.96468952e-01 1.93316123e-03 -6.04676336e-01 4.33389723e+00] [ 1.94005167e-02 9.99398373e-01 2.87491114e-02 3.90175842e-01] [ 6.04368123e-01 -3.46288080e-02 7.95952271e-01 9.44569944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496502481 meters Centerline goodness [0,1] 0.5401456286956947 Centerline is valid? [False, False] Translation: X:4.33, Y:0.39, Z:0.94 [[ 7.96468952e-01 1.93316123e-03 -6.04676336e-01 4.33389723e+00] [ 1.94005167e-02 9.99398373e-01 2.87491114e-02 3.90175842e-01] [ 6.04368123e-01 -3.46288080e-02 7.95952271e-01 9.44569944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526502481 meters Centerline goodness [0,1] 0.5382607635077448 Centerline is valid? [False, False] Translation: X:4.34, Y:0.39, Z:0.95 [[ 7.95878923e-01 2.67960804e-03 -6.05449881e-01 4.33511443e+00] [ 1.88606748e-02 9.99395168e-01 2.92159623e-02 3.89115512e-01] [ 6.05161974e-01 -3.46715619e-02 7.95347011e-01 9.45563221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556502481 meters Centerline goodness [0,1] 0.5382026582124131 Centerline is valid? [False, False] Translation: X:4.34, Y:0.39, Z:0.95 [[ 7.95434858e-01 3.40085555e-03 -6.06029554e-01 4.33622572e+00] [ 1.83647215e-02 9.99389763e-01 2.97126101e-02 3.88356969e-01] [ 6.05760780e-01 -3.47640098e-02 7.94886999e-01 9.46256842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586502481 meters Centerline goodness [0,1] 0.5379923699365781 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:0.96 [[ 7.93663877e-01 1.10258033e-03 -6.08355517e-01 4.34797008e+00] [ 2.33778813e-02 9.99204457e-01 3.23098625e-02 3.89642359e-01] [ 6.07907168e-01 -3.98652338e-02 7.93006707e-01 9.57013122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.616502481 meters Centerline goodness [0,1] 0.5417132306496283 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:0.96 [[ 7.93546325e-01 1.44483401e-03 -6.08508128e-01 4.34809233e+00] [ 2.32125649e-02 9.99197463e-01 3.26436396e-02 3.88386820e-01] [ 6.08066942e-01 -4.00292746e-02 7.92875937e-01 9.57280496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.646502481 meters Centerline goodness [0,1] 0.5429313147487687 Centerline is valid? [False, False] Translation: X:4.36, Y:0.39, Z:0.97 [[ 7.93905570e-01 -1.41276827e-03 -6.08039431e-01 4.35796819e+00] [ 2.88797763e-02 9.98956325e-01 3.53867206e-02 3.87920173e-01] [ 6.07354842e-01 -4.56537574e-02 7.93117791e-01 9.66573499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.676502481 meters Centerline goodness [0,1] 0.5448113778983839 Centerline is valid? [False, False] Translation: X:4.36, Y:0.39, Z:0.97 [[ 7.93874068e-01 -1.68477340e-03 -6.08079868e-01 4.35730816e+00] [ 2.91193581e-02 9.98954245e-01 3.52488101e-02 3.86720270e-01] [ 6.07384579e-01 -4.56900117e-02 7.93092930e-01 9.66916218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.706502481 meters Centerline goodness [0,1] 0.5441087686251781 Centerline is valid? [False, False] Translation: X:4.36, Y:0.38, Z:0.97 [[ 7.93835488e-01 -2.94892286e-03 -6.08125416e-01 4.35521056e+00] [ 3.00915795e-02 9.98953753e-01 3.44368539e-02 3.84017880e-01] [ 6.07387614e-01 -4.56366510e-02 7.93093678e-01 9.67640749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.736502481 meters Centerline goodness [0,1] 0.547327582052147 Centerline is valid? [False, False] Translation: X:4.36, Y:0.38, Z:0.97 [[ 7.93727930e-01 -2.59349272e-03 -6.08267414e-01 4.35501418e+00] [ 2.99219804e-02 9.98946752e-01 3.47859346e-02 3.82612240e-01] [ 6.07536540e-01 -4.58111335e-02 7.92969541e-01 9.68048235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.766502481 meters Centerline goodness [0,1] 0.5464159249688966 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:0.98 [[ 0.79434618 -0.00480745 -0.60744632 4.3666558 ] [ 0.0350932 0.99866183 0.03798712 0.38205411] [ 0.60645083 -0.05149216 0.79345192 0.97699674] [ 0. 0. 0. 1. ]] SLAMing on 136.79650248099998 meters Centerline goodness [0,1] 0.5500877467125034 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:0.98 [[ 7.94138982e-01 -4.33338993e-03 -6.07720741e-01 4.36695548e+00] [ 3.48583994e-02 9.98653097e-01 3.84302509e-02 3.80682978e-01] [ 6.06735667e-01 -5.17031327e-02 7.93220409e-01 9.77424234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82650248099998 meters Centerline goodness [0,1] 0.5479498068571702 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:0.98 [[ 7.93843733e-01 -3.63392791e-03 -6.08110946e-01 4.36735325e+00] [ 3.45575081e-02 9.98635807e-01 3.91446509e-02 3.78025964e-01] [ 6.07139116e-01 -5.20895347e-02 7.92886356e-01 9.78034136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85650248099998 meters Centerline goodness [0,1] 0.5476275931376068 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:0.98 [[ 7.93685794e-01 -3.25512671e-03 -6.08319213e-01 4.36811171e+00] [ 3.44041353e-02 9.98625366e-01 3.95440762e-02 3.76353318e-01] [ 6.07354276e-01 -5.23142680e-02 7.92706756e-01 9.78272386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters Centerline goodness [0,1] 0.5482533479483391 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:0.98 [[ 0.79323639 -0.00758705 -0.60886654 4.36900418] [ 0.03755382 0.99862846 0.03648157 0.37484643] [ 0.60775467 -0.05180377 0.79243336 0.9790153 ] [ 0. 0. 0. 1. ]] SLAMing on 136.91650248099998 meters Centerline goodness [0,1] 0.546933041242023 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:0.98 [[ 0.79295976 -0.00716451 -0.60923188 4.36981887] [ 0.03735622 0.99862131 0.03687815 0.37350226] [ 0.60812773 -0.05200149 0.79213415 0.9794481 ] [ 0. 0. 0. 1. ]] SLAMing on 136.94650248099998 meters Centerline goodness [0,1] 0.5515689729060521 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:0.98 [[ 0.7927084 -0.00646417 -0.60956674 4.37081091] [ 0.03697285 0.99861274 0.03749136 0.37218058] [ 0.60847876 -0.05225714 0.7918477 0.97975059] [ 0. 0. 0. 1. ]] SLAMing on 136.97650248099998 meters Centerline goodness [0,1] 0.5424537256763171 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:0.98 [[ 0.79211246 -0.00510858 -0.6103538 4.37307484] [ 0.03616293 0.99860117 0.03857383 0.37036066] [ 0.60930296 -0.05262699 0.79118917 0.98046204] [ 0. 0. 0. 1. ]] SLAMing on 137.00650248099998 meters Centerline goodness [0,1] 0.5376372128310296 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:0.98 [[ 0.79190421 -0.00478037 -0.61062662 4.37425056] [ 0.03598325 0.99859704 0.03884799 0.3695387 ] [ 0.60958423 -0.05273622 0.79096521 0.98066635] [ 0. 0. 0. 1. ]] SLAMing on 137.03650248099999 meters Centerline goodness [0,1] 0.5436930001184412 Centerline is valid? [False, False] Translation: X:4.38, Y:0.37, Z:0.98 [[ 0.79123735 -0.00888827 -0.61144457 4.37605136] [ 0.03889468 0.99860126 0.03581532 0.3689019 ] [ 0.61027098 -0.05212036 0.79047632 0.98159854] [ 0. 0. 0. 1. ]] SLAMing on 137.066502481 meters Centerline goodness [0,1] 0.5413464494312942 Centerline is valid? [False, False] Translation: X:4.38, Y:0.37, Z:0.98 [[ 0.79107483 -0.00832013 -0.6116628 4.37703845] [ 0.03859438 0.99859426 0.03633147 0.36757142] [ 0.61050068 -0.05234766 0.7902839 0.98175818] [ 0. 0. 0. 1. ]] SLAMing on 137.096502481 meters Centerline goodness [0,1] 0.5357337181519245 Centerline is valid? [False, False] Translation: X:4.38, Y:0.37, Z:0.98 [[ 0.79101708 -0.00755095 -0.61174746 4.37686789] [ 0.03820014 0.99858232 0.03706876 0.3658226 ] [ 0.6106003 -0.05269086 0.79018413 0.98208332] [ 0. 0. 0. 1. ]] SLAMing on 137.126502481 meters Centerline goodness [0,1] 0.539108057700026 Centerline is valid? [False, False] Translation: X:4.38, Y:0.37, Z:0.98 [[ 0.79095998 -0.00705315 -0.61182723 4.37670855] [ 0.03787931 0.99858002 0.0374581 0.36508243] [ 0.61069425 -0.05280345 0.790104 0.98232014] [ 0. 0. 0. 1. ]] SLAMing on 137.156502481 meters Centerline goodness [0,1] 0.538379707335524 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.79112065 -0.0071998 -0.61161775 4.37617052] [ 0.03799134 0.99857845 0.03738638 0.36428911] [ 0.61047913 -0.05281332 0.79026957 0.98228678] [ 0. 0. 0. 1. ]] SLAMing on 137.186502481 meters Centerline goodness [0,1] 0.5394526097606934 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.79101121 -0.01191377 -0.61168564 4.3772713 ] [ 0.04134026 0.9985661 0.0340108 0.36331039] [ 0.61040335 -0.05219017 0.7903695 0.98231255] [ 0. 0. 0. 1. ]] SLAMing on 137.216502481 meters Centerline goodness [0,1] 0.5378944889307584 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.7910427 -0.01160136 -0.61165093 4.37807297] [ 0.0412111 0.99855955 0.03435799 0.36191737] [ 0.61037127 -0.05238544 0.79038135 0.98218475] [ 0. 0. 0. 1. ]] SLAMing on 137.246502481 meters Centerline goodness [0,1] 0.5447987405127241 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.79134475 -0.01118789 -0.61126779 4.37716621] [ 0.04107183 0.99854666 0.03489527 0.35992762] [ 0.609989 -0.05272008 0.79065417 0.98201046] [ 0. 0. 0. 1. ]] SLAMing on 137.276502481 meters Centerline goodness [0,1] 0.538373102461228 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.79142168 -0.01069649 -0.61117699 4.37686545] [ 0.0408203 0.99853981 0.03538287 0.35880928] [ 0.60990608 -0.05295119 0.79070269 0.98205494] [ 0. 0. 0. 1. ]] SLAMing on 137.306502481 meters Centerline goodness [0,1] 0.5426081646075069 Centerline is valid? [False, False] Translation: X:4.38, Y:0.36, Z:0.98 [[ 0.7914393 -0.01005559 -0.61116505 4.3768919 ] [ 0.04047833 0.99853207 0.03598914 0.35752949] [ 0.60990601 -0.05322216 0.79068455 0.98211492] [ 0. 0. 0. 1. ]] SLAMing on 137.336502481 meters Centerline goodness [0,1] 0.5458396723229959 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79157522 -0.00968247 -0.61099502 4.37734845] [ 0.04047731 0.99850928 0.03661699 0.35485855] [ 0.60972966 -0.05371654 0.79078713 0.98185451] [ 0. 0. 0. 1. ]] SLAMing on 137.366502481 meters Centerline goodness [0,1] 0.5493165433948133 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79176088 -0.01166796 -0.61071971 4.37737136] [ 0.04208864 0.99848339 0.03548907 0.35177347] [ 0.6093794 -0.05380322 0.79105117 0.98161256] [ 0. 0. 0. 1. ]] SLAMing on 137.396502481 meters Centerline goodness [0,1] 0.5532282545242265 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79183573 -0.01138558 -0.610628 4.37800403] [ 0.04203144 0.99847156 0.03588734 0.3500797 ] [ 0.60928609 -0.05408246 0.791104 0.98141697] [ 0. 0. 0. 1. ]] SLAMing on 137.426502481 meters Centerline goodness [0,1] 0.5542781185140272 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79183271 -0.01088162 -0.61064109 4.37896173] [ 0.04181091 0.99846136 0.03642462 0.34851475] [ 0.60930518 -0.05437367 0.79106934 0.98130309] [ 0. 0. 0. 1. ]] SLAMing on 137.456502481 meters Centerline goodness [0,1] 0.5549945063936228 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79185605 -0.01012025 -0.61062392 4.37943369] [ 0.04142202 0.99845017 0.03716806 0.34727974] [ 0.60930141 -0.05472503 0.79104802 0.98125084] [ 0. 0. 0. 1. ]] SLAMing on 137.486502481 meters Centerline goodness [0,1] 0.5555789572217542 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79161896 -0.00945353 -0.61094193 4.38054286] [ 0.04102157 0.99844663 0.03770344 0.34725551] [ 0.60963649 -0.05490856 0.79077709 0.98148189] [ 0. 0. 0. 1. ]] SLAMing on 137.516502481 meters Centerline goodness [0,1] 0.552079430498314 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79148797 -0.00890457 -0.61111987 4.38213354] [ 0.04064946 0.99844685 0.03809861 0.34701211] [ 0.60983146 -0.05499628 0.79062064 0.98139087] [ 0. 0. 0. 1. ]] SLAMing on 137.54650248099998 meters Centerline goodness [0,1] 0.5535526408080241 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 0.79138759 -0.00860741 -0.61125412 4.38371742] [ 0.04042267 0.9984493 0.0382753 0.34698113] [ 0.60997679 -0.05499912 0.79050832 0.98125323] [ 0. 0. 0. 1. ]] SLAMing on 137.57650248099998 meters Centerline goodness [0,1] 0.5512191704035874 Centerline is valid? [False, False] Translation: X:4.39, Y:0.35, Z:0.98 [[ 0.79141903 -0.0080485 -0.61122102 4.3853766 ] [ 0.0399454 0.998457 0.03857439 0.34739429] [ 0.60996744 -0.05494397 0.79051937 0.98091466] [ 0. 0. 0. 1. ]] SLAMing on 137.60650248099998 meters Centerline goodness [0,1] 0.5479940007499062 Centerline is valid? [False, False] Translation: X:4.39, Y:0.35, Z:0.98 [[ 0.79142258 -0.00790081 -0.61121835 4.38510599] [ 0.03974165 0.99846599 0.03855209 0.34814661] [ 0.60997615 -0.05480182 0.79052252 0.98102619] [ 0. 0. 0. 1. ]] SLAMing on 137.63650248099998 meters Centerline goodness [0,1] 0.5408949352565153 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 7.91826414e-01 -2.39979210e-03 -6.10741493e-01 4.38410729e+00] [ 3.56210848e-02 9.98471471e-01 4.22594375e-02 3.49403024e-01] [ 6.09706543e-01 -5.52174134e-02 7.90701568e-01 9.80726989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66650248099998 meters Centerline goodness [0,1] 0.5431945743685688 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 7.91663619e-01 -1.79541328e-03 -6.10954573e-01 4.38438342e+00] [ 3.50593947e-02 9.98481351e-01 4.24950754e-02 3.50751277e-01] [ 6.09950451e-01 -5.50615027e-02 7.90524306e-01 9.81014917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69650248099998 meters Centerline goodness [0,1] 0.5368975198876931 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 7.92195621e-01 3.02731294e-03 -6.10259726e-01 4.38431475e+00] [ 3.14187938e-02 9.98459229e-01 4.57386884e-02 3.51698568e-01] [ 6.09457921e-01 -5.54076132e-02 7.90879914e-01 9.80156626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72650248099998 meters Centerline goodness [0,1] 0.5399578651685393 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 7.92323693e-01 2.97109471e-03 -6.10093713e-01 4.38433222e+00] [ 3.12916687e-02 9.98474095e-01 4.55007009e-02 3.52605507e-01] [ 6.09297955e-01 -5.51421337e-02 7.91021711e-01 9.79993378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75650248099998 meters Centerline goodness [0,1] 0.537429013939081 Centerline is valid? [False, False] Translation: X:4.38, Y:0.35, Z:0.98 [[ 7.92395879e-01 2.87945923e-03 -6.10000393e-01 4.38451718e+00] [ 3.12457515e-02 9.98484578e-01 4.53017747e-02 3.53377428e-01] [ 6.09206430e-01 -5.49568603e-02 7.91105094e-01 9.79845549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78650248099999 meters Centerline goodness [0,1] 0.5354090354090354 Centerline is valid? [False, False] Translation: X:4.39, Y:0.35, Z:0.98 [[ 7.92252153e-01 4.07218338e-03 -6.10180255e-01 4.38701910e+00] [ 3.02366066e-02 9.98487289e-01 4.59225610e-02 3.54843033e-01] [ 6.09444234e-01 -5.48320281e-02 7.90930575e-01 9.79625907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.816502481 meters Centerline goodness [0,1] 0.5321258655612605 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 0.79182471 0.00597823 -0.61071916 4.38911625] [ 0.0287794 0.99847609 0.04708769 0.35685728] [ 0.61006997 -0.05486133 0.79044599 0.97997351] [ 0. 0. 0. 1. ]] SLAMing on 137.846502481 meters Centerline goodness [0,1] 0.5325086918474019 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 0.79170104 0.0064856 -0.61087429 4.39003434] [ 0.02838502 0.99847317 0.04738807 0.35718668] [ 0.61024892 -0.05485686 0.79030815 0.98002329] [ 0. 0. 0. 1. ]] SLAMing on 137.876502481 meters Centerline goodness [0,1] 0.533003690735308 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 0.79170411 0.00696419 -0.61086504 4.39159321] [ 0.02806184 0.99846495 0.04775224 0.35674491] [ 0.61025989 -0.05494765 0.79029338 0.97969075] [ 0. 0. 0. 1. ]] SLAMing on 137.906502481 meters Centerline goodness [0,1] 0.5304413643029471 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 0.79163695 0.00720311 -0.6109493 4.39207037] [ 0.02791273 0.99846014 0.04793976 0.35628516] [ 0.61035384 -0.05500415 0.79021689 0.9797612 ] [ 0. 0. 0. 1. ]] SLAMing on 137.936502481 meters Centerline goodness [0,1] 0.530365712394506 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 0.79149922 0.00739533 -0.61112544 4.3918094 ] [ 0.02779049 0.99845703 0.04807535 0.35574512] [ 0.61053802 -0.05503508 0.79007244 0.98020342] [ 0. 0. 0. 1. ]] SLAMing on 137.966502481 meters Centerline goodness [0,1] 0.5367497996322663 Centerline is valid? [False, False] Translation: X:4.39, Y:0.35, Z:0.98 [[ 0.79149809 0.00720933 -0.61112911 4.39135445] [ 0.02796072 0.99845631 0.04799159 0.35498655] [ 0.61053171 -0.05507286 0.79007469 0.9804528 ] [ 0. 0. 0. 1. ]] SLAMing on 137.996502481 meters Centerline goodness [0,1] 0.5375017689513657 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:0.98 [[ 7.90766349e-01 3.29118308e-03 -6.12109263e-01 4.39357044e+00] [ 3.08701198e-02 9.98498658e-01 4.52489376e-02 3.55042092e-01] [ 6.11339200e-01 -5.46772235e-02 7.89477539e-01 9.81376869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026502481 meters Centerline goodness [0,1] 0.5371039761854135 Centerline is valid? [False, False] Translation: X:4.40, Y:0.36, Z:0.98 [[ 7.90139502e-01 -7.92073066e-05 -6.12927044e-01 4.39522375e+00] [ 3.32758066e-02 9.98530746e-01 4.27676322e-02 3.55594484e-01] [ 6.12023110e-01 -5.41880374e-02 7.88981222e-01 9.82282744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.056502481 meters Centerline goodness [0,1] 0.5379466390119731 Centerline is valid? [False, False] Translation: X:4.40, Y:0.36, Z:0.98 [[ 7.89529366e-01 -3.49631871e-03 -6.13702824e-01 4.39702837e+00] [ 3.57013136e-02 9.98551993e-01 4.02409416e-02 3.56202086e-01] [ 6.12673483e-01 -5.36814021e-02 7.88510945e-01 9.83076782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086502481 meters Centerline goodness [0,1] 0.5411542991755005 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.98 [[ 7.89194565e-01 -3.00054324e-03 -6.14135926e-01 4.39814847e+00] [ 3.55875181e-02 9.98531199e-01 4.08530729e-02 3.54340197e-01] [ 6.13111301e-01 -5.40965965e-02 7.88142177e-01 9.83501750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.116502481 meters Centerline goodness [0,1] 0.5371507919696863 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.98 [[ 7.88985516e-01 -2.53525750e-03 -6.14406566e-01 4.39824818e+00] [ 3.53206787e-02 9.98524912e-01 4.12365160e-02 3.53535501e-01] [ 6.13395717e-01 -5.42362707e-02 7.87911240e-01 9.83982253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.146502481 meters Centerline goodness [0,1] 0.5432493418578412 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.98 [[ 7.89030690e-01 -2.45180774e-03 -6.14348890e-01 4.39689750e+00] [ 3.53487986e-02 9.98516539e-01 4.14147674e-02 3.52247069e-01] [ 6.13335986e-01 -5.43940177e-02 7.87946863e-01 9.84386090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.176502481 meters Centerline goodness [0,1] 0.5442832624080126 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.98 [[ 7.88796014e-01 -1.99072116e-03 -6.14651841e-01 4.39733875e+00] [ 3.50661102e-02 9.98511830e-01 4.17671398e-02 3.51693957e-01] [ 6.13653987e-01 -5.44992026e-02 7.87691958e-01 9.84839846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.206502481 meters Centerline goodness [0,1] 0.543458844544728 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.98 [[ 7.88643808e-01 -1.47731611e-03 -6.14848568e-01 4.39850848e+00] [ 3.48208800e-02 9.98499490e-01 4.22643451e-02 3.50203834e-01] [ 6.13863543e-01 -5.47410823e-02 7.87511882e-01 9.84966822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.236502481 meters Centerline goodness [0,1] 0.5477166756484454 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.99 [[ 0.78828568 -0.00588475 -0.61528128 4.39894315] [ 0.03783431 0.99852572 0.0389223 0.35049957] [ 0.61414514 -0.05396063 0.78734617 0.98567239] [ 0. 0. 0. 1. ]] SLAMing on 138.266502481 meters Centerline goodness [0,1] 0.5500585069038146 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.99 [[ 0.78817492 -0.00519431 -0.61542937 4.39982283] [ 0.03750018 0.99851174 0.03959857 0.34836748] [ 0.61430777 -0.05428931 0.7871967 0.98584586] [ 0. 0. 0. 1. ]] SLAMing on 138.29650248099998 meters Centerline goodness [0,1] 0.5496546071888537 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.99 [[ 0.7879198 -0.00446955 -0.61576166 4.40089548] [ 0.0370362 0.99850731 0.04014325 0.34757976] [ 0.61466309 -0.05443514 0.78690921 0.98619386] [ 0. 0. 0. 1. ]] SLAMing on 138.32650248099998 meters Centerline goodness [0,1] 0.5500971282795422 Centerline is valid? [False, False] Translation: X:4.40, Y:0.35, Z:0.99 [[ 7.87728606e-01 -3.44442801e-03 -6.16012808e-01 4.40266216e+00] [ 3.64081963e-02 9.98496656e-01 4.09740310e-02 3.45915893e-01] [ 6.14945597e-01 -5.47043315e-02 7.86669784e-01 9.86301107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35650248099998 meters Centerline goodness [0,1] 0.5505171970952903 Centerline is valid? [False, False] Translation: X:4.40, Y:0.34, Z:0.99 [[ 7.87634571e-01 -2.83772824e-03 -6.16136129e-01 4.40358660e+00] [ 3.60174692e-02 9.98491430e-01 4.14440175e-02 3.44843422e-01] [ 6.15089038e-01 -5.48344050e-02 7.86548577e-01 9.86370344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38650248099998 meters Centerline goodness [0,1] 0.5497717533072479 Centerline is valid? [False, False] Translation: X:4.40, Y:0.34, Z:0.99 [[ 7.87410451e-01 -2.09298862e-03 -6.16425503e-01 4.40445026e+00] [ 3.55441408e-02 9.98484604e-01 4.20132051e-02 3.43902664e-01] [ 6.15403441e-01 -5.49919516e-02 7.86291606e-01 9.86711998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41650248099998 meters Centerline goodness [0,1] 0.5497717533072479 Centerline is valid? [False, False] Translation: X:4.40, Y:0.34, Z:0.99 [[ 7.87410451e-01 -2.09298862e-03 -6.16425503e-01 4.40445026e+00] [ 3.55441408e-02 9.98484604e-01 4.20132051e-02 3.43902664e-01] [ 6.15403441e-01 -5.49919516e-02 7.86291606e-01 9.86711998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44650248099998 meters Centerline goodness [0,1] 0.5508952718455655 Centerline is valid? [False, False] Translation: X:4.40, Y:0.34, Z:0.99 [[ 7.87209599e-01 -1.33789658e-03 -6.16684083e-01 4.40481947e+00] [ 3.50757953e-02 9.98475930e-01 4.26087618e-02 3.42769851e-01] [ 6.15687207e-01 -5.51727110e-02 7.86056764e-01 9.87154894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47650248099998 meters Centerline goodness [0,1] 0.5503227460210193 Centerline is valid? [False, False] Translation: X:4.41, Y:0.34, Z:0.99 [[ 7.87012897e-01 -8.72057312e-04 -6.16935928e-01 4.40541193e+00] [ 3.47806246e-02 9.98471309e-01 4.29575824e-02 3.41663555e-01] [ 6.15955362e-01 -5.52655882e-02 7.85840128e-01 9.87508707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50650248099998 meters Centerline goodness [0,1] 0.5486119177604832 Centerline is valid? [False, False] Translation: X:4.41, Y:0.34, Z:0.99 [[ 7.87053951e-01 -8.58190059e-04 -6.16883572e-01 4.40545352e+00] [ 3.48463895e-02 9.98464177e-01 4.30699045e-02 3.39420470e-01] [ 6.15899186e-01 -5.53945037e-02 7.85875081e-01 9.87614514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53650248099999 meters Centerline goodness [0,1] 0.5517425774801794 Centerline is valid? [False, False] Translation: X:4.41, Y:0.34, Z:0.99 [[ 7.86892919e-01 -3.70897011e-04 -6.17089456e-01 4.40622414e+00] [ 3.45730260e-02 9.98455631e-01 4.34863129e-02 3.38207650e-01] [ 6.16120313e-01 -5.55537215e-02 7.85690489e-01 9.87862934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.566502481 meters Centerline goodness [0,1] 0.5510071625599777 Centerline is valid? [False, False] Translation: X:4.42, Y:0.34, Z:1.00 [[ 7.85939082e-01 -1.92256679e-03 -6.18300948e-01 4.41955429e+00] [ 3.91384972e-02 9.98144427e-01 4.66463383e-02 3.38186770e-01] [ 6.17063965e-01 -6.08605502e-02 7.84555961e-01 9.98161943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.596502481 meters Centerline goodness [0,1] 0.5479830197870514 Centerline is valid? [False, False] Translation: X:4.42, Y:0.34, Z:1.00 [[ 7.85697718e-01 -1.28009842e-03 -6.18609293e-01 4.42009061e+00] [ 3.87582393e-02 9.98135056e-01 4.71615111e-02 3.37108692e-01] [ 6.17395250e-01 -6.10308987e-02 7.84282050e-01 9.98609440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.626502481 meters Centerline goodness [0,1] 0.5488460468996199 Centerline is valid? [False, False] Translation: X:4.42, Y:0.34, Z:1.00 [[ 7.85527931e-01 -9.50195659e-04 -6.18825474e-01 4.42051444e+00] [ 3.85673880e-02 9.98130000e-01 4.74242625e-02 3.36346574e-01] [ 6.17623207e-01 -6.11195650e-02 7.84095640e-01 9.98963683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.656502481 meters Centerline goodness [0,1] 0.5470079557246628 Centerline is valid? [False, False] Translation: X:4.42, Y:0.34, Z:1.00 [[ 0.78503113 -0.00480144 -0.6194377 4.42194245] [ 0.04126754 0.99815388 0.04456255 0.33610965] [ 0.61808018 -0.06054566 0.78378001 0.99976164] [ 0. 0. 0. 1. ]] SLAMing on 138.686502481 meters Centerline goodness [0,1] 0.5487849863973809 Centerline is valid? [False, False] Translation: X:4.42, Y:0.33, Z:1.00 [[ 0.78487551 -0.00451994 -0.619637 4.42317122] [ 0.04114135 0.99814705 0.04483153 0.33489218] [ 0.6182862 -0.06067987 0.78360712 0.99990362] [ 0. 0. 0. 1. ]] SLAMing on 138.716502481 meters Centerline goodness [0,1] 0.5499528204184023 Centerline is valid? [False, False] Translation: X:4.42, Y:0.33, Z:1.00 [[ 0.78432667 -0.00832667 -0.62029215 4.42448222] [ 0.04388028 0.99814996 0.04208535 0.33391543] [ 0.61879415 -0.06022725 0.78324101 1.00081488] [ 0. 0. 0. 1. ]] SLAMing on 138.746502481 meters Centerline goodness [0,1] 0.549936788874842 Centerline is valid? [False, False] Translation: X:4.43, Y:0.33, Z:1.00 [[ 0.78424 -0.00755056 -0.62041164 4.42505894] [ 0.043436 0.99814079 0.04275827 0.33238666] [ 0.61893532 -0.06048094 0.78310991 1.00103969] [ 0. 0. 0. 1. ]] SLAMing on 138.776502481 meters Centerline goodness [0,1] 0.5506218734223691 Centerline is valid? [False, False] Translation: X:4.44, Y:0.33, Z:1.01 [[ 0.78458452 -0.00697823 -0.6199826 4.43788633] [ 0.04668582 0.99776289 0.0478503 0.3313947 ] [ 0.61826172 -0.066487 0.78315511 1.01042277] [ 0. 0. 0. 1. ]] SLAMing on 138.806502481 meters Centerline goodness [0,1] 0.5521399261857277 Centerline is valid? [False, False] Translation: X:4.44, Y:0.33, Z:1.01 [[ 0.78435233 -0.0062866 -0.62028373 4.43867898] [ 0.04632119 0.9977504 0.04846116 0.33007688] [ 0.61858369 -0.06674291 0.78287905 1.01081764] [ 0. 0. 0. 1. ]] SLAMing on 138.836502481 meters Centerline goodness [0,1] 0.55242673992674 Centerline is valid? [False, False] Translation: X:4.44, Y:0.33, Z:1.01 [[ 0.78408765 -0.00577281 -0.62062326 4.43963553] [ 0.04608589 0.99773774 0.04894375 0.32867056] [ 0.61893671 -0.06697816 0.78257988 1.01126317] [ 0. 0. 0. 1. ]] SLAMing on 138.866502481 meters Centerline goodness [0,1] 0.5538563073211806 Centerline is valid? [False, False] Translation: X:4.44, Y:0.33, Z:1.01 [[ 0.78379951 -0.01028368 -0.6209288 4.44059093] [ 0.04936647 0.99773048 0.0457912 0.32735287] [ 0.61904869 -0.06654419 0.78252833 1.01176811] [ 0. 0. 0. 1. ]] SLAMing on 138.896502481 meters Centerline goodness [0,1] 0.5647363518640525 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.7836559 -0.00955609 -0.62112165 4.4414633 ] [ 0.0490806 0.99770835 0.04657398 0.32460507] [ 0.6192532 -0.066983 0.78232906 1.01212256] [ 0. 0. 0. 1. ]] SLAMing on 138.926502481 meters Centerline goodness [0,1] 0.5594518430980411 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78357342 -0.00883032 -0.62123645 4.44218355] [ 0.04867647 0.99769803 0.04721487 0.32327288] [ 0.61938946 -0.06723591 0.78219948 1.0122755 ] [ 0. 0. 0. 1. ]] SLAMing on 138.956502481 meters Centerline goodness [0,1] 0.5604028371374011 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78335767 -0.00815902 -0.62151766 4.44278875] [ 0.04825772 0.99769403 0.04772647 0.3222454 ] [ 0.61969505 -0.06737992 0.781945 1.01272555] [ 0. 0. 0. 1. ]] SLAMing on 138.986502481 meters Centerline goodness [0,1] 0.5589620505389005 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78307574 -0.00729659 -0.62188355 4.44287047] [ 0.04762732 0.99769835 0.04826628 0.32161751] [ 0.62010002 -0.0674148 0.78162089 1.01353526] [ 0. 0. 0. 1. ]] SLAMing on 139.01650248099997 meters Centerline goodness [0,1] 0.5542160499411924 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78275276 -0.00620303 -0.62230189 4.44321742] [ 0.04673042 0.99771314 0.04883405 0.32170761] [ 0.62057585 -0.06730542 0.78125258 1.01429676] [ 0. 0. 0. 1. ]] SLAMing on 139.04650248099998 meters Centerline goodness [0,1] 0.5551403985507246 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78253157 -0.00563547 -0.6225854 4.44390323] [ 0.04629251 0.99771782 0.0491543 0.32169597] [ 0.62088754 -0.06728583 0.78100658 1.01466447] [ 0. 0. 0. 1. ]] SLAMing on 139.07650248099998 meters Centerline goodness [0,1] 0.5499763038523167 Centerline is valid? [False, False] Translation: X:4.44, Y:0.32, Z:1.01 [[ 0.78239938 -0.00520924 -0.62275523 4.44451879] [ 0.0459305 0.99772445 0.04935904 0.32169921] [ 0.62108099 -0.06722194 0.78085825 1.01493513] [ 0. 0. 0. 1. ]] SLAMing on 139.10650248099998 meters Centerline goodness [0,1] 0.5467993666591269 Centerline is valid? [False, False] Translation: X:4.45, Y:0.32, Z:1.02 [[ 0.78225934 -0.00465964 -0.62293548 4.44513552] [ 0.0454268 0.99773645 0.0495821 0.32159175] [ 0.62129439 -0.06708403 0.78070033 1.0152685 ] [ 0. 0. 0. 1. ]] SLAMing on 139.13650248099998 meters Centerline goodness [0,1] 0.5468217998151029 Centerline is valid? [False, False] Translation: X:4.45, Y:0.32, Z:1.02 [[ 7.82018489e-01 -3.99590135e-03 -6.23242421e-01 4.44656033e+00] [ 4.49763823e-02 9.97734118e-01 5.00375366e-02 3.21076762e-01] [ 6.21630282e-01 -6.71614682e-02 7.80426249e-01 1.01551683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16650248099998 meters Centerline goodness [0,1] 0.5458451432941918 Centerline is valid? [False, False] Translation: X:4.45, Y:0.32, Z:1.02 [[ 7.81622824e-01 -3.04957499e-03 -6.23743907e-01 4.44794134e+00] [ 4.43949624e-02 9.97723971e-01 5.07539736e-02 3.19736527e-01] [ 6.22169470e-01 -6.73615515e-02 7.79979213e-01 1.01615996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19650248099998 meters Centerline goodness [0,1] 0.5416273955387998 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 0.77905405 -0.00474373 -0.62693881 4.45826921] [ 0.04875966 0.99740107 0.05304346 0.32169688] [ 0.62505782 -0.07189305 0.77726065 1.02778852] [ 0. 0. 0. 1. ]] SLAMing on 139.22650248099998 meters Centerline goodness [0,1] 0.5422225231936073 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 7.79019812e-01 -4.21618191e-03 -6.26985132e-01 4.45897162e+00] [ 4.84334977e-02 9.97394134e-01 5.34708999e-02 3.20764269e-01] [ 6.25125850e-01 -7.20219734e-02 7.77193996e-01 1.02787474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25650248099998 meters Centerline goodness [0,1] 0.5485444531864674 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 7.78922979e-01 -4.03942510e-03 -6.27106590e-01 4.45966223e+00] [ 4.83955718e-02 9.97384359e-01 5.36871468e-02 3.19788222e-01] [ 6.25249439e-01 -7.21673343e-02 7.77081086e-01 1.02804315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28650248099999 meters Centerline goodness [0,1] 0.5507050502320133 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 0.77897198 -0.00843781 -0.62700197 4.45943759] [ 0.05149406 0.997393 0.05055267 0.3190413 ] [ 0.62494082 -0.07166599 0.77737569 1.02824701] [ 0. 0. 0. 1. ]] SLAMing on 139.316502481 meters Centerline goodness [0,1] 0.5533504342738851 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 0.77884356 -0.00795019 -0.62716785 4.46000551] [ 0.05126985 0.99738045 0.05102595 0.31794978] [ 0.62511928 -0.07189604 0.77721094 1.02853402] [ 0. 0. 0. 1. ]] SLAMing on 139.346502481 meters Centerline goodness [0,1] 0.5534425787308652 Centerline is valid? [False, False] Translation: X:4.46, Y:0.32, Z:1.03 [[ 0.77877506 -0.00737006 -0.62725998 4.46110878] [ 0.05116564 0.99734557 0.05180631 0.31591671] [ 0.62521315 -0.07243962 0.77708495 1.02861995] [ 0. 0. 0. 1. ]] SLAMing on 139.376502481 meters Centerline goodness [0,1] 0.5601890590017866 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77941964 -0.00941039 -0.62643153 4.45955437] [ 0.05280067 0.9973165 0.05071382 0.31312157] [ 0.62427326 -0.07260335 0.77782495 1.02802936] [ 0. 0. 0. 1. ]] SLAMing on 139.406502481 meters Centerline goodness [0,1] 0.5664707212299345 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77955819 -0.00942103 -0.62625895 4.45960866] [ 0.05296069 0.9972974 0.05092202 0.31157116] [ 0.62408669 -0.07286378 0.7779503 1.02792983] [ 0. 0. 0. 1. ]] SLAMing on 139.436502481 meters Centerline goodness [0,1] 0.5696188214002941 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77964962 -0.00929401 -0.62614702 4.46017488] [ 0.05302696 0.99727842 0.05122396 0.31009522] [ 0.62396684 -0.07313942 0.77802057 1.02778445] [ 0. 0. 0. 1. ]] SLAMing on 139.466502481 meters Centerline goodness [0,1] 0.5814519948578001 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77929832 -0.01382805 -0.62650053 4.46170851] [ 0.05642027 0.99724443 0.04816959 0.3093048 ] [ 0.62410807 -0.07288581 0.77793109 1.02814897] [ 0. 0. 0. 1. ]] SLAMing on 139.496502481 meters Centerline goodness [0,1] 0.591125233813355 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77919938 -0.01329976 -0.62663502 4.46325835] [ 0.05642288 0.99720406 0.04899518 0.3073154 ] [ 0.62423136 -0.07353357 0.77777119 1.02805311] [ 0. 0. 0. 1. ]] SLAMing on 139.526502481 meters Centerline goodness [0,1] 0.5968452690334682 Centerline is valid? [False, False] Translation: X:4.46, Y:0.31, Z:1.03 [[ 0.77911694 -0.0127289 -0.62674937 4.46433016] [ 0.05618505 0.99718799 0.04959178 0.30608849] [ 0.6243557 -0.07385174 0.77764123 1.02810657] [ 0. 0. 0. 1. ]] SLAMing on 139.556502481 meters Centerline goodness [0,1] 0.6003385622390249 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77916501 -0.01241457 -0.62669591 4.46517927] [ 0.05609602 0.99717312 0.04999009 0.30497059] [ 0.62430371 -0.07410567 0.77765881 1.02794566] [ 0. 0. 0. 1. ]] SLAMing on 139.586502481 meters Centerline goodness [0,1] 0.5989558614143331 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77926304 -0.01242196 -0.62657386 4.46720484] [ 0.05631844 0.99714631 0.05027398 0.3030001 ] [ 0.62416131 -0.07446432 0.77773885 1.02746778] [ 0. 0. 0. 1. ]] SLAMing on 139.616502481 meters Centerline goodness [0,1] 0.6017948544499312 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77908865 -0.01207705 -0.62679743 4.46821585] [ 0.05618156 0.99713657 0.05061913 0.30221339] [ 0.62439131 -0.07465125 0.77753629 1.0276591 ] [ 0. 0. 0. 1. ]] SLAMing on 139.646502481 meters Centerline goodness [0,1] 0.604546278669205 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77925284 -0.00667179 -0.62667416 4.46849007] [ 0.05254188 0.99711845 0.05471877 0.30145987] [ 0.6245033 -0.07556639 0.77735793 1.0274432 ] [ 0. 0. 0. 1. ]] SLAMing on 139.676502481 meters Centerline goodness [0,1] 0.600950064777144 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77907952 -0.00618259 -0.62689463 4.46907522] [ 0.05214283 0.99712574 0.05496713 0.30224331] [ 0.62475293 -0.07551183 0.77716262 1.02770382] [ 0. 0. 0. 1. ]] SLAMing on 139.706502481 meters Centerline goodness [0,1] 0.5999590518221939 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.77897123 -0.00600493 -0.62703092 4.46966527] [ 0.05195436 0.99713407 0.05499448 0.30299257] [ 0.62490365 -0.07541611 0.77705073 1.02782756] [ 0. 0. 0. 1. ]] SLAMing on 139.736502481 meters Centerline goodness [0,1] 0.6045605722356371 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:1.03 [[ 0.7791951 -0.00633487 -0.62674944 4.46971197] [ 0.05195804 0.99716009 0.05451712 0.30441363] [ 0.62462417 -0.07504415 0.77731141 1.02753645] [ 0. 0. 0. 1. ]] SLAMing on 139.76650248099997 meters Centerline goodness [0,1] 0.600337460382607 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:1.03 [[ 0.77910424 -0.00645033 -0.62686121 4.46956805] [ 0.05192007 0.99717561 0.05426884 0.305483 ] [ 0.62474066 -0.07482776 0.77723865 1.02779864] [ 0. 0. 0. 1. ]] SLAMing on 139.79650248099998 meters Centerline goodness [0,1] 0.5963285994794283 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:1.03 [[ 0.77878979 -0.00493377 -0.62726559 4.47074976] [ 0.05069995 0.9971926 0.05510375 0.30832042] [ 0.62523274 -0.07471657 0.77685356 1.02816948] [ 0. 0. 0. 1. ]] SLAMing on 139.82650248099998 meters Centerline goodness [0,1] 0.5964695377429768 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:1.03 [[ 7.78475579e-01 -4.22926721e-03 -6.27660646e-01 4.47241293e+00] [ 5.01438738e-02 9.97200238e-01 5.54732166e-02 3.09724914e-01] [ 6.25668734e-01 -7.46578806e-02 7.76508104e-01 1.02842034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85650248099998 meters Centerline goodness [0,1] 0.5866804218248509 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:1.03 [[ 7.77944102e-01 -2.21830669e-03 -6.28329574e-01 4.47604104e+00] [ 4.85839758e-02 9.97212327e-01 5.66318953e-02 3.12403028e-01] [ 6.26452370e-01 -7.45831977e-02 7.75883223e-01 1.02856320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88650248099998 meters Centerline goodness [0,1] 0.5891702215494702 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:1.03 [[ 7.77724205e-01 -1.57176952e-03 -6.28603683e-01 4.47780871e+00] [ 4.80434480e-02 9.97220565e-01 5.69470916e-02 3.13348908e-01] [ 6.26767012e-01 -7.44894199e-02 7.75638085e-01 1.02863562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91650248099998 meters Centerline goodness [0,1] 0.5815699187179073 Centerline is valid? [False, False] Translation: X:4.48, Y:0.32, Z:1.03 [[ 7.77112538e-01 2.90644100e-04 -6.29361596e-01 4.48130511e+00] [ 4.66861649e-02 9.97218127e-01 5.81068814e-02 3.15381719e-01] [ 6.27627681e-01 -7.45380653e-02 7.74937140e-01 1.02899299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94650248099998 meters Centerline goodness [0,1] 0.5761831073746448 Centerline is valid? [False, False] Translation: X:4.48, Y:0.32, Z:1.03 [[ 7.76629932e-01 1.33600701e-03 -6.29955684e-01 4.48394859e+00] [ 4.59587753e-02 9.97212798e-01 5.87743627e-02 3.16276775e-01] [ 6.28278393e-01 -7.45979210e-02 7.74403907e-01 1.02932984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97650248099998 meters Centerline goodness [0,1] 0.5755367388487878 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:1.03 [[ 7.76166006e-01 2.46761480e-03 -6.30523783e-01 4.48643846e+00] [ 4.51645777e-02 9.97206075e-01 5.94996277e-02 3.17313228e-01] [ 6.28908969e-01 -7.46589289e-02 7.73886008e-01 1.02963225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00650248099998 meters Centerline goodness [0,1] 0.5725976585139678 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:1.03 [[ 7.75740354e-01 3.95982647e-03 -6.31039795e-01 4.48845442e+00] [ 4.39694734e-02 9.97210837e-01 6.03094718e-02 3.20478525e-01] [ 6.29518537e-01 -7.45309785e-02 7.73402576e-01 1.02992996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03650248099999 meters Centerline goodness [0,1] 0.5652153688715229 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:1.03 [[ 7.75502222e-01 4.43100638e-03 -6.31329288e-01 4.48927894e+00] [ 4.34440085e-02 9.97230558e-01 6.03641567e-02 3.23640908e-01] [ 6.29848332e-01 -7.42400126e-02 7.73162013e-01 1.03019324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.066502481 meters Centerline goodness [0,1] 0.561663290726642 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:1.03 [[ 7.75095443e-01 4.37554907e-03 -6.31829019e-01 4.48996430e+00] [ 4.33665324e-02 9.97249524e-01 6.01060014e-02 3.24997295e-01] [ 6.30354185e-01 -7.39881213e-02 7.72773809e-01 1.03080690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.096502481 meters Centerline goodness [0,1] 0.5646877265181098 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:1.03 [[ 7.74877014e-01 4.32556042e-03 -6.32097226e-01 4.49077737e+00] [ 4.32600572e-02 9.97269169e-01 5.98562537e-02 3.26327511e-01] [ 6.30629988e-01 -7.37257973e-02 7.72573832e-01 1.03108470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.126502481 meters Centerline goodness [0,1] 0.5581275599765945 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:1.03 [[ 0.77451925 0.0047966 -0.63253216 4.49200371] [ 0.04270483 0.99729326 0.05985361 0.32957393] [ 0.63110715 -0.07336995 0.77221798 1.03145412] [ 0. 0. 0. 1. ]] SLAMing on 140.156502481 meters Centerline goodness [0,1] 0.5548465512002431 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:1.03 [[ 0.7742136 0.00486021 -0.63290575 4.49273811] [ 0.04254462 0.99730919 0.05970203 0.33098445] [ 0.63149288 -0.07314886 0.77192356 1.03187122] [ 0. 0. 0. 1. ]] SLAMing on 140.186502481 meters Centerline goodness [0,1] 0.5523856485394947 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:1.03 [[ 0.77372737 0.0060153 -0.63349015 4.49532391] [ 0.04163057 0.9973108 0.06031638 0.33349824] [ 0.63214939 -0.07304099 0.77139624 1.03217978] [ 0. 0. 0. 1. ]] SLAMing on 140.216502481 meters Centerline goodness [0,1] 0.5580974325213957 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:1.03 [[ 0.7734572 0.00625736 -0.63381765 4.4961305 ] [ 0.04138892 0.99731861 0.06035354 0.3345795 ] [ 0.63249579 -0.0729139 0.77112427 1.03250715] [ 0. 0. 0. 1. ]] SLAMing on 140.246502481 meters Centerline goodness [0,1] 0.557133070326711 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77325848 0.00673165 -0.63405521 4.49696201] [ 0.04103294 0.99731656 0.06062982 0.33553066] [ 0.6327619 -0.07289967 0.77090727 1.03266701] [ 0. 0. 0. 1. ]] SLAMing on 140.276502481 meters Centerline goodness [0,1] 0.5565682257076916 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77302515 0.00695473 -0.63433726 4.49779713] [ 0.04091058 0.99731188 0.06078934 0.33549091] [ 0.63305485 -0.07294279 0.77066264 1.03295304] [ 0. 0. 0. 1. ]] SLAMing on 140.306502481 meters Centerline goodness [0,1] 0.5565682257076916 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77302515 0.00695473 -0.63433726 4.49779713] [ 0.04091058 0.99731188 0.06078934 0.33549091] [ 0.63305485 -0.07294279 0.77066264 1.03295304] [ 0. 0. 0. 1. ]] SLAMing on 140.336502481 meters Centerline goodness [0,1] 0.5638307939812623 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77300745 0.00641434 -0.63436451 4.49846353] [ 0.04143505 0.99730327 0.06057502 0.33558957] [ 0.63304235 -0.07310987 0.77065708 1.03280503] [ 0. 0. 0. 1. ]] SLAMing on 140.366502481 meters Centerline goodness [0,1] 0.5626848368703716 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77288287 0.00633329 -0.63451711 4.49886992] [ 0.04153619 0.99730069 0.06054809 0.33533089] [ 0.63318782 -0.073152 0.77053356 1.03304948] [ 0. 0. 0. 1. ]] SLAMing on 140.396502481 meters Centerline goodness [0,1] 0.5701330681441492 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77325931 0.00539009 -0.63406702 4.49881384] [ 0.04220103 0.99730933 0.05994308 0.33609083] [ 0.63268405 -0.07310983 0.77095126 1.03237766] [ 0. 0. 0. 1. ]] SLAMing on 140.426502481 meters Centerline goodness [0,1] 0.5705225293449451 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77328972 0.00517191 -0.63403175 4.49931575] [ 0.04233175 0.9973145 0.05976471 0.33646048] [ 0.63263815 -0.07305511 0.77099411 1.03227133] [ 0. 0. 0. 1. ]] SLAMing on 140.456502481 meters Centerline goodness [0,1] 0.5775255337804213 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 7.73762172e-01 4.46039530e-03 -6.33460501e-01 4.49988805e+00] [ 4.27205533e-02 9.97331299e-01 5.92050173e-02 3.37481493e-01] [ 6.32034063e-01 -7.28723859e-02 7.71506681e-01 1.03140023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.486502481 meters Centerline goodness [0,1] 0.5833452228087697 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:1.03 [[ 0.77360131 0.00467809 -0.63365537 4.50111301] [ 0.04254117 0.99733335 0.05929961 0.33837245] [ 0.63224304 -0.0728307 0.77133938 1.03145597] [ 0. 0. 0. 1. ]] SLAMing on 140.51650248099997 meters Centerline goodness [0,1] 0.5843235504652827 Centerline is valid? [False, False] Translation: X:4.51, Y:0.34, Z:1.03 [[ 0.77352922 0.00557606 -0.63373611 4.50507092] [ 0.04188794 0.99732494 0.059903 0.34035557] [ 0.63237484 -0.07288262 0.77122641 1.0307006 ] [ 0. 0. 0. 1. ]] SLAMing on 140.54650248099998 meters Centerline goodness [0,1] 0.5859339611395875 Centerline is valid? [False, False] Translation: X:4.51, Y:0.34, Z:1.03 [[ 0.77363714 0.00591581 -0.63360127 4.5071279 ] [ 0.04164393 0.99731971 0.06015967 0.34044653] [ 0.63225893 -0.0729274 0.77131721 1.03013719] [ 0. 0. 0. 1. ]] SLAMing on 140.57650248099998 meters Centerline goodness [0,1] 0.5878370295940094 Centerline is valid? [False, False] Translation: X:4.51, Y:0.34, Z:1.03 [[ 0.77443714 0.00581582 -0.63262414 4.50795227] [ 0.04156392 0.99732967 0.06004976 0.34206405] [ 0.63128406 -0.0727991 0.7721274 1.02852289] [ 0. 0. 0. 1. ]] SLAMing on 140.60650248099998 meters Centerline goodness [0,1] 0.5863802887723584 Centerline is valid? [False, False] Translation: X:4.51, Y:0.34, Z:1.03 [[ 0.77467574 0.00586051 -0.63233152 4.50801836] [ 0.04140434 0.99734121 0.05996834 0.34337802] [ 0.63100173 -0.07263728 0.77237339 1.02808355] [ 0. 0. 0. 1. ]] SLAMing on 140.63650248099998 meters Centerline goodness [0,1] 0.5850348306509728 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:1.03 [[ 0.77612347 0.00833725 -0.63052585 4.50842138] [ 0.03933148 0.9973256 0.06160102 0.34590635] [ 0.62935316 -0.07260951 0.77371989 1.02536215] [ 0. 0. 0. 1. ]] SLAMing on 140.66650248099998 meters Centerline goodness [0,1] 0.5806614309388285 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:1.02 [[ 0.77650045 0.00845643 -0.63005996 4.50918097] [ 0.03906542 0.99734037 0.06153105 0.34751185] [ 0.62890456 -0.07239244 0.77410489 1.02452079] [ 0. 0. 0. 1. ]] SLAMing on 140.69650248099998 meters Centerline goodness [0,1] 0.5777162129607323 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:1.02 [[ 0.77801121 0.01147722 -0.62814555 4.51051921] [ 0.03655738 0.99731192 0.06350188 0.35003745] [ 0.62718587 -0.07236853 0.77550028 1.02148395] [ 0. 0. 0. 1. ]] SLAMing on 140.72650248099998 meters Centerline goodness [0,1] 0.5786586102719034 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:1.02 [[ 0.77845873 0.01141043 -0.62759207 4.51121848] [ 0.03642214 0.99732905 0.06331037 0.35170678] [ 0.6266382 -0.07214276 0.77596391 1.02046512] [ 0. 0. 0. 1. ]] SLAMing on 140.75650248099998 meters Centerline goodness [0,1] 0.5761893262496982 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:1.02 [[ 0.77932647 0.0128546 -0.62648625 4.51444615] [ 0.03521744 0.99731076 0.06427263 0.35408026] [ 0.62562768 -0.0721526 0.77677797 1.01811945] [ 0. 0. 0. 1. ]] SLAMing on 140.78650248099999 meters Centerline goodness [0,1] 0.577930900621118 Centerline is valid? [False, False] Translation: X:4.52, Y:0.35, Z:1.02 [[ 0.77981365 0.01285504 -0.62587972 4.51557895] [ 0.0351475 0.99731302 0.06427592 0.35482048] [ 0.62502426 -0.07212134 0.77726648 1.01690925] [ 0. 0. 0. 1. ]] SLAMing on 140.816502481 meters Centerline goodness [0,1] 0.578601401993839 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.01 [[ 0.78156668 0.01106739 -0.62372353 4.51797583] [ 0.03621002 0.99735196 0.06307062 0.35622861] [ 0.62276991 -0.07187894 0.77909631 1.01308515] [ 0. 0. 0. 1. ]] SLAMing on 140.846502481 meters Centerline goodness [0,1] 0.5802961414087384 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.01 [[ 0.78230113 0.01090637 -0.62280494 4.51925942] [ 0.03630915 0.99734821 0.06307294 0.35589707] [ 0.62184129 -0.07195555 0.77983063 1.01140692] [ 0. 0. 0. 1. ]] SLAMing on 140.876502481 meters Centerline goodness [0,1] 0.5802138386224701 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.01 [[ 0.78354557 0.01087486 -0.62123915 4.52144859] [ 0.03630331 0.99733743 0.06324651 0.35616037] [ 0.62027285 -0.07210956 0.78106453 1.00847258] [ 0. 0. 0. 1. ]] SLAMing on 140.906502481 meters Centerline goodness [0,1] 0.5795848595848596 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.01 [[ 0.78413137 0.01103905 -0.62049668 4.52181018] [ 0.03613178 0.99733369 0.06340352 0.35685385] [ 0.61954216 -0.07213634 0.78164177 1.00720902] [ 0. 0. 0. 1. ]] SLAMing on 140.936502481 meters Centerline goodness [0,1] 0.5821643286573146 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.01 [[ 0.78472877 0.01116999 -0.61973865 4.52232022] [ 0.03594801 0.99733458 0.06349395 0.35745886] [ 0.61879601 -0.0721039 0.78223559 1.0059225 ] [ 0. 0. 0. 1. ]] SLAMing on 140.966502481 meters Centerline goodness [0,1] 0.5778044068376904 Centerline is valid? [False, False] Translation: X:4.52, Y:0.36, Z:1.00 [[ 0.78590256 0.01161372 -0.61824129 4.52464799] [ 0.03561703 0.99731342 0.06401066 0.3580395 ] [ 0.61732374 -0.07232606 0.78337752 1.00299363] [ 0. 0. 0. 1. ]] SLAMing on 140.996502481 meters Centerline goodness [0,1] 0.5809300163890316 Centerline is valid? [False, False] Translation: X:4.53, Y:0.36, Z:1.00 [[ 0.78680075 0.00856316 -0.61714767 4.52824583] [ 0.03769642 0.99737035 0.061898 0.35942905] [ 0.61605483 -0.07196565 0.78440894 1.00039093] [ 0. 0. 0. 1. ]] SLAMing on 141.026502481 meters Centerline goodness [0,1] 0.5806325463166642 Centerline is valid? [False, False] Translation: X:4.53, Y:0.36, Z:1.00 [[ 0.78726201 0.00841383 -0.61656122 4.52923692] [ 0.0378228 0.99736514 0.06190483 0.35908614] [ 0.61545753 -0.07205539 0.78486945 0.99922627] [ 0. 0. 0. 1. ]] SLAMing on 141.056502481 meters Centerline goodness [0,1] 0.583698231365738 Centerline is valid? [False, False] Translation: X:4.53, Y:0.36, Z:1.00 [[ 0.78782698 0.00817691 -0.61584234 4.53013614] [ 0.03799598 0.99736199 0.0618496 0.35890167] [ 0.61472348 -0.07212632 0.78543799 0.99787524] [ 0. 0. 0. 1. ]] SLAMing on 141.086502481 meters Centerline goodness [0,1] 0.5853670489071842 Centerline is valid? [False, False] Translation: X:4.53, Y:0.36, Z:0.99 [[ 0.78935155 0.00768636 -0.61389335 4.53235545] [ 0.03837642 0.99734849 0.06183234 0.35843366] [ 0.61274087 -0.07236648 0.7869636 0.99433754] [ 0. 0. 0. 1. ]] SLAMing on 141.116502481 meters Centerline goodness [0,1] 0.5881300254951951 Centerline is valid? [False, False] Translation: X:4.53, Y:0.36, Z:0.99 [[ 0.79105963 0.00743526 -0.61169386 4.53407569] [ 0.03858683 0.99732845 0.0620243 0.3579027 ] [ 0.61052085 -0.07266825 0.78865938 0.99050067] [ 0. 0. 0. 1. ]] SLAMing on 141.146502481 meters Centerline goodness [0,1] 0.5887440584113295 Centerline is valid? [False, False] Translation: X:4.54, Y:0.36, Z:0.99 [[ 0.79165384 0.00746735 -0.61092425 4.53512366] [ 0.03856621 0.99732046 0.06216553 0.35763355] [ 0.60975147 -0.07277461 0.78924458 0.98903764] [ 0. 0. 0. 1. ]] SLAMing on 141.176502481 meters Centerline goodness [0,1] 0.5901402942757981 Centerline is valid? [False, False] Translation: X:4.54, Y:0.36, Z:0.98 [[ 0.79340991 0.00672809 -0.60865051 4.53766285] [ 0.03902083 0.99731989 0.0618903 0.35742019] [ 0.60743566 -0.07285443 0.79102095 0.98493625] [ 0. 0. 0. 1. ]] SLAMing on 141.206502481 meters Centerline goodness [0,1] 0.5899359694999755 Centerline is valid? [False, False] Translation: X:4.54, Y:0.36, Z:0.98 [[ 0.79396811 0.0069519 -0.60791965 4.53905304] [ 0.03885453 0.99731021 0.06215041 0.35731659] [ 0.60671654 -0.07296588 0.79156239 0.98338933] [ 0. 0. 0. 1. ]] SLAMing on 141.236502481 meters Centerline goodness [0,1] 0.5908279320044025 Centerline is valid? [False, False] Translation: X:4.54, Y:0.36, Z:0.98 [[ 0.79445068 0.00727161 -0.60728514 4.54045856] [ 0.03861855 0.99729988 0.06246244 0.35739551] [ 0.6060996 -0.0730758 0.79202475 0.98198043] [ 0. 0. 0. 1. ]] SLAMing on 141.26650248099997 meters Centerline goodness [0,1] 0.5950818066033114 Centerline is valid? [False, False] Translation: X:4.54, Y:0.36, Z:0.98 [[ 0.79584385 0.00834012 -0.60544447 4.5434518 ] [ 0.03776993 0.99727414 0.06338542 0.35806044] [ 0.60432275 -0.0733125 0.79335949 0.97831963] [ 0. 0. 0. 1. ]] SLAMing on 141.29650248099998 meters Centerline goodness [0,1] 0.5933944954128441 Centerline is valid? [False, False] Translation: X:4.55, Y:0.36, Z:0.97 [[ 0.79716274 0.00905226 -0.60369663 4.54689774] [ 0.03715199 0.99725736 0.06401165 0.35846883] [ 0.60262036 -0.07345624 0.7946401 0.97471585] [ 0. 0. 0. 1. ]] SLAMing on 141.32650248099998 meters Centerline goodness [0,1] 0.5940972988886435 Centerline is valid? [False, False] Translation: X:4.55, Y:0.36, Z:0.97 [[ 0.79785477 0.00952976 -0.60277437 4.54854701] [ 0.03679758 0.99724079 0.06447286 0.35826719] [ 0.6017256 -0.07362062 0.79530265 0.97278016] [ 0. 0. 0. 1. ]] SLAMing on 141.35650248099998 meters Centerline goodness [0,1] 0.5933701118000293 Centerline is valid? [False, False] Translation: X:4.55, Y:0.36, Z:0.97 [[ 0.7983664 0.00978674 -0.60209244 4.54998604] [ 0.03653454 0.99723873 0.06465397 0.3583479 ] [ 0.60106266 -0.07361473 0.79580435 0.97135118] [ 0. 0. 0. 1. ]] SLAMing on 141.38650248099998 meters Centerline goodness [0,1] 0.5916980394074218 Centerline is valid? [False, False] Translation: X:4.55, Y:0.36, Z:0.97 [[ 0.79962437 0.01086005 -0.60040231 4.55326581] [ 0.03567371 0.99721152 0.06554828 0.35894475] [ 0.59943995 -0.07383258 0.79700721 0.96779238] [ 0. 0. 0. 1. ]] SLAMing on 141.41650248099998 meters Centerline goodness [0,1] 0.5925681618293756 Centerline is valid? [False, False] Translation: X:4.56, Y:0.36, Z:0.97 [[ 0.7999695 0.01127699 -0.59993469 4.55555946] [ 0.03535562 0.99720042 0.06588857 0.35893295] [ 0.59899815 -0.07391991 0.79733122 0.96642527] [ 0. 0. 0. 1. ]] SLAMing on 141.44650248099998 meters Centerline goodness [0,1] 0.5902244608538314 Centerline is valid? [False, False] Translation: X:4.56, Y:0.36, Z:0.96 [[ 0.80131629 0.01054771 -0.59814794 4.56060236] [ 0.0357646 0.99721161 0.06549726 0.35928883] [ 0.59717092 -0.07387654 0.79870467 0.9623244 ] [ 0. 0. 0. 1. ]] SLAMing on 141.47650248099998 meters Centerline goodness [0,1] 0.5910725204842853 Centerline is valid? [False, False] Translation: X:4.56, Y:0.36, Z:0.96 [[ 0.80167476 0.01099435 -0.59765935 4.5627781 ] [ 0.0354698 0.99719417 0.06592175 0.35904757] [ 0.59670719 -0.07404666 0.79903543 0.9609165 ] [ 0. 0. 0. 1. ]] SLAMing on 141.50650248099998 meters Centerline goodness [0,1] 0.5902312619175671 Centerline is valid? [False, False] Translation: X:4.57, Y:0.36, Z:0.96 [[ 0.80255766 0.01000941 -0.59649058 4.568441 ] [ 0.03613656 0.99720759 0.06535415 0.35952425] [ 0.5954791 -0.07400559 0.79995488 0.95751873] [ 0. 0. 0. 1. ]] SLAMing on 141.53650248099999 meters Centerline goodness [0,1] 0.5927864042058931 Centerline is valid? [False, False] Translation: X:4.57, Y:0.36, Z:0.96 [[ 0.80289436 0.01050015 -0.59602886 4.57091679] [ 0.03583446 0.99718661 0.06583892 0.35916232] [ 0.59504331 -0.07422007 0.80025923 0.95605097] [ 0. 0. 0. 1. ]] SLAMing on 141.566502481 meters Centerline goodness [0,1] 0.5902787949807138 Centerline is valid? [False, False] Translation: X:4.57, Y:0.36, Z:0.95 [[ 0.80408774 0.01121033 -0.59440494 4.57421086] [ 0.03535721 0.99715071 0.06663587 0.35882566] [ 0.59345832 -0.07459758 0.80140029 0.95248949] [ 0. 0. 0. 1. ]] SLAMing on 141.596502481 meters Centerline goodness [0,1] 0.590257388921511 Centerline is valid? [False, False] Translation: X:4.58, Y:0.36, Z:0.95 [[ 0.8046413 0.01128648 -0.59365394 4.57536483] [ 0.03532586 0.99713827 0.06683832 0.35828433] [ 0.59270943 -0.07475221 0.80193992 0.95095476] [ 0. 0. 0. 1. ]] SLAMing on 141.626502481 meters Centerline goodness [0,1] 0.5847287994922619 Centerline is valid? [False, False] Translation: X:4.58, Y:0.36, Z:0.95 [[ 0.80570513 0.00690971 -0.59227653 4.57850789] [ 0.03850771 0.99720553 0.06401784 0.35802579] [ 0.59106378 -0.07438671 0.80318754 0.9477239 ] [ 0. 0. 0. 1. ]] SLAMing on 141.656502481 meters Centerline goodness [0,1] 0.5802103718199609 Centerline is valid? [False, False] Translation: X:4.58, Y:0.36, Z:0.94 [[ 8.06716436e-01 3.36138247e-03 -5.90929178e-01 4.58191926e+00] [ 4.11612514e-02 9.97235445e-01 6.18645164e-02 3.57791870e-01] [ 5.89503472e-01 -7.42305066e-02 8.04347865e-01 9.44445282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.686502481 meters Centerline goodness [0,1] 0.5826263416542383 Centerline is valid? [False, False] Translation: X:4.58, Y:0.36, Z:0.94 [[ 8.07353273e-01 3.47728059e-03 -5.90058134e-01 4.58343355e+00] [ 4.11734831e-02 9.97213276e-01 6.22127458e-02 3.56905437e-01] [ 5.88630136e-01 -7.45224126e-02 8.04960231e-01 9.42548900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.716502481 meters Centerline goodness [0,1] 0.5854507995683311 Centerline is valid? [False, False] Translation: X:4.59, Y:0.36, Z:0.94 [[ 8.07906823e-01 3.70295280e-03 -5.89298611e-01 4.58527393e+00] [ 4.10972976e-02 9.97191625e-01 6.26089049e-02 3.55781692e-01] [ 5.87875477e-01 -7.48007418e-02 8.05485737e-01 9.40807239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746502481 meters Centerline goodness [0,1] 0.5819976544175136 Centerline is valid? [False, False] Translation: X:4.59, Y:0.35, Z:0.94 [[ 8.08778571e-01 3.92503289e-04 -5.88113143e-01 4.59029711e+00] [ 4.36633061e-02 9.97199882e-01 6.07117031e-02 3.54823411e-01] [ 5.86490186e-01 -7.47812886e-02 8.06496758e-01 9.37260155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.776502481 meters Centerline goodness [0,1] 0.5785481858439556 Centerline is valid? [False, False] Translation: X:4.59, Y:0.35, Z:0.94 [[ 8.09358014e-01 1.07636605e-03 -5.87314606e-01 4.59256895e+00] [ 4.32634044e-02 9.97172255e-01 6.14473147e-02 3.53493730e-01] [ 5.85719970e-01 -7.51421059e-02 8.07022788e-01 9.35308850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806502481 meters Centerline goodness [0,1] 0.5808877566018323 Centerline is valid? [False, False] Translation: X:4.60, Y:0.35, Z:0.93 [[ 8.10503286e-01 2.87383180e-03 -5.85727040e-01 4.59704388e+00] [ 4.21728715e-02 9.97106307e-01 6.32492001e-02 3.52377005e-01] [ 5.84213893e-01 -7.59654756e-02 8.08036740e-01 9.31219524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.836502481 meters Centerline goodness [0,1] 0.5717951851399242 Centerline is valid? [False, False] Translation: X:4.60, Y:0.35, Z:0.93 [[ 8.10764851e-01 3.66422554e-03 -5.85360513e-01 4.59985068e+00] [ 4.16358316e-02 9.97086738e-01 6.39100498e-02 3.51984845e-01] [ 5.83889385e-01 -7.61879937e-02 8.08250317e-01 9.29757763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.866502481 meters Centerline goodness [0,1] 0.5737344093910491 Centerline is valid? [False, False] Translation: X:4.61, Y:0.35, Z:0.93 [[ 8.11941018e-01 3.56928662e-03 -5.83728571e-01 4.60621774e+00] [ 4.16339770e-02 9.97080543e-01 6.40078314e-02 3.52117532e-01] [ 5.82252862e-01 -7.62735256e-02 8.09421987e-01 9.25210731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.896502481 meters Centerline goodness [0,1] 0.56452161243322 Centerline is valid? [False, False] Translation: X:4.61, Y:0.35, Z:0.92 [[ 0.812032 0.00526817 -0.58358913 4.6102843 ] [ 0.04043638 0.9970483 0.06526553 0.35159939] [ 0.58221038 -0.07659593 0.8094221 0.9238373 ] [ 0. 0. 0. 1. ]] SLAMing on 141.926502481 meters Centerline goodness [0,1] 0.571783504652409 Centerline is valid? [False, False] Translation: X:4.62, Y:0.35, Z:0.92 [[ 0.81272945 0.00769425 -0.58259046 4.61660061] [ 0.03860957 0.99700373 0.06702877 0.35242609] [ 0.5813606 -0.07696982 0.80999722 0.92024452] [ 0. 0. 0. 1. ]] SLAMing on 141.956502481 meters Centerline goodness [0,1] 0.5702262996941896 Centerline is valid? [False, False] Translation: X:4.62, Y:0.35, Z:0.92 [[ 0.81292705 0.00845026 -0.58230423 4.61932557] [ 0.03800649 0.99699327 0.06752718 0.35259159] [ 0.58112402 -0.07702601 0.81016163 0.91893243] [ 0. 0. 0. 1. ]] SLAMing on 141.986502481 meters Centerline goodness [0,1] 0.5671805630092208 Centerline is valid? [False, False] Translation: X:4.62, Y:0.35, Z:0.92 [[ 0.81305125 0.00956886 -0.58211348 4.62253046] [ 0.03716032 0.99697314 0.06829105 0.3524406 ] [ 0.58100497 -0.07715565 0.81023468 0.91768746] [ 0. 0. 0. 1. ]] SLAMing on 142.01650248099997 meters Centerline goodness [0,1] 0.5612364488719601 Centerline is valid? [False, False] Translation: X:4.63, Y:0.35, Z:0.91 [[ 0.81353586 0.01123089 -0.58140629 4.62776315] [ 0.03596532 0.99692769 0.06958209 0.3520647 ] [ 0.5804015 -0.07751799 0.81063251 0.91490845] [ 0. 0. 0. 1. ]] SLAMing on 142.04650248099998 meters Centerline goodness [0,1] 0.5616808769792936 Centerline is valid? [False, False] Translation: X:4.64, Y:0.35, Z:0.91 [[ 0.81353696 0.01008015 -0.58142583 4.63527405] [ 0.03675996 0.99695857 0.06871912 0.35195273] [ 0.58035017 -0.07727874 0.8106921 0.9128339 ] [ 0. 0. 0. 1. ]] SLAMing on 142.07650248099998 meters Centerline goodness [0,1] 0.5536641872942324 Centerline is valid? [False, False] Translation: X:4.64, Y:0.35, Z:0.91 [[ 0.81319559 0.00782139 -0.58193793 4.63950662] [ 0.03832756 0.99701931 0.06695883 0.35302432] [ 0.58072707 -0.07675488 0.81047194 0.91243667] [ 0. 0. 0. 1. ]] SLAMing on 142.10650248099998 meters Centerline goodness [0,1] 0.5600136588697285 Centerline is valid? [False, False] Translation: X:4.64, Y:0.35, Z:0.91 [[ 0.81304827 0.00864832 -0.58213204 4.64274776] [ 0.03784365 0.99699 0.06766678 0.35232583] [ 0.58096503 -0.07704635 0.81027372 0.91174966] [ 0. 0. 0. 1. ]] SLAMing on 142.13650248099998 meters Centerline goodness [0,1] 0.5541013914566508 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:0.91 [[ 0.81268808 0.00718198 -0.5826547 4.65087362] [ 0.03910459 0.99699762 0.06683247 0.35169996] [ 0.58138534 -0.07709843 0.80996723 0.91008114] [ 0. 0. 0. 1. ]] SLAMing on 142.16650248099998 meters Centerline goodness [0,1] 0.5460443191758189 Centerline is valid? [False, False] Translation: X:4.66, Y:0.35, Z:0.91 [[ 8.12170597e-01 4.26704642e-03 -5.83404417e-01 4.65546052e+00] [ 4.12353977e-02 9.97052612e-01 6.46972260e-02 3.52005145e-01] [ 5.81960963e-01 -7.66020978e-02 8.09600862e-01 9.10005467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19650248099998 meters Centerline goodness [0,1] 0.5528054408549915 Centerline is valid? [False, False] Translation: X:4.66, Y:0.35, Z:0.91 [[ 8.11911489e-01 1.83293152e-03 -5.83777676e-01 4.66242791e+00] [ 4.32567843e-02 9.97057182e-01 6.32915907e-02 3.49971569e-01] [ 5.82175734e-01 -7.66395147e-02 8.09442895e-01 9.08519043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22650248099998 meters Centerline goodness [0,1] 0.5528054408549915 Centerline is valid? [False, False] Translation: X:4.66, Y:0.35, Z:0.91 [[ 8.11911489e-01 1.83293152e-03 -5.83777676e-01 4.66242791e+00] [ 4.32567843e-02 9.97057182e-01 6.32915907e-02 3.49971569e-01] [ 5.82175734e-01 -7.66395147e-02 8.09442895e-01 9.08519043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25650248099998 meters Centerline goodness [0,1] 0.547369950595757 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:0.91 [[ 8.11589850e-01 -1.30441865e-03 -5.84226167e-01 4.66612215e+00] [ 4.55381485e-02 9.97096347e-01 6.10340139e-02 3.50197804e-01] [ 5.82450164e-01 -7.61391641e-02 8.09292675e-01 9.08241213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28650248099999 meters Centerline goodness [0,1] 0.5572627719619856 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:0.91 [[ 8.11230391e-01 -4.06725294e-03 -5.84712502e-01 4.67260312e+00] [ 4.78303230e-02 9.97086274e-01 5.94240920e-02 3.48151276e-01] [ 5.82767117e-01 -7.61736173e-02 8.09061226e-01 9.07101051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.316502481 meters Centerline goodness [0,1] 0.5325241432459119 Centerline is valid? [False, False] Translation: X:4.68, Y:0.35, Z:0.91 [[ 0.81077809 -0.00753006 -0.58530521 4.67676735] [ 0.05039369 0.99710276 0.05697857 0.34800307] [ 0.58318039 -0.07569266 0.80880854 0.90695339] [ 0. 0. 0. 1. ]] SLAMing on 142.346502481 meters Centerline goodness [0,1] 0.5251334840540671 Centerline is valid? [False, False] Translation: X:4.68, Y:0.35, Z:0.91 [[ 0.81037804 -0.00997505 -0.58582243 4.68284075] [ 0.05247803 0.99707216 0.05561617 0.34644911] [ 0.58355247 -0.07581293 0.80852886 0.90597587] [ 0. 0. 0. 1. ]] SLAMing on 142.376502481 meters Centerline goodness [0,1] 0.5455354351537889 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:0.91 [[ 0.80984992 -0.01251915 -0.58650352 4.68858505] [ 0.05453502 0.99704953 0.05402009 0.34578777] [ 0.58409677 -0.07573315 0.80814321 0.9054483 ] [ 0. 0. 0. 1. ]] SLAMing on 142.406502481 meters Centerline goodness [0,1] 0.5584187478947116 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:0.91 [[ 0.80928056 -0.01530096 -0.587223 4.69277615] [ 0.05660364 0.99704013 0.05202888 0.34622825] [ 0.58468881 -0.07534492 0.80775129 0.90551474] [ 0. 0. 0. 1. ]] SLAMing on 142.436502481 meters Centerline goodness [0,1] 0.5444095130672683 Centerline is valid? [False, False] Translation: X:4.70, Y:0.35, Z:0.91 [[ 0.80869389 -0.01801071 -0.58795392 4.69683144] [ 0.0586075 0.99702469 0.05006924 0.34693153] [ 0.58530279 -0.0749492 0.80734334 0.90561606] [ 0. 0. 0. 1. ]] SLAMing on 142.466502481 meters Centerline goodness [0,1] 0.5534404219611604 Centerline is valid? [False, False] Translation: X:4.70, Y:0.35, Z:0.91 [[ 0.80800167 -0.02065492 -0.58881804 4.70333511] [ 0.06072245 0.99698282 0.04835321 0.34616474] [ 0.58604274 -0.07482394 0.806818 0.90522865] [ 0. 0. 0. 1. ]] SLAMing on 142.496502481 meters Centerline goodness [0,1] 0.5543844554384456 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:0.91 [[ 0.80734457 -0.02369989 -0.58960415 4.70737725] [ 0.06293614 0.99695206 0.04610467 0.34665706] [ 0.5867144 -0.07432976 0.80637541 0.90556108] [ 0. 0. 0. 1. ]] SLAMing on 142.526502481 meters Centerline goodness [0,1] 0.546321688327173 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:0.91 [[ 0.80648101 -0.02628137 -0.59067561 4.7137675 ] [ 0.06488286 0.99691212 0.04423168 0.34650121] [ 0.5876892 -0.07399673 0.8056959 0.90573164] [ 0. 0. 0. 1. ]] SLAMing on 142.556502481 meters Centerline goodness [0,1] 0.5446112128636331 Centerline is valid? [False, False] Translation: X:4.72, Y:0.35, Z:0.91 [[ 0.80603989 -0.02520992 -0.59132407 4.71689615] [ 0.06419643 0.99692194 0.04500504 0.34595616] [ 0.58836937 -0.07423675 0.80517724 0.90597074] [ 0. 0. 0. 1. ]] SLAMing on 142.586502481 meters Centerline goodness [0,1] 0.5475612079641803 Centerline is valid? [False, False] Translation: X:4.72, Y:0.35, Z:0.91 [[ 0.8055399 -0.02414115 -0.59204955 4.72007556] [ 0.06348364 0.99693483 0.04572497 0.34575873] [ 0.58913096 -0.07441875 0.80460336 0.90634904] [ 0. 0. 0. 1. ]] SLAMing on 142.616502481 meters Centerline goodness [0,1] 0.5439430496165882 Centerline is valid? [False, False] Translation: X:4.73, Y:0.35, Z:0.91 [[ 0.80444834 -0.02558452 -0.5934714 4.72701109] [ 0.06451352 0.99692547 0.04447045 0.3468051 ] [ 0.590509 -0.07406111 0.80362558 0.90701801] [ 0. 0. 0. 1. ]] SLAMing on 142.646502481 meters Centerline goodness [0,1] 0.5453723960810426 Centerline is valid? [False, False] Translation: X:4.73, Y:0.35, Z:0.91 [[ 0.80332848 -0.02775718 -0.59488897 4.73440896] [ 0.06607652 0.9968999 0.04271389 0.34673765] [ 0.59185914 -0.07362148 0.80267219 0.90772118] [ 0. 0. 0. 1. ]] SLAMing on 142.676502481 meters Centerline goodness [0,1] 0.5506829105791653 Centerline is valid? [False, False] Translation: X:4.74, Y:0.35, Z:0.91 [[ 0.80280307 -0.02660145 -0.59565057 4.73768168] [ 0.06531302 0.99691598 0.04350551 0.34606069] [ 0.59265626 -0.07383009 0.80206463 0.9082064 ] [ 0. 0. 0. 1. ]] SLAMing on 142.706502481 meters Centerline goodness [0,1] 0.5503472222222222 Centerline is valid? [False, False] Translation: X:4.74, Y:0.35, Z:0.91 [[ 0.80185196 -0.0238539 -0.59704642 4.74462896] [ 0.06352326 0.99694339 0.04548266 0.34570608] [ 0.59413654 -0.07439669 0.80091629 0.9086932 ] [ 0. 0. 0. 1. ]] SLAMing on 142.736502481 meters Centerline goodness [0,1] 0.5510121553795285 Centerline is valid? [False, False] Translation: X:4.75, Y:0.34, Z:0.91 [[ 0.80136731 -0.02264554 -0.59774377 4.74815101] [ 0.06274137 0.9969532 0.04634483 0.34482544] [ 0.59487306 -0.07464249 0.80034652 0.9090125 ] [ 0. 0. 0. 1. ]] SLAMing on 142.76650248099997 meters Centerline goodness [0,1] 0.559961959106039 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:0.91 [[ 0.80006078 -0.0234409 -0.59946082 4.75491324] [ 0.06321415 0.99696758 0.04538302 0.34527798] [ 0.59657918 -0.07420358 0.79911645 0.91058518] [ 0. 0. 0. 1. ]] SLAMing on 142.79650248099998 meters Centerline goodness [0,1] 0.557793136320305 Centerline is valid? [False, False] Translation: X:4.76, Y:0.34, Z:0.91 [[ 0.79959538 -0.02251796 -0.6001168 4.75794659] [ 0.0625929 0.99697899 0.04598947 0.34469846] [ 0.59726825 -0.07433602 0.79858925 0.9109926 ] [ 0. 0. 0. 1. ]] SLAMing on 142.82650248099998 meters Centerline goodness [0,1] 0.582292038557658 Centerline is valid? [False, False] Translation: X:4.77, Y:0.34, Z:0.92 [[ 0.79714235 -0.02217971 -0.6033839 4.7676404 ] [ 0.0609873 0.99717194 0.0439166 0.34479436] [ 0.60070344 -0.07180654 0.79624067 0.91752326] [ 0. 0. 0. 1. ]] SLAMing on 142.85650248099998 meters Centerline goodness [0,1] 0.5840364173697508 Centerline is valid? [False, False] Translation: X:4.77, Y:0.34, Z:0.92 [[ 0.7966325 -0.02130875 -0.60408823 4.7704951 ] [ 0.06043343 0.99717886 0.04452098 0.3443164 ] [ 0.60143533 -0.07197398 0.79567285 0.91804154] [ 0. 0. 0. 1. ]] SLAMing on 142.88650248099998 meters Centerline goodness [0,1] 0.58635724667032 Centerline is valid? [False, False] Translation: X:4.80, Y:0.35, Z:0.94 [[ 0.79752808 -0.02029439 -0.60294038 4.79756926] [ 0.0590857 0.99725664 0.04458781 0.34620558] [ 0.60038141 -0.07118518 0.79653928 0.93691893] [ 0. 0. 0. 1. ]] SLAMing on 142.91650248099998 meters Centerline goodness [0,1] 0.5894872467848535 Centerline is valid? [False, False] Translation: X:4.81, Y:0.35, Z:0.94 [[ 0.79507581 -0.0194631 -0.6061977 4.80740984] [ 0.05774646 0.99737366 0.04371649 0.34675979] [ 0.60375476 -0.0697637 0.79411159 0.94191384] [ 0. 0. 0. 1. ]] SLAMing on 142.94650248099998 meters Centerline goodness [0,1] 0.5950151309362117 Centerline is valid? [False, False] Translation: X:4.83, Y:0.35, Z:0.96 [[ 0.79738472 -0.01884183 -0.60317708 4.83127438] [ 0.05729185 0.99736151 0.04458314 0.34806819] [ 0.60074558 -0.07010705 0.79636031 0.95754574] [ 0. 0. 0. 1. ]] SLAMing on 142.97650248099998 meters Centerline goodness [0,1] 0.6135333683156037 Centerline is valid? [False, False] Translation: X:4.85, Y:0.35, Z:0.97 [[ 0.79972669 -0.01760283 -0.60010613 4.85497183] [ 0.05609053 0.99738874 0.04549234 0.34943249] [ 0.5977383 -0.07004171 0.79862575 0.97388214] [ 0. 0. 0. 1. ]] SLAMing on 143.00650248099998 meters Centerline goodness [0,1] 0.6221211395738568 Centerline is valid? [False, False] Translation: X:4.88, Y:0.35, Z:0.99 [[ 0.80084469 -0.01631034 -0.59864995 4.88204414] [ 0.05403565 0.9975196 0.04510862 0.3526942 ] [ 0.59642932 -0.06847344 0.79973961 0.99302833] [ 0. 0. 0. 1. ]] SLAMing on 143.03650248099999 meters Centerline goodness [0,1] 0.6081874146645267 Centerline is valid? [False, False] Translation: X:4.90, Y:0.35, Z:1.01 [[ 0.80342181 -0.01553669 -0.59520754 4.90464063] [ 0.05332806 0.99751951 0.04594493 0.35405904] [ 0.5930173 -0.06865442 0.80225747 1.00834473] [ 0. 0. 0. 1. ]] SLAMing on 143.066502481 meters Centerline goodness [0,1] 0.6091976047904192 Centerline is valid? [False, False] Translation: X:4.93, Y:0.36, Z:1.03 [[ 0.8050111 -0.01608432 -0.59304168 4.93154891] [ 0.05269742 0.99761961 0.04447575 0.35704532] [ 0.59091464 -0.06705524 0.80394246 1.02669677] [ 0. 0. 0. 1. ]] SLAMing on 143.096502481 meters Centerline goodness [0,1] 0.6307762622982367 Centerline is valid? [False, False] Translation: X:4.93, Y:0.36, Z:1.03 [[ 0.8045136 -0.0157377 -0.59372568 4.93377957] [ 0.05244272 0.99762671 0.04461746 0.35707948] [ 0.59161442 -0.06703195 0.80342958 1.02735779] [ 0. 0. 0. 1. ]] SLAMing on 143.126502481 meters Centerline goodness [0,1] 0.6385614625932163 Centerline is valid? [False, False] Translation: X:4.96, Y:0.36, Z:1.04 [[ 0.80605139 -0.01630343 -0.59162096 4.95941494] [ 0.05298018 0.99759498 0.04469168 0.35809741] [ 0.58946947 -0.06736798 0.80497658 1.04333311] [ 0. 0. 0. 1. ]] SLAMing on 143.156502481 meters Centerline goodness [0,1] 0.6114177385294682 Centerline is valid? [False, False] Translation: X:4.98, Y:0.36, Z:1.05 [[ 0.80723078 -0.01808116 -0.58995893 4.97565209] [ 0.0571275 0.99723136 0.04760328 0.35893822] [ 0.58746482 -0.07212971 0.80602878 1.05286555] [ 0. 0. 0. 1. ]] SLAMing on 143.186502481 meters Centerline goodness [0,1] 0.6450330491426381 Centerline is valid? [False, False] Translation: X:5.00, Y:0.36, Z:1.07 [[ 0.8089026 -0.01868748 -0.58764561 4.99958955] [ 0.05836838 0.99710965 0.04863622 0.35851067] [ 0.58503822 -0.07364189 0.80765534 1.06758932] [ 0. 0. 0. 1. ]] SLAMing on 143.216502481 meters Centerline goodness [0,1] 0.6562890362256173 Centerline is valid? [False, False] Translation: X:5.00, Y:0.36, Z:1.07 [[ 0.8084497 -0.01792517 -0.58829225 5.00146883] [ 0.05796259 0.99710208 0.04927247 0.35727229] [ 0.58570421 -0.07393325 0.80714587 1.06828829] [ 0. 0. 0. 1. ]] SLAMing on 143.246502481 meters Centerline goodness [0,1] 0.6697539728125599 Centerline is valid? [False, False] Translation: X:5.03, Y:0.36, Z:1.08 [[ 0.81053531 -0.01864513 -0.58539292 5.02641931] [ 0.05899703 0.9970086 0.04993198 0.35692896] [ 0.58271079 -0.07500808 0.80921068 1.0833222 ] [ 0. 0. 0. 1. ]] SLAMing on 143.276502481 meters Centerline goodness [0,1] 0.6701909307875895 Centerline is valid? [False, False] Translation: X:5.04, Y:0.36, Z:1.09 [[ 0.8121051 -0.02084365 -0.58313879 5.04209307] [ 0.06348317 0.99658585 0.05278764 0.3574804 ] [ 0.58004758 -0.07988861 0.81065567 1.09221859] [ 0. 0. 0. 1. ]] SLAMing on 143.306502481 meters Centerline goodness [0,1] 0.6775898772932762 Centerline is valid? [False, False] Translation: X:5.07, Y:0.36, Z:1.11 [[ 0.81381459 -0.02415905 -0.58062221 5.06575907] [ 0.06641487 0.99645556 0.05162734 0.35697658] [ 0.57731696 -0.08057703 0.81253459 1.107282 ] [ 0. 0. 0. 1. ]] SLAMing on 143.336502481 meters Centerline goodness [0,1] 0.673600958657879 Centerline is valid? [False, False] Translation: X:5.07, Y:0.36, Z:1.11 [[ 0.8130325 -0.02908292 -0.58149147 5.06785949] [ 0.06994046 0.99639781 0.0479555 0.35733893] [ 0.57800214 -0.07965916 0.81213788 1.10845711] [ 0. 0. 0. 1. ]] SLAMing on 143.366502481 meters Centerline goodness [0,1] 0.6703159811225834 Centerline is valid? [False, False] Translation: X:5.07, Y:0.36, Z:1.11 [[ 0.81194873 -0.03362763 -0.58275934 5.07150753] [ 0.07342636 0.99629329 0.04481345 0.35599782] [ 0.57909225 -0.07917612 0.81140823 1.10979633] [ 0. 0. 0. 1. ]] SLAMing on 143.396502481 meters Centerline goodness [0,1] 0.6679905256358112 Centerline is valid? [False, False] Translation: X:5.07, Y:0.35, Z:1.11 [[ 0.81147531 -0.03338112 -0.58343254 5.07344666] [ 0.07347063 0.99627321 0.04518582 0.35477586] [ 0.57974985 -0.07953234 0.81090364 1.11037973] [ 0. 0. 0. 1. ]] SLAMing on 143.426502481 meters Centerline goodness [0,1] 0.6664276666427666 Centerline is valid? [False, False] Translation: X:5.08, Y:0.35, Z:1.11 [[ 0.81105671 -0.03316046 -0.58402688 5.07507903] [ 0.07351189 0.99625486 0.04552194 0.3536476 ] [ 0.58033009 -0.07985379 0.81045688 1.11096225] [ 0. 0. 0. 1. ]] SLAMing on 143.456502481 meters Centerline goodness [0,1] 0.6508319209376716 Centerline is valid? [False, False] Translation: X:5.08, Y:0.35, Z:1.11 [[ 0.81004698 -0.03792393 -0.58513731 5.07790886] [ 0.07710316 0.99613057 0.04217813 0.35298637] [ 0.5812736 -0.0792822 0.80983661 1.11243531] [ 0. 0. 0. 1. ]] SLAMing on 143.486502481 meters Centerline goodness [0,1] 0.6502962787390376 Centerline is valid? [False, False] Translation: X:5.08, Y:0.35, Z:1.11 [[ 0.80890756 -0.04272189 -0.58638162 5.080913 ] [ 0.08067226 0.99598825 0.03872205 0.3530642 ] [ 0.58237492 -0.07862729 0.80910889 1.11409896] [ 0. 0. 0. 1. ]] SLAMing on 143.51650248099997 meters Centerline goodness [0,1] 0.6547919143876337 Centerline is valid? [False, False] Translation: X:5.08, Y:0.35, Z:1.11 [[ 0.80842782 -0.04244718 -0.58706277 5.08258607] [ 0.0806199 0.99598142 0.03900565 0.35227081] [ 0.58304793 -0.07886219 0.80860118 1.11486756] [ 0. 0. 0. 1. ]] SLAMing on 143.54650248099998 meters Centerline goodness [0,1] 0.6472060050041701 Centerline is valid? [False, False] Translation: X:5.09, Y:0.35, Z:1.12 [[ 0.80743618 -0.04734227 -0.58805231 5.08528297] [ 0.08420117 0.99581821 0.03544373 0.35275316] [ 0.58391521 -0.07813324 0.80804593 1.11618322] [ 0. 0. 0. 1. ]] SLAMing on 143.57650248099998 meters Centerline goodness [0,1] 0.6268585702390865 Centerline is valid? [False, False] Translation: X:5.09, Y:0.35, Z:1.12 [[ 0.80709539 -0.04677521 -0.5885653 5.08745362] [ 0.08397244 0.99581721 0.03600996 0.3516774 ] [ 0.58441908 -0.07848674 0.8076473 1.11647454] [ 0. 0. 0. 1. ]] SLAMing on 143.60650248099998 meters Centerline goodness [0,1] 0.6389872815880185 Centerline is valid? [False, False] Translation: X:5.09, Y:0.35, Z:1.12 [[ 0.80680086 -0.04620847 -0.58901372 5.08947006] [ 0.08372529 0.99581797 0.03656011 0.35065237] [ 0.58486106 -0.07881207 0.80729561 1.11670204] [ 0. 0. 0. 1. ]] SLAMing on 143.63650248099998 meters Centerline goodness [0,1] 0.6404834557070659 Centerline is valid? [False, False] Translation: X:5.09, Y:0.35, Z:1.12 [[ 0.80623454 -0.04564049 -0.58983287 5.09247331] [ 0.08354918 0.99581102 0.0371477 0.34968886] [ 0.58566663 -0.07922981 0.80667046 1.11725132] [ 0. 0. 0. 1. ]] SLAMing on 143.66650248099998 meters Centerline goodness [0,1] 0.6372523243863382 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80570218 -0.04485942 -0.5906197 5.09562991] [ 0.08309384 0.9958277 0.0377174 0.34984028] [ 0.58646347 -0.07946585 0.80606809 1.11769702] [ 0. 0. 0. 1. ]] SLAMing on 143.69650248099998 meters Centerline goodness [0,1] 0.6382530912917653 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80536461 -0.04453769 -0.59110425 5.09666122] [ 0.08284652 0.99584355 0.03784288 0.35034245] [ 0.58696192 -0.07944825 0.80570694 1.11833552] [ 0. 0. 0. 1. ]] SLAMing on 143.72650248099998 meters Centerline goodness [0,1] 0.6459765709220708 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80488643 -0.04496409 -0.59172297 5.09617131] [ 0.08294776 0.99586102 0.03715513 0.3524728 ] [ 0.58760319 -0.07898776 0.80528469 1.11980374] [ 0. 0. 0. 1. ]] SLAMing on 143.75650248099998 meters Centerline goodness [0,1] 0.644936921379575 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80466028 -0.04483521 -0.59204024 5.09677396] [ 0.0827912 0.99587586 0.03710642 0.35308117] [ 0.58793491 -0.07887378 0.80505371 1.12030037] [ 0. 0. 0. 1. ]] SLAMing on 143.78650248099999 meters Centerline goodness [0,1] 0.646372777231168 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80429682 -0.04445116 -0.59256285 5.09838847] [ 0.08248627 0.99589569 0.03725298 0.35340672] [ 0.58847485 -0.07884075 0.80466235 1.12084181] [ 0. 0. 0. 1. ]] SLAMing on 143.816502481 meters Centerline goodness [0,1] 0.6477098137123103 Centerline is valid? [False, False] Translation: X:5.10, Y:0.35, Z:1.12 [[ 0.80365829 -0.04335746 -0.59350947 5.10321364] [ 0.08176084 0.99592899 0.03795528 0.35361563] [ 0.58944764 -0.07902891 0.80393153 1.12113513] [ 0. 0. 0. 1. ]] SLAMing on 143.846502481 meters Centerline goodness [0,1] 0.6549909474954738 Centerline is valid? [False, False] Translation: X:5.11, Y:0.35, Z:1.12 [[ 0.8031246 -0.04222051 -0.59431331 5.10691704] [ 0.08096878 0.99596649 0.03866278 0.35431077] [ 0.59028378 -0.07917186 0.80330373 1.12146333] [ 0. 0. 0. 1. ]] SLAMing on 143.876502481 meters Centerline goodness [0,1] 0.6647342995169082 Centerline is valid? [False, False] Translation: X:5.11, Y:0.35, Z:1.12 [[ 0.80307455 -0.03697286 -0.59473043 5.10857795] [ 0.07742562 0.99608653 0.04262498 0.35348035] [ 0.590827 -0.08027841 0.80279439 1.12137603] [ 0. 0. 0. 1. ]] SLAMing on 143.906502481 meters Centerline goodness [0,1] 0.6786678011425793 Centerline is valid? [False, False] Translation: X:5.11, Y:0.35, Z:1.12 [[ 0.80283582 -0.03095815 -0.59539586 5.11106034] [ 0.07313608 0.99622247 0.04681769 0.35413866] [ 0.59169735 -0.08113184 0.80206725 1.12161516] [ 0. 0. 0. 1. ]] SLAMing on 143.936502481 meters Centerline goodness [0,1] 0.6778427075724374 Centerline is valid? [False, False] Translation: X:5.11, Y:0.36, Z:1.12 [[ 0.80246056 -0.03057859 -0.59592114 5.11263774] [ 0.07274099 0.99625075 0.04683142 0.35540232] [ 0.59225484 -0.08092826 0.80167625 1.12218517] [ 0. 0. 0. 1. ]] SLAMing on 143.966502481 meters Centerline goodness [0,1] 0.6962808906288231 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.12 [[ 0.80186396 -0.03015698 -0.59674513 5.1150968 ] [ 0.07209857 0.9963115 0.04653158 0.35760884] [ 0.59314079 -0.08033647 0.80108056 1.12322018] [ 0. 0. 0. 1. ]] SLAMing on 143.996502481 meters Centerline goodness [0,1] 0.6979459935858203 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.12 [[ 0.80147017 -0.02986252 -0.5972887 5.11665882] [ 0.07175992 0.99633849 0.04647711 0.35871418] [ 0.5937138 -0.0801114 0.80067852 1.12381925] [ 0. 0. 0. 1. ]] SLAMing on 144.026502481 meters Centerline goodness [0,1] 0.7085173034705607 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.12 [[ 0.80138796 -0.02441964 -0.59764624 5.11848431] [ 0.06777192 0.99643905 0.05016163 0.35961935] [ 0.59429312 -0.08070256 0.80018922 1.1237937 ] [ 0. 0. 0. 1. ]] SLAMing on 144.056502481 meters Centerline goodness [0,1] 0.7125427763725636 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.12 [[ 0.80080585 -0.02403157 -0.59844171 5.12021691] [ 0.06723746 0.99648548 0.04995816 0.36171668] [ 0.5951379 -0.08024449 0.79960722 1.12488979] [ 0. 0. 0. 1. ]] SLAMing on 144.086502481 meters Centerline goodness [0,1] 0.7151009220034887 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.13 [[ 0.80020174 -0.01913965 -0.59942543 5.1239526 ] [ 0.06345043 0.99658292 0.05288214 0.36456971] [ 0.596365 -0.08035018 0.79868181 1.12550559] [ 0. 0. 0. 1. ]] SLAMing on 144.116502481 meters Centerline goodness [0,1] 0.7151009220034887 Centerline is valid? [False, False] Translation: X:5.12, Y:0.36, Z:1.13 [[ 0.80020174 -0.01913965 -0.59942543 5.1239526 ] [ 0.06345043 0.99658292 0.05288214 0.36456971] [ 0.596365 -0.08035018 0.79868181 1.12550559] [ 0. 0. 0. 1. ]] SLAMing on 144.146502481 meters Centerline goodness [0,1] 0.7151059739870684 Centerline is valid? [False, False] Translation: X:5.13, Y:0.37, Z:1.13 [[ 0.79953941 -0.01857821 -0.60032623 5.12638482] [ 0.06276569 0.99663322 0.05275128 0.36647338] [ 0.59732504 -0.07985662 0.79801361 1.12661026] [ 0. 0. 0. 1. ]] SLAMing on 144.176502481 meters Centerline goodness [0,1] 0.7133805441669773 Centerline is valid? [False, False] Translation: X:5.13, Y:0.37, Z:1.13 [[ 0.79916475 -0.01293952 -0.60097277 5.12917425] [ 0.05835383 0.9967163 0.05613781 0.36879993] [ 0.59827296 -0.07993242 0.7972956 1.12707252] [ 0. 0. 0. 1. ]] SLAMing on 144.206502481 meters Centerline goodness [0,1] 0.7125009332769219 Centerline is valid? [False, False] Translation: X:5.13, Y:0.37, Z:1.13 [[ 0.79859927 -0.01250859 -0.60173311 5.13050627] [ 0.05768721 0.99677183 0.05583996 0.37096925] [ 0.59909214 -0.07930605 0.79674285 1.12836017] [ 0. 0. 0. 1. ]] SLAMing on 144.236502481 meters Centerline goodness [0,1] 0.7106197789005052 Centerline is valid? [False, False] Translation: X:5.13, Y:0.37, Z:1.13 [[ 0.7981459 -0.00647588 -0.6024294 5.13226336] [ 0.05307464 0.99681025 0.05960213 0.37265812] [ 0.60012183 -0.07954492 0.79594372 1.12929974] [ 0. 0. 0. 1. ]] SLAMing on 144.26650248099997 meters Centerline goodness [0,1] 0.7108872588424437 Centerline is valid? [False, False] Translation: X:5.13, Y:0.37, Z:1.13 [[ 0.79763808 -0.00624128 -0.60310408 5.13328382] [ 0.05261149 0.99685487 0.05926552 0.37431168] [ 0.60083735 -0.07900264 0.79545777 1.13049428] [ 0. 0. 0. 1. ]] SLAMing on 144.29650248099998 meters Centerline goodness [0,1] 0.7086685666725516 Centerline is valid? [False, False] Translation: X:5.13, Y:0.38, Z:1.13 [[ 0.79716119 -0.00594411 -0.60373729 5.13418499] [ 0.05192941 0.99692108 0.05875122 0.37641363] [ 0.6015292 -0.07818591 0.79501546 1.13177929] [ 0. 0. 0. 1. ]] SLAMing on 144.32650248099998 meters Centerline goodness [0,1] 0.7078663056954179 Centerline is valid? [False, False] Translation: X:5.13, Y:0.38, Z:1.13 [[ 0.79673338 -0.00592413 -0.60430193 5.13491531] [ 0.05174961 0.99694783 0.05845521 0.37722665] [ 0.6021112 -0.07784561 0.79460818 1.13274951] [ 0. 0. 0. 1. ]] SLAMing on 144.35650248099998 meters Centerline goodness [0,1] 0.7057352198079838 Centerline is valid? [False, False] Translation: X:5.14, Y:0.38, Z:1.13 [[ 0.79621496 -0.00553164 -0.60498854 5.1367839 ] [ 0.0513463 0.99696838 0.0584603 0.37714363] [ 0.60283107 -0.07761089 0.79408517 1.13369918] [ 0. 0. 0. 1. ]] SLAMing on 144.38650248099998 meters Centerline goodness [0,1] 0.7010592686002521 Centerline is valid? [False, False] Translation: X:5.14, Y:0.38, Z:1.13 [[ 0.79598803 -0.00524402 -0.60528964 5.13743406] [ 0.0511979 0.99696248 0.05869061 0.37619906] [ 0.60314329 -0.07770658 0.79383869 1.1341679 ] [ 0. 0. 0. 1. ]] SLAMing on 144.41650248099998 meters Centerline goodness [0,1] 0.7034020124580738 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.13 [[ 7.95775778e-01 -5.02371511e-03 -6.05570536e-01 5.13700133e+00] [ 5.12632511e-02 9.96935278e-01 5.90942467e-02 3.74325080e-01] [ 6.03417758e-01 -7.80692846e-02 7.93594478e-01 1.13485746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44650248099998 meters Centerline goodness [0,1] 0.7018918306169232 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 7.95695556e-01 -5.10056525e-03 -6.05675297e-01 5.13671535e+00] [ 5.14589695e-02 9.96918445e-01 5.92080046e-02 3.73222891e-01] [ 6.03506882e-01 -7.82789728e-02 7.93506047e-01 1.13516053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47650248099998 meters Centerline goodness [0,1] 0.70341966306261 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79504934 -0.00955101 -0.60646955 5.13794519] [ 0.05483391 0.99691351 0.05618441 0.37137319] [ 0.60406107 -0.07792447 0.79311916 1.13645871] [ 0. 0. 0. 1. ]] SLAMing on 144.50650248099998 meters Centerline goodness [0,1] 0.7040433826469412 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79467209 -0.01444472 -0.60686705 5.13893815] [ 0.05848729 0.99688773 0.05285911 0.36957855] [ 0.60421479 -0.07749967 0.79304369 1.13711652] [ 0. 0. 0. 1. ]] SLAMing on 144.53650248099999 meters Centerline goodness [0,1] 0.7028734053973089 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79425849 -0.01946428 -0.60726814 5.13915461] [ 0.06194347 0.99687292 0.04906516 0.37007201] [ 0.60441414 -0.07658672 0.79298047 1.13807767] [ 0. 0. 0. 1. ]] SLAMing on 144.566502481 meters Centerline goodness [0,1] 0.7012591946141379 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79420012 -0.01945563 -0.60734475 5.13950057] [ 0.06211556 0.99685097 0.04929297 0.3685808 ] [ 0.60447318 -0.07687404 0.79290766 1.1381181 ] [ 0. 0. 0. 1. ]] SLAMing on 144.596502481 meters Centerline goodness [0,1] 0.702920417986383 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79384806 -0.02422342 -0.60763351 5.13967154] [ 0.06547755 0.99680214 0.04580602 0.36836025] [ 0.60458081 -0.07614937 0.79289553 1.13891921] [ 0. 0. 0. 1. ]] SLAMing on 144.626502481 meters Centerline goodness [0,1] 0.7026245607038708 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79372193 -0.02401037 -0.60780672 5.14011172] [ 0.06542749 0.99679355 0.04606374 0.36726808] [ 0.60475181 -0.07632907 0.79274783 1.13916938] [ 0. 0. 0. 1. ]] SLAMing on 144.656502481 meters Centerline goodness [0,1] 0.7020762194362055 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79366572 -0.0241591 -0.60787422 5.14007815] [ 0.0656832 0.99677305 0.04614336 0.36610801] [ 0.60479786 -0.07654952 0.79269144 1.13931113] [ 0. 0. 0. 1. ]] SLAMing on 144.686502481 meters Centerline goodness [0,1] 0.7020876620164243 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.79348784 -0.02365325 -0.60812629 5.14088936] [ 0.06540302 0.99677169 0.04656865 0.36535026] [ 0.60506157 -0.07672495 0.79247321 1.13963236] [ 0. 0. 0. 1. ]] SLAMing on 144.716502481 meters Centerline goodness [0,1] 0.7037689065212 Centerline is valid? [False, False] Translation: X:5.14, Y:0.37, Z:1.14 [[ 0.7935122 -0.02394027 -0.60808326 5.14050452] [ 0.06563997 0.99676335 0.0464136 0.36510756] [ 0.60500396 -0.07674433 0.79251531 1.13965613] [ 0. 0. 0. 1. ]] SLAMing on 144.746502481 meters Centerline goodness [0,1] 0.7028061541520643 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79360932 -0.02414815 -0.60794828 5.1401955 ] [ 0.06586236 0.99675004 0.0463844 0.36448239] [ 0.60485238 -0.076852 0.79262057 1.13948746] [ 0. 0. 0. 1. ]] SLAMing on 144.776502481 meters Centerline goodness [0,1] 0.7033193988255201 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79373561 -0.02438909 -0.60777377 5.13992052] [ 0.06621363 0.99672249 0.04647612 0.36301893] [ 0.60464828 -0.07713265 0.79274902 1.13920675] [ 0. 0. 0. 1. ]] SLAMing on 144.806502481 meters Centerline goodness [0,1] 0.7000967189941225 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79371766 -0.02443382 -0.60779541 5.13977501] [ 0.0663212 0.99671236 0.04654002 0.36240017] [ 0.60466005 -0.07724936 0.79272868 1.13929952] [ 0. 0. 0. 1. ]] SLAMing on 144.836502481 meters Centerline goodness [0,1] 0.7025981753272511 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79385053 -0.02460618 -0.60761491 5.13954664] [ 0.06657417 0.9966919 0.04661695 0.36122898] [ 0.60445779 -0.07745835 0.79286252 1.13901027] [ 0. 0. 0. 1. ]] SLAMing on 144.866502481 meters Centerline goodness [0,1] 0.7008286196288578 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.7938925 -0.02443049 -0.60756716 5.14052755] [ 0.06667963 0.99666439 0.04705235 0.35926138] [ 0.60439104 -0.07786686 0.7928734 1.1385634 ] [ 0. 0. 0. 1. ]] SLAMing on 144.896502481 meters Centerline goodness [0,1] 0.6985690944199634 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79381912 -0.02427023 -0.60766944 5.14083203] [ 0.06666945 0.996654 0.04728634 0.35818413] [ 0.60448853 -0.07804979 0.79278108 1.13870258] [ 0. 0. 0. 1. ]] SLAMing on 144.926502481 meters Centerline goodness [0,1] 0.6988235294117647 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79386418 -0.02419579 -0.60761355 5.14098485] [ 0.06673312 0.9966395 0.0475015 0.35724604] [ 0.60442233 -0.07825769 0.79281106 1.13853724] [ 0. 0. 0. 1. ]] SLAMing on 144.956502481 meters Centerline goodness [0,1] 0.6973244561047447 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79381391 -0.02398637 -0.60768753 5.14085653] [ 0.06682811 0.99661123 0.04795886 0.35530868] [ 0.60447786 -0.07868102 0.79272682 1.13867547] [ 0. 0. 0. 1. ]] SLAMing on 144.986502481 meters Centerline goodness [0,1] 0.6997085268254125 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.7938061 -0.02402594 -0.60769617 5.14097311] [ 0.06693593 0.99660039 0.0480337 0.3547214 ] [ 0.60447619 -0.07880615 0.79271567 1.13865956] [ 0. 0. 0. 1. ]] SLAMing on 145.01650248099997 meters Centerline goodness [0,1] 0.6969629739190455 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79366905 -0.02383888 -0.60788252 5.14229364] [ 0.06699256 0.99657958 0.0483853 0.35290167] [ 0.60464985 -0.07912552 0.79255139 1.13864923] [ 0. 0. 0. 1. ]] SLAMing on 145.04650248099998 meters Centerline goodness [0,1] 0.6957688897645552 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79367031 -0.02386973 -0.60787966 5.14267103] [ 0.0670833 0.99657014 0.04845394 0.35236542] [ 0.60463813 -0.07923502 0.79254939 1.13854438] [ 0. 0. 0. 1. ]] SLAMing on 145.07650248099998 meters Centerline goodness [0,1] 0.6935877523851786 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79358376 -0.02399642 -0.60798766 5.14292358] [ 0.06715835 0.9965713 0.04832604 0.35250109] [ 0.6047434 -0.07918221 0.79247435 1.13868614] [ 0. 0. 0. 1. ]] SLAMing on 145.10650248099998 meters Centerline goodness [0,1] 0.6918728089665729 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79334665 -0.02390874 -0.60830048 5.14341778] [ 0.06708436 0.99657648 0.04832194 0.35302299] [ 0.60506263 -0.0791435 0.79223451 1.13913819] [ 0. 0. 0. 1. ]] SLAMing on 145.13650248099998 meters Centerline goodness [0,1] 0.6918601772540476 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79323037 -0.02412932 -0.60844339 5.14358398] [ 0.0672201 0.99657742 0.04811341 0.3533199 ] [ 0.6052 -0.07906465 0.79213745 1.1393731 ] [ 0. 0. 0. 1. ]] SLAMing on 145.16650248099998 meters Centerline goodness [0,1] 0.6911032203974947 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79315945 -0.02423664 -0.60853156 5.14394518] [ 0.06733304 0.99657188 0.04807027 0.35315066] [ 0.60528038 -0.07910167 0.79207233 1.1394376 ] [ 0. 0. 0. 1. ]] SLAMing on 145.19650248099998 meters Centerline goodness [0,1] 0.6922602452443809 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79324395 -0.02493053 -0.60839338 5.14293075] [ 0.06789034 0.99655275 0.04768133 0.35256364] [ 0.60510737 -0.07912696 0.79220199 1.1394907 ] [ 0. 0. 0. 1. ]] SLAMing on 145.22650248099998 meters Centerline goodness [0,1] 0.6906359465193153 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.7931804 -0.02522783 -0.60846398 5.14222269] [ 0.0681052 0.99654856 0.04746206 0.3525763 ] [ 0.60516654 -0.07908553 0.79216093 1.13985568] [ 0. 0. 0. 1. ]] SLAMing on 145.25650248099998 meters Centerline goodness [0,1] 0.6883795440542206 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79294862 -0.02535775 -0.6087606 5.14202681] [ 0.0681475 0.9965555 0.04725513 0.35349738] [ 0.60546544 -0.07895641 0.79194538 1.14051143] [ 0. 0. 0. 1. ]] SLAMing on 145.28650248099999 meters Centerline goodness [0,1] 0.6892854501984176 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79298767 -0.02582684 -0.60869002 5.14115582] [ 0.06844272 0.99655291 0.04688171 0.35377598] [ 0.605381 -0.07883702 0.79202182 1.14070435] [ 0. 0. 0. 1. ]] SLAMing on 145.316502481 meters Centerline goodness [0,1] 0.6899125508067496 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79279356 -0.02568956 -0.60894861 5.1413201 ] [ 0.0683098 0.99656158 0.04689122 0.35355176] [ 0.60565018 -0.07877222 0.79182246 1.1412787 ] [ 0. 0. 0. 1. ]] SLAMing on 145.346502481 meters Centerline goodness [0,1] 0.6891116419968968 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79282572 -0.02583043 -0.60890079 5.14073931] [ 0.06838644 0.99656213 0.04676771 0.35356681] [ 0.60559943 -0.0787192 0.79186654 1.14141689] [ 0. 0. 0. 1. ]] SLAMing on 145.376502481 meters Centerline goodness [0,1] 0.6916334268971291 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79274539 -0.02574723 -0.60900889 5.14025252] [ 0.0682514 0.99657408 0.04671026 0.35417509] [ 0.60571982 -0.07859505 0.79178679 1.14183922] [ 0. 0. 0. 1. ]] SLAMing on 145.406502481 meters Centerline goodness [0,1] 0.6893675821057567 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79266222 -0.02552454 -0.60912651 5.13966217] [ 0.06794134 0.99659801 0.04665176 0.35493483] [ 0.6058635 -0.07836396 0.79169976 1.14243623] [ 0. 0. 0. 1. ]] SLAMing on 145.436502481 meters Centerline goodness [0,1] 0.6883420773910687 Centerline is valid? [False, False] Translation: X:5.14, Y:0.36, Z:1.14 [[ 0.79255581 -0.02540126 -0.60927011 5.13992188] [ 0.06781456 0.99660601 0.04666531 0.35501456] [ 0.60601689 -0.07830224 0.79158846 1.14268563] [ 0. 0. 0. 1. ]] SLAMing on 145.466502481 meters Centerline goodness [0,1] 0.6841302636757183 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.792368 -0.02499231 -0.60953125 5.14134369] [ 0.06745859 0.99662246 0.04682964 0.3548047 ] [ 0.60630215 -0.07822442 0.79137769 1.14286163] [ 0. 0. 0. 1. ]] SLAMing on 145.496502481 meters Centerline goodness [0,1] 0.6805173092053501 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.7922187 -0.02476064 -0.60973473 5.14214807] [ 0.06727275 0.99663009 0.04693439 0.35476678] [ 0.60651785 -0.07820084 0.79121471 1.1430463 ] [ 0. 0. 0. 1. ]] SLAMing on 145.526502481 meters Centerline goodness [0,1] 0.6832456873249128 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79202266 -0.02421551 -0.61001124 5.14295072] [ 0.06681209 0.99664933 0.04718326 0.35489353] [ 0.60682473 -0.07812633 0.79098674 1.14341021] [ 0. 0. 0. 1. ]] SLAMing on 145.556502481 meters Centerline goodness [0,1] 0.6803483807654563 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79184939 -0.023977 -0.61024556 5.14378659] [ 0.06663664 0.99665517 0.04730781 0.35494501] [ 0.60707009 -0.07812537 0.79079854 1.14363188] [ 0. 0. 0. 1. ]] SLAMing on 145.586502481 meters Centerline goodness [0,1] 0.6774842890809112 Centerline is valid? [False, False] Translation: X:5.15, Y:0.35, Z:1.14 [[ 0.79170654 -0.02355409 -0.61044734 5.14510234] [ 0.06639596 0.9966547 0.04765493 0.3541237 ] [ 0.60728274 -0.07825995 0.79062194 1.14364808] [ 0. 0. 0. 1. ]] SLAMing on 145.616502481 meters Centerline goodness [0,1] 0.6780570252792475 Centerline is valid? [False, False] Translation: X:5.15, Y:0.35, Z:1.14 [[ 0.79172261 -0.0235132 -0.61042807 5.14518262] [ 0.06641354 0.99664907 0.04774795 0.35362895] [ 0.60725987 -0.07834383 0.7906312 1.14360646] [ 0. 0. 0. 1. ]] SLAMing on 145.646502481 meters Centerline goodness [0,1] 0.6798778252901649 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.79175486 -0.02369319 -0.61037929 5.14400082] [ 0.06662528 0.99663549 0.04773658 0.35298632] [ 0.60719463 -0.07846236 0.79066955 1.14389287] [ 0. 0. 0. 1. ]] SLAMing on 145.676502481 meters Centerline goodness [0,1] 0.6806612373890848 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.14 [[ 0.7916157 -0.02360787 -0.61056306 5.14373892] [ 0.06665747 0.99662605 0.04788839 0.35219775] [ 0.6073725 -0.07860779 0.79051847 1.14439369] [ 0. 0. 0. 1. ]] SLAMing on 145.706502481 meters Centerline goodness [0,1] 0.6770947276307153 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79156643 -0.02396436 -0.61061305 5.14185214] [ 0.06709222 0.99659815 0.04786192 0.35091464] [ 0.60738885 -0.07885327 0.79048146 1.1450776 ] [ 0. 0. 0. 1. ]] SLAMing on 145.736502481 meters Centerline goodness [0,1] 0.6807468252614133 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79157129 -0.02418142 -0.61059819 5.14146231] [ 0.06733694 0.99658331 0.04782717 0.35018454] [ 0.60735544 -0.07897443 0.79049504 1.14520908] [ 0. 0. 0. 1. ]] SLAMing on 145.76650248099997 meters Centerline goodness [0,1] 0.6782262373111856 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79152736 -0.02438327 -0.61064711 5.1414448 ] [ 0.06761868 0.9965629 0.04785509 0.3491393 ] [ 0.60738139 -0.07916976 0.79045556 1.14531899] [ 0. 0. 0. 1. ]] SLAMing on 145.79650248099998 meters Centerline goodness [0,1] 0.6778611495592628 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79111031 -0.0298656 -0.61094396 5.14105541] [ 0.07139466 0.99648881 0.04373611 0.34959054] [ 0.60749262 -0.07821822 0.79046482 1.14640253] [ 0. 0. 0. 1. ]] SLAMing on 145.82650248099998 meters Centerline goodness [0,1] 0.6804086188488789 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79105379 -0.0299886 -0.61101112 5.14109066] [ 0.0715523 0.99647783 0.04372874 0.34912223] [ 0.60754767 -0.07831103 0.79041332 1.14652747] [ 0. 0. 0. 1. ]] SLAMing on 145.85650248099998 meters Centerline goodness [0,1] 0.6744005058611799 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79071891 -0.02958225 -0.61146423 5.14225892] [ 0.0714189 0.99646895 0.04414728 0.34830067] [ 0.60799914 -0.07857819 0.79003957 1.14701398] [ 0. 0. 0. 1. ]] SLAMing on 145.88650248099998 meters Centerline goodness [0,1] 0.6725080815691612 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79038618 -0.02924594 -0.61191042 5.14297294] [ 0.07119776 0.99647631 0.04433792 0.34840218] [ 0.60845753 -0.07861073 0.78968335 1.14765289] [ 0. 0. 0. 1. ]] SLAMing on 145.91650248099998 meters Centerline goodness [0,1] 0.6791395649102292 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79010279 -0.02909432 -0.61228351 5.1419789 ] [ 0.07095119 0.99649978 0.04420541 0.34922597] [ 0.60885425 -0.07836906 0.78940154 1.14883101] [ 0. 0. 0. 1. ]] SLAMing on 145.94650248099998 meters Centerline goodness [0,1] 0.6757335930841348 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79003929 -0.02926598 -0.61235727 5.14126485] [ 0.07096671 0.99651073 0.04393289 0.34966881] [ 0.60893485 -0.07816569 0.78935953 1.14929626] [ 0. 0. 0. 1. ]] SLAMing on 145.97650248099998 meters Centerline goodness [0,1] 0.6737668435597075 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.79010699 -0.02934369 -0.61226619 5.1398919 ] [ 0.07081489 0.99653511 0.04362371 0.35043483] [ 0.60886468 -0.07782497 0.78944732 1.14974878] [ 0. 0. 0. 1. ]] SLAMing on 146.00650248099998 meters Centerline goodness [0,1] 0.6775360547543388 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78991393 -0.02942831 -0.61251119 5.13944705] [ 0.07081018 0.99654348 0.04343978 0.35101006] [ 0.60911567 -0.07768571 0.7892674 1.15039573] [ 0. 0. 0. 1. ]] SLAMing on 146.03650248099999 meters Centerline goodness [0,1] 0.6775360547543388 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78991393 -0.02942831 -0.61251119 5.13944705] [ 0.07081018 0.99654348 0.04343978 0.35101006] [ 0.60911567 -0.07768571 0.7892674 1.15039573] [ 0. 0. 0. 1. ]] SLAMing on 146.066502481 meters Centerline goodness [0,1] 0.6777118002101508 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78999905 -0.02940491 -0.61240253 5.13857832] [ 0.07079266 0.99654328 0.04347282 0.35065389] [ 0.60900731 -0.07769709 0.78934989 1.1505869 ] [ 0. 0. 0. 1. ]] SLAMing on 146.096502481 meters Centerline goodness [0,1] 0.6791764590677634 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78992867 -0.0292453 -0.61250095 5.13919652] [ 0.07077651 0.99653463 0.04369698 0.34986756] [ 0.60910047 -0.07786818 0.78926115 1.15060723] [ 0. 0. 0. 1. ]] SLAMing on 146.126502481 meters Centerline goodness [0,1] 0.6774406332453826 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78989601 -0.02892714 -0.61255817 5.1400276 ] [ 0.07078571 0.99651091 0.0442197 0.34796956] [ 0.60914176 -0.07828933 0.78918762 1.15046173] [ 0. 0. 0. 1. ]] SLAMing on 146.156502481 meters Centerline goodness [0,1] 0.6778616997873432 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78987014 -0.02875789 -0.6125995 5.14002088] [ 0.07075597 0.99650273 0.04445107 0.34723558] [ 0.60917876 -0.07845564 0.78914254 1.15055059] [ 0. 0. 0. 1. ]] SLAMing on 146.186502481 meters Centerline goodness [0,1] 0.6796494406227815 Centerline is valid? [False, False] Translation: X:5.14, Y:0.35, Z:1.15 [[ 0.78990117 -0.02825535 -0.61258287 5.13995969] [ 0.0706856 0.99647477 0.04518392 0.34528385] [ 0.60914668 -0.07899162 0.78911383 1.15048044] [ 0. 0. 0. 1. ]] SLAMing on 146.216502481 meters Centerline goodness [0,1] 0.6808932152815145 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78988506 -0.02794575 -0.61261785 5.14033734] [ 0.07061946 0.99646057 0.04559843 0.34407324] [ 0.60917525 -0.07928026 0.78906283 1.15044677] [ 0. 0. 0. 1. ]] SLAMing on 146.246502481 meters Centerline goodness [0,1] 0.68190016574047 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78995604 -0.02765344 -0.61253958 5.14002777] [ 0.07064971 0.99643405 0.04612817 0.34213894] [ 0.60907969 -0.07971497 0.7890928 1.15040117] [ 0. 0. 0. 1. ]] SLAMing on 146.276502481 meters Centerline goodness [0,1] 0.6864146341463415 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.79003153 -0.0277496 -0.61243787 5.13967825] [ 0.07077653 0.99642394 0.04615216 0.34166986] [ 0.60896705 -0.07980789 0.78917034 1.15034022] [ 0. 0. 0. 1. ]] SLAMing on 146.306502481 meters Centerline goodness [0,1] 0.6868659773702692 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78999561 -0.02755619 -0.61249293 5.14008244] [ 0.07073816 0.99641471 0.04640941 0.34081941] [ 0.6090181 -0.07998986 0.78911252 1.15035276] [ 0. 0. 0. 1. ]] SLAMing on 146.336502481 meters Centerline goodness [0,1] 0.6850834127158594 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78995378 -0.02750585 -0.61254914 5.14145622] [ 0.07092012 0.99638735 0.04671811 0.33932489] [ 0.6090512 -0.08034721 0.78905068 1.14998524] [ 0. 0. 0. 1. ]] SLAMing on 146.366502481 meters Centerline goodness [0,1] 0.6828817434450551 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.789902 -0.02722909 -0.61262828 5.14230912] [ 0.0708973 0.99636969 0.04712756 0.33824262] [ 0.60912101 -0.08065984 0.78896488 1.14987444] [ 0. 0. 0. 1. ]] SLAMing on 146.396502481 meters Centerline goodness [0,1] 0.6839000609384522 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78982548 -0.02712988 -0.61273132 5.14241867] [ 0.07088333 0.99636468 0.04725433 0.33805411] [ 0.60922185 -0.08075511 0.78887727 1.15001786] [ 0. 0. 0. 1. ]] SLAMing on 146.426502481 meters Centerline goodness [0,1] 0.6840979262392726 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78974502 -0.02696615 -0.61284225 5.14259518] [ 0.07080296 0.99636352 0.04739914 0.33767402] [ 0.60933549 -0.08082428 0.78878241 1.15022323] [ 0. 0. 0. 1. ]] SLAMing on 146.456502481 meters Centerline goodness [0,1] 0.6872492035312143 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.7899068 -0.02733862 -0.61261721 5.14087064] [ 0.07104623 0.99635834 0.04714338 0.33770167] [ 0.60909743 -0.08076302 0.78897253 1.15038166] [ 0. 0. 0. 1. ]] SLAMing on 146.486502481 meters Centerline goodness [0,1] 0.687081782125216 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.79017576 -0.02768924 -0.61225451 5.13832407] [ 0.07110053 0.99637529 0.04670123 0.33817964] [ 0.60874214 -0.0804338 0.78928032 1.15063388] [ 0. 0. 0. 1. ]] SLAMing on 146.51650248099997 meters Centerline goodness [0,1] 0.6881219358283579 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.79013702 -0.02771957 -0.61230312 5.13825866] [ 0.07107251 0.99638169 0.04660723 0.33828203] [ 0.60879569 -0.08034402 0.78924815 1.15077824] [ 0. 0. 0. 1. ]] SLAMing on 146.54650248099998 meters Centerline goodness [0,1] 0.6908306260000969 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78998634 -0.02767881 -0.61249936 5.13842449] [ 0.07100394 0.99638914 0.04655233 0.33830452] [ 0.6089992 -0.08026557 0.78909911 1.15115937] [ 0. 0. 0. 1. ]] SLAMing on 146.57650248099998 meters Centerline goodness [0,1] 0.689674387053009 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78993034 -0.02705686 -0.61259936 5.1390069 ] [ 0.07043532 0.99641717 0.04681539 0.33838802] [ 0.60913785 -0.08012953 0.78900592 1.15133085] [ 0. 0. 0. 1. ]] SLAMing on 146.60650248099998 meters Centerline goodness [0,1] 0.6875317205210625 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.7898435 -0.02661484 -0.61273069 5.13967832] [ 0.07009825 0.99642852 0.04707918 0.33826842] [ 0.60928933 -0.08013653 0.78888824 1.15142213] [ 0. 0. 0. 1. ]] SLAMing on 146.63650248099998 meters Centerline goodness [0,1] 0.692871965638724 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78978944 -0.02577358 -0.61283633 5.14062224] [ 0.06950052 0.99644269 0.0476618 0.3374952 ] [ 0.60942786 -0.08023522 0.78877119 1.15143355] [ 0. 0. 0. 1. ]] SLAMing on 146.66650248099998 meters Centerline goodness [0,1] 0.6897108044980615 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78975222 -0.02556249 -0.61289313 5.1402988 ] [ 0.06932942 0.99644916 0.04777561 0.33712098] [ 0.60949558 -0.08022242 0.78872017 1.1517308 ] [ 0. 0. 0. 1. ]] SLAMing on 146.69650248099998 meters Centerline goodness [0,1] 0.6928781239466462 Centerline is valid? [False, False] Translation: X:5.14, Y:0.34, Z:1.15 [[ 0.78993526 -0.02509222 -0.61267664 5.13914476] [ 0.06902805 0.99645015 0.04818944 0.33582904] [ 0.60929255 -0.08035842 0.78886317 1.15179558] [ 0. 0. 0. 1. ]] SLAMing on 146.72650248099998 meters Centerline goodness [0,1] 0.6948284567114659 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79003569 -0.02498093 -0.61255169 5.13862413] [ 0.06901101 0.99644259 0.04836996 0.33477075] [ 0.60916426 -0.08048681 0.78894916 1.15179404] [ 0. 0. 0. 1. ]] SLAMing on 146.75650248099998 meters Centerline goodness [0,1] 0.6988333573383263 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79024988 -0.02500321 -0.61227443 5.13745706] [ 0.06916301 0.99642199 0.04857677 0.33274619] [ 0.60886913 -0.08073453 0.78915165 1.15173107] [ 0. 0. 0. 1. ]] SLAMing on 146.78650248099999 meters Centerline goodness [0,1] 0.6983966973886329 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79029701 -0.02478451 -0.61222248 5.13812412] [ 0.06922912 0.99639527 0.04902858 0.33027839] [ 0.60880043 -0.08113077 0.78916401 1.15152101] [ 0. 0. 0. 1. ]] SLAMing on 146.816502481 meters Centerline goodness [0,1] 0.6967411344970429 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79024951 -0.02445853 -0.61229689 5.13930239] [ 0.06917645 0.99637659 0.04948048 0.3286295 ] [ 0.60886807 -0.08145845 0.78907807 1.15135281] [ 0. 0. 0. 1. ]] SLAMing on 146.846502481 meters Centerline goodness [0,1] 0.6963243036278357 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79017185 -0.02406507 -0.6124127 5.14062087] [ 0.06905429 0.99636186 0.04994547 0.32731564] [ 0.60898272 -0.08175523 0.78895889 1.15119628] [ 0. 0. 0. 1. ]] SLAMing on 146.876502481 meters Centerline goodness [0,1] 0.6922910973680425 Centerline is valid? [False, False] Translation: X:5.14, Y:0.33, Z:1.15 [[ 0.79021907 -0.02335907 -0.61237911 5.14178108] [ 0.06888157 0.99632649 0.0508807 0.32501367] [ 0.60894101 -0.08238853 0.78892521 1.15073956] [ 0. 0. 0. 1. ]] SLAMing on 146.906502481 meters Centerline goodness [0,1] 0.6960626516443654 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.7905313 -0.02343302 -0.61197317 5.14020785] [ 0.06907974 0.99630226 0.05108612 0.32384877] [ 0.60851315 -0.08266012 0.78922687 1.15045831] [ 0. 0. 0. 1. ]] SLAMing on 146.936502481 meters Centerline goodness [0,1] 0.6986255447536038 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79070228 -0.02364161 -0.6117442 5.13895983] [ 0.06925236 0.99629427 0.05100824 0.32321895] [ 0.60827133 -0.08269706 0.78940939 1.15049996] [ 0. 0. 0. 1. ]] SLAMing on 146.966502481 meters Centerline goodness [0,1] 0.6986393254120353 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79087048 -0.02404487 -0.61151102 5.13774227] [ 0.0695848 0.99628071 0.05082022 0.32244083] [ 0.60801467 -0.08274409 0.78960216 1.15051307] [ 0. 0. 0. 1. ]] SLAMing on 146.996502481 meters Centerline goodness [0,1] 0.6976281267237452 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79109499 -0.02475464 -0.61119221 5.13553452] [ 0.07013746 0.99626172 0.05043144 0.32120671] [ 0.60765899 -0.08276353 0.78987388 1.15070537] [ 0. 0. 0. 1. ]] SLAMing on 147.026502481 meters Centerline goodness [0,1] 0.6952198852772467 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79107141 -0.02489165 -0.61121717 5.13525351] [ 0.07030343 0.99625067 0.0504186 0.32084823] [ 0.60767051 -0.08285538 0.78985539 1.15084648] [ 0. 0. 0. 1. ]] SLAMing on 147.056502481 meters Centerline goodness [0,1] 0.6955033042811991 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79093622 -0.02481799 -0.61139509 5.13624055] [ 0.07047226 0.99622304 0.05072794 0.31968782] [ 0.60782691 -0.08320896 0.78969787 1.15083492] [ 0. 0. 0. 1. ]] SLAMing on 147.086502481 meters Centerline goodness [0,1] 0.6932348088098141 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79084659 -0.02459394 -0.61152008 5.1376436 ] [ 0.07043043 0.99621115 0.05101861 0.3187864 ] [ 0.60794837 -0.08341752 0.78958236 1.1506592 ] [ 0. 0. 0. 1. ]] SLAMing on 147.116502481 meters Centerline goodness [0,1] 0.691688622754491 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79063882 -0.02439113 -0.6117968 5.13959385] [ 0.0703923 0.99620182 0.05125296 0.31789146] [ 0.60822297 -0.08358837 0.78935278 1.15061479] [ 0. 0. 0. 1. ]] SLAMing on 147.146502481 meters Centerline goodness [0,1] 0.6904345744044056 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79057895 -0.02435406 -0.61187565 5.13991582] [ 0.07039354 0.99619923 0.05130154 0.31739638] [ 0.60830065 -0.08363001 0.7892885 1.15071058] [ 0. 0. 0. 1. ]] SLAMing on 147.176502481 meters Centerline goodness [0,1] 0.6919257340241796 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79056489 -0.02425392 -0.61189779 5.13871281] [ 0.07026114 0.99620919 0.05128963 0.31748981] [ 0.60833423 -0.08354042 0.78927211 1.15120809] [ 0. 0. 0. 1. ]] SLAMing on 147.206502481 meters Centerline goodness [0,1] 0.6909795293667496 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79037674 -0.02414611 -0.61214506 5.13790982] [ 0.07015115 0.99621741 0.05128043 0.31786094] [ 0.60859135 -0.08347355 0.78908094 1.15196462] [ 0. 0. 0. 1. ]] SLAMing on 147.236502481 meters Centerline goodness [0,1] 0.696115107913669 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79035868 -0.0241861 -0.6121668 5.13644291] [ 0.07016846 0.99621859 0.05123377 0.31787355] [ 0.6086128 -0.08344786 0.78906712 1.15250724] [ 0. 0. 0. 1. ]] SLAMing on 147.26650248099997 meters Centerline goodness [0,1] 0.6961913197519929 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79044525 -0.02412799 -0.61205731 5.13640348] [ 0.07021812 0.99620591 0.05141207 0.31696572] [ 0.60849464 -0.08361594 0.78914045 1.15235479] [ 0. 0. 0. 1. ]] SLAMing on 147.29650248099998 meters Centerline goodness [0,1] 0.695288408672579 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79055037 -0.02445468 -0.61190855 5.13611133] [ 0.07059846 0.9961798 0.0513972 0.31563607] [ 0.60831404 -0.08383188 0.78925677 1.15222228] [ 0. 0. 0. 1. ]] SLAMing on 147.32650248099998 meters Centerline goodness [0,1] 0.6963081631677108 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79056049 -0.02446112 -0.61189522 5.13627193] [ 0.07070447 0.9961656 0.05152651 0.31505331] [ 0.60828857 -0.08399855 0.78925868 1.15213546] [ 0. 0. 0. 1. ]] SLAMing on 147.35650248099998 meters Centerline goodness [0,1] 0.6931799153170826 Centerline is valid? [False, False] Translation: X:5.14, Y:0.31, Z:1.15 [[ 0.79050132 -0.02430176 -0.61197801 5.13684595] [ 0.07070476 0.9961528 0.05177299 0.31446544] [ 0.60836543 -0.08419638 0.78917836 1.1520801 ] [ 0. 0. 0. 1. ]] SLAMing on 147.38650248099998 meters Centerline goodness [0,1] 0.6899808703969392 Centerline is valid? [False, False] Translation: X:5.14, Y:0.31, Z:1.15 [[ 0.79026526 -0.02387029 -0.61229978 5.13771743] [ 0.07047036 0.99615141 0.05211802 0.31484731] [ 0.60869922 -0.08433604 0.78890601 1.15238216] [ 0. 0. 0. 1. ]] SLAMing on 147.41650248099998 meters Centerline goodness [0,1] 0.6931167493231749 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79014005 -0.02422625 -0.61244737 5.13707019] [ 0.07064517 0.99615888 0.05173732 0.31581249] [ 0.60884149 -0.08414618 0.7888165 1.15288939] [ 0. 0. 0. 1. ]] SLAMing on 147.44650248099998 meters Centerline goodness [0,1] 0.6921990568973359 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79011573 -0.0243763 -0.61247279 5.13710342] [ 0.07071047 0.9961628 0.05157239 0.31599612] [ 0.60886547 -0.0840564 0.78880756 1.15297462] [ 0. 0. 0. 1. ]] SLAMing on 147.47650248099998 meters Centerline goodness [0,1] 0.6937496999663962 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.7900576 -0.02441995 -0.61254604 5.13748986] [ 0.07072127 0.99616565 0.05150235 0.3162009 ] [ 0.60893965 -0.08400986 0.78875525 1.15302519] [ 0. 0. 0. 1. ]] SLAMing on 147.50650248099998 meters Centerline goodness [0,1] 0.6907550520808333 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79004744 -0.02459387 -0.61255219 5.137093 ] [ 0.07068678 0.9961851 0.05117255 0.31751911] [ 0.60895684 -0.08372809 0.78877194 1.15323156] [ 0. 0. 0. 1. ]] SLAMing on 147.53650248099999 meters Centerline goodness [0,1] 0.6921005170133462 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79011054 -0.02471662 -0.61246586 5.1365702 ] [ 0.07068394 0.996195 0.05098332 0.31822787] [ 0.60887529 -0.08357396 0.78885124 1.15328207] [ 0. 0. 0. 1. ]] SLAMing on 147.566502481 meters Centerline goodness [0,1] 0.6886706148586836 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79010191 -0.0250855 -0.61246198 5.13661468] [ 0.07078722 0.99621152 0.05051521 0.31957632] [ 0.60887448 -0.08326665 0.78888436 1.15336679] [ 0. 0. 0. 1. ]] SLAMing on 147.596502481 meters Centerline goodness [0,1] 0.6875015042479964 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.78996331 -0.02506145 -0.61264174 5.1376436 ] [ 0.07074883 0.99621634 0.0504738 0.31991552] [ 0.60905877 -0.08321613 0.78874742 1.15343863] [ 0. 0. 0. 1. ]] SLAMing on 147.626502481 meters Centerline goodness [0,1] 0.6853754179998557 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.78990772 -0.02523432 -0.61270631 5.13876666] [ 0.07090891 0.99620932 0.05038764 0.32005829] [ 0.60911224 -0.08324792 0.78870277 1.15325582] [ 0. 0. 0. 1. ]] SLAMing on 147.656502481 meters Centerline goodness [0,1] 0.682244794556904 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.78999405 -0.02534361 -0.61259049 5.13872167] [ 0.07103331 0.99620033 0.05039024 0.31967112] [ 0.60898578 -0.08332232 0.78879257 1.15309268] [ 0. 0. 0. 1. ]] SLAMing on 147.686502481 meters Centerline goodness [0,1] 0.6814123083588053 Centerline is valid? [False, False] Translation: X:5.14, Y:0.32, Z:1.15 [[ 0.79018164 -0.02560178 -0.61233776 5.13832255] [ 0.0712596 0.99618846 0.0503053 0.32015796] [ 0.6087159 -0.08338527 0.7889942 1.15276751] [ 0. 0. 0. 1. ]] SLAMing on 147.716502481 meters Centerline goodness [0,1] 0.6831140615570308 Centerline is valid? [False, False] Translation: X:5.12, Y:0.32, Z:1.14 [[ 0.79418367 -0.02498647 -0.60716388 5.12299247] [ 0.06958085 0.99632189 0.05001187 0.31792521] [ 0.60368104 -0.08196559 0.79300116 1.13547971] [ 0. 0. 0. 1. ]] SLAMing on 147.746502481 meters Centerline goodness [0,1] 0.6825821698135957 Centerline is valid? [False, False] Translation: X:5.12, Y:0.32, Z:1.14 [[ 0.79437066 -0.02527313 -0.60690734 5.12224794] [ 0.0698019 0.99631337 0.04987355 0.31773318] [ 0.60340944 -0.08198137 0.79320622 1.13539168] [ 0. 0. 0. 1. ]] SLAMing on 147.776502481 meters Centerline goodness [0,1] 0.6828675869366553 Centerline is valid? [False, False] Translation: X:5.12, Y:0.32, Z:1.13 [[ 0.79520027 -0.02583934 -0.60579606 5.12077822] [ 0.07028096 0.99628539 0.04975946 0.3167681 ] [ 0.60226001 -0.08214466 0.79406242 1.13432078] [ 0. 0. 0. 1. ]] SLAMing on 147.806502481 meters Centerline goodness [0,1] 0.6823472707555127 Centerline is valid? [False, False] Translation: X:5.12, Y:0.32, Z:1.13 [[ 0.79606323 -0.02569269 -0.60466786 5.12115552] [ 0.07035047 0.99625399 0.05028708 0.31621035] [ 0.60111076 -0.08257036 0.79488867 1.13249806] [ 0. 0. 0. 1. ]] SLAMing on 147.836502481 meters Centerline goodness [0,1] 0.6804719479894052 Centerline is valid? [False, False] Translation: X:5.11, Y:0.31, Z:1.12 [[ 0.79803098 -0.0240381 -0.6021368 5.10542825] [ 0.06788394 0.99643 0.05018993 0.31280798] [ 0.5987807 -0.08092854 0.79681381 1.11627077] [ 0. 0. 0. 1. ]] SLAMing on 147.866502481 meters Centerline goodness [0,1] 0.6792253097558041 Centerline is valid? [False, False] Translation: X:5.09, Y:0.31, Z:1.10 [[ 0.79932048 -0.0232369 -0.60045551 5.09037468] [ 0.06541181 0.99667875 0.04850529 0.31024159] [ 0.59733413 -0.07804816 0.7981857 1.10176662] [ 0. 0. 0. 1. ]] SLAMing on 147.896502481 meters Centerline goodness [0,1] 0.6770083102493074 Centerline is valid? [False, False] Translation: X:5.08, Y:0.31, Z:1.09 [[ 0.79959628 -0.02150727 -0.60015267 5.07863676] [ 0.06263449 0.99689484 0.04772422 0.30695518] [ 0.59726268 -0.07575036 0.7984605 1.08695419] [ 0. 0. 0. 1. ]] SLAMing on 147.926502481 meters Centerline goodness [0,1] 0.6770083102493074 Centerline is valid? [False, False] Translation: X:5.06, Y:0.31, Z:1.07 [[ 0.80059281 -0.02109499 -0.59883734 5.05935976] [ 0.0616999 0.99697013 0.04736748 0.30515091] [ 0.59602372 -0.07487027 0.79946867 1.06965565] [ 0. 0. 0. 1. ]] SLAMing on 147.956502481 meters Centerline goodness [0,1] 0.6752349894494534 Centerline is valid? [False, False] Translation: X:5.04, Y:0.30, Z:1.05 [[ 0.80219464 -0.01934573 -0.59674911 5.04499829] [ 0.05907178 0.99714279 0.04708278 0.30252528] [ 0.59413322 -0.07302059 0.80104539 1.05370338] [ 0. 0. 0. 1. ]] SLAMing on 147.986502481 meters Centerline goodness [0,1] 0.6567620239155018 Centerline is valid? [False, False] Translation: X:5.04, Y:0.30, Z:1.05 [[ 0.80474157 -0.01862913 -0.59333292 5.04272565] [ 0.05900939 0.99706736 0.04872949 0.30170298] [ 0.59068511 -0.07422686 0.80348085 1.04791308] [ 0. 0. 0. 1. ]] SLAMing on 148.01650248099997 meters Centerline goodness [0,1] 0.6312225916823286 Centerline is valid? [False, False] Translation: X:5.04, Y:0.30, Z:1.05 [[ 0.80525961 -0.01824767 -0.59264153 5.04316668] [ 0.05855343 0.99708788 0.04885952 0.30333539] [ 0.59002412 -0.07404579 0.80398306 1.04729679] [ 0. 0. 0. 1. ]] SLAMing on 148.04650248099998 meters Centerline goodness [0,1] 0.6325288158432996 Centerline is valid? [False, False] Translation: X:5.03, Y:0.30, Z:1.03 [[ 0.80704329 -0.01603382 -0.59027455 5.02838711] [ 0.054996 0.99732726 0.04810166 0.30170327] [ 0.58792565 -0.07128286 0.80576807 1.03235527] [ 0. 0. 0. 1. ]] SLAMing on 148.07650248099998 meters Centerline goodness [0,1] 0.6272381594147093 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.02 [[ 0.80806622 -0.01415839 -0.58892149 5.01355639] [ 0.05151743 0.99757938 0.04670466 0.30066446] [ 0.58683467 -0.06808018 0.80683961 1.0184739 ] [ 0. 0. 0. 1. ]] SLAMing on 148.10650248099998 meters Centerline goodness [0,1] 0.6320627586870728 Centerline is valid? [False, False] Translation: X:5.02, Y:0.30, Z:1.02 [[ 0.80855631 -0.01307366 -0.58827356 5.01562288] [ 0.05038871 0.9976191 0.04708622 0.30304457] [ 0.58625735 -0.06771421 0.80728998 1.01756749] [ 0. 0. 0. 1. ]] SLAMing on 148.13650248099998 meters Centerline goodness [0,1] 0.6317782709378619 Centerline is valid? [False, False] Translation: X:5.02, Y:0.30, Z:1.02 [[ 0.80921281 -0.00853205 -0.58745368 5.0163063 ] [ 0.04687464 0.99764461 0.05007988 0.30432343] [ 0.58564272 -0.06806196 0.80770674 1.01666608] [ 0. 0. 0. 1. ]] SLAMing on 148.16650248099998 meters Centerline goodness [0,1] 0.6223892864049507 Centerline is valid? [False, False] Translation: X:5.00, Y:0.30, Z:1.00 [[ 0.80987513 -0.00664291 -0.5865647 5.00157883] [ 0.04322222 0.99789358 0.04837606 0.30397252] [ 0.58500779 -0.06453119 0.80845631 1.00362731] [ 0. 0. 0. 1. ]] SLAMing on 148.19650248099998 meters Centerline goodness [0,1] 0.667353019548945 Centerline is valid? [False, False] Translation: X:5.00, Y:0.30, Z:1.00 [[ 0.81000858 -0.00654612 -0.58638148 5.00251126] [ 0.04298374 0.99791066 0.04823609 0.30497903] [ 0.58484057 -0.06427652 0.80859757 1.00349404] [ 0. 0. 0. 1. ]] SLAMing on 148.22650248099998 meters Centerline goodness [0,1] 0.5915084069190759 Centerline is valid? [False, False] Translation: X:5.00, Y:0.31, Z:1.00 [[ 0.81032641 -0.00639446 -0.58594387 5.00381202] [ 0.04270552 0.99792585 0.0481688 0.30624318] [ 0.58442053 -0.06405549 0.80891875 1.00298794] [ 0. 0. 0. 1. ]] SLAMing on 148.25650248099998 meters Centerline goodness [0,1] 0.6744146753560223 Centerline is valid? [False, False] Translation: X:5.00, Y:0.31, Z:1.00 [[ 0.81051348 -0.00639659 -0.58568506 5.00453804] [ 0.04266718 0.99792854 0.04814701 0.30623976] [ 0.58416386 -0.06401333 0.80910746 1.00276867] [ 0. 0. 0. 1. ]] SLAMing on 148.28650248099999 meters Centerline goodness [0,1] 0.6662807804548634 Centerline is valid? [False, False] Translation: X:5.01, Y:0.31, Z:1.00 [[ 0.81092424 -0.00612328 -0.58511912 5.00587505] [ 0.04248563 0.9979222 0.04843813 0.30563792] [ 0.58360676 -0.06413881 0.80949945 1.00215127] [ 0. 0. 0. 1. ]] SLAMing on 148.316502481 meters Centerline goodness [0,1] 0.6653770365742298 Centerline is valid? [False, False] Translation: X:5.01, Y:0.31, Z:1.00 [[ 0.81115542 -0.00608578 -0.58479898 5.00649552] [ 0.04248936 0.99791657 0.04855066 0.30543949] [ 0.58328512 -0.06422986 0.80972402 1.00175765] [ 0. 0. 0. 1. ]] SLAMing on 148.346502481 meters Centerline goodness [0,1] 0.6556492411467116 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.81156931 -0.00583363 -0.58422703 5.00780472] [ 0.0424168 0.99789974 0.04895835 0.30376706] [ 0.5827144 -0.06451414 0.81011225 1.00097746] [ 0. 0. 0. 1. ]] SLAMing on 148.376502481 meters Centerline goodness [0,1] 0.6345459795005053 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.8117451 -0.00562551 -0.58398481 5.00841728] [ 0.04234364 0.99788872 0.04924548 0.3026469 ] [ 0.58247482 -0.06470282 0.81026948 1.00071314] [ 0. 0. 0. 1. ]] SLAMing on 148.406502481 meters Centerline goodness [0,1] 0.6503142836500253 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.81187403 -0.00555838 -0.58380619 5.00903252] [ 0.04235728 0.99788032 0.04940368 0.30201121] [ 0.5822941 -0.06483801 0.81038855 1.00056033] [ 0. 0. 0. 1. ]] SLAMing on 148.436502481 meters Centerline goodness [0,1] 0.6505830414127358 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.8119745 -0.0051113 -0.58367053 5.01104446] [ 0.04223916 0.99785449 0.05002272 0.30009765] [ 0.58216258 -0.06527093 0.8104483 1.00034665] [ 0. 0. 0. 1. ]] SLAMing on 148.466502481 meters Centerline goodness [0,1] 0.6517163678205005 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.8120779 -0.00506356 -0.58352708 5.0118877 ] [ 0.042313 0.9978411 0.05022702 0.29911786] [ 0.58201297 -0.06547903 0.81053895 1.00016929] [ 0. 0. 0. 1. ]] SLAMing on 148.496502481 meters Centerline goodness [0,1] 0.642402708088253 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.81194654 -0.0097014 -0.58365118 5.01352388] [ 0.0456605 0.99785384 0.04693439 0.29906972] [ 0.58194324 -0.06475802 0.81064694 1.00069822] [ 0. 0. 0. 1. ]] SLAMing on 148.526502481 meters Centerline goodness [0,1] 0.6284958787936539 Centerline is valid? [False, False] Translation: X:5.01, Y:0.30, Z:1.00 [[ 0.81203715 -0.00951745 -0.58352813 5.01443552] [ 0.04568405 0.99783554 0.04729899 0.2976175 ] [ 0.58181494 -0.06506647 0.81071433 1.00071009] [ 0. 0. 0. 1. ]] SLAMing on 148.556502481 meters Centerline goodness [0,1] 0.6762139878241695 Centerline is valid? [False, False] Translation: X:5.03, Y:0.30, Z:1.01 [[ 0.81450557 -0.01216247 -0.58002823 5.02989175] [ 0.05020135 0.99750778 0.04957884 0.29712449] [ 0.57797967 -0.06950044 0.81308621 1.00899362] [ 0. 0. 0. 1. ]] SLAMing on 148.586502481 meters Centerline goodness [0,1] 0.662047342093296 Centerline is valid? [False, False] Translation: X:5.03, Y:0.30, Z:1.01 [[ 0.81444558 -0.01147064 -0.58012655 5.03148793] [ 0.04981348 0.99749562 0.05021052 0.29597413] [ 0.57809775 -0.06979186 0.8129773 1.00915874] [ 0. 0. 0. 1. ]] SLAMing on 148.616502481 meters Centerline goodness [0,1] 0.6782392463477034 Centerline is valid? [False, False] Translation: X:5.05, Y:0.30, Z:1.02 [[ 0.81671408 -0.01278947 -0.5769008 5.04783091] [ 0.05320088 0.99716518 0.05320966 0.29628051] [ 0.57458487 -0.07414871 0.81507926 1.01766368] [ 0. 0. 0. 1. ]] SLAMing on 148.646502481 meters Centerline goodness [0,1] 0.6785004192118816 Centerline is valid? [False, False] Translation: X:5.06, Y:0.30, Z:1.02 [[ 0.81764383 -0.0109285 -0.57562066 5.05778669] [ 0.04865792 0.99755433 0.05017727 0.29573181] [ 0.57366452 -0.06903564 0.8161759 1.02383833] [ 0. 0. 0. 1. ]] SLAMing on 148.676502481 meters Centerline goodness [0,1] 0.6407128333931348 Centerline is valid? [False, False] Translation: X:5.07, Y:0.29, Z:1.03 [[ 0.81852217 -0.00923929 -0.57440063 5.07006155] [ 0.04415075 0.99792512 0.04686318 0.29465022] [ 0.57277584 -0.06371877 0.81723176 1.03040451] [ 0. 0. 0. 1. ]] SLAMing on 148.706502481 meters Centerline goodness [0,1] 0.690881583055162 Centerline is valid? [False, False] Translation: X:5.07, Y:0.29, Z:1.03 [[ 0.81830196 -0.00839546 -0.57472725 5.07227337] [ 0.04357058 0.99792247 0.04745882 0.29346118] [ 0.5731348 -0.06387685 0.81696772 1.03064626] [ 0. 0. 0. 1. ]] SLAMing on 148.736502481 meters Centerline goodness [0,1] 0.6986442464309668 Centerline is valid? [False, False] Translation: X:5.09, Y:0.29, Z:1.04 [[ 0.8200622 -0.00946424 -0.57219614 5.08986192] [ 0.04664891 0.99764133 0.05035526 0.29358102] [ 0.57036994 -0.06798677 0.81856944 1.03944316] [ 0. 0. 0. 1. ]] SLAMing on 148.76650248099997 meters Centerline goodness [0,1] 0.7016138673042438 Centerline is valid? [False, False] Translation: X:5.10, Y:0.29, Z:1.05 [[ 0.82211495 -0.01057551 -0.56922331 5.10474832] [ 0.04972605 0.99734028 0.05328867 0.29410797] [ 0.56714578 -0.07211464 0.82045423 1.04802004] [ 0. 0. 0. 1. ]] SLAMing on 148.79650248099998 meters Centerline goodness [0,1] 0.7024280338438675 Centerline is valid? [False, False] Translation: X:5.12, Y:0.29, Z:1.05 [[ 0.82322534 -0.00707385 -0.56767068 5.1176044 ] [ 0.04426869 0.99767762 0.05176537 0.29280146] [ 0.56598615 -0.0677446 0.82162665 1.05340564] [ 0. 0. 0. 1. ]] SLAMing on 148.82650248099998 meters Centerline goodness [0,1] 0.7025077621208502 Centerline is valid? [False, False] Translation: X:5.12, Y:0.29, Z:1.05 [[ 0.82295248 -0.00593763 -0.56807918 5.12012812] [ 0.04349116 0.99766942 0.05257607 0.2916344 ] [ 0.56644305 -0.06797403 0.82129276 1.05371451] [ 0. 0. 0. 1. ]] SLAMing on 148.85650248099998 meters Centerline goodness [0,1] 0.7004882696201025 Centerline is valid? [False, False] Translation: X:5.14, Y:0.29, Z:1.06 [[ 0.82509134 -0.00816104 -0.56494042 5.13625126] [ 0.04721329 0.9973944 0.05454646 0.2914113 ] [ 0.56302326 -0.0716785 0.82332679 1.06239933] [ 0. 0. 0. 1. ]] SLAMing on 148.88650248099998 meters Centerline goodness [0,1] 0.7052830008590245 Centerline is valid? [False, False] Translation: X:5.14, Y:0.29, Z:1.06 [[ 0.82496933 -0.00788066 -0.56512255 5.13761957] [ 0.04711159 0.99738172 0.05486524 0.2899968 ] [ 0.56321053 -0.07188596 0.8231806 1.06247645] [ 0. 0. 0. 1. ]] SLAMing on 148.91650248099998 meters Centerline goodness [0,1] 0.7062422626416531 Centerline is valid? [False, False] Translation: X:5.15, Y:0.29, Z:1.07 [[ 0.82337991 -0.00787035 -0.56743597 5.14825255] [ 0.04577176 0.99756713 0.05258098 0.28673296] [ 0.56564164 -0.06926667 0.82173698 1.06802924] [ 0. 0. 0. 1. ]] SLAMing on 148.94650248099998 meters Centerline goodness [0,1] 0.705764887673838 Centerline is valid? [False, False] Translation: X:5.16, Y:0.29, Z:1.06 [[ 0.82945395 -0.00815832 -0.55851552 5.15720305] [ 0.04635812 0.99744923 0.05427676 0.28510242] [ 0.55664806 -0.0709118 0.82771641 1.06452611] [ 0. 0. 0. 1. ]] SLAMing on 148.97650248099998 meters Centerline goodness [0,1] 0.7066153041327816 Centerline is valid? [False, False] Translation: X:5.17, Y:0.28, Z:1.07 [[ 0.83166226 -0.00885148 -0.55521126 5.17208699] [ 0.04962575 0.99705671 0.0584398 0.28425537] [ 0.55305983 -0.07615495 0.82965369 1.07178388] [ 0. 0. 0. 1. ]] SLAMing on 149.00650248099998 meters Centerline goodness [0,1] 0.7065957800299053 Centerline is valid? [False, False] Translation: X:5.19, Y:0.28, Z:1.08 [[ 0.83358391 -0.01058189 -0.55229149 5.1882793 ] [ 0.05378524 0.99662066 0.06208385 0.28354607] [ 0.54976815 -0.08145723 0.83133609 1.07934049] [ 0. 0. 0. 1. ]] SLAMing on 149.03650248099999 meters Centerline goodness [0,1] 0.7045185150064008 Centerline is valid? [False, False] Translation: X:5.21, Y:0.28, Z:1.09 [[ 0.83495768 -0.01615611 -0.55007695 5.20609576] [ 0.06089443 0.99614303 0.06317385 0.28222175] [ 0.54693468 -0.08624411 0.83272109 1.08682684] [ 0. 0. 0. 1. ]] SLAMing on 149.066502481 meters Centerline goodness [0,1] 0.7016186284253869 Centerline is valid? [False, False] Translation: X:5.22, Y:0.28, Z:1.09 [[ 0.8371999 -0.01997481 -0.54653209 5.22077844] [ 0.0663449 0.99566163 0.06524008 0.28141033] [ 0.54285788 -0.09087861 0.83489305 1.09366572] [ 0. 0. 0. 1. ]] SLAMing on 149.096502481 meters Centerline goodness [0,1] 0.6519347451424794 Centerline is valid? [False, False] Translation: X:5.24, Y:0.28, Z:1.10 [[ 0.83918862 -0.02548445 -0.54324305 5.23597712] [ 0.07318759 0.99510691 0.06637625 0.28043183] [ 0.53889335 -0.09546084 0.83694754 1.10111004] [ 0. 0. 0. 1. ]] SLAMing on 149.126502481 meters Centerline goodness [0,1] 0.6247289014615747 Centerline is valid? [False, False] Translation: X:5.25, Y:0.28, Z:1.11 [[ 0.84147776 -0.02829742 -0.53955022 5.25027071] [ 0.07793381 0.99454113 0.06938486 0.27963854] [ 0.53464147 -0.10043503 0.83908957 1.107852 ] [ 0. 0. 0. 1. ]] SLAMing on 149.156502481 meters Centerline goodness [0,1] 0.6466468590831919 Centerline is valid? [False, False] Translation: X:5.26, Y:0.28, Z:1.11 [[ 0.843801 -0.03154892 -0.53572805 5.2645941 ] [ 0.08284361 0.99396191 0.07194899 0.27892071] [ 0.53022336 -0.10509227 0.84131968 1.11449534] [ 0. 0. 0. 1. ]] SLAMing on 149.186502481 meters Centerline goodness [0,1] 0.5585687382297552 Centerline is valid? [False, False] Translation: X:5.28, Y:0.28, Z:1.12 [[ 0.84587232 -0.03630881 -0.53214819 5.27943533] [ 0.08895641 0.99331063 0.0736258 0.27766643] [ 0.52591519 -0.10961602 0.84344386 1.12157313] [ 0. 0. 0. 1. ]] SLAMing on 149.216502481 meters Centerline goodness [0,1] 0.5446819530109703 Centerline is valid? [False, False] Translation: X:5.30, Y:0.28, Z:1.13 [[ 0.8477722 -0.03846586 -0.52896378 5.29508157] [ 0.09317002 0.99265753 0.07713861 0.27731044] [ 0.52211267 -0.11467954 0.84513133 1.12876453] [ 0. 0. 0. 1. ]] SLAMing on 149.246502481 meters Centerline goodness [0,1] 0.5698377945711797 Centerline is valid? [False, False] Translation: X:5.30, Y:0.28, Z:1.13 [[ 0.84770475 -0.03828377 -0.52908507 5.29594942] [ 0.09318484 0.99262983 0.07747643 0.27654922] [ 0.52221954 -0.11497985 0.84502449 1.12868982] [ 0. 0. 0. 1. ]] SLAMing on 149.276502481 meters Centerline goodness [0,1] 0.5355839630859054 Centerline is valid? [False, False] Translation: X:5.30, Y:0.28, Z:1.13 [[ 0.84752164 -0.03791312 -0.52940502 5.29778975] [ 0.09316303 0.99258612 0.07806056 0.27506302] [ 0.52252055 -0.11547899 0.84477031 1.12886311] [ 0. 0. 0. 1. ]] SLAMing on 149.306502481 meters Centerline goodness [0,1] 0.5487693067212074 Centerline is valid? [False, False] Translation: X:5.30, Y:0.27, Z:1.13 [[ 0.84730112 -0.03760145 -0.52978009 5.29924443] [ 0.09306233 0.99256956 0.07839056 0.27432064] [ 0.52289598 -0.11572298 0.84450458 1.12903727] [ 0. 0. 0. 1. ]] SLAMing on 149.336502481 meters Centerline goodness [0,1] 0.559405707837698 Centerline is valid? [False, False] Translation: X:5.30, Y:0.27, Z:1.13 [[ 0.84716854 -0.03751391 -0.52999827 5.3007612 ] [ 0.09313496 0.99254485 0.0786168 0.27303724] [ 0.52309783 -0.11596305 0.84434663 1.12932679] [ 0. 0. 0. 1. ]] SLAMing on 149.366502481 meters Centerline goodness [0,1] 0.5425822236860678 Centerline is valid? [False, False] Translation: X:5.30, Y:0.27, Z:1.13 [[ 0.84705131 -0.03736526 -0.53019612 5.30139713] [ 0.09305698 0.99254393 0.07872064 0.27283877] [ 0.52330152 -0.11601887 0.84421273 1.12955177] [ 0. 0. 0. 1. ]] SLAMing on 149.396502481 meters Centerline goodness [0,1] 0.5253360910031024 Centerline is valid? [False, False] Translation: X:5.30, Y:0.27, Z:1.13 [[ 0.84676911 -0.03732088 -0.53064981 5.30207439] [ 0.09301169 0.99255665 0.0786137 0.27342146] [ 0.52376607 -0.11592429 0.8439376 1.13019883] [ 0. 0. 0. 1. ]] SLAMing on 149.426502481 meters Centerline goodness [0,1] 0.5517346603445847 Centerline is valid? [False, False] Translation: X:5.31, Y:0.27, Z:1.13 [[ 0.84628748 -0.03587857 -0.53151692 5.30589435] [ 0.09199016 0.99258397 0.07946619 0.27397323] [ 0.52472404 -0.11614557 0.84331186 1.13054759] [ 0. 0. 0. 1. ]] SLAMing on 149.456502481 meters Centerline goodness [0,1] 0.5825203920923345 Centerline is valid? [False, False] Translation: X:5.31, Y:0.27, Z:1.13 [[ 0.84577653 -0.03352373 -0.53248307 5.31138782] [ 0.09034112 0.99261126 0.08100233 0.27494085] [ 0.52583319 -0.11661499 0.84255588 1.13031838] [ 0. 0. 0. 1. ]] SLAMing on 149.486502481 meters Centerline goodness [0,1] 0.583090035788284 Centerline is valid? [False, False] Translation: X:5.31, Y:0.28, Z:1.13 [[ 0.8454674 -0.0332044 -0.53299376 5.3133381 ] [ 0.09006718 0.9926338 0.08103107 0.27583815] [ 0.52637704 -0.11651437 0.84223014 1.13051525] [ 0. 0. 0. 1. ]] SLAMing on 149.51650248099997 meters Centerline goodness [0,1] 0.6079600348752268 Centerline is valid? [False, False] Translation: X:5.31, Y:0.28, Z:1.13 [[ 0.84525386 -0.03302746 -0.53334332 5.31472668] [ 0.0898897 0.99265335 0.08098873 0.27644914] [ 0.52675018 -0.11639811 0.8420129 1.13069673] [ 0. 0. 0. 1. ]] SLAMing on 149.54650248099998 meters Centerline goodness [0,1] 0.6223207338065033 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.8449881 -0.03268221 -0.53378552 5.31645602] [ 0.08950565 0.9926946 0.08090844 0.27760856] [ 0.52724173 -0.11614349 0.84174037 1.13116151] [ 0. 0. 0. 1. ]] SLAMing on 149.57650248099998 meters Centerline goodness [0,1] 0.6499126080589541 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.84505486 -0.02802711 -0.53394454 5.31688381] [ 0.08618976 0.99270568 0.08430164 0.27794698] [ 0.52768704 -0.11726006 0.8413064 1.13134279] [ 0. 0. 0. 1. ]] SLAMing on 149.60650248099998 meters Centerline goodness [0,1] 0.6607404605418696 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.84481117 -0.02825439 -0.53431805 5.31722874] [ 0.08621977 0.9927433 0.08382661 0.27960032] [ 0.52807219 -0.11688643 0.84111671 1.13199371] [ 0. 0. 0. 1. ]] SLAMing on 149.63650248099998 meters Centerline goodness [0,1] 0.6828061369447864 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.84443245 -0.02789276 -0.53493536 5.31950399] [ 0.08573952 0.9928058 0.08357858 0.28171351] [ 0.52875569 -0.11644156 0.84074894 1.13252216] [ 0. 0. 0. 1. ]] SLAMing on 149.66650248099998 meters Centerline goodness [0,1] 0.6654187005355197 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.84403488 -0.02778951 -0.5355678 5.32148379] [ 0.08560452 0.99283301 0.08339348 0.28301333] [ 0.52941193 -0.11623403 0.8403646 1.13295841] [ 0. 0. 0. 1. ]] SLAMing on 149.69650248099998 meters Centerline goodness [0,1] 0.6974492822398861 Centerline is valid? [False, False] Translation: X:5.32, Y:0.28, Z:1.13 [[ 0.84370208 -0.02779176 -0.5360918 5.323008 ] [ 0.08552297 0.99286258 0.08312477 0.28442672] [ 0.5299553 -0.1159807 0.84005705 1.13333919] [ 0. 0. 0. 1. ]] SLAMing on 149.72650248099998 meters Centerline goodness [0,1] 0.7076871927616424 Centerline is valid? [False, False] Translation: X:5.32, Y:0.29, Z:1.13 [[ 0.84345608 -0.02760043 -0.53648863 5.32425911] [ 0.08511373 0.99293061 0.08273127 0.28716076] [ 0.53041256 -0.11544274 0.83984254 1.13382332] [ 0. 0. 0. 1. ]] SLAMing on 149.75650248099998 meters Centerline goodness [0,1] 0.714911654045816 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.13 [[ 0.84311799 -0.0275285 -0.53702349 5.3255596 ] [ 0.08482182 0.99299418 0.08226674 0.29016827] [ 0.53099652 -0.11491188 0.83954628 1.13452316] [ 0. 0. 0. 1. ]] SLAMing on 149.78650248099999 meters Centerline goodness [0,1] 0.7163394025943115 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.13 [[ 0.84290819 -0.02768449 -0.53734472 5.32617591] [ 0.08487565 0.99301333 0.08197962 0.29140266] [ 0.53132091 -0.11470878 0.8393688 1.13489599] [ 0. 0. 0. 1. ]] SLAMing on 149.816502481 meters Centerline goodness [0,1] 0.7174022126114071 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.8427274 -0.02780746 -0.53762187 5.32677962] [ 0.08493313 0.9930256 0.08177114 0.2919871 ] [ 0.53159843 -0.11457269 0.83921166 1.13521576] [ 0. 0. 0. 1. ]] SLAMing on 149.846502481 meters Centerline goodness [0,1] 0.7174022126114071 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.8427274 -0.02780746 -0.53762187 5.32677962] [ 0.08493313 0.9930256 0.08177114 0.2919871 ] [ 0.53159843 -0.11457269 0.83921166 1.13521576] [ 0. 0. 0. 1. ]] SLAMing on 149.876502481 meters Centerline goodness [0,1] 0.7189109288575244 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84251732 -0.02814033 -0.53793372 5.32761585] [ 0.08509078 0.99304901 0.08132178 0.29339946] [ 0.53190612 -0.11428821 0.83905547 1.13562667] [ 0. 0. 0. 1. ]] SLAMing on 149.906502481 meters Centerline goodness [0,1] 0.7171700277167161 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84222424 -0.02805436 -0.53839696 5.32884557] [ 0.0850519 0.99305388 0.08130298 0.29405644] [ 0.53237628 -0.11426703 0.83876012 1.13602452] [ 0. 0. 0. 1. ]] SLAMing on 149.936502481 meters Centerline goodness [0,1] 0.7150292622085772 Centerline is valid? [False, False] Translation: X:5.33, Y:0.30, Z:1.14 [[ 0.84188335 -0.02799823 -0.53893276 5.33026456] [ 0.08504403 0.99305813 0.08125928 0.29527344] [ 0.53291644 -0.11424385 0.83842019 1.13645433] [ 0. 0. 0. 1. ]] SLAMing on 149.966502481 meters Centerline goodness [0,1] 0.7185864502808854 Centerline is valid? [False, False] Translation: X:5.33, Y:0.30, Z:1.14 [[ 0.84170381 -0.02799562 -0.53921326 5.33092411] [ 0.08507075 0.99305781 0.08123521 0.29556644] [ 0.53319571 -0.11424726 0.83824215 1.13674728] [ 0. 0. 0. 1. ]] SLAMing on 149.996502481 meters Centerline goodness [0,1] 0.7091354820102387 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84147648 -0.02806154 -0.53956453 5.33195576] [ 0.0852723 0.99303187 0.08134084 0.29465523] [ 0.53352223 -0.11445631 0.83800584 1.13711002] [ 0. 0. 0. 1. ]] SLAMing on 150.026502481 meters Centerline goodness [0,1] 0.6931338703490602 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84130006 -0.0279278 -0.5398465 5.33313241] [ 0.08528906 0.99301381 0.08154355 0.29367962] [ 0.5337977 -0.11464559 0.83780452 1.13729179] [ 0. 0. 0. 1. ]] SLAMing on 150.056502481 meters Centerline goodness [0,1] 0.6892051054010528 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84108206 -0.02778753 -0.54019331 5.33435185] [ 0.08524483 0.99300919 0.081646 0.29355765] [ 0.53414818 -0.11471967 0.83757096 1.13755756] [ 0. 0. 0. 1. ]] SLAMing on 150.086502481 meters Centerline goodness [0,1] 0.6889994711284196 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84083053 -0.02776753 -0.54058577 5.33478576] [ 0.08519609 0.99302477 0.0815072 0.29445737] [ 0.53455181 -0.11458954 0.83733124 1.13816912] [ 0. 0. 0. 1. ]] SLAMing on 150.116502481 meters Centerline goodness [0,1] 0.6937258687258687 Centerline is valid? [False, False] Translation: X:5.33, Y:0.29, Z:1.14 [[ 0.84087908 -0.02258965 -0.54075141 5.33448616] [ 0.08154495 0.99301092 0.08532141 0.29440957] [ 0.53504467 -0.11584053 0.83684417 1.13841158] [ 0. 0. 0. 1. ]] SLAMing on 150.146502481 meters Centerline goodness [0,1] 0.7121540835020731 Centerline is valid? [False, False] Translation: X:5.34, Y:0.30, Z:1.14 [[ 0.84057767 -0.0225103 -0.54122312 5.33562857] [ 0.0813949 0.99304112 0.08511293 0.29560498] [ 0.53554089 -0.11559683 0.83656041 1.13895977] [ 0. 0. 0. 1. ]] SLAMing on 150.176502481 meters Centerline goodness [0,1] 0.7213043267600174 Centerline is valid? [False, False] Translation: X:5.37, Y:0.30, Z:1.16 [[ 0.8434816 -0.02212365 -0.53670228 5.36750198] [ 0.07873178 0.99345268 0.08278333 0.29969542] [ 0.53135685 -0.11208174 0.83970089 1.15581429] [ 0. 0. 0. 1. ]] SLAMing on 150.206502481 meters Centerline goodness [0,1] 0.722871655284711 Centerline is valid? [False, False] Translation: X:5.40, Y:0.30, Z:1.17 [[ 0.84779576 -0.02121726 -0.52989827 5.39714539] [ 0.07680308 0.99357756 0.08309582 0.30148389] [ 0.52473196 -0.1111461 0.8439804 1.16823524] [ 0. 0. 0. 1. ]] SLAMing on 150.236502481 meters Centerline goodness [0,1] 0.72121742512641 Centerline is valid? [False, False] Translation: X:5.43, Y:0.31, Z:1.18 [[ 0.8501556 -0.02010767 -0.52614745 5.42999431] [ 0.07391616 0.99393277 0.08144972 0.30577748] [ 0.52131743 -0.10813574 0.84648379 1.18476387] [ 0. 0. 0. 1. ]] SLAMing on 150.26650248099997 meters Centerline goodness [0,1] 0.7201729036644892 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:1.21 [[ 0.85470217 -0.0216063 -0.51866884 5.47856142] [ 0.07512399 0.99376407 0.08239761 0.31046486] [ 0.51365415 -0.10938988 0.85099545 1.20697243] [ 0. 0. 0. 1. ]] SLAMing on 150.29650248099998 meters Centerline goodness [0,1] 0.7213106760611454 Centerline is valid? [False, False] Translation: X:5.51, Y:0.31, Z:1.22 [[ 0.85881765 -0.01740589 -0.51198563 5.5089404 ] [ 0.07090975 0.99384096 0.08515837 0.3119966 ] [ 0.50735003 -0.10944028 0.85476241 1.21887362] [ 0. 0. 0. 1. ]] SLAMing on 150.32650248099998 meters Centerline goodness [0,1] 0.719508028698326 Centerline is valid? [False, False] Translation: X:5.54, Y:0.31, Z:1.23 [[ 0.86318807 -0.01509152 -0.50465692 5.53909322] [ 0.06813652 0.99389102 0.08682196 0.31286909] [ 0.50026371 -0.10932924 0.85894315 1.2296454 ] [ 0. 0. 0. 1. ]] SLAMing on 150.35650248099998 meters Centerline goodness [0,1] 0.7191914748008017 Centerline is valid? [False, False] Translation: X:5.57, Y:0.31, Z:1.24 [[ 0.86695492 -0.01198131 -0.49824252 5.57091882] [ 0.06421143 0.9940642 0.08782514 0.31252079] [ 0.49423279 -0.1081333 0.86257819 1.24193568] [ 0. 0. 0. 1. ]] SLAMing on 150.38650248099998 meters Centerline goodness [0,1] 0.718563021088769 Centerline is valid? [False, False] Translation: X:5.60, Y:0.31, Z:1.25 [[ 0.87050955 -0.01012212 -0.49204742 5.59887831] [ 0.06186964 0.9941076 0.08900694 0.31172627] [ 0.48824714 -0.10792419 0.86600641 1.25339464] [ 0. 0. 0. 1. ]] SLAMing on 150.41650248099998 meters Centerline goodness [0,1] 0.7187032907794467 Centerline is valid? [False, False] Translation: X:5.63, Y:0.31, Z:1.26 [[ 0.87431086 -0.00708932 -0.4853146 5.62581853] [ 0.0585979 0.99412133 0.09104432 0.31025898] [ 0.48181615 -0.10803945 0.8695865 1.26448319] [ 0. 0. 0. 1. ]] SLAMing on 150.44650248099998 meters Centerline goodness [0,1] 0.7184667627586544 Centerline is valid? [False, False] Translation: X:5.65, Y:0.31, Z:1.27 [[ 8.77681222e-01 -5.54705895e-03 -4.79212795e-01 5.65363024e+00] [ 5.67746306e-02 9.94094973e-01 9.24760861e-02 3.09162450e-01] [ 4.75870060e-01 -1.08371654e-01 8.72813423e-01 1.27498069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47650248099998 meters Centerline goodness [0,1] 0.7169788193763483 Centerline is valid? [False, False] Translation: X:5.67, Y:0.31, Z:1.28 [[ 0.88050582 -0.00646785 -0.47399121 5.66715071] [ 0.05496066 0.99455642 0.08852599 0.30975846] [ 0.47083843 -0.10399852 0.87606819 1.27640624] [ 0. 0. 0. 1. ]] SLAMing on 150.50650248099998 meters Centerline goodness [0,1] 0.7141074268934295 Centerline is valid? [False, False] Translation: X:5.67, Y:0.31, Z:1.28 [[ 0.88002982 -0.00947611 -0.47482388 5.67069442] [ 0.05727103 0.99462212 0.08629529 0.3099615 ] [ 0.47145258 -0.10313608 0.87583983 1.276854 ] [ 0. 0. 0. 1. ]] SLAMing on 150.53650248099999 meters Centerline goodness [0,1] 0.7126882980541518 Centerline is valid? [False, False] Translation: X:5.67, Y:0.31, Z:1.28 [[ 0.88014208 -0.0088586 -0.47462769 5.67236248] [ 0.05682735 0.99460224 0.08681616 0.30815865] [ 0.47129669 -0.10338239 0.87589469 1.27659981] [ 0. 0. 0. 1. ]] SLAMing on 150.566502481 meters Centerline goodness [0,1] 0.7140446140299384 Centerline is valid? [False, False] Translation: X:5.67, Y:0.31, Z:1.28 [[ 0.87999103 -0.00876115 -0.4749095 5.67346474] [ 0.05697637 0.99455771 0.08722761 0.30643257] [ 0.47156069 -0.10381813 0.87570104 1.27665513] [ 0. 0. 0. 1. ]] SLAMing on 150.596502481 meters Centerline goodness [0,1] 0.7091972875712992 Centerline is valid? [False, False] Translation: X:5.67, Y:0.31, Z:1.28 [[ 0.87980254 -0.00856776 -0.47526212 5.67436248] [ 0.05693622 0.99453863 0.08747101 0.30564083] [ 0.47191711 -0.10401685 0.87548543 1.27696266] [ 0. 0. 0. 1. ]] SLAMing on 150.626502481 meters Centerline goodness [0,1] 0.7068607576386684 Centerline is valid? [False, False] Translation: X:5.68, Y:0.30, Z:1.28 [[ 0.87959077 -0.00838086 -0.47565728 5.67534303] [ 0.05698476 0.99450207 0.08785421 0.30468039] [ 0.47230585 -0.10438097 0.87523242 1.27742276] [ 0. 0. 0. 1. ]] SLAMing on 150.656502481 meters Centerline goodness [0,1] 0.7090771632035899 Centerline is valid? [False, False] Translation: X:5.68, Y:0.30, Z:1.28 [[ 0.87936293 -0.00812042 -0.47608287 5.67628358] [ 0.05685044 0.99449294 0.08804447 0.30451972] [ 0.4727461 -0.10448856 0.87498187 1.27793762] [ 0. 0. 0. 1. ]] SLAMing on 150.686502481 meters Centerline goodness [0,1] 0.7064893148809233 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.8790698 -0.00804192 -0.47662523 5.67703786] [ 0.05675311 0.99451187 0.08789329 0.30526022] [ 0.47330261 -0.1043143 0.87470176 1.27896465] [ 0. 0. 0. 1. ]] SLAMing on 150.716502481 meters Centerline goodness [0,1] 0.7036819428123776 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.87876049 -0.00787461 -0.47719806 5.67817719] [ 0.05658649 0.99453026 0.08779256 0.30586521] [ 0.47389658 -0.1041516 0.8743995 1.27970183] [ 0. 0. 0. 1. ]] SLAMing on 150.746502481 meters Centerline goodness [0,1] 0.7059887116084737 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.87848895 -0.00769336 -0.47770072 5.67955528] [ 0.05637983 0.99455325 0.08766492 0.30670163] [ 0.47442436 -0.10394535 0.8741378 1.28017734] [ 0. 0. 0. 1. ]] SLAMing on 150.776502481 meters Centerline goodness [0,1] 0.7001647041471029 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.87796905 -0.00710507 -0.47866466 5.68175378] [ 0.05570276 0.99461413 0.0874067 0.30978578] [ 0.47546561 -0.10340332 0.8736362 1.28125205] [ 0. 0. 0. 1. ]] SLAMing on 150.806502481 meters Centerline goodness [0,1] 0.685254638768259 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.87746456 -0.00658656 -0.47959625 5.68345082] [ 0.05511777 0.99466639 0.08718262 0.31352456] [ 0.47646403 -0.10293394 0.87314754 1.28238926] [ 0. 0. 0. 1. ]] SLAMing on 150.836502481 meters Centerline goodness [0,1] 0.6840687848989475 Centerline is valid? [False, False] Translation: X:5.68, Y:0.31, Z:1.28 [[ 0.87718858 -0.00643775 -0.48010286 5.68479797] [ 0.0549418 0.99468814 0.08704544 0.31448604] [ 0.47699224 -0.10273298 0.87288277 1.28288902] [ 0. 0. 0. 1. ]] SLAMing on 150.866502481 meters Centerline goodness [0,1] 0.6801432452457397 Centerline is valid? [False, False] Translation: X:5.69, Y:0.31, Z:1.28 [[ 0.87690627 -0.00614202 -0.48062217 5.68649528] [ 0.05469554 0.99469853 0.08708173 0.31475922] [ 0.47753931 -0.1026504 0.87259332 1.28329451] [ 0. 0. 0. 1. ]] SLAMing on 150.896502481 meters Centerline goodness [0,1] 0.669993576757745 Centerline is valid? [False, False] Translation: X:5.69, Y:0.32, Z:1.28 [[ 0.87647705 -0.00589725 -0.48140752 5.68844395] [ 0.05438256 0.99473802 0.08682633 0.31679151] [ 0.47836233 -0.10228146 0.87218575 1.28419196] [ 0. 0. 0. 1. ]] SLAMing on 150.926502481 meters Centerline goodness [0,1] 0.6617938553022795 Centerline is valid? [False, False] Translation: X:5.70, Y:0.32, Z:1.29 [[ 8.79054882e-01 -2.52828427e-03 -4.76713878e-01 5.70048173e+00] [ 4.93235683e-02 9.95101535e-01 8.56745017e-02 3.20522881e-01] [ 4.74162102e-01 -9.88258185e-02 8.74873567e-01 1.28649214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.956502481 meters Centerline goodness [0,1] 0.6573950121473549 Centerline is valid? [False, False] Translation: X:5.70, Y:0.32, Z:1.29 [[ 8.78778569e-01 -2.25468424e-03 -4.77224416e-01 5.70175494e+00] [ 4.90987125e-02 9.95109538e-01 8.57106995e-02 3.21264351e-01] [ 4.74697318e-01 -9.87518303e-02 8.74591638e-01 1.28713563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.986502481 meters Centerline goodness [0,1] 0.6507979845615428 Centerline is valid? [False, False] Translation: X:5.70, Y:0.32, Z:1.29 [[ 8.78576434e-01 -2.27289212e-03 -4.77596360e-01 5.70277149e+00] [ 4.90749429e-02 9.95125275e-01 8.55414308e-02 3.21673499e-01] [ 4.75073783e-01 -9.85926993e-02 8.74405158e-01 1.28805681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01650248099997 meters Centerline goodness [0,1] 0.6462062450278441 Centerline is valid? [False, False] Translation: X:5.70, Y:0.32, Z:1.29 [[ 8.78487437e-01 -2.17573152e-03 -4.77760493e-01 5.70355035e+00] [ 4.90279853e-02 9.95120923e-01 8.56189529e-02 3.21295160e-01] [ 4.75243179e-01 -9.86388089e-02 8.74307901e-01 1.28839047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04650248099998 meters Centerline goodness [0,1] 0.6438727317921948 Centerline is valid? [False, False] Translation: X:5.70, Y:0.32, Z:1.29 [[ 8.78334477e-01 -1.94563381e-03 -4.78042635e-01 5.70490117e+00] [ 4.89618917e-02 9.95099061e-01 8.59103691e-02 3.20451074e-01] [ 4.75532627e-01 -9.88639109e-02 8.74125076e-01 1.28863736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07650248099998 meters Centerline goodness [0,1] 0.6365722838967195 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.29 [[ 8.80041486e-01 -4.69249360e-03 -4.74873629e-01 5.72163519e+00] [ 5.36342692e-02 9.94535530e-01 8.95681036e-02 3.20179841e-01] [ 4.71858399e-01 -1.04293147e-01 8.75484204e-01 1.29402928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10650248099998 meters Centerline goodness [0,1] 0.6266183454136466 Centerline is valid? [False, False] Translation: X:5.74, Y:0.32, Z:1.30 [[ 0.88194798 -0.00860404 -0.47126822 5.73788169] [ 0.05902904 0.993978 0.09232176 0.31990817] [ 0.4676359 -0.1092415 0.87714478 1.29932425] [ 0. 0. 0. 1. ]] SLAMing on 151.13650248099998 meters Centerline goodness [0,1] 0.620007512207337 Centerline is valid? [False, False] Translation: X:5.74, Y:0.32, Z:1.30 [[ 0.88142341 -0.01337599 -0.47213754 5.73937957] [ 0.06249965 0.99411208 0.08851534 0.32135901] [ 0.46817365 -0.10752792 0.87706965 1.30064692] [ 0. 0. 0. 1. ]] SLAMing on 151.16650248099998 meters Centerline goodness [0,1] 0.6163303119835746 Centerline is valid? [False, False] Translation: X:5.74, Y:0.32, Z:1.30 [[ 0.8813418 -0.01355358 -0.47228481 5.73971749] [ 0.06275228 0.99409083 0.08857519 0.32047058] [ 0.46829349 -0.10770196 0.87698432 1.30100852] [ 0. 0. 0. 1. ]] SLAMing on 151.19650248099998 meters Centerline goodness [0,1] 0.6250470101541933 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.31 [[ 0.8833173 -0.01668089 -0.4684787 5.7547316 ] [ 0.06750477 0.99347691 0.0919061 0.32052995] [ 0.4638897 -0.1128068 0.87868138 1.30660672] [ 0. 0. 0. 1. ]] SLAMing on 151.22650248099998 meters Centerline goodness [0,1] 0.6210843373493976 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.31 [[ 0.88311801 -0.01672374 -0.46885275 5.75493918] [ 0.06761187 0.99346878 0.09191531 0.32016018] [ 0.4642534 -0.11287208 0.87848089 1.30753702] [ 0. 0. 0. 1. ]] SLAMing on 151.25650248099998 meters Centerline goodness [0,1] 0.616626554352186 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.31 [[ 0.88289461 -0.01777735 -0.46923456 5.75469435] [ 0.06849932 0.99346956 0.09124739 0.32063032] [ 0.46454811 -0.11270407 0.87834665 1.30868369] [ 0. 0. 0. 1. ]] SLAMing on 151.28650248099999 meters Centerline goodness [0,1] 0.6126022174283852 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.31 [[ 0.88231731 -0.01998738 -0.47023044 5.75750449] [ 0.07030331 0.9934858 0.08968508 0.32134215] [ 0.46537469 -0.11218945 0.8779749 1.30946742] [ 0. 0. 0. 1. ]] SLAMing on 151.316502481 meters Centerline goodness [0,1] 0.609248757966578 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.31 [[ 0.882339 -0.02015641 -0.47018254 5.75790476] [ 0.07047364 0.99347596 0.08966036 0.3208979 ] [ 0.46530782 -0.1122463 0.87800308 1.30935698] [ 0. 0. 0. 1. ]] SLAMing on 151.346502481 meters Centerline goodness [0,1] 0.6055140233806633 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.31 [[ 0.88226982 -0.0201719 -0.47031166 5.75851806] [ 0.07045127 0.99348748 0.08955019 0.3211198 ] [ 0.46544235 -0.11214149 0.87794516 1.3095966 ] [ 0. 0. 0. 1. ]] SLAMing on 151.376502481 meters Centerline goodness [0,1] 0.607322723609992 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.31 [[ 0.88202588 -0.02021121 -0.47076731 5.75881063] [ 0.07029358 0.99354396 0.08904617 0.32360006] [ 0.46592828 -0.11163294 0.8777522 1.31074485] [ 0. 0. 0. 1. ]] SLAMing on 151.406502481 meters Centerline goodness [0,1] 0.603652691589728 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.31 [[ 0.88187021 -0.02035032 -0.47105285 5.75859813] [ 0.0702387 0.99359033 0.08857082 0.32551082] [ 0.46623111 -0.11119411 0.87764709 1.31160723] [ 0. 0. 0. 1. ]] SLAMing on 151.436502481 meters Centerline goodness [0,1] 0.6006491859816402 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.31 [[ 0.88205379 -0.01581622 -0.47088316 5.75683463] [ 0.06661178 0.99358354 0.09140365 0.3276719 ] [ 0.4664161 -0.11198931 0.87744767 1.31259328] [ 0. 0. 0. 1. ]] SLAMing on 151.466502481 meters Centerline goodness [0,1] 0.6045897644191713 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.31 [[ 0.88185712 -0.01585802 -0.47124998 5.75735146] [ 0.0664331 0.99364352 0.09088017 0.32951712] [ 0.46681331 -0.11144992 0.87730511 1.31333635] [ 0. 0. 0. 1. ]] SLAMing on 151.496502481 meters Centerline goodness [0,1] 0.6003490401396161 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.31 [[ 0.88141393 -0.0150491 -0.47210488 5.76016511] [ 0.06539834 0.9937541 0.09042038 0.33198003] [ 0.46779541 -0.11057265 0.87689289 1.31452044] [ 0. 0. 0. 1. ]] SLAMing on 151.526502481 meters Centerline goodness [0,1] 0.5984332078543086 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.32 [[ 0.88108676 -0.01471533 -0.4727257 5.76159911] [ 0.06496798 0.99380651 0.09015425 0.33379002] [ 0.46847123 -0.11014574 0.87658578 1.3152516 ] [ 0. 0. 0. 1. ]] SLAMing on 151.556502481 meters Centerline goodness [0,1] 0.5988629990312548 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88107844 -0.00932618 -0.47287821 5.76212664] [ 0.06082721 0.99373718 0.09373613 0.33581078] [ 0.46904246 -0.11135274 0.8761277 1.31553297] [ 0. 0. 0. 1. ]] SLAMing on 151.586502481 meters Centerline goodness [0,1] 0.5998982706002034 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88077473 -0.00890761 -0.47345171 5.76290924] [ 0.06031258 0.99379044 0.09350372 0.33821419] [ 0.46967889 -0.11091081 0.87584275 1.31654153] [ 0. 0. 0. 1. ]] SLAMing on 151.616502481 meters Centerline goodness [0,1] 0.5974940669099447 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 8.80936905e-01 -3.99424644e-03 -4.73216879e-01 5.76275810e+00] [ 5.65069892e-02 9.93697966e-01 9.68055446e-02 3.39195629e-01] [ 4.69847985e-01 -1.12019638e-01 8.75610914e-01 1.31659640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.646502481 meters Centerline goodness [0,1] 0.5981418142835264 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 8.80914280e-01 -4.45087636e-03 -4.73254921e-01 5.76259992e+00] [ 5.66407232e-02 9.93760321e-01 9.60846165e-02 3.40685258e-01] [ 4.69874302e-01 -1.11447812e-01 8.75669758e-01 1.31703240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.676502481 meters Centerline goodness [0,1] 0.5975930033912135 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 8.80855777e-01 -4.87582667e-03 -4.73359617e-01 5.76273628e+00] [ 5.65355996e-02 9.93873689e-01 9.49674456e-02 3.43450743e-01] [ 4.69996624e-01 -1.10414293e-01 8.75735039e-01 1.31774771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.706502481 meters Centerline goodness [0,1] 0.593745201412704 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 8.80765458e-01 -4.79400621e-03 -4.73528485e-01 5.76247609e+00] [ 5.61216553e-02 9.93958447e-01 9.43237289e-02 3.46985515e-01] [ 4.70215449e-01 -1.09652285e-01 8.75713314e-01 1.31859194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.736502481 meters Centerline goodness [0,1] 0.593745201412704 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 8.80765458e-01 -4.79400621e-03 -4.73528485e-01 5.76247609e+00] [ 5.61216553e-02 9.93958447e-01 9.43237289e-02 3.46985515e-01] [ 4.70215449e-01 -1.09652285e-01 8.75713314e-01 1.31859194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76650248099997 meters Centerline goodness [0,1] 0.592996128899941 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 8.80669227e-01 -5.12608857e-03 -4.73703955e-01 5.76217113e+00] [ 5.61741698e-02 9.94016585e-01 9.36775916e-02 3.48886841e-01] [ 4.70389388e-01 -1.09108899e-01 8.75687771e-01 1.31926998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79650248099998 meters Centerline goodness [0,1] 0.5913696446021705 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 8.80616402e-01 -5.30074193e-03 -4.73800226e-01 5.76189679e+00] [ 5.60717501e-02 9.94077114e-01 9.30948409e-02 3.51205747e-01] [ 4.70500489e-01 -1.08547652e-01 8.75697834e-01 1.31992106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82650248099998 meters Centerline goodness [0,1] 0.5928880197612186 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 8.80610547e-01 -5.73767765e-03 -4.73806019e-01 5.76157996e+00] [ 5.62922622e-02 9.94112201e-01 9.25857055e-02 3.52036806e-01] [ 4.70485117e-01 -1.08203561e-01 8.75748676e-01 1.32030130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85650248099998 meters Centerline goodness [0,1] 0.5932548898178253 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.88079701 -0.00625929 -0.47345269 5.76097466] [ 0.05666144 0.99412073 0.09226843 0.35201236] [ 0.4700916 -0.10809627 0.87597322 1.32024397] [ 0. 0. 0. 1. ]] SLAMing on 151.88650248099998 meters Centerline goodness [0,1] 0.594097563499043 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.8808383 -0.00645844 -0.47337319 5.7609159 ] [ 0.05686926 0.99410988 0.09225748 0.35155695] [ 0.46998912 -0.10818431 0.87601734 1.3202149 ] [ 0. 0. 0. 1. ]] SLAMing on 151.91650248099998 meters Centerline goodness [0,1] 0.5933023015257306 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.88099949 -0.00688796 -0.47306707 5.76015893] [ 0.05733769 0.99407839 0.09230681 0.35051551] [ 0.46962994 -0.10844683 0.87617749 1.32015036] [ 0. 0. 0. 1. ]] SLAMing on 151.94650248099998 meters Centerline goodness [0,1] 0.5957287470302655 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.88109117 -0.00709724 -0.4728932 5.75949153] [ 0.05756066 0.99406357 0.09232757 0.35000215] [ 0.46943063 -0.10856905 0.87626916 1.32020458] [ 0. 0. 0. 1. ]] SLAMing on 151.97650248099998 meters Centerline goodness [0,1] 0.5979339055352829 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.8813551 -0.00791452 -0.47238814 5.75777947] [ 0.05831818 0.99403567 0.09215242 0.34846516] [ 0.46884132 -0.10876782 0.87655997 1.32032973] [ 0. 0. 0. 1. ]] SLAMing on 152.00650248099998 meters Centerline goodness [0,1] 0.5970394736842105 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.88142288 -0.00815029 -0.47225765 5.75781765] [ 0.05863672 0.99400463 0.09228505 0.34696092] [ 0.46867414 -0.10903379 0.87661633 1.3201266 ] [ 0. 0. 0. 1. ]] SLAMing on 152.03650248099999 meters Centerline goodness [0,1] 0.6000308538811612 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.32 [[ 0.88133686 -0.01316082 -0.47230513 5.75827284] [ 0.06236371 0.99410667 0.08867186 0.34596097] [ 0.46835469 -0.10760448 0.8769636 1.32038006] [ 0. 0. 0. 1. ]] SLAMing on 152.066502481 meters Centerline goodness [0,1] 0.6015954590780088 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88144056 -0.01344459 -0.47210357 5.75749236] [ 0.0626732 0.99408431 0.08870434 0.34491394] [ 0.46811816 -0.10777584 0.87706885 1.32049731] [ 0. 0. 0. 1. ]] SLAMing on 152.096502481 meters Centerline goodness [0,1] 0.6021794871794872 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88158192 -0.01347518 -0.47183867 5.75632459] [ 0.0628606 0.99404068 0.08905989 0.34326359] [ 0.46782674 -0.10817365 0.87717536 1.32082625] [ 0. 0. 0. 1. ]] SLAMing on 152.126502481 meters Centerline goodness [0,1] 0.6015727056171717 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88155119 -0.0134521 -0.47189675 5.75643784] [ 0.06290238 0.994028 0.08917186 0.34277114] [ 0.46787903 -0.10829298 0.87713274 1.32091411] [ 0. 0. 0. 1. ]] SLAMing on 152.156502481 meters Centerline goodness [0,1] 0.6086190159914168 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88150374 -0.01295362 -0.47199932 5.75716022] [ 0.06255349 0.9940165 0.08954469 0.34233942] [ 0.46801519 -0.10845918 0.87703956 1.32101589] [ 0. 0. 0. 1. ]] SLAMing on 152.186502481 meters Centerline goodness [0,1] 0.6103932656142057 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88152431 -0.0129749 -0.47196032 5.75715289] [ 0.06251481 0.9940286 0.08943739 0.34234819] [ 0.46798162 -0.10834574 0.87707149 1.32112111] [ 0. 0. 0. 1. ]] SLAMing on 152.216502481 meters Centerline goodness [0,1] 0.6094926851686369 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88152353 -0.01308498 -0.47195873 5.75691706] [ 0.06253299 0.99404526 0.08923925 0.34217785] [ 0.46798065 -0.10817949 0.87709253 1.32144819] [ 0. 0. 0. 1. ]] SLAMing on 152.246502481 meters Centerline goodness [0,1] 0.6154907975460122 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88169652 -0.01342718 -0.47162586 5.75538739] [ 0.06260148 0.99408647 0.08873079 0.34244554] [ 0.46764548 -0.10775811 0.87732314 1.32208787] [ 0. 0. 0. 1. ]] SLAMing on 152.276502481 meters Centerline goodness [0,1] 0.6122448979591837 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88177635 -0.01363865 -0.47147053 5.75436695] [ 0.06256939 0.99413009 0.08826347 0.34301033] [ 0.46749924 -0.10732826 0.87745376 1.32269796] [ 0. 0. 0. 1. ]] SLAMing on 152.306502481 meters Centerline goodness [0,1] 0.6125862376212419 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88169774 -0.01356158 -0.47161974 5.75510818] [ 0.06248121 0.99413928 0.08822244 0.34300192] [ 0.46765927 -0.1072529 0.8773777 1.32269208] [ 0. 0. 0. 1. ]] SLAMing on 152.336502481 meters Centerline goodness [0,1] 0.6156172949340383 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88162848 -0.01343147 -0.47175292 5.75643097] [ 0.06232493 0.99415373 0.08817007 0.34262955] [ 0.46781067 -0.10713522 0.87731136 1.32253245] [ 0. 0. 0. 1. ]] SLAMing on 152.366502481 meters Centerline goodness [0,1] 0.618022916084449 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88160552 -0.01353438 -0.47179289 5.75637605] [ 0.06238014 0.99416129 0.08804566 0.34256989] [ 0.46784658 -0.10705205 0.87730236 1.32270579] [ 0. 0. 0. 1. ]] SLAMing on 152.396502481 meters Centerline goodness [0,1] 0.6152088358512124 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88156864 -0.01367764 -0.47185767 5.75593446] [ 0.0624596 0.9941714 0.08787503 0.34275558] [ 0.46790548 -0.10693991 0.87728463 1.32310248] [ 0. 0. 0. 1. ]] SLAMing on 152.426502481 meters Centerline goodness [0,1] 0.6152516961858054 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.32 [[ 0.88155993 -0.01352854 -0.47187824 5.75514431] [ 0.06233495 0.99417248 0.08795127 0.34244714] [ 0.46793851 -0.10694882 0.87726592 1.32375493] [ 0. 0. 0. 1. ]] SLAMing on 152.456502481 meters Centerline goodness [0,1] 0.6202374308761605 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88162702 -0.01371404 -0.47174751 5.75423548] [ 0.06255096 0.9941548 0.08799781 0.34088986] [ 0.46778325 -0.10708951 0.87733156 1.32420168] [ 0. 0. 0. 1. ]] SLAMing on 152.486502481 meters Centerline goodness [0,1] 0.6198768154512965 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.8816897 -0.01397291 -0.47162276 5.75340903] [ 0.06280418 0.9941424 0.08795745 0.33985001] [ 0.46763117 -0.10717106 0.87740268 1.3244596 ] [ 0. 0. 0. 1. ]] SLAMing on 152.51650248099997 meters Centerline goodness [0,1] 0.6231215330307615 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88182724 -0.01425624 -0.47135707 5.75248008] [ 0.06315312 0.99410931 0.08808159 0.33741596] [ 0.46732473 -0.10744042 0.87753299 1.32466165] [ 0. 0. 0. 1. ]] SLAMing on 152.54650248099998 meters Centerline goodness [0,1] 0.6260578279266573 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.8818788 -0.01414316 -0.47126399 5.75297307] [ 0.0631815 0.99407938 0.08839843 0.33602325] [ 0.46722359 -0.10773187 0.87755112 1.32429786] [ 0. 0. 0. 1. ]] SLAMing on 152.57650248099998 meters Centerline goodness [0,1] 0.6274213456258344 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88184979 -0.01392358 -0.47132481 5.7536889 ] [ 0.06314876 0.99404692 0.08878599 0.33447884] [ 0.46728276 -0.10805948 0.87747933 1.32414186] [ 0. 0. 0. 1. ]] SLAMing on 152.60650248099998 meters Centerline goodness [0,1] 0.6302282324552584 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88195497 -0.01379839 -0.47113166 5.75377399] [ 0.06329699 0.99398426 0.08937994 0.33168614] [ 0.46706415 -0.1086503 0.87752276 1.32381472] [ 0. 0. 0. 1. ]] SLAMing on 152.63650248099998 meters Centerline goodness [0,1] 0.6353968094712552 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88209161 -0.01390123 -0.47087276 5.75370712] [ 0.06357253 0.99393351 0.08974801 0.32877949] [ 0.46676861 -0.10910054 0.87762415 1.32353918] [ 0. 0. 0. 1. ]] SLAMing on 152.66650248099998 meters Centerline goodness [0,1] 0.6365067466266867 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88213195 -0.01379273 -0.47080036 5.75376035] [ 0.06358407 0.9939083 0.0900187 0.32747193] [ 0.46669078 -0.10934377 0.87763526 1.32345892] [ 0. 0. 0. 1. ]] SLAMing on 152.69650248099998 meters Centerline goodness [0,1] 0.636716224951519 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88223069 -0.013453 -0.47062514 5.75277444] [ 0.06328933 0.9939079 0.09023052 0.32686268] [ 0.46654417 -0.10938969 0.87770749 1.32394792] [ 0. 0. 0. 1. ]] SLAMing on 152.72650248099998 meters Centerline goodness [0,1] 0.6458946108978514 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88219854 -0.01349091 -0.47068433 5.75235179] [ 0.06326257 0.99392288 0.09008419 0.32738784] [ 0.4666086 -0.10924884 0.87769078 1.32431136] [ 0. 0. 0. 1. ]] SLAMing on 152.75650248099998 meters Centerline goodness [0,1] 0.6482822101151827 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.8823083 -0.01338949 -0.47048144 5.75164759] [ 0.06301087 0.99395744 0.08987905 0.32787983] [ 0.46643509 -0.10894648 0.87782058 1.32457559] [ 0. 0. 0. 1. ]] SLAMing on 152.78650248099999 meters Centerline goodness [0,1] 0.6518828243609847 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88224981 -0.01355825 -0.47058627 5.75167326] [ 0.06312423 0.99396578 0.08970704 0.32780798] [ 0.46653038 -0.10884942 0.87778198 1.32480895] [ 0. 0. 0. 1. ]] SLAMing on 152.816502481 meters Centerline goodness [0,1] 0.6540113723834827 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.32 [[ 0.88216711 -0.01372459 -0.47073648 5.7521681 ] [ 0.06321076 0.99398095 0.08947781 0.32758232] [ 0.46667505 -0.10868999 0.87772484 1.32499373] [ 0. 0. 0. 1. ]] SLAMing on 152.846502481 meters Centerline goodness [0,1] 0.6561879221295193 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.8821492 -0.014073 -0.47075976 5.75226166] [ 0.06342263 0.99399854 0.08913182 0.3280265 ] [ 0.46668016 -0.10848438 0.87774756 1.32501057] [ 0. 0. 0. 1. ]] SLAMing on 152.876502481 meters Centerline goodness [0,1] 0.6564947942488845 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88194444 -0.01410405 -0.47114231 5.75295738] [ 0.06342046 0.9940139 0.08896188 0.32862466] [ 0.46706728 -0.1083395 0.87755952 1.32535736] [ 0. 0. 0. 1. ]] SLAMing on 152.906502481 meters Centerline goodness [0,1] 0.6568248301849373 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88182147 -0.01416259 -0.47137068 5.75349211] [ 0.06345629 0.99402201 0.08884556 0.32889309] [ 0.46729455 -0.10825736 0.87744866 1.32552986] [ 0. 0. 0. 1. ]] SLAMing on 152.936502481 meters Centerline goodness [0,1] 0.6542729749814218 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88176561 -0.01453284 -0.4714639 5.7534239 ] [ 0.06368528 0.99404109 0.08846753 0.32956122] [ 0.4673688 -0.10803294 0.87743677 1.32575104] [ 0. 0. 0. 1. ]] SLAMing on 152.966502481 meters Centerline goodness [0,1] 0.6562979460529572 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88167907 -0.0148184 -0.47161682 5.75307193] [ 0.06385306 0.99405956 0.08813837 0.33030052] [ 0.46750914 -0.10782393 0.87738771 1.32623135] [ 0. 0. 0. 1. ]] SLAMing on 152.996502481 meters Centerline goodness [0,1] 0.657601580832407 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88154234 -0.01503459 -0.47186551 5.75305205] [ 0.06402268 0.9940667 0.08793461 0.33021486] [ 0.46774373 -0.10772818 0.87727444 1.32685666] [ 0. 0. 0. 1. ]] SLAMing on 153.026502481 meters Centerline goodness [0,1] 0.6605901704222217 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88159532 -0.01546392 -0.47175264 5.7522745 ] [ 0.06438627 0.9940606 0.08773784 0.32971182] [ 0.46759394 -0.10772366 0.87735484 1.32710455] [ 0. 0. 0. 1. ]] SLAMing on 153.056502481 meters Centerline goodness [0,1] 0.6637065541823923 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88145994 -0.02049659 -0.47181381 5.75140675] [ 0.0680885 0.99413526 0.08401811 0.32985374] [ 0.46732466 -0.10618369 0.87768599 1.32787096] [ 0. 0. 0. 1. ]] SLAMing on 153.086502481 meters Centerline goodness [0,1] 0.6631674697610385 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88147478 -0.02073644 -0.47177559 5.75134824] [ 0.06836905 0.99411358 0.08404678 0.32907679] [ 0.46725569 -0.10633997 0.87770378 1.32785047] [ 0. 0. 0. 1. ]] SLAMing on 153.116502481 meters Centerline goodness [0,1] 0.6622427201138288 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88118106 -0.02573944 -0.47207777 5.75188207] [ 0.07205832 0.99416282 0.0802987 0.32974255] [ 0.46725533 -0.10477482 0.87789219 1.32833174] [ 0. 0. 0. 1. ]] SLAMing on 153.146502481 meters Centerline goodness [0,1] 0.663997445407875 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88118555 -0.02591009 -0.47206006 5.75190288] [ 0.07225357 0.99414788 0.0803083 0.32936422] [ 0.46721671 -0.10487454 0.87790084 1.32829179] [ 0. 0. 0. 1. ]] SLAMing on 153.176502481 meters Centerline goodness [0,1] 0.6616460462614309 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88123033 -0.02652761 -0.47194216 5.75133873] [ 0.07277365 0.99413429 0.08000628 0.32938635] [ 0.46705151 -0.10484891 0.8779918 1.32832814] [ 0. 0. 0. 1. ]] SLAMing on 153.206502481 meters Centerline goodness [0,1] 0.6637413281690486 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88132387 -0.0270266 -0.47173913 5.75060378] [ 0.07314265 0.99413237 0.07969309 0.32929776] [ 0.4668173 -0.10473967 0.87812938 1.32836312] [ 0. 0. 0. 1. ]] SLAMing on 153.236502481 meters Centerline goodness [0,1] 0.6696227339539442 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88154656 -0.02768808 -0.47128445 5.75022904] [ 0.07365253 0.99412108 0.07936358 0.32896239] [ 0.46631638 -0.10467399 0.87840332 1.32778082] [ 0. 0. 0. 1. ]] SLAMing on 153.26650248099997 meters Centerline goodness [0,1] 0.669706776502893 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88161832 -0.02774945 -0.47114659 5.75031419] [ 0.07360872 0.99413852 0.07918554 0.33048707] [ 0.46618762 -0.10449192 0.87849334 1.32746206] [ 0. 0. 0. 1. ]] SLAMing on 153.29650248099998 meters Centerline goodness [0,1] 0.6754172504485902 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.8816665 -0.027953 -0.47104438 5.75034515] [ 0.07367972 0.99415497 0.07891258 0.33174529] [ 0.46608527 -0.10428099 0.8785727 1.3272012 ] [ 0. 0. 0. 1. ]] SLAMing on 153.32650248099998 meters Centerline goodness [0,1] 0.6763306352710325 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88164151 -0.02804406 -0.47108574 5.7506431 ] [ 0.07368313 0.99417038 0.07871503 0.33255798] [ 0.466132 -0.10410951 0.87856825 1.32714731] [ 0. 0. 0. 1. ]] SLAMing on 153.35650248099998 meters Centerline goodness [0,1] 0.6812130177514792 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88172125 -0.02812231 -0.47093181 5.75103914] [ 0.07357165 0.99420532 0.07837725 0.3343185 ] [ 0.46599876 -0.10375412 0.87868097 1.32668924] [ 0. 0. 0. 1. ]] SLAMing on 153.38650248099998 meters Centerline goodness [0,1] 0.68064 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88169199 -0.02823971 -0.47097958 5.75128995] [ 0.07354651 0.99423149 0.07806826 0.33561014] [ 0.4660581 -0.10347106 0.87868287 1.3266685 ] [ 0. 0. 0. 1. ]] SLAMing on 153.41650248099998 meters Centerline goodness [0,1] 0.6840597604642549 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88169387 -0.02810413 -0.47098416 5.75139669] [ 0.07325798 0.99427293 0.0778114 0.33800869] [ 0.46609997 -0.10310918 0.8787032 1.32659538] [ 0. 0. 0. 1. ]] SLAMing on 153.44650248099998 meters Centerline goodness [0,1] 0.6876838280728639 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88180317 -0.02816475 -0.47077586 5.75096825] [ 0.07313595 0.9943059 0.07750426 0.33983817] [ 0.46591233 -0.10277414 0.87884195 1.32638549] [ 0. 0. 0. 1. ]] SLAMing on 153.47650248099998 meters Centerline goodness [0,1] 0.685983760768393 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88177746 -0.02833958 -0.47081352 5.751174 ] [ 0.0731811 0.99432561 0.07720822 0.34076027] [ 0.46595389 -0.10253512 0.87884784 1.32635811] [ 0. 0. 0. 1. ]] SLAMing on 153.50650248099998 meters Centerline goodness [0,1] 0.6900747436120285 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88177606 -0.0284045 -0.47081223 5.751626 ] [ 0.07319572 0.99433308 0.07709805 0.3412442 ] [ 0.46595424 -0.10244466 0.8788582 1.32610079] [ 0. 0. 0. 1. ]] SLAMing on 153.53650248099999 meters Centerline goodness [0,1] 0.6910258635653532 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88181498 -0.02850886 -0.47073303 5.75254479] [ 0.07329591 0.99432674 0.07708469 0.34103272] [ 0.46586485 -0.10247724 0.87890179 1.32546355] [ 0. 0. 0. 1. ]] SLAMing on 153.566502481 meters Centerline goodness [0,1] 0.6887675313392081 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88186257 -0.0286946 -0.47063258 5.75266416] [ 0.07346263 0.99431875 0.07702902 0.34076705] [ 0.46574848 -0.10250292 0.87896047 1.3251918 ] [ 0. 0. 0. 1. ]] SLAMing on 153.596502481 meters Centerline goodness [0,1] 0.6923248715849029 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88186308 -0.02896718 -0.47061492 5.75321023] [ 0.0737278 0.99430494 0.07695382 0.34056405] [ 0.46570561 -0.10256014 0.87897651 1.32481458] [ 0. 0. 0. 1. ]] SLAMing on 153.626502481 meters Centerline goodness [0,1] 0.6933868728931192 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88183512 -0.02911793 -0.47065801 5.75323176] [ 0.0738878 0.99429535 0.0769243 0.34060505] [ 0.4657332 -0.10261044 0.87895602 1.32479283] [ 0. 0. 0. 1. ]] SLAMing on 153.656502481 meters Centerline goodness [0,1] 0.6933868728931192 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88183512 -0.02911793 -0.47065801 5.75323176] [ 0.0738878 0.99429535 0.0769243 0.34060505] [ 0.4657332 -0.10261044 0.87895602 1.32479283] [ 0. 0. 0. 1. ]] SLAMing on 153.686502481 meters Centerline goodness [0,1] 0.6919533397726428 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88173792 -0.02936417 -0.47082478 5.75286391] [ 0.07407009 0.99429889 0.07670295 0.34102532] [ 0.46588824 -0.10250594 0.87888604 1.32524206] [ 0. 0. 0. 1. ]] SLAMing on 153.716502481 meters Centerline goodness [0,1] 0.6954813844899572 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88169797 -0.02968947 -0.4708792 5.75259728] [ 0.07442999 0.99427406 0.07667637 0.34050278] [ 0.4659065 -0.10265294 0.87885921 1.32537206] [ 0. 0. 0. 1. ]] SLAMing on 153.746502481 meters Centerline goodness [0,1] 0.6949110671936759 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88178232 -0.02988676 -0.47070874 5.75242915] [ 0.07468004 0.99424802 0.07677081 0.33948589] [ 0.4657068 -0.10284769 0.87894228 1.325117 ] [ 0. 0. 0. 1. ]] SLAMing on 153.776502481 meters Centerline goodness [0,1] 0.6993347676632786 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88180118 -0.0302622 -0.47064943 5.75190896] [ 0.07502169 0.99423306 0.07663142 0.33868742] [ 0.46561619 -0.10288259 0.8789862 1.3252962 ] [ 0. 0. 0. 1. ]] SLAMing on 153.806502481 meters Centerline goodness [0,1] 0.6973524831285689 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88190815 -0.03094929 -0.47040425 5.75096422] [ 0.07566265 0.99419921 0.07644009 0.33767535] [ 0.46530977 -0.10300517 0.87913409 1.32522618] [ 0. 0. 0. 1. ]] SLAMing on 153.836502481 meters Centerline goodness [0,1] 0.6948562110880522 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.33 [[ 0.88173168 -0.03094866 -0.47073498 5.75228757] [ 0.07583244 0.99416784 0.07667946 0.33673419] [ 0.46561645 -0.1033077 0.8789362 1.32507282] [ 0. 0. 0. 1. ]] SLAMing on 153.866502481 meters Centerline goodness [0,1] 0.6954402632425345 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88168166 -0.03089524 -0.47083218 5.75290195] [ 0.07585241 0.99415651 0.0768065 0.33640015] [ 0.46570792 -0.10343264 0.87887304 1.32492992] [ 0. 0. 0. 1. ]] SLAMing on 153.896502481 meters Centerline goodness [0,1] 0.698219884946794 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.88169342 -0.03088343 -0.47081092 5.7531069 ] [ 0.07595091 0.99413225 0.07702288 0.33548031] [ 0.46566959 -0.10366909 0.87886549 1.32477307] [ 0. 0. 0. 1. ]] SLAMing on 153.926502481 meters Centerline goodness [0,1] 0.6982794900358955 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.32 [[ 0.8816724 -0.0310313 -0.47084056 5.75310311] [ 0.07610571 0.99412273 0.07699291 0.33512245] [ 0.46568412 -0.10371618 0.87885224 1.32484051] [ 0. 0. 0. 1. ]] SLAMing on 153.956502481 meters Centerline goodness [0,1] 0.6962084491794405 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88154522 -0.03079625 -0.47109407 5.75322245] [ 0.07606554 0.99409782 0.07735341 0.33361379] [ 0.46593139 -0.10402455 0.87868472 1.32542578] [ 0. 0. 0. 1. ]] SLAMing on 153.986502481 meters Centerline goodness [0,1] 0.696957044968932 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88149632 -0.03074715 -0.47118877 5.75295477] [ 0.07606269 0.99409219 0.07742858 0.33285612] [ 0.46602436 -0.1040929 0.87862732 1.32588499] [ 0. 0. 0. 1. ]] SLAMing on 154.01650248099997 meters Centerline goodness [0,1] 0.697749275148656 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88138248 -0.03082419 -0.47139663 5.75262785] [ 0.07614175 0.99409136 0.07736148 0.33225429] [ 0.46622672 -0.10407802 0.87852172 1.32657341] [ 0. 0. 0. 1. ]] SLAMing on 154.04650248099998 meters Centerline goodness [0,1] 0.6945268993940583 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.33 [[ 0.88117561 -0.0303557 -0.4718136 5.75336553] [ 0.07583569 0.99409029 0.0776753 0.3310307 ] [ 0.46666743 -0.10422589 0.87827016 1.32721128] [ 0. 0. 0. 1. ]] SLAMing on 154.07650248099998 meters Centerline goodness [0,1] 0.6968459380996901 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88102625 -0.02977173 -0.47212963 5.75534965] [ 0.07543819 0.99408826 0.07808726 0.33012723] [ 0.46701372 -0.10441353 0.87806378 1.32690331] [ 0. 0. 0. 1. ]] SLAMing on 154.10650248099998 meters Centerline goodness [0,1] 0.6975589370436834 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88087717 -0.02941221 -0.47243024 5.75676498] [ 0.07514714 0.99409932 0.07822686 0.33010318] [ 0.46734175 -0.10441004 0.87788965 1.32683625] [ 0. 0. 0. 1. ]] SLAMing on 154.13650248099998 meters Centerline goodness [0,1] 0.6940280106519381 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88059669 -0.02806436 -0.47303474 5.76008111] [ 0.07405102 0.99413056 0.07887251 0.33098236] [ 0.46804479 -0.10448358 0.87750627 1.32638484] [ 0. 0. 0. 1. ]] SLAMing on 154.16650248099998 meters Centerline goodness [0,1] 0.6941828526584266 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88014598 -0.02741843 -0.47391063 5.7623647 ] [ 0.07346778 0.9941696 0.07892586 0.33181098] [ 0.46898352 -0.10428344 0.87702875 1.32702301] [ 0. 0. 0. 1. ]] SLAMing on 154.19650248099998 meters Centerline goodness [0,1] 0.6945590257316834 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88048825 -0.02222282 -0.47354681 5.76183603] [ 0.06954729 0.99414823 0.08265875 0.33160787] [ 0.46893882 -0.10571396 0.87688137 1.32660438] [ 0. 0. 0. 1. ]] SLAMing on 154.22650248099998 meters Centerline goodness [0,1] 0.6982292179045746 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88091242 -0.01772294 -0.47294736 5.75909513] [ 0.06602719 0.99412824 0.08572898 0.33196402] [ 0.46865096 -0.10674711 0.87691011 1.3269929 ] [ 0. 0. 0. 1. ]] SLAMing on 154.25650248099998 meters Centerline goodness [0,1] 0.6974950884086444 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.8808622 -0.017968 -0.47303164 5.75866996] [ 0.06609523 0.99415914 0.0853172 0.33271111] [ 0.46873575 -0.10641783 0.87690481 1.32742818] [ 0. 0. 0. 1. ]] SLAMing on 154.28650248099999 meters Centerline goodness [0,1] 0.6981048486340142 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88079737 -0.0180888 -0.47314775 5.75879492] [ 0.06611396 0.99417929 0.08506749 0.33300059] [ 0.46885493 -0.10620889 0.87686643 1.32765093] [ 0. 0. 0. 1. ]] SLAMing on 154.316502481 meters Centerline goodness [0,1] 0.698902555792885 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88053581 -0.01754942 -0.47365463 5.76077966] [ 0.06573247 0.99417927 0.08536288 0.33276544] [ 0.46939955 -0.10629956 0.87656401 1.32768386] [ 0. 0. 0. 1. ]] SLAMing on 154.346502481 meters Centerline goodness [0,1] 0.6971742812952643 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88042409 -0.01739008 -0.47386814 5.76172645] [ 0.06566235 0.99417098 0.08551324 0.33230899] [ 0.46961887 -0.10640321 0.87643395 1.32765955] [ 0. 0. 0. 1. ]] SLAMing on 154.376502481 meters Centerline goodness [0,1] 0.6985160879572947 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88011707 -0.02187053 -0.47425269 5.76352296] [ 0.06892186 0.99424182 0.0820548 0.33207252] [ 0.46972727 -0.10490421 0.87655656 1.32779322] [ 0. 0. 0. 1. ]] SLAMing on 154.406502481 meters Centerline goodness [0,1] 0.698274171406158 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88010142 -0.02185069 -0.47428266 5.76368529] [ 0.06901653 0.99421782 0.08226571 0.33068027] [ 0.46974271 -0.10513551 0.87652057 1.32784125] [ 0. 0. 0. 1. ]] SLAMing on 154.436502481 meters Centerline goodness [0,1] 0.6990051575370927 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88011722 -0.02166547 -0.47426184 5.76345865] [ 0.06908523 0.99416956 0.0827896 0.32825715] [ 0.46970301 -0.10562904 0.87648251 1.32801233] [ 0. 0. 0. 1. ]] SLAMing on 154.466502481 meters Centerline goodness [0,1] 0.7030888125015237 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.33 [[ 0.88017637 -0.02180133 -0.47414583 5.76289713] [ 0.06942931 0.99411343 0.08317491 0.32545265] [ 0.46954141 -0.10612821 0.87650879 1.32817367] [ 0. 0. 0. 1. ]] SLAMing on 154.496502481 meters Centerline goodness [0,1] 0.7030884645362432 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.8801778 -0.02171313 -0.47414721 5.76290364] [ 0.06951349 0.99407881 0.08351765 0.3237892 ] [ 0.46952626 -0.10647001 0.87647546 1.32823866] [ 0. 0. 0. 1. ]] SLAMing on 154.526502481 meters Centerline goodness [0,1] 0.7033444086047583 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.88002153 -0.02669411 -0.47418301 5.76289057] [ 0.07319363 0.99411408 0.07987418 0.32287838] [ 0.46925984 -0.10499818 0.87679564 1.32866534] [ 0. 0. 0. 1. ]] SLAMing on 154.556502481 meters Centerline goodness [0,1] 0.7067556094602789 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.87973918 -0.0315886 -0.47440608 5.76324741] [ 0.07669057 0.99415275 0.07601885 0.32324764] [ 0.46923078 -0.10325924 0.87701767 1.32926298] [ 0. 0. 0. 1. ]] SLAMing on 154.586502481 meters Centerline goodness [0,1] 0.7053519488074462 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.87940811 -0.03595785 -0.47470876 5.76419518] [ 0.08001936 0.99412136 0.0729357 0.32142454] [ 0.46929551 -0.10212614 0.87711571 1.3297483 ] [ 0. 0. 0. 1. ]] SLAMing on 154.616502481 meters Centerline goodness [0,1] 0.7047771240405801 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.87936842 -0.03588984 -0.47478742 5.7643779 ] [ 0.08008079 0.99409885 0.07317478 0.32027418] [ 0.4693594 -0.10236894 0.87705322 1.32985779] [ 0. 0. 0. 1. ]] SLAMing on 154.646502481 meters Centerline goodness [0,1] 0.7064968275795518 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.87935316 -0.03589781 -0.47481508 5.7639171 ] [ 0.08031463 0.99404947 0.07358806 0.3179155 ] [ 0.46934803 -0.10284449 0.87700367 1.33021069] [ 0. 0. 0. 1. ]] SLAMing on 154.676502481 meters Centerline goodness [0,1] 0.7079256950986786 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.33 [[ 0.87933794 -0.03585869 -0.47484622 5.76363798] [ 0.08038417 0.99402867 0.0737929 0.31653171] [ 0.46936464 -0.10305902 0.8769696 1.3305307 ] [ 0. 0. 0. 1. ]] SLAMing on 154.706502481 meters Centerline goodness [0,1] 0.7073706044088564 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87938924 -0.03616185 -0.47472823 5.7630666 ] [ 0.08080574 0.99398135 0.07396968 0.31441037] [ 0.46919612 -0.10340891 0.87701858 1.33069192] [ 0. 0. 0. 1. ]] SLAMing on 154.736502481 meters Centerline goodness [0,1] 0.7055877891999904 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87939466 -0.03636904 -0.47470236 5.76276894] [ 0.08102969 0.99396406 0.073957 0.31350123] [ 0.46914734 -0.10350238 0.87703365 1.33086191] [ 0. 0. 0. 1. ]] SLAMing on 154.76650248099997 meters Centerline goodness [0,1] 0.7053520046038749 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87955881 -0.03929995 -0.47416433 5.76101004] [ 0.08315667 0.99394131 0.0718724 0.31139775] [ 0.46846693 -0.10264593 0.87749789 1.33120346] [ 0. 0. 0. 1. ]] SLAMing on 154.79650248099998 meters Centerline goodness [0,1] 0.7043077808692315 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87965095 -0.03967451 -0.47396217 5.76022265] [ 0.08350609 0.99391839 0.07178419 0.31046463] [ 0.46823171 -0.10272376 0.87761432 1.33127421] [ 0. 0. 0. 1. ]] SLAMing on 154.82650248099998 meters Centerline goodness [0,1] 0.7005541295847626 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87963071 -0.03995657 -0.47397604 5.75985259] [ 0.08384876 0.99388654 0.07182568 0.30920017] [ 0.4682085 -0.10292238 0.87760343 1.3315363 ] [ 0. 0. 0. 1. ]] SLAMing on 154.85650248099998 meters Centerline goodness [0,1] 0.7012449126167106 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87951781 -0.03996742 -0.47418459 5.759955 ] [ 0.08391777 0.99387678 0.07188021 0.30873771] [ 0.46840818 -0.10301243 0.8774863 1.33189082] [ 0. 0. 0. 1. ]] SLAMing on 154.88650248099998 meters Centerline goodness [0,1] 0.6981222456409274 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87942595 -0.03977557 -0.47437105 5.76018215] [ 0.08394809 0.99384401 0.07229662 0.30726777] [ 0.46857519 -0.10340207 0.8773513 1.33213759] [ 0. 0. 0. 1. ]] SLAMing on 154.91650248099998 meters Centerline goodness [0,1] 0.6949842059921509 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.33 [[ 0.87939621 -0.03961932 -0.47443926 5.76037332] [ 0.08391768 0.99382788 0.07255325 0.3064337 ] [ 0.46863645 -0.1036169 0.87729323 1.33221129] [ 0. 0. 0. 1. ]] SLAMing on 154.94650248099998 meters Centerline goodness [0,1] 0.6932892137024782 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87940378 -0.03961686 -0.47442544 5.76006872] [ 0.08403229 0.99380187 0.07277646 0.30489436] [ 0.46860172 -0.10386695 0.87728222 1.33247053] [ 0. 0. 0. 1. ]] SLAMing on 154.97650248099998 meters Centerline goodness [0,1] 0.6926808389213868 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87947828 -0.03960653 -0.47428818 5.75992649] [ 0.08410737 0.99378108 0.07297334 0.30360994] [ 0.4684484 -0.1040696 0.87734008 1.33239764] [ 0. 0. 0. 1. ]] SLAMing on 155.00650248099998 meters Centerline goodness [0,1] 0.6890079158174147 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87956669 -0.03957466 -0.47412687 5.75963421] [ 0.08423541 0.99374463 0.0733212 0.30152127] [ 0.46825937 -0.10442915 0.87739826 1.33240439] [ 0. 0. 0. 1. ]] SLAMing on 155.03650248099999 meters Centerline goodness [0,1] 0.6899044177088782 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87958553 -0.03962721 -0.47408752 5.75935136] [ 0.08430667 0.99373622 0.07335339 0.30097136] [ 0.46821115 -0.10448932 0.87741683 1.33254651] [ 0. 0. 0. 1. ]] SLAMing on 155.066502481 meters Centerline goodness [0,1] 0.6928086070215176 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87955447 -0.03946341 -0.4741588 5.75972007] [ 0.08427373 0.99371926 0.07362046 0.29935923] [ 0.46827542 -0.10471234 0.87735595 1.33270144] [ 0. 0. 0. 1. ]] SLAMing on 155.096502481 meters Centerline goodness [0,1] 0.6944300334858275 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87949638 -0.03958177 -0.47425669 5.75991589] [ 0.08440917 0.99370936 0.07359893 0.29875953] [ 0.46836013 -0.10476161 0.87730485 1.33284729] [ 0. 0. 0. 1. ]] SLAMing on 155.126502481 meters Centerline goodness [0,1] 0.6916099238979336 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87931981 -0.03911916 -0.47462233 5.76133908] [ 0.08412625 0.99370688 0.07395543 0.29824076] [ 0.4687424 -0.10495868 0.8770771 1.33288235] [ 0. 0. 0. 1. ]] SLAMing on 155.156502481 meters Centerline goodness [0,1] 0.6926424236722021 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87916023 -0.03877231 -0.4749463 5.76211794] [ 0.08388499 0.99371238 0.07415538 0.29825317] [ 0.46908484 -0.10503533 0.87688482 1.33312401] [ 0. 0. 0. 1. ]] SLAMing on 155.186502481 meters Centerline goodness [0,1] 0.693486229908826 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87905093 -0.03822783 -0.4751927 5.76253907] [ 0.08341448 0.9937364 0.0743639 0.29859639] [ 0.46937351 -0.10500761 0.87673366 1.33352609] [ 0. 0. 0. 1. ]] SLAMing on 155.216502481 meters Centerline goodness [0,1] 0.6929194819819819 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87896723 -0.03835415 -0.47533733 5.76209836] [ 0.08343725 0.99375396 0.07410321 0.29921793] [ 0.46952619 -0.10479514 0.87667733 1.33405641] [ 0. 0. 0. 1. ]] SLAMing on 155.246502481 meters Centerline goodness [0,1] 0.7000610013607995 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.33 [[ 0.87885916 -0.03849378 -0.47552581 5.76137908] [ 0.08342186 0.99378284 0.07373229 0.29994798] [ 0.46973116 -0.10446955 0.87660638 1.33490677] [ 0. 0. 0. 1. ]] SLAMing on 155.276502481 meters Centerline goodness [0,1] 0.6953110361626382 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87877758 -0.0384562 -0.4756796 5.76110943] [ 0.08328868 0.99380941 0.07352448 0.30031235] [ 0.46990739 -0.10423039 0.8765404 1.33548493] [ 0. 0. 0. 1. ]] SLAMing on 155.306502481 meters Centerline goodness [0,1] 0.6989214465305356 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87868885 -0.03859198 -0.47583249 5.76079219] [ 0.08333011 0.99382422 0.07327702 0.30084224] [ 0.47006595 -0.10403887 0.87647813 1.33595285] [ 0. 0. 0. 1. ]] SLAMing on 155.336502481 meters Centerline goodness [0,1] 0.6993016825233163 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87860537 -0.03881201 -0.47596872 5.76052112] [ 0.08348141 0.99382742 0.07306104 0.30071992] [ 0.47019512 -0.10392636 0.87642219 1.33644274] [ 0. 0. 0. 1. ]] SLAMing on 155.366502481 meters Centerline goodness [0,1] 0.6979498221306871 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87851346 -0.03883143 -0.47613677 5.76091644] [ 0.0835313 0.99382249 0.07307107 0.30021038] [ 0.47035797 -0.10396624 0.87633007 1.33664785] [ 0. 0. 0. 1. ]] SLAMing on 155.396502481 meters Centerline goodness [0,1] 0.6968163609529834 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87843965 -0.03871158 -0.47628269 5.76149569] [ 0.0835896 0.99379367 0.07339569 0.29847384] [ 0.47048546 -0.10428596 0.87622364 1.33673862] [ 0. 0. 0. 1. ]] SLAMing on 155.426502481 meters Centerline goodness [0,1] 0.6964923335433733 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87841495 -0.03863246 -0.47633467 5.76167649] [ 0.08362657 0.9937741 0.07361818 0.2971762 ] [ 0.47052501 -0.10450155 0.87617672 1.33686071] [ 0. 0. 0. 1. ]] SLAMing on 155.456502481 meters Centerline goodness [0,1] 0.6988766139933809 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87848313 -0.03855123 -0.47621549 5.76119295] [ 0.08370914 0.99374079 0.07397309 0.29488858] [ 0.470383 -0.1048477 0.87621161 1.33708236] [ 0. 0. 0. 1. ]] SLAMing on 155.486502481 meters Centerline goodness [0,1] 0.7024285847213176 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87860462 -0.03853126 -0.47599293 5.75996304] [ 0.08381 0.99371094 0.07425934 0.29277523] [ 0.47013808 -0.10513756 0.87630833 1.33758211] [ 0. 0. 0. 1. ]] SLAMing on 155.51650248099997 meters Centerline goodness [0,1] 0.6982886904761905 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87864036 -0.03858175 -0.47592285 5.75924878] [ 0.08389627 0.99369827 0.07433145 0.29206185] [ 0.47005588 -0.10523876 0.87634027 1.33788063] [ 0. 0. 0. 1. ]] SLAMing on 155.54650248099998 meters Centerline goodness [0,1] 0.6982886904761905 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87864036 -0.03858175 -0.47592285 5.75924878] [ 0.08389627 0.99369827 0.07433145 0.29206185] [ 0.47005588 -0.10523876 0.87634027 1.33788063] [ 0. 0. 0. 1. ]] SLAMing on 155.57650248099998 meters Centerline goodness [0,1] 0.6975041829336308 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87861227 -0.0384533 -0.47598511 5.75899818] [ 0.08392099 0.99367361 0.07463255 0.29051466] [ 0.47010398 -0.10551822 0.87628087 1.33829593] [ 0. 0. 0. 1. ]] SLAMing on 155.60650248099998 meters Centerline goodness [0,1] 0.6962351847548223 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87859346 -0.03862965 -0.47600556 5.75911207] [ 0.08413378 0.99365414 0.07465222 0.2895046 ] [ 0.4701011 -0.1056371 0.87626808 1.33835996] [ 0. 0. 0. 1. ]] SLAMing on 155.63650248099998 meters Centerline goodness [0,1] 0.687588958629862 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87856702 -0.03883592 -0.47603757 5.7591361 ] [ 0.08442922 0.99362098 0.07475995 0.2881026 ] [ 0.47009755 -0.10587311 0.87624151 1.33845446] [ 0. 0. 0. 1. ]] SLAMing on 155.66650248099998 meters Centerline goodness [0,1] 0.6923238206173559 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87853597 -0.03910022 -0.47607323 5.759153 ] [ 0.08465292 0.99361317 0.07461067 0.28794663] [ 0.47011534 -0.10584915 0.87623486 1.33856964] [ 0. 0. 0. 1. ]] SLAMing on 155.69650248099998 meters Centerline goodness [0,1] 0.6870141425494052 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.8785362 -0.03972703 -0.47602092 5.75819844] [ 0.08513588 0.99360245 0.07420279 0.28822972] [ 0.4700277 -0.1057163 0.87629791 1.33892548] [ 0. 0. 0. 1. ]] SLAMing on 155.72650248099998 meters Centerline goodness [0,1] 0.6862400375058603 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87855966 -0.04015164 -0.47594197 5.75790841] [ 0.0854531 0.99359638 0.07391894 0.28830732] [ 0.46992625 -0.10561292 0.87636478 1.33896536] [ 0. 0. 0. 1. ]] SLAMing on 155.75650248099998 meters Centerline goodness [0,1] 0.6757492548522612 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87853074 -0.04103572 -0.47591997 5.75773537] [ 0.08619538 0.99356747 0.07344416 0.28788634] [ 0.46984476 -0.10554506 0.87641665 1.33901785] [ 0. 0. 0. 1. ]] SLAMing on 155.78650248099999 meters Centerline goodness [0,1] 0.6729888969742495 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87851547 -0.04144009 -0.47591311 5.75799437] [ 0.08654792 0.99355112 0.07325043 0.28769143] [ 0.4698085 -0.10554093 0.87643658 1.33886647] [ 0. 0. 0. 1. ]] SLAMing on 155.816502481 meters Centerline goodness [0,1] 0.671756623217731 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87852852 -0.04188723 -0.47584988 5.75862917] [ 0.08697624 0.99352317 0.07312216 0.28734246] [ 0.46970499 -0.10562754 0.87648163 1.33839293] [ 0. 0. 0. 1. ]] SLAMing on 155.846502481 meters Centerline goodness [0,1] 0.6641376060320452 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87846417 -0.0419335 -0.47596458 5.75908802] [ 0.08705573 0.99351462 0.07314366 0.287524 ] [ 0.4698106 -0.10568952 0.87641755 1.33833724] [ 0. 0. 0. 1. ]] SLAMing on 155.876502481 meters Centerline goodness [0,1] 0.6490024055469081 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87839687 -0.04237421 -0.47604976 5.7590436 ] [ 0.08736983 0.99351389 0.07277814 0.2892265 ] [ 0.46987813 -0.10552047 0.87640172 1.3383266 ] [ 0. 0. 0. 1. ]] SLAMing on 155.906502481 meters Centerline goodness [0,1] 0.6369002465389721 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87835872 -0.04275774 -0.47608584 5.75853036] [ 0.08762559 0.9935163 0.07243692 0.29019766] [ 0.46990181 -0.10534291 0.87641038 1.33857055] [ 0. 0. 0. 1. ]] SLAMing on 155.936502481 meters Centerline goodness [0,1] 0.6034343912837518 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87854264 -0.04394086 -0.47563855 5.75658858] [ 0.08841849 0.99351158 0.0715326 0.29131736] [ 0.4694092 -0.10489968 0.87672747 1.33872433] [ 0. 0. 0. 1. ]] SLAMing on 155.966502481 meters Centerline goodness [0,1] 0.5745932356150087 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87860793 -0.04448298 -0.47546753 5.7561831 ] [ 0.08880021 0.99350546 0.07114362 0.29169387] [ 0.46921491 -0.10472897 0.87685188 1.33861285] [ 0. 0. 0. 1. ]] SLAMing on 155.996502481 meters Centerline goodness [0,1] 0.5583680972919465 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87861629 -0.04491143 -0.4754118 5.75650124] [ 0.08911614 0.99349868 0.07084268 0.29278355] [ 0.46913935 -0.1046104 0.87690645 1.33823859] [ 0. 0. 0. 1. ]] SLAMing on 156.026502481 meters Centerline goodness [0,1] 0.5492814357080285 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.34 [[ 0.87857659 -0.04510101 -0.47546722 5.75664016] [ 0.08922092 0.99350485 0.07062388 0.29371679] [ 0.46919378 -0.10447011 0.87689406 1.33821611] [ 0. 0. 0. 1. ]] SLAMing on 156.056502481 meters Centerline goodness [0,1] 0.5457588490848231 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87841139 -0.04526308 -0.47575696 5.75769423] [ 0.0892429 0.99352941 0.0702497 0.29631429] [ 0.46949881 -0.10416607 0.87676696 1.33803643] [ 0. 0. 0. 1. ]] SLAMing on 156.086502481 meters Centerline goodness [0,1] 0.6219454103748869 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87816084 -0.04525094 -0.47622042 5.75917598] [ 0.08904476 0.99357961 0.06978954 0.2994568 ] [ 0.47000486 -0.10369137 0.87655207 1.33801918] [ 0. 0. 0. 1. ]] SLAMing on 156.116502481 meters Centerline goodness [0,1] 0.5939125041744191 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87809004 -0.04553501 -0.47632388 5.75929373] [ 0.08912519 0.99360567 0.06931438 0.30114402] [ 0.47012187 -0.10331672 0.87653356 1.33810786] [ 0. 0. 0. 1. ]] SLAMing on 156.146502481 meters Centerline goodness [0,1] 0.5717843714826256 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.34 [[ 0.87798733 -0.04578295 -0.47648943 5.75932083] [ 0.08915778 0.99363773 0.06881104 0.30307412] [ 0.4703075 -0.10289796 0.87648324 1.33835583] [ 0. 0. 0. 1. ]] SLAMing on 156.176502481 meters Centerline goodness [0,1] 0.6552999375630373 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87825477 -0.04130557 -0.47640572 5.75821914] [ 0.08567444 0.993734 0.07178175 0.30541028] [ 0.47045557 -0.10385846 0.87629046 1.33841174] [ 0. 0. 0. 1. ]] SLAMing on 156.206502481 meters Centerline goodness [0,1] 0.6616198029319875 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87807478 -0.04130789 -0.47673718 5.75828369] [ 0.08546272 0.99378691 0.07130012 0.30820326] [ 0.47082991 -0.1033501 0.8761495 1.33891578] [ 0. 0. 0. 1. ]] SLAMing on 156.236502481 meters Centerline goodness [0,1] 0.676369614622117 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87825341 -0.03647329 -0.47680252 5.75899427] [ 0.08169365 0.99387291 0.07444992 0.31066173] [ 0.47116568 -0.10433763 0.87585191 1.33836223] [ 0. 0. 0. 1. ]] SLAMing on 156.26650248099997 meters Centerline goodness [0,1] 0.6792987384071483 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.8781036 -0.03653412 -0.47707372 5.75994779] [ 0.08155751 0.9939176 0.07400121 0.31279494] [ 0.47146839 -0.10388968 0.87574225 1.33836024] [ 0. 0. 0. 1. ]] SLAMing on 156.29650248099998 meters Centerline goodness [0,1] 0.6825319537431528 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87811114 -0.03603532 -0.47709776 5.76123459] [ 0.0808755 0.99398998 0.07377718 0.31610866] [ 0.47157181 -0.10337009 0.87574805 1.33774334] [ 0. 0. 0. 1. ]] SLAMing on 156.32650248099998 meters Centerline goodness [0,1] 0.6847311092658623 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87810261 -0.03590491 -0.47712331 5.76144608] [ 0.08045656 0.99406171 0.07326706 0.31915738] [ 0.47165936 -0.10272369 0.87577696 1.3376941 ] [ 0. 0. 0. 1. ]] SLAMing on 156.35650248099998 meters Centerline goodness [0,1] 0.687314839752222 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87800781 -0.03615692 -0.4772787 5.76124772] [ 0.08050929 0.99409197 0.07279706 0.32097412] [ 0.47182681 -0.10234176 0.87573148 1.33799823] [ 0. 0. 0. 1. ]] SLAMing on 156.38650248099998 meters Centerline goodness [0,1] 0.6871162642792495 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87793122 -0.03637301 -0.47740315 5.76079213] [ 0.0805929 0.99410926 0.07246763 0.32214376] [ 0.47195503 -0.1020969 0.87569097 1.33842331] [ 0. 0. 0. 1. ]] SLAMing on 156.41650248099998 meters Centerline goodness [0,1] 0.6895294491888321 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87807719 -0.03716886 -0.47707329 5.75888219] [ 0.08111362 0.99411231 0.07184221 0.32249066] [ 0.47159413 -0.10178015 0.87592224 1.33878913] [ 0. 0. 0. 1. ]] SLAMing on 156.44650248099998 meters Centerline goodness [0,1] 0.6905886672377921 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87820727 -0.03763913 -0.47679691 5.75810101] [ 0.08151807 0.9940915 0.07167208 0.32165408] [ 0.47128208 -0.1018105 0.87608665 1.33871595] [ 0. 0. 0. 1. ]] SLAMing on 156.47650248099998 meters Centerline goodness [0,1] 0.686865234375 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87832742 -0.04085032 -0.47631103 5.75634999] [ 0.08386077 0.99405879 0.06938657 0.31997172] [ 0.4706467 -0.10088794 0.87653483 1.33908015] [ 0. 0. 0. 1. ]] SLAMing on 156.50650248099998 meters Centerline goodness [0,1] 0.6869932597440657 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87837545 -0.04118197 -0.47619388 5.75584646] [ 0.08427433 0.99401685 0.06948626 0.31874668] [ 0.47048316 -0.10116595 0.87659058 1.33904437] [ 0. 0. 0. 1. ]] SLAMing on 156.53650248099999 meters Centerline goodness [0,1] 0.6873952844620352 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87830811 -0.0410232 -0.47633177 5.75622181] [ 0.08422916 0.99400549 0.06970325 0.31808535] [ 0.47061694 -0.10134196 0.87649843 1.33919186] [ 0. 0. 0. 1. ]] SLAMing on 156.566502481 meters Centerline goodness [0,1] 0.6869019722710408 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87829146 -0.04102472 -0.47636235 5.75663612] [ 0.08438479 0.99397267 0.06998242 0.31692194] [ 0.47062015 -0.1016627 0.87645957 1.33900365] [ 0. 0. 0. 1. ]] SLAMing on 156.596502481 meters Centerline goodness [0,1] 0.6850541621938129 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.8782942 -0.04119854 -0.47634228 5.75685913] [ 0.08460344 0.99395086 0.07002819 0.31587429] [ 0.47057576 -0.10180555 0.87646682 1.33889942] [ 0. 0. 0. 1. ]] SLAMing on 156.626502481 meters Centerline goodness [0,1] 0.6832642107831178 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87842017 -0.04163138 -0.47607231 5.75661658] [ 0.08506228 0.9939111 0.07003669 0.31372354] [ 0.47025782 -0.10201743 0.87661281 1.33866456] [ 0. 0. 0. 1. ]] SLAMing on 156.656502481 meters Centerline goodness [0,1] 0.6797242320153962 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87840071 -0.04195259 -0.47608001 5.75603097] [ 0.08528603 0.99391037 0.0697744 0.31383056] [ 0.47025364 -0.10189286 0.87662955 1.3390174 ] [ 0. 0. 0. 1. ]] SLAMing on 156.686502481 meters Centerline goodness [0,1] 0.6842515845928816 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.34 [[ 0.87841177 -0.04206369 -0.4760498 5.75531319] [ 0.08527584 0.99392848 0.06952844 0.31495479] [ 0.47023483 -0.10167015 0.87666549 1.33929562] [ 0. 0. 0. 1. ]] SLAMing on 156.716502481 meters Centerline goodness [0,1] 0.6945149326566464 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87830489 -0.04203814 -0.47624922 5.7551669 ] [ 0.08505147 0.99397651 0.0691155 0.31696 ] [ 0.47047505 -0.10121018 0.87658983 1.33979038] [ 0. 0. 0. 1. ]] SLAMing on 156.746502481 meters Centerline goodness [0,1] 0.6944108102872089 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87810741 -0.0419667 -0.47661953 5.75553403] [ 0.0848534 0.99401482 0.06880725 0.31817179] [ 0.47087926 -0.10086294 0.8764128 1.34042244] [ 0. 0. 0. 1. ]] SLAMing on 156.776502481 meters Centerline goodness [0,1] 0.7004915559449068 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87800641 -0.0421777 -0.47678694 5.75529315] [ 0.08487837 0.99404295 0.06836872 0.3193284 ] [ 0.47106306 -0.10049707 0.87635605 1.34090108] [ 0. 0. 0. 1. ]] SLAMing on 156.806502481 meters Centerline goodness [0,1] 0.7056079307998834 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87794301 -0.04233959 -0.47688933 5.75529757] [ 0.08481578 0.99408133 0.06788667 0.32027638] [ 0.47119249 -0.10004837 0.87633781 1.34123812] [ 0. 0. 0. 1. ]] SLAMing on 156.836502481 meters Centerline goodness [0,1] 0.7053904697270832 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87788145 -0.0424717 -0.4769909 5.75517518] [ 0.0848491 0.99409489 0.06764604 0.32076887] [ 0.47130117 -0.09985745 0.87630114 1.34153893] [ 0. 0. 0. 1. ]] SLAMing on 156.866502481 meters Centerline goodness [0,1] 0.7068335310207935 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87775493 -0.04211705 -0.47725511 5.75517365] [ 0.08444785 0.99413331 0.06758346 0.32227397] [ 0.47160878 -0.09962488 0.87616211 1.34207524] [ 0. 0. 0. 1. ]] SLAMing on 156.896502481 meters Centerline goodness [0,1] 0.7061325684839941 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87767609 -0.04201391 -0.47740917 5.75546186] [ 0.08432376 0.99414726 0.06753312 0.3230035 ] [ 0.47177769 -0.09952914 0.87608205 1.34221766] [ 0. 0. 0. 1. ]] SLAMing on 156.926502481 meters Centerline goodness [0,1] 0.7071061809726797 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87771764 -0.04236526 -0.47730172 5.7550512 ] [ 0.08449145 0.99416025 0.06713108 0.3233343 ] [ 0.47167038 -0.09925005 0.87617149 1.34233865] [ 0. 0. 0. 1. ]] SLAMing on 156.956502481 meters Centerline goodness [0,1] 0.707787014371925 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87776013 -0.04264879 -0.47719833 5.75489921] [ 0.08471363 0.99415208 0.06697188 0.32257784] [ 0.47155144 -0.09921045 0.87623999 1.34231449] [ 0. 0. 0. 1. ]] SLAMing on 156.986502481 meters Centerline goodness [0,1] 0.7079596684279412 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87768513 -0.04273956 -0.47732812 5.75545944] [ 0.08480154 0.99414854 0.06691326 0.32230933] [ 0.47167521 -0.09920693 0.87617377 1.3423067 ] [ 0. 0. 0. 1. ]] SLAMing on 157.01650248099997 meters Centerline goodness [0,1] 0.707926903061842 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.8776384 -0.0426334 -0.47742353 5.75624164] [ 0.084761 0.99414355 0.06703857 0.32198108] [ 0.47176944 -0.09930252 0.87611221 1.34211333] [ 0. 0. 0. 1. ]] SLAMing on 157.04650248099998 meters Centerline goodness [0,1] 0.7044685990338164 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87760321 -0.04251275 -0.47749897 5.75684466] [ 0.0847524 0.99412944 0.06725836 0.32149267] [ 0.47183644 -0.09949534 0.87605425 1.34193659] [ 0. 0. 0. 1. ]] SLAMing on 157.07650248099998 meters Centerline goodness [0,1] 0.7057214773222324 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87759022 -0.04271801 -0.47750453 5.75666718] [ 0.08493564 0.99412008 0.06716555 0.32140365] [ 0.47182766 -0.09950098 0.87605834 1.3420283 ] [ 0. 0. 0. 1. ]] SLAMing on 157.10650248099998 meters Centerline goodness [0,1] 0.7009184984126215 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87760477 -0.04318991 -0.47743534 5.75617975] [ 0.08539095 0.99408989 0.06703496 0.32057415] [ 0.47171841 -0.09959885 0.87610605 1.34214863] [ 0. 0. 0. 1. ]] SLAMing on 157.13650248099998 meters Centerline goodness [0,1] 0.698433072582403 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87753509 -0.04390643 -0.47749805 5.75623712] [ 0.08611797 0.99403876 0.06686278 0.31958615] [ 0.47171586 -0.0997956 0.87608503 1.34210985] [ 0. 0. 0. 1. ]] SLAMing on 157.16650248099998 meters Centerline goodness [0,1] 0.6919415164909895 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.34 [[ 0.87755843 -0.04431248 -0.47741765 5.75574491] [ 0.08648166 0.99401791 0.06670326 0.3191953 ] [ 0.47160591 -0.09982388 0.87614101 1.34221266] [ 0. 0. 0. 1. ]] SLAMing on 157.19650248099998 meters Centerline goodness [0,1] 0.6846191169335274 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87774455 -0.0456955 -0.47694488 5.75343105] [ 0.08755959 0.99397656 0.06590844 0.31945744] [ 0.47106031 -0.09961188 0.87645859 1.34243973] [ 0. 0. 0. 1. ]] SLAMing on 157.22650248099998 meters Centerline goodness [0,1] 0.678484137163323 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87774221 -0.04633427 -0.47688757 5.75263966] [ 0.08806525 0.99395776 0.06551706 0.31949575] [ 0.47097042 -0.09950431 0.87651911 1.34272686] [ 0. 0. 0. 1. ]] SLAMing on 157.25650248099998 meters Centerline goodness [0,1] 0.6612676397846855 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.8778043 -0.04682973 -0.47672485 5.7523731 ] [ 0.08849144 0.99393386 0.06530498 0.31891763] [ 0.47077475 -0.09951106 0.87662345 1.34261422] [ 0. 0. 0. 1. ]] SLAMing on 157.28650248099999 meters Centerline goodness [0,1] 0.604079270938811 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87734838 -0.0523777 -0.47698679 5.7529616 ] [ 0.09249545 0.99384293 0.06099859 0.32046983] [ 0.47085499 -0.09763612 0.87679118 1.34313597] [ 0. 0. 0. 1. ]] SLAMing on 157.316502481 meters Centerline goodness [0,1] 0.5842596388011477 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87735514 -0.05288156 -0.47691876 5.75257976] [ 0.09287356 0.99382864 0.06065581 0.32091575] [ 0.47076795 -0.09750983 0.87685196 1.34316111] [ 0. 0. 0. 1. ]] SLAMing on 157.346502481 meters Centerline goodness [0,1] 0.6149910276929046 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.8772243 -0.05352896 -0.47708718 5.75185268] [ 0.09330777 0.99382421 0.06005918 0.32260555] [ 0.47092588 -0.09720131 0.87680141 1.34372274] [ 0. 0. 0. 1. ]] SLAMing on 157.376502481 meters Centerline goodness [0,1] 0.5828091736017031 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87710697 -0.05369908 -0.47728374 5.75166084] [ 0.09341605 0.99382629 0.05985603 0.32373701] [ 0.47112291 -0.09708611 0.87670833 1.34408968] [ 0. 0. 0. 1. ]] SLAMing on 157.406502481 meters Centerline goodness [0,1] 0.5838335623538488 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.34 [[ 0.87706285 -0.05373583 -0.47736068 5.75171806] [ 0.09344707 0.99382565 0.0598183 0.32428943] [ 0.4711989 -0.09707237 0.87666901 1.34417308] [ 0. 0. 0. 1. ]] SLAMing on 157.436502481 meters Centerline goodness [0,1] 0.593547289910352 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87700168 -0.05376331 -0.47746995 5.75176064] [ 0.09344446 0.9938312 0.05973004 0.32533426] [ 0.47131325 -0.09700027 0.87661552 1.34428345] [ 0. 0. 0. 1. ]] SLAMing on 157.466502481 meters Centerline goodness [0,1] 0.593547289910352 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87700168 -0.05376331 -0.47746995 5.75176064] [ 0.09344446 0.9938312 0.05973004 0.32533426] [ 0.47131325 -0.09700027 0.87661552 1.34428345] [ 0. 0. 0. 1. ]] SLAMing on 157.496502481 meters Centerline goodness [0,1] 0.5897853513868294 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.8769759 -0.05387597 -0.4775046 5.75202124] [ 0.09352427 0.99382952 0.05963294 0.32558615] [ 0.47134539 -0.09695493 0.87660326 1.34422953] [ 0. 0. 0. 1. ]] SLAMing on 157.526502481 meters Centerline goodness [0,1] 0.5352701127089001 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.8769108 -0.05398117 -0.47761226 5.75266214] [ 0.09355348 0.9938383 0.05944049 0.32621967] [ 0.4714607 -0.0968063 0.87655767 1.34413173] [ 0. 0. 0. 1. ]] SLAMing on 157.556502481 meters Centerline goodness [0,1] 0.6242854710418136 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87676846 -0.0540805 -0.47786228 5.75298951] [ 0.09353407 0.99385823 0.05913707 0.32752818] [ 0.4717292 -0.09654592 0.87644192 1.34440372] [ 0. 0. 0. 1. ]] SLAMing on 157.586502481 meters Centerline goodness [0,1] 0.6415052763019367 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87703021 -0.04907151 -0.47792258 5.75300379] [ 0.08978009 0.99398634 0.06269519 0.3286883 ] [ 0.47197197 -0.09789351 0.8761617 1.34409032] [ 0. 0. 0. 1. ]] SLAMing on 157.616502481 meters Centerline goodness [0,1] 0.6541717641301688 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87685309 -0.04901378 -0.47825339 5.753385 ] [ 0.08957777 0.99402545 0.0623636 0.33042802] [ 0.47233937 -0.09752459 0.87600484 1.34453293] [ 0. 0. 0. 1. ]] SLAMing on 157.646502481 meters Centerline goodness [0,1] 0.6812493865933851 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87714555 -0.04415354 -0.47819049 5.75340164] [ 0.08585163 0.99414037 0.06568419 0.33158604] [ 0.47248829 -0.09866803 0.87579646 1.34416164] [ 0. 0. 0. 1. ]] SLAMing on 157.676502481 meters Centerline goodness [0,1] 0.6829957722937765 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87699893 -0.04388635 -0.47848393 5.75399235] [ 0.08547212 0.99418701 0.06547289 0.33331436] [ 0.47282914 -0.09831669 0.875652 1.34446157] [ 0. 0. 0. 1. ]] SLAMing on 157.706502481 meters Centerline goodness [0,1] 0.6863078935030966 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.34 [[ 0.87718612 -0.03868897 -0.47858926 5.75464724] [ 0.08155547 0.99427032 0.06910315 0.33440768] [ 0.47317356 -0.09964789 0.87531542 1.34404276] [ 0. 0. 0. 1. ]] SLAMing on 157.736502481 meters Centerline goodness [0,1] 0.6897174973383842 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.8769994 -0.03837937 -0.47895624 5.75564824] [ 0.08118715 0.99430876 0.06898364 0.33587885] [ 0.47358284 -0.0993837 0.87512409 1.3442624 ] [ 0. 0. 0. 1. ]] SLAMing on 157.76650248099997 meters Centerline goodness [0,1] 0.6954317231827063 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.87695994 -0.03744944 -0.47910207 5.75669607] [ 0.08019394 0.99438391 0.06906202 0.33851006] [ 0.47382506 -0.09898571 0.87503808 1.34413568] [ 0. 0. 0. 1. ]] SLAMing on 157.79650248099998 meters Centerline goodness [0,1] 0.6986122086131963 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.87700226 -0.03687349 -0.47906928 5.75715935] [ 0.0794311 0.99445866 0.06886707 0.34075037] [ 0.47387522 -0.09844958 0.8750714 1.3440403 ] [ 0. 0. 0. 1. ]] SLAMing on 157.82650248099998 meters Centerline goodness [0,1] 0.6991259690879463 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.87693292 -0.03700629 -0.47918596 5.75706619] [ 0.07936589 0.99449327 0.06844118 0.34236574] [ 0.47401446 -0.09804934 0.87504092 1.34433422] [ 0. 0. 0. 1. ]] SLAMing on 157.85650248099998 meters Centerline goodness [0,1] 0.703501906979048 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.87690825 -0.03711975 -0.47922233 5.75638876] [ 0.07915091 0.99455443 0.06779832 0.34477786] [ 0.47409603 -0.09738379 0.87507105 1.34486178] [ 0. 0. 0. 1. ]] SLAMing on 157.88650248099998 meters Centerline goodness [0,1] 0.7022714380841986 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.35 [[ 0.87691541 -0.03745497 -0.47918314 5.75592412] [ 0.07930611 0.99456968 0.06739213 0.34525205] [ 0.47405685 -0.09709935 0.87512389 1.34511771] [ 0. 0. 0. 1. ]] SLAMing on 157.91650248099998 meters Centerline goodness [0,1] 0.7041804615308593 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:1.35 [[ 0.87696936 -0.03773186 -0.47906268 5.75559234] [ 0.07948061 0.99457128 0.06716247 0.34518651] [ 0.47392782 -0.09697562 0.87520749 1.34512939] [ 0. 0. 0. 1. ]] SLAMing on 157.94650248099998 meters Centerline goodness [0,1] 0.7037623370519702 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.34 [[ 0.8770384 -0.03790314 -0.47892275 5.75545679] [ 0.07969546 0.99454932 0.06723304 0.34392564] [ 0.47376396 -0.09713392 0.87527865 1.34499592] [ 0. 0. 0. 1. ]] SLAMing on 157.97650248099998 meters Centerline goodness [0,1] 0.7016268605053652 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.35 [[ 0.87701023 -0.03785389 -0.47897823 5.75538253] [ 0.07975891 0.99453019 0.06744053 0.34301461] [ 0.47380542 -0.09734882 0.87523233 1.34515747] [ 0. 0. 0. 1. ]] SLAMing on 158.00650248099998 meters Centerline goodness [0,1] 0.7008037079039495 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.35 [[ 0.87703468 -0.03801739 -0.47892051 5.75505467] [ 0.0799352 0.99451626 0.06743713 0.34246721] [ 0.47373045 -0.09742731 0.87526418 1.34523613] [ 0. 0. 0. 1. ]] SLAMing on 158.03650248099999 meters Centerline goodness [0,1] 0.6992649960536701 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87718331 -0.03831733 -0.47862429 5.75434275] [ 0.08033583 0.99447168 0.06761828 0.34015112] [ 0.47338735 -0.09776431 0.87541222 1.34512854] [ 0. 0. 0. 1. ]] SLAMing on 158.066502481 meters Centerline goodness [0,1] 0.7005908419497784 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87720774 -0.03842244 -0.47857111 5.75416166] [ 0.08052187 0.99444737 0.06775443 0.33910905] [ 0.47331049 -0.09797015 0.87543077 1.34512248] [ 0. 0. 0. 1. ]] SLAMing on 158.096502481 meters Centerline goodness [0,1] 0.7004004815606496 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87721535 -0.03892552 -0.4785165 5.75325186] [ 0.08108465 0.99440171 0.06775335 0.33777245] [ 0.47320029 -0.09823462 0.8754607 1.34544527] [ 0. 0. 0. 1. ]] SLAMing on 158.126502481 meters Centerline goodness [0,1] 0.7005026357729558 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87729464 -0.03925373 -0.47834429 5.75237989] [ 0.08140302 0.9943797 0.06769461 0.33699948] [ 0.47299858 -0.09832679 0.87555935 1.34559944] [ 0. 0. 0. 1. ]] SLAMing on 158.156502481 meters Centerline goodness [0,1] 0.699662294440094 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87705055 -0.04490858 -0.47829442 5.75168362] [ 0.08556001 0.99430529 0.06353329 0.3370885 ] [ 0.47271748 -0.09664478 0.87589838 1.34621079] [ 0. 0. 0. 1. ]] SLAMing on 158.186502481 meters Centerline goodness [0,1] 0.6976925703692862 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87709948 -0.04520202 -0.47817703 5.75179748] [ 0.08589368 0.99427466 0.0635624 0.33591738] [ 0.47256616 -0.09682293 0.87596036 1.34596822] [ 0. 0. 0. 1. ]] SLAMing on 158.216502481 meters Centerline goodness [0,1] 0.6900264955395123 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87701792 -0.04573158 -0.47827627 5.75213859] [ 0.08645447 0.99423221 0.06346606 0.33504503] [ 0.47261527 -0.09700999 0.87591316 1.34589896] [ 0. 0. 0. 1. ]] SLAMing on 158.246502481 meters Centerline goodness [0,1] 0.6955101642860625 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87698215 -0.0460932 -0.47830714 5.75185066] [ 0.08674121 0.99422224 0.06323053 0.33528718] [ 0.4726291 -0.09694099 0.87591334 1.3460854 ] [ 0. 0. 0. 1. ]] SLAMing on 158.276502481 meters Centerline goodness [0,1] 0.6878455056863844 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87700866 -0.04665308 -0.47820424 5.75070963] [ 0.0871806 0.99420526 0.06289237 0.33543131] [ 0.47249904 -0.09684728 0.87599387 1.34642908] [ 0. 0. 0. 1. ]] SLAMing on 158.306502481 meters Centerline goodness [0,1] 0.6908675909962849 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87702782 -0.0470002 -0.4781351 5.75023874] [ 0.08743384 0.99419842 0.06264836 0.33538808] [ 0.47241668 -0.09674954 0.87604909 1.34657437] [ 0. 0. 0. 1. ]] SLAMing on 158.336502481 meters Centerline goodness [0,1] 0.6888742786178683 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87706411 -0.04753809 -0.47801536 5.74942608] [ 0.08779561 0.99419368 0.06221624 0.33573327] [ 0.47228221 -0.09653528 0.87614523 1.34679389] [ 0. 0. 0. 1. ]] SLAMing on 158.366502481 meters Centerline goodness [0,1] 0.6910771331723853 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87698097 -0.04767669 -0.47815406 5.74943353] [ 0.08788293 0.99419606 0.06205463 0.33614961] [ 0.47242032 -0.09644231 0.876081 1.34703908] [ 0. 0. 0. 1. ]] SLAMing on 158.396502481 meters Centerline goodness [0,1] 0.6903867726674145 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87689323 -0.04751986 -0.47833056 5.74978313] [ 0.08770289 0.99421477 0.06200969 0.33741258] [ 0.47261662 -0.09632685 0.87598783 1.34715105] [ 0. 0. 0. 1. ]] SLAMing on 158.426502481 meters Centerline goodness [0,1] 0.6890404286410132 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87682323 -0.04752516 -0.47845834 5.75019955] [ 0.08767346 0.9942233 0.06191449 0.3380399 ] [ 0.47275193 -0.09623616 0.87592478 1.34718612] [ 0. 0. 0. 1. ]] SLAMing on 158.456502481 meters Centerline goodness [0,1] 0.6854239937475577 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87674637 -0.04763025 -0.47858872 5.7503789 ] [ 0.08771851 0.99422973 0.06174712 0.33862079] [ 0.4728861 -0.09611765 0.87586536 1.34732228] [ 0. 0. 0. 1. ]] SLAMing on 158.486502481 meters Centerline goodness [0,1] 0.6905636354732874 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8767259 -0.04765693 -0.47862356 5.75070528] [ 0.08766056 0.99424547 0.06157574 0.33936026] [ 0.47293479 -0.09594145 0.87585839 1.34726334] [ 0. 0. 0. 1. ]] SLAMing on 158.51650248099997 meters Centerline goodness [0,1] 0.6891749417678068 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87671505 -0.04786558 -0.47862262 5.7504469 ] [ 0.08778264 0.9942478 0.06136381 0.33970795] [ 0.47293227 -0.09581334 0.87587378 1.34740075] [ 0. 0. 0. 1. ]] SLAMing on 158.54650248099998 meters Centerline goodness [0,1] 0.6806834082038442 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87658871 -0.04787297 -0.47885322 5.75065523] [ 0.08771686 0.99426533 0.0611736 0.34064237] [ 0.47317859 -0.09562759 0.87576103 1.34772854] [ 0. 0. 0. 1. ]] SLAMing on 158.57650248099998 meters Centerline goodness [0,1] 0.6886355802846029 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87653162 -0.04781378 -0.47896364 5.75104648] [ 0.08764572 0.99427361 0.06114089 0.34127502] [ 0.47329753 -0.09557104 0.87570293 1.34770115] [ 0. 0. 0. 1. ]] SLAMing on 158.60650248099998 meters Centerline goodness [0,1] 0.6865105743900337 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87640132 -0.04746417 -0.47923676 5.75174647] [ 0.08731128 0.99429981 0.06119336 0.34259521] [ 0.47360053 -0.09547272 0.87554983 1.34780195] [ 0. 0. 0. 1. ]] SLAMing on 158.63650248099998 meters Centerline goodness [0,1] 0.6831895489277792 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87631054 -0.04741543 -0.47940757 5.75223823] [ 0.08725024 0.99430822 0.06114369 0.34320096] [ 0.47377974 -0.09540929 0.87545978 1.34784013] [ 0. 0. 0. 1. ]] SLAMing on 158.66650248099998 meters Centerline goodness [0,1] 0.6833869769744987 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87636494 -0.04785952 -0.47926398 5.75187247] [ 0.08752869 0.99430728 0.06075986 0.34351585] [ 0.47362772 -0.09519716 0.87556512 1.34782073] [ 0. 0. 0. 1. ]] SLAMing on 158.69650248099998 meters Centerline goodness [0,1] 0.681579988135258 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87643581 -0.0481169 -0.47910859 5.75130203] [ 0.08770538 0.99430256 0.06058205 0.34345258] [ 0.47346388 -0.09511668 0.87566248 1.34785604] [ 0. 0. 0. 1. ]] SLAMing on 158.72650248099998 meters Centerline goodness [0,1] 0.6797887306562678 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87646088 -0.0485543 -0.47901858 5.75032575] [ 0.08796802 0.99430435 0.06017048 0.34401087] [ 0.47336872 -0.09487539 0.87574009 1.34823206] [ 0. 0. 0. 1. ]] SLAMing on 158.75650248099998 meters Centerline goodness [0,1] 0.6795374411322337 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87635166 -0.04855425 -0.47921839 5.75043872] [ 0.08793118 0.99431447 0.06005705 0.34452012] [ 0.47357775 -0.09476934 0.87563856 1.34856019] [ 0. 0. 0. 1. ]] SLAMing on 158.78650248099999 meters Centerline goodness [0,1] 0.6805830039525691 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87627631 -0.04862282 -0.47934919 5.75053531] [ 0.0879116 0.99432884 0.05984734 0.34532283] [ 0.47372077 -0.09458316 0.87558132 1.34876099] [ 0. 0. 0. 1. ]] SLAMing on 158.816502481 meters Centerline goodness [0,1] 0.6802486187845305 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87625316 -0.04859322 -0.47939451 5.75075997] [ 0.08785723 0.99433657 0.05979869 0.34551913] [ 0.47377368 -0.09451707 0.87555983 1.34876401] [ 0. 0. 0. 1. ]] SLAMing on 158.846502481 meters Centerline goodness [0,1] 0.6815937592574306 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87626673 -0.0484634 -0.47938285 5.75106061] [ 0.08765741 0.99435988 0.05970429 0.34595926] [ 0.4737856 -0.09433834 0.87557266 1.34874274] [ 0. 0. 0. 1. ]] SLAMing on 158.876502481 meters Centerline goodness [0,1] 0.6847807267060773 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87623029 -0.04837884 -0.47945799 5.75103644] [ 0.08755924 0.9943698 0.05968324 0.34624169] [ 0.47387114 -0.09427724 0.87553295 1.34892061] [ 0. 0. 0. 1. ]] SLAMing on 158.906502481 meters Centerline goodness [0,1] 0.6885100293602429 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.8766915 -0.04367478 -0.4790663 5.74943294] [ 0.0841158 0.99444517 0.06327189 0.34519223] [ 0.47364179 -0.09576697 0.87549537 1.34881046] [ 0. 0. 0. 1. ]] SLAMing on 158.936502481 meters Centerline goodness [0,1] 0.6895863123120162 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.8766358 -0.04366749 -0.4791689 5.74927481] [ 0.08404907 0.99445918 0.06314033 0.3458845 ] [ 0.47375673 -0.09562478 0.87544872 1.34908899] [ 0. 0. 0. 1. ]] SLAMing on 158.966502481 meters Centerline goodness [0,1] 0.6929694818320762 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87659531 -0.04335028 -0.47927176 5.75005803] [ 0.08375743 0.99447727 0.06324283 0.34577198] [ 0.47388328 -0.09558094 0.87538501 1.34902921] [ 0. 0. 0. 1. ]] SLAMing on 158.996502481 meters Centerline goodness [0,1] 0.689471094710947 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87658465 -0.04326289 -0.47929915 5.75066508] [ 0.08369309 0.99447899 0.06330084 0.34539596] [ 0.47391436 -0.09560257 0.87536583 1.34887052] [ 0. 0. 0. 1. ]] SLAMing on 159.026502481 meters Centerline goodness [0,1] 0.695609323412014 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8766437 -0.04301357 -0.47921358 5.75098482] [ 0.08347608 0.99448824 0.06344204 0.34446717] [ 0.4738434 -0.09561894 0.87540245 1.3488227 ] [ 0. 0. 0. 1. ]] SLAMing on 159.056502481 meters Centerline goodness [0,1] 0.6960716916277927 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87669392 -0.04288417 -0.47913329 5.75093205] [ 0.08337853 0.99448944 0.06355141 0.34404035] [ 0.47376765 -0.09566456 0.87543846 1.34883138] [ 0. 0. 0. 1. ]] SLAMing on 159.086502481 meters Centerline goodness [0,1] 0.6951171779441264 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87670077 -0.04233796 -0.47916934 5.75121367] [ 0.08299846 0.99449338 0.06398572 0.34333987] [ 0.47382171 -0.09586665 0.8753871 1.3488832 ] [ 0. 0. 0. 1. ]] SLAMing on 159.116502481 meters Centerline goodness [0,1] 0.6977041129527317 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87667725 -0.04184219 -0.47925591 5.7520029 ] [ 0.08267795 0.99449252 0.06441264 0.34265065] [ 0.47392125 -0.09609299 0.87530839 1.34870984] [ 0. 0. 0. 1. ]] SLAMing on 159.146502481 meters Centerline goodness [0,1] 0.6953851424097093 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87660973 -0.04116086 -0.47943838 5.75319664] [ 0.08225839 0.99448759 0.06502304 0.34127292] [ 0.47411912 -0.09643766 0.87516332 1.34859913] [ 0. 0. 0. 1. ]] SLAMing on 159.176502481 meters Centerline goodness [0,1] 0.6972152393039319 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87659472 -0.04100855 -0.47947888 5.75349984] [ 0.08220283 0.99447862 0.06523007 0.34054939] [ 0.47415651 -0.09659485 0.87512573 1.34858989] [ 0. 0. 0. 1. ]] SLAMing on 159.206502481 meters Centerline goodness [0,1] 0.6960115423177561 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87665224 -0.04100405 -0.47937409 5.7537423 ] [ 0.08232795 0.99445088 0.0654947 0.33857084] [ 0.47402844 -0.09688196 0.87516337 1.34849076] [ 0. 0. 0. 1. ]] SLAMing on 159.236502481 meters Centerline goodness [0,1] 0.6980767348536753 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87670562 -0.04099368 -0.47927734 5.75420504] [ 0.08240848 0.99443149 0.06568759 0.33736287] [ 0.4739157 -0.09708519 0.8752019 1.34819177] [ 0. 0. 0. 1. ]] SLAMing on 159.26650248099997 meters Centerline goodness [0,1] 0.6978838690781284 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87673245 -0.04139532 -0.47919374 5.75481316] [ 0.08288544 0.99438795 0.06574659 0.33544651] [ 0.47378288 -0.09736035 0.87524325 1.34785053] [ 0. 0. 0. 1. ]] SLAMing on 159.29650248099998 meters Centerline goodness [0,1] 0.6982670246521845 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87672116 -0.04163718 -0.47919344 5.75459124] [ 0.08313058 0.99437104 0.06569275 0.33489091] [ 0.47376082 -0.09742985 0.87524746 1.34800867] [ 0. 0. 0. 1. ]] SLAMing on 159.32650248099998 meters Centerline goodness [0,1] 0.6993006993006994 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87690328 -0.04240417 -0.47879278 5.75295822] [ 0.08372712 0.99434811 0.06528102 0.33448518] [ 0.47331851 -0.09733308 0.87549749 1.34816981] [ 0. 0. 0. 1. ]] SLAMing on 159.35650248099998 meters Centerline goodness [0,1] 0.6993006993006994 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87690328 -0.04240417 -0.47879278 5.75295822] [ 0.08372712 0.99434811 0.06528102 0.33448518] [ 0.47331851 -0.09733308 0.87549749 1.34816981] [ 0. 0. 0. 1. ]] SLAMing on 159.38650248099998 meters Centerline goodness [0,1] 0.7027033627194803 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87696899 -0.04293339 -0.47862523 5.75204078] [ 0.08411489 0.99433854 0.06492727 0.3344553 ] [ 0.47312796 -0.09719871 0.87561541 1.34838057] [ 0. 0. 0. 1. ]] SLAMing on 159.41650248099998 meters Centerline goodness [0,1] 0.7009567621797539 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87697214 -0.04345059 -0.47857279 5.75126474] [ 0.08450219 0.99432891 0.06457093 0.33444353] [ 0.47305311 -0.09706735 0.87567042 1.34874897] [ 0. 0. 0. 1. ]] SLAMing on 159.44650248099998 meters Centerline goodness [0,1] 0.7023934674718235 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87694899 -0.04360571 -0.47860111 5.75125448] [ 0.0846397 0.99432225 0.06449331 0.33425123] [ 0.47307145 -0.097066 0.87566066 1.34885655] [ 0. 0. 0. 1. ]] SLAMing on 159.47650248099998 meters Centerline goodness [0,1] 0.6995963302752294 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87695062 -0.04411896 -0.47855107 5.75077988] [ 0.08510616 0.99429552 0.06429118 0.33365688] [ 0.47298473 -0.09710783 0.87570287 1.34904018] [ 0. 0. 0. 1. ]] SLAMing on 159.50650248099998 meters Centerline goodness [0,1] 0.7031739811912225 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87705061 -0.04442756 -0.47833924 5.7503336 ] [ 0.08537176 0.99427965 0.06418443 0.33300334] [ 0.47275141 -0.09712965 0.87582643 1.34894644] [ 0. 0. 0. 1. ]] SLAMing on 159.53650248099999 meters Centerline goodness [0,1] 0.7040581554728804 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87708373 -0.04477079 -0.4782465 5.75002996] [ 0.08573606 0.99424987 0.06416012 0.33192095] [ 0.47262402 -0.09727676 0.87587885 1.3490019 ] [ 0. 0. 0. 1. ]] SLAMing on 159.566502481 meters Centerline goodness [0,1] 0.7023844496670584 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87703869 -0.04475915 -0.47833017 5.75033343] [ 0.08579477 0.99423746 0.06427381 0.33147399] [ 0.47269693 -0.09740884 0.87582483 1.34902241] [ 0. 0. 0. 1. ]] SLAMing on 159.596502481 meters Centerline goodness [0,1] 0.7018463196042901 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87709683 -0.04463556 -0.47823511 5.75098462] [ 0.08587764 0.99420206 0.06470928 0.33006545] [ 0.472574 -0.097826 0.87584467 1.34852936] [ 0. 0. 0. 1. ]] SLAMing on 159.626502481 meters Centerline goodness [0,1] 0.7002048880433192 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87713572 -0.04442918 -0.47818299 5.75180853] [ 0.0858768 0.99417312 0.06515352 0.32828911] [ 0.47250196 -0.09821331 0.8758402 1.34812896] [ 0. 0. 0. 1. ]] SLAMing on 159.656502481 meters Centerline goodness [0,1] 0.6995081124733866 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87716975 -0.04437951 -0.47812519 5.75219661] [ 0.08590561 0.99415938 0.06532494 0.32762115] [ 0.47243355 -0.09837469 0.87585898 1.34786638] [ 0. 0. 0. 1. ]] SLAMing on 159.686502481 meters Centerline goodness [0,1] 0.6993863530792362 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87717456 -0.04418727 -0.47813417 5.75296063] [ 0.08586174 0.99414206 0.0656454 0.32663909] [ 0.4724326 -0.0986359 0.87583012 1.34754663] [ 0. 0. 0. 1. ]] SLAMing on 159.716502481 meters Centerline goodness [0,1] 0.6999510643503792 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.8771925 -0.04415483 -0.47810425 5.7530623 ] [ 0.08587506 0.99413431 0.06574534 0.32610711] [ 0.47239686 -0.09872855 0.87583896 1.34751266] [ 0. 0. 0. 1. ]] SLAMing on 159.746502481 meters Centerline goodness [0,1] 0.7017956443987163 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87728176 -0.04429002 -0.47792793 5.75276131] [ 0.08600615 0.99412293 0.06574612 0.32563903] [ 0.47220721 -0.09878261 0.87593512 1.34736203] [ 0. 0. 0. 1. ]] SLAMing on 159.776502481 meters Centerline goodness [0,1] 0.6999046850942151 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87735407 -0.04451939 -0.47777386 5.75282014] [ 0.08619873 0.99411209 0.06565772 0.32507747] [ 0.47203773 -0.09878856 0.8760258 1.34714539] [ 0. 0. 0. 1. ]] SLAMing on 159.806502481 meters Centerline goodness [0,1] 0.7055339354333408 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.35 [[ 0.87737185 -0.04436904 -0.47775519 5.75329237] [ 0.08611156 0.99410914 0.06581652 0.32474516] [ 0.47202059 -0.0988858 0.87602406 1.34692135] [ 0. 0. 0. 1. ]] SLAMing on 159.836502481 meters Centerline goodness [0,1] 0.701849036245034 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87717121 -0.04398587 -0.47815888 5.75438462] [ 0.08580266 0.9941268 0.06595315 0.3252587 ] [ 0.47244955 -0.09887951 0.87579351 1.34714328] [ 0. 0. 0. 1. ]] SLAMing on 159.866502481 meters Centerline goodness [0,1] 0.7033686378346573 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87701966 -0.04376175 -0.47845734 5.75493054] [ 0.08559491 0.99414371 0.06596817 0.32590453] [ 0.47276847 -0.09880889 0.87562936 1.34742105] [ 0. 0. 0. 1. ]] SLAMing on 159.896502481 meters Centerline goodness [0,1] 0.7034217740356374 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87696386 -0.04334657 -0.47859739 5.7560731 ] [ 0.08514975 0.994181 0.06598221 0.32665186] [ 0.47295234 -0.09861646 0.87555176 1.34727141] [ 0. 0. 0. 1. ]] SLAMing on 159.926502481 meters Centerline goodness [0,1] 0.7032548138011925 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87692688 -0.0433597 -0.47866396 5.75609135] [ 0.08507123 0.99420022 0.06579361 0.32728994] [ 0.47303502 -0.09841672 0.87552956 1.34745711] [ 0. 0. 0. 1. ]] SLAMing on 159.956502481 meters Centerline goodness [0,1] 0.7102175087150784 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87735391 -0.03847038 -0.47829922 5.75538337] [ 0.08130969 0.99428538 0.06917601 0.32722646] [ 0.47290469 -0.09958221 0.87546818 1.3471362 ] [ 0. 0. 0. 1. ]] SLAMing on 159.986502481 meters Centerline goodness [0,1] 0.7116915667387458 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.8772742 -0.03839277 -0.47845165 5.75541893] [ 0.08104809 0.99433155 0.06881837 0.32885255] [ 0.47309744 -0.09915018 0.87541308 1.34748944] [ 0. 0. 0. 1. ]] SLAMing on 160.01650248099997 meters Centerline goodness [0,1] 0.7103150244309672 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87766398 -0.03329544 -0.47811855 5.75472804] [ 0.07712881 0.99439373 0.07233436 0.32927988] [ 0.47302968 -0.10036198 0.8753116 1.34715147] [ 0. 0. 0. 1. ]] SLAMing on 160.04650248099998 meters Centerline goodness [0,1] 0.7099072192709737 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.35 [[ 0.87761122 -0.03305038 -0.47823239 5.75471871] [ 0.07675212 0.99443816 0.07212386 0.33059636] [ 0.47318882 -0.10000206 0.87526678 1.34751116] [ 0. 0. 0. 1. ]] SLAMing on 160.07650248099998 meters Centerline goodness [0,1] 0.7084970530451866 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87757029 -0.03236405 -0.47835442 5.75543912] [ 0.07602587 0.99448916 0.07218988 0.33153012] [ 0.47338193 -0.099719 0.87519465 1.34760152] [ 0. 0. 0. 1. ]] SLAMing on 160.10650248099998 meters Centerline goodness [0,1] 0.7071039324463646 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87753059 -0.03209088 -0.47844565 5.75622523] [ 0.0757992 0.99449691 0.07232136 0.33127764] [ 0.47349186 -0.09973 0.87513392 1.3474607 ] [ 0. 0. 0. 1. ]] SLAMing on 160.13650248099998 meters Centerline goodness [0,1] 0.7063218811808658 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87743005 -0.03143488 -0.47867353 5.75774782] [ 0.07529613 0.99450671 0.07271111 0.33084768] [ 0.47375838 -0.09984118 0.87497699 1.34723949] [ 0. 0. 0. 1. ]] SLAMing on 160.16650248099998 meters Centerline goodness [0,1] 0.7067757294591626 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87741825 -0.03140029 -0.47869743 5.75787974] [ 0.07527573 0.99450613 0.07274014 0.33064386] [ 0.47378347 -0.09985783 0.87496151 1.34726337] [ 0. 0. 0. 1. ]] SLAMing on 160.19650248099998 meters Centerline goodness [0,1] 0.7064935699965772 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87741089 -0.03128672 -0.47871836 5.75800034] [ 0.07524993 0.99449453 0.0729252 0.3296114 ] [ 0.4738012 -0.10000889 0.87493465 1.34735766] [ 0. 0. 0. 1. ]] SLAMing on 160.22650248099998 meters Centerline goodness [0,1] 0.7063891931361811 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87744603 -0.0315169 -0.47863886 5.75817569] [ 0.07546703 0.99448261 0.07286336 0.32885584] [ 0.47370159 -0.10005512 0.8749833 1.34719941] [ 0. 0. 0. 1. ]] SLAMing on 160.25650248099998 meters Centerline goodness [0,1] 0.708330287746997 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87721895 -0.03645835 -0.4787042 5.75860948] [ 0.07900226 0.9944815 0.06903037 0.32921013] [ 0.47354573 -0.09837346 0.87525831 1.34747614] [ 0. 0. 0. 1. ]] SLAMing on 160.28650248099999 meters Centerline goodness [0,1] 0.7085958979100265 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87727737 -0.03677046 -0.47857324 5.7582206 ] [ 0.07934222 0.99445407 0.06903562 0.32793348] [ 0.47338063 -0.09853445 0.8753295 1.34749044] [ 0. 0. 0. 1. ]] SLAMing on 160.316502481 meters Centerline goodness [0,1] 0.7099286650167419 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.8768749 -0.04168574 -0.47890783 5.75898645] [ 0.08299004 0.99440223 0.06539774 0.32784733] [ 0.47350086 -0.09709022 0.87542585 1.34804272] [ 0. 0. 0. 1. ]] SLAMing on 160.346502481 meters Centerline goodness [0,1] 0.7096492927727185 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.35 [[ 0.87680061 -0.0417226 -0.47904061 5.75948893] [ 0.08316362 0.99437371 0.06561043 0.32652051] [ 0.47360796 -0.09736602 0.87533728 1.34808944] [ 0. 0. 0. 1. ]] SLAMing on 160.376502481 meters Centerline goodness [0,1] 0.711907531259087 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87681041 -0.0436767 -0.47884846 5.7574659 ] [ 0.08468611 0.99432611 0.06437272 0.32420333] [ 0.47331994 -0.09699449 0.8755343 1.34895767] [ 0. 0. 0. 1. ]] SLAMing on 160.406502481 meters Centerline goodness [0,1] 0.7128196460048777 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.8769403 -0.04465308 -0.47852045 5.75525374] [ 0.08547182 0.99429233 0.06385404 0.32221248] [ 0.47293793 -0.09689619 0.87575159 1.3496375 ] [ 0. 0. 0. 1. ]] SLAMing on 160.436502481 meters Centerline goodness [0,1] 0.7119351492195227 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87687167 -0.04478584 -0.47863378 5.75529589] [ 0.08561259 0.99428307 0.06380965 0.32179397] [ 0.47303969 -0.09692995 0.87569289 1.34985756] [ 0. 0. 0. 1. ]] SLAMing on 160.466502481 meters Centerline goodness [0,1] 0.7117937597879773 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87677532 -0.04448869 -0.47883796 5.75586098] [ 0.08542742 0.99428398 0.0640431 0.32142295] [ 0.47325172 -0.0970573 0.87556421 1.34997813] [ 0. 0. 0. 1. ]] SLAMing on 160.496502481 meters Centerline goodness [0,1] 0.711962161249065 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87680272 -0.04445807 -0.47879063 5.75590307] [ 0.08537879 0.99428911 0.06402838 0.32134599] [ 0.47320973 -0.09701883 0.87559117 1.34995146] [ 0. 0. 0. 1. ]] SLAMing on 160.526502481 meters Centerline goodness [0,1] 0.7120500782472614 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87675051 -0.04438884 -0.47889266 5.75605531] [ 0.0853258 0.99429214 0.06405186 0.32114936] [ 0.47331602 -0.0970194 0.87553365 1.3501059 ] [ 0. 0. 0. 1. ]] SLAMing on 160.556502481 meters Centerline goodness [0,1] 0.7104283277680352 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87662345 -0.04367554 -0.47919074 5.75748144] [ 0.08476432 0.99431508 0.06444018 0.32063757] [ 0.47365212 -0.09710805 0.87534204 1.35009066] [ 0. 0. 0. 1. ]] SLAMing on 160.586502481 meters Centerline goodness [0,1] 0.7109470798970932 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87653513 -0.04345688 -0.47937217 5.75794566] [ 0.0845814 0.99432559 0.06451832 0.32039093] [ 0.47384825 -0.09709854 0.87523695 1.35027855] [ 0. 0. 0. 1. ]] SLAMing on 160.616502481 meters Centerline goodness [0,1] 0.7101948129556591 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87623723 -0.04261211 -0.47999221 5.75910211] [ 0.08395788 0.99434757 0.06499225 0.31904223] [ 0.47450963 -0.09724775 0.87486198 1.35108038] [ 0. 0. 0. 1. ]] SLAMing on 160.646502481 meters Centerline goodness [0,1] 0.7093564320996493 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87616649 -0.04217045 -0.48016032 5.75891823] [ 0.08370213 0.99434203 0.06540556 0.31742505] [ 0.4746854 -0.0974966 0.87473892 1.3516575 ] [ 0. 0. 0. 1. ]] SLAMing on 160.676502481 meters Centerline goodness [0,1] 0.7060325490383239 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.35 [[ 0.87605603 -0.04196732 -0.48037961 5.75914846] [ 0.08363612 0.99433098 0.06565751 0.31623052] [ 0.47490086 -0.09769674 0.87459964 1.35204859] [ 0. 0. 0. 1. ]] SLAMing on 160.706502481 meters Centerline goodness [0,1] 0.7092421750220506 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.35 [[ 0.87597804 -0.04170275 -0.48054486 5.75956282] [ 0.08354267 0.99431618 0.06599972 0.31479772] [ 0.47506116 -0.0979603 0.87448309 1.35225329] [ 0. 0. 0. 1. ]] SLAMing on 160.736502481 meters Centerline goodness [0,1] 0.708358017962511 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.35 [[ 0.87566816 -0.04583909 -0.48073282 5.760772 ] [ 0.08667495 0.99423772 0.06307775 0.31273225] [ 0.47507128 -0.09690267 0.87459542 1.35251395] [ 0. 0. 0. 1. ]] SLAMing on 160.76650248099997 meters Centerline goodness [0,1] 0.7075471698113207 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.35 [[ 0.8756492 -0.04565253 -0.48078511 5.7614524 ] [ 0.08670512 0.99420751 0.06351108 0.31053095] [ 0.47510072 -0.09729996 0.87453532 1.35240342] [ 0. 0. 0. 1. ]] SLAMing on 160.79650248099998 meters Centerline goodness [0,1] 0.7104953108063528 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.35 [[ 0.87570517 -0.04730153 -0.48052369 5.76065606] [ 0.08802558 0.99415203 0.06255581 0.30713466] [ 0.47475462 -0.09707883 0.87474782 1.35273159] [ 0. 0. 0. 1. ]] SLAMing on 160.82650248099998 meters Centerline goodness [0,1] 0.7107214310933271 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.35 [[ 0.87573036 -0.04724814 -0.48048303 5.76026898] [ 0.08814768 0.99411938 0.06290193 0.30518587] [ 0.47468549 -0.09743859 0.87474534 1.35294629] [ 0. 0. 0. 1. ]] SLAMing on 160.85650248099998 meters Centerline goodness [0,1] 0.7126191759001148 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.35 [[ 0.87568451 -0.05035247 -0.48025126 5.75792972] [ 0.09065126 0.99400817 0.06107457 0.3014437 ] [ 0.47429842 -0.09701743 0.87500207 1.35404074] [ 0. 0. 0. 1. ]] SLAMing on 160.88650248099998 meters Centerline goodness [0,1] 0.7132942555685815 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.35 [[ 0.87566916 -0.05043226 -0.48027086 5.75790797] [ 0.09094832 0.99395784 0.06145095 0.29888942] [ 0.47426988 -0.09749053 0.87496496 1.35418197] [ 0. 0. 0. 1. ]] SLAMing on 160.91650248099998 meters Centerline goodness [0,1] 0.7139961322491204 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.35 [[ 0.87534513 -0.05518832 -0.48033857 5.75786719] [ 0.0946955 0.9937926 0.05838695 0.2963628 ] [ 0.47413464 -0.09659464 0.8751376 1.35478924] [ 0. 0. 0. 1. ]] SLAMing on 160.94650248099998 meters Centerline goodness [0,1] 0.7137082723534741 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.36 [[ 0.87509587 -0.06044448 -0.48016006 5.75707841] [ 0.09876708 0.99359356 0.05492631 0.29399028] [ 0.47376395 -0.0954898 0.87545955 1.35544773] [ 0. 0. 0. 1. ]] SLAMing on 160.97650248099998 meters Centerline goodness [0,1] 0.714495148116259 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.36 [[ 0.87516835 -0.06071222 -0.47999415 5.75669429] [ 0.09914838 0.99354556 0.05510727 0.29214034] [ 0.47355038 -0.09581878 0.87553915 1.35541393] [ 0. 0. 0. 1. ]] SLAMing on 161.00650248099998 meters Centerline goodness [0,1] 0.7134827546161886 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.36 [[ 0.87521432 -0.06073879 -0.47990696 5.75669228] [ 0.09934136 0.99350842 0.05542843 0.29039346] [ 0.47342495 -0.09618636 0.87556667 1.35534288] [ 0. 0. 0. 1. ]] SLAMing on 161.03650248099999 meters Centerline goodness [0,1] 0.7143616038433112 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.36 [[ 0.875147 -0.06122108 -0.47996845 5.75687572] [ 0.10001033 0.99342954 0.05563889 0.28766047] [ 0.47340856 -0.09669401 0.87551962 1.35541334] [ 0. 0. 0. 1. ]] SLAMing on 161.066502481 meters Centerline goodness [0,1] 0.7141071924465426 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.36 [[ 0.87524079 -0.0612684 -0.47979136 5.75695206] [ 0.10017187 0.99339976 0.05587948 0.28625794] [ 0.47320097 -0.09696959 0.87560136 1.3551253 ] [ 0. 0. 0. 1. ]] SLAMing on 161.096502481 meters Centerline goodness [0,1] 0.7126396890400499 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.36 [[ 0.87536876 -0.06164242 -0.4795099 5.75612457] [ 0.10068845 0.99333422 0.05611563 0.28391604] [ 0.47285449 -0.09740298 0.87574042 1.35511656] [ 0. 0. 0. 1. ]] SLAMing on 161.126502481 meters Centerline goodness [0,1] 0.7102021152125536 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.36 [[ 0.8755303 -0.06174141 -0.47920214 5.75536943] [ 0.10084789 0.99330903 0.05627496 0.28276387] [ 0.47252132 -0.09759695 0.87589864 1.35506846] [ 0. 0. 0. 1. ]] SLAMing on 161.156502481 meters Centerline goodness [0,1] 0.7125103562551781 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.8757566 -0.06324435 -0.47859224 5.75236501] [ 0.10203098 0.99323462 0.05544976 0.28061229] [ 0.47184749 -0.09739173 0.87628465 1.35569758] [ 0. 0. 0. 1. ]] SLAMing on 161.186502481 meters Centerline goodness [0,1] 0.7128601578271243 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87583874 -0.06333211 -0.47843029 5.75210279] [ 0.10220274 0.99320733 0.0556219 0.27913501] [ 0.47165782 -0.0976127 0.87636217 1.35567836] [ 0. 0. 0. 1. ]] SLAMing on 161.216502481 meters Centerline goodness [0,1] 0.7088587280480536 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87583536 -0.06315299 -0.47846016 5.7529956 ] [ 0.10233984 0.99315801 0.05624702 0.2768197 ] [ 0.47163438 -0.09822867 0.87630596 1.35531461] [ 0. 0. 0. 1. ]] SLAMing on 161.246502481 meters Centerline goodness [0,1] 0.7067670894189826 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87583976 -0.0628582 -0.47849092 5.75373953] [ 0.10222288 0.99314752 0.05664351 0.27590059] [ 0.47165156 -0.09852335 0.87626363 1.35504064] [ 0. 0. 0. 1. ]] SLAMing on 161.276502481 meters Centerline goodness [0,1] 0.7067670894189826 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87583976 -0.0628582 -0.47849092 5.75373953] [ 0.10222288 0.99314752 0.05664351 0.27590059] [ 0.47165156 -0.09852335 0.87626363 1.35504064] [ 0. 0. 0. 1. ]] SLAMing on 161.306502481 meters Centerline goodness [0,1] 0.7106132183644452 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.35 [[ 0.87590802 -0.06257863 -0.47840261 5.75451925] [ 0.10210329 0.99313763 0.05703125 0.27485381] [ 0.4715507 -0.09880061 0.8762867 1.35457446] [ 0. 0. 0. 1. ]] SLAMing on 161.336502481 meters Centerline goodness [0,1] 0.7112884364036596 Centerline is valid? [False, False] Translation: X:5.76, Y:0.27, Z:1.35 [[ 0.8758736 -0.06234434 -0.47849621 5.75507906] [ 0.10194782 0.99314311 0.05721372 0.27469948] [ 0.47164826 -0.09889363 0.8762237 1.35449759] [ 0. 0. 0. 1. ]] SLAMing on 161.366502481 meters Centerline goodness [0,1] 0.7151430469340541 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87578881 -0.06190894 -0.47870788 5.75575835] [ 0.10158078 0.99317004 0.05739868 0.27530203] [ 0.47188484 -0.09889665 0.87609597 1.35450976] [ 0. 0. 0. 1. ]] SLAMing on 161.396502481 meters Centerline goodness [0,1] 0.7170213253315619 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87582369 -0.06147197 -0.47870039 5.75592425] [ 0.10115162 0.99320661 0.0575237 0.27627197] [ 0.4719123 -0.09880194 0.87609187 1.35440496] [ 0. 0. 0. 1. ]] SLAMing on 161.426502481 meters Centerline goodness [0,1] 0.7221383129662684 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.8758032 -0.06147926 -0.47873694 5.75585121] [ 0.10108208 0.99322255 0.05737059 0.2771689 ] [ 0.47196522 -0.09863708 0.87608193 1.35448467] [ 0. 0. 0. 1. ]] SLAMing on 161.456502481 meters Centerline goodness [0,1] 0.7237811173568889 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87579039 -0.0615489 -0.47875142 5.75554427] [ 0.10103514 0.99324099 0.05713343 0.27835613] [ 0.47199904 -0.09840763 0.87608952 1.35462771] [ 0. 0. 0. 1. ]] SLAMing on 161.486502481 meters Centerline goodness [0,1] 0.725812365369632 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87585492 -0.06143493 -0.47864801 5.75530589] [ 0.10072049 0.99329129 0.05681368 0.28029946] [ 0.47194655 -0.0979702 0.87616682 1.35461076] [ 0. 0. 0. 1. ]] SLAMing on 161.51650248099997 meters Centerline goodness [0,1] 0.7269824496921804 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87584668 -0.0614555 -0.47866044 5.75560814] [ 0.10064149 0.99331031 0.05662078 0.28124702] [ 0.47197869 -0.09776422 0.87617251 1.35446368] [ 0. 0. 0. 1. ]] SLAMing on 161.54650248099998 meters Centerline goodness [0,1] 0.7291796039467329 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87580877 -0.06126589 -0.4787541 5.75619979] [ 0.10028009 0.99336355 0.05632721 0.28292498] [ 0.47212593 -0.09734137 0.87614026 1.35437519] [ 0. 0. 0. 1. ]] SLAMing on 161.57650248099998 meters Centerline goodness [0,1] 0.7287371134020619 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87570427 -0.06100384 -0.47897867 5.75659846] [ 0.09996677 0.9933998 0.05624492 0.28401484] [ 0.47238615 -0.09713586 0.8760228 1.35458635] [ 0. 0. 0. 1. ]] SLAMing on 161.60650248099998 meters Centerline goodness [0,1] 0.7299960855649451 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.35 [[ 0.87560463 -0.06088267 -0.4791762 5.75673115] [ 0.09983007 0.99341607 0.0562003 0.28447952] [ 0.47259972 -0.09704544 0.87591763 1.3549107 ] [ 0. 0. 0. 1. ]] SLAMing on 161.63650248099998 meters Centerline goodness [0,1] 0.7316399779127554 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.36 [[ 0.87583336 -0.05799972 -0.4791158 5.75509546] [ 0.09766798 0.99351181 0.05826873 0.28365696] [ 0.47262764 -0.09782797 0.87581551 1.35543603] [ 0. 0. 0. 1. ]] SLAMing on 161.66650248099998 meters Centerline goodness [0,1] 0.7299554821240075 Centerline is valid? [False, False] Translation: X:5.76, Y:0.28, Z:1.36 [[ 0.87574984 -0.05770504 -0.47930403 5.75539691] [ 0.09746403 0.99352025 0.058466 0.28377444] [ 0.47282448 -0.0979165 0.87569936 1.35560361] [ 0. 0. 0. 1. ]] SLAMing on 161.69650248099998 meters Centerline goodness [0,1] 0.7331020539447686 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87575292 -0.05781754 -0.47928484 5.75464978] [ 0.0975686 0.99351223 0.05842779 0.28288964] [ 0.47279721 -0.09793147 0.87571241 1.35607347] [ 0. 0. 0. 1. ]] SLAMing on 161.72650248099998 meters Centerline goodness [0,1] 0.7323432873505176 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87578473 -0.05797526 -0.47920765 5.75385435] [ 0.09772194 0.99349889 0.05839852 0.28208805] [ 0.4727066 -0.09797363 0.87575661 1.3564037 ] [ 0. 0. 0. 1. ]] SLAMing on 161.75650248099998 meters Centerline goodness [0,1] 0.7326386508534997 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87577698 -0.05791043 -0.47922967 5.75303537] [ 0.09778623 0.99347782 0.05864872 0.28065116] [ 0.47270767 -0.09822526 0.87572784 1.35697822] [ 0. 0. 0. 1. ]] SLAMing on 161.78650248099999 meters Centerline goodness [0,1] 0.7340483922608974 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87575889 -0.05794857 -0.4792581 5.75316136] [ 0.09788368 0.99346269 0.05874239 0.27967704] [ 0.47272101 -0.09835572 0.875706 1.35705506] [ 0. 0. 0. 1. ]] SLAMing on 161.816502481 meters Centerline goodness [0,1] 0.7327645206917005 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87568256 -0.05977269 -0.47917355 5.75258501] [ 0.09933269 0.993385 0.05761296 0.27676991] [ 0.47256013 -0.09804826 0.8758273 1.35755947] [ 0. 0. 0. 1. ]] SLAMing on 161.846502481 meters Centerline goodness [0,1] 0.7337442922374429 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87572953 -0.05980239 -0.47908399 5.75231394] [ 0.09947532 0.99335777 0.05783601 0.27549201] [ 0.47244307 -0.09830573 0.87586159 1.35759358] [ 0. 0. 0. 1. ]] SLAMing on 161.876502481 meters Centerline goodness [0,1] 0.7349155636695572 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87568815 -0.05962336 -0.47918192 5.75175624] [ 0.09960831 0.99330934 0.05843579 0.27351907] [ 0.47249174 -0.09890203 0.8757682 1.35806377] [ 0. 0. 0. 1. ]] SLAMing on 161.906502481 meters Centerline goodness [0,1] 0.7342737149639369 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.8756684 -0.05947538 -0.47923641 5.7517929 ] [ 0.0996381 0.9932855 0.05878915 0.27231547] [ 0.47252207 -0.09923001 0.87571474 1.35820326] [ 0. 0. 0. 1. ]] SLAMing on 161.936502481 meters Centerline goodness [0,1] 0.7331786542923434 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87550322 -0.06180722 -0.47924313 5.75095128] [ 0.10155303 0.99317084 0.05743405 0.2695385 ] [ 0.47242046 -0.09895229 0.87580098 1.3589486 ] [ 0. 0. 0. 1. ]] SLAMing on 161.966502481 meters Centerline goodness [0,1] 0.7310832632081694 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87559337 -0.06210132 -0.47904037 5.75057805] [ 0.10191549 0.99312782 0.05753581 0.26754827] [ 0.47217527 -0.09919961 0.87590522 1.35893297] [ 0. 0. 0. 1. ]] SLAMing on 161.996502481 meters Centerline goodness [0,1] 0.7274624089991608 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87551016 -0.06336152 -0.47902743 5.74974815] [ 0.10305011 0.99304208 0.05699207 0.26522138] [ 0.4720833 -0.09926097 0.87594784 1.35944226] [ 0. 0. 0. 1. ]] SLAMing on 162.026502481 meters Centerline goodness [0,1] 0.7223407151933201 Centerline is valid? [False, False] Translation: X:5.75, Y:0.26, Z:1.36 [[ 0.87547478 -0.06357473 -0.47906384 5.74955446] [ 0.10328739 0.99301841 0.05697493 0.26479195] [ 0.47209705 -0.09936137 0.87592905 1.35961347] [ 0. 0. 0. 1. ]] SLAMing on 162.056502481 meters Centerline goodness [0,1] 0.7188913898551713 Centerline is valid? [False, False] Translation: X:5.75, Y:0.26, Z:1.36 [[ 0.87538416 -0.06387186 -0.4791899 5.74964205] [ 0.10362481 0.99298495 0.05694552 0.26434288] [ 0.47219114 -0.09950517 0.87586201 1.35976481] [ 0. 0. 0. 1. ]] SLAMing on 162.086502481 meters Centerline goodness [0,1] 0.7161941112322792 Centerline is valid? [False, False] Translation: X:5.75, Y:0.26, Z:1.36 [[ 0.87535879 -0.06405516 -0.47921177 5.74969614] [ 0.10379177 0.99297216 0.05686433 0.26420321] [ 0.47220149 -0.09951493 0.87585531 1.35979828] [ 0. 0. 0. 1. ]] SLAMing on 162.116502481 meters Centerline goodness [0,1] 0.7107151751148943 Centerline is valid? [False, False] Translation: X:5.75, Y:0.26, Z:1.36 [[ 0.87527073 -0.06421075 -0.47935178 5.75030847] [ 0.1039641 0.9929565 0.05682309 0.26399832] [ 0.47232681 -0.09957096 0.87578137 1.35977461] [ 0. 0. 0. 1. ]] SLAMing on 162.146502481 meters Centerline goodness [0,1] 0.705747439653019 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87510582 -0.06448548 -0.47961592 5.75054237] [ 0.10411491 0.9929613 0.0564618 0.26510055] [ 0.47259908 -0.09934521 0.87566011 1.36010915] [ 0. 0. 0. 1. ]] SLAMing on 162.176502481 meters Centerline goodness [0,1] 0.7048993456899892 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87501065 -0.06460638 -0.47977325 5.75063236] [ 0.104158 0.99296881 0.05624999 0.26584312] [ 0.47276577 -0.09919156 0.87558755 1.36033421] [ 0. 0. 0. 1. ]] SLAMing on 162.206502481 meters Centerline goodness [0,1] 0.7018552748682139 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87489324 -0.06471096 -0.47997324 5.75086627] [ 0.10418528 0.9929782 0.05603318 0.26665963] [ 0.472977 -0.09902919 0.87549185 1.3605767 ] [ 0. 0. 0. 1. ]] SLAMing on 162.236502481 meters Centerline goodness [0,1] 0.703088319088319 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87471581 -0.06489755 -0.48027134 5.75050416] [ 0.10421003 0.99299904 0.05561639 0.26830013] [ 0.47329961 -0.09869762 0.87535493 1.36129403] [ 0. 0. 0. 1. ]] SLAMing on 162.26650248099997 meters Centerline goodness [0,1] 0.7025049574909398 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87463336 -0.06510324 -0.48039364 5.75010859] [ 0.10432648 0.99300052 0.05537097 0.26901678] [ 0.47342631 -0.09854707 0.87530338 1.36168645] [ 0. 0. 0. 1. ]] SLAMing on 162.29650248099998 meters Centerline goodness [0,1] 0.7006933479783071 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87462404 -0.06526142 -0.48038915 5.7502659 ] [ 0.1044371 0.99299594 0.05524454 0.26918508] [ 0.47341914 -0.09848865 0.87531383 1.36167669] [ 0. 0. 0. 1. ]] SLAMing on 162.32650248099998 meters Centerline goodness [0,1] 0.7017285766826039 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87457116 -0.06529853 -0.48048037 5.75060973] [ 0.10448046 0.99299245 0.05522527 0.26945872] [ 0.47350725 -0.09849924 0.87526498 1.36164834] [ 0. 0. 0. 1. ]] SLAMing on 162.35650248099998 meters Centerline goodness [0,1] 0.6935054198052544 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87442095 -0.06504383 -0.48078821 5.75143871] [ 0.10430183 0.9930039 0.05535688 0.27045476] [ 0.47382395 -0.0985523 0.8750876 1.36171542] [ 0. 0. 0. 1. ]] SLAMing on 162.38650248099998 meters Centerline goodness [0,1] 0.6876093160268802 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87438815 -0.06529786 -0.48081342 5.75148774] [ 0.1044072 0.99301195 0.05501275 0.27190934] [ 0.47386126 -0.09830288 0.87509545 1.36171753] [ 0. 0. 0. 1. ]] SLAMing on 162.41650248099998 meters Centerline goodness [0,1] 0.6891025641025641 Centerline is valid? [False, False] Translation: X:5.75, Y:0.27, Z:1.36 [[ 0.87432728 -0.06566828 -0.48087366 5.75135907] [ 0.10462228 0.99301106 0.05461889 0.27292963] [ 0.47392613 -0.09806488 0.87508702 1.36183809] [ 0. 0. 0. 1. ]] SLAMing on 162.44650248099998 meters Centerline goodness [0,1] 0.684754045456641 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87429783 -0.06623591 -0.48084937 5.75142767] [ 0.10484462 0.99302989 0.0538447 0.27556661] [ 0.47393134 -0.09749077 0.87514835 1.36170774] [ 0. 0. 0. 1. ]] SLAMing on 162.47650248099998 meters Centerline goodness [0,1] 0.6892540620384047 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87423394 -0.06663041 -0.48091102 5.7513898 ] [ 0.10502304 0.99303868 0.05333239 0.27751097] [ 0.47400969 -0.09713173 0.87514584 1.36172002] [ 0. 0. 0. 1. ]] SLAMing on 162.50650248099998 meters Centerline goodness [0,1] 0.6824333751918515 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87458844 -0.0622806 -0.48084944 5.75148762] [ 0.10175566 0.99320736 0.05643507 0.28009153] [ 0.47406839 -0.09828661 0.87498509 1.36089696] [ 0. 0. 0. 1. ]] SLAMing on 162.53650248099999 meters Centerline goodness [0,1] 0.6849711657444375 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.36 [[ 0.87442765 -0.06260795 -0.48109929 5.75212304] [ 0.10182019 0.9932361 0.0558095 0.2831378 ] [ 0.47435107 -0.09778699 0.87488786 1.36084596] [ 0. 0. 0. 1. ]] SLAMing on 162.566502481 meters Centerline goodness [0,1] 0.6821238606275043 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87483207 -0.05880248 -0.48084417 5.75178815] [ 0.09881063 0.99339756 0.05829015 0.28654036] [ 0.47424182 -0.09850661 0.87486636 1.36001102] [ 0. 0. 0. 1. ]] SLAMing on 162.596502481 meters Centerline goodness [0,1] 0.6826794078188623 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87467708 -0.05943652 -0.48104813 5.75159366] [ 0.09904825 0.99342848 0.05735247 0.29014819] [ 0.47447808 -0.09781186 0.8748162 1.36027514] [ 0. 0. 0. 1. ]] SLAMing on 162.626502481 meters Centerline goodness [0,1] 0.6846419940292849 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.36 [[ 0.87510337 -0.05610009 -0.48067335 5.74969329] [ 0.09625579 0.99358994 0.05927784 0.29559537] [ 0.47426671 -0.09814184 0.87489386 1.35984166] [ 0. 0. 0. 1. ]] SLAMing on 162.656502481 meters Centerline goodness [0,1] 0.6876762315475203 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.36 [[ 0.87492952 -0.05676523 -0.48091167 5.74973218] [ 0.09647837 0.99362974 0.0582397 0.29941437] [ 0.47454215 -0.09735321 0.87483261 1.36011827] [ 0. 0. 0. 1. ]] SLAMing on 162.686502481 meters Centerline goodness [0,1] 0.6849974840054633 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.36 [[ 0.8753051 -0.0528892 -0.48067006 5.74964256] [ 0.09335599 0.99378355 0.06065398 0.30414749] [ 0.47447406 -0.09796417 0.87480134 1.35906677] [ 0. 0. 0. 1. ]] SLAMing on 162.716502481 meters Centerline goodness [0,1] 0.6898946360153257 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.36 [[ 0.87514204 -0.05316799 -0.48093614 5.75050611] [ 0.09336199 0.99382152 0.06001942 0.30752492] [ 0.47477358 -0.09742667 0.87469886 1.3589379 ] [ 0. 0. 0. 1. ]] SLAMing on 162.746502481 meters Centerline goodness [0,1] 0.6881741140215716 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:1.36 [[ 0.87503044 -0.05214945 -0.48125063 5.75261788] [ 0.092354 0.99390354 0.06022027 0.31368905] [ 0.47517626 -0.09713999 0.87451206 1.35804829] [ 0. 0. 0. 1. ]] SLAMing on 162.776502481 meters Centerline goodness [0,1] 0.6810520197616972 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.36 [[ 0.87487352 -0.05268044 -0.48147804 5.75309624] [ 0.09254174 0.99393525 0.05940328 0.31714533] [ 0.4754286 -0.09652717 0.87444276 1.35803547] [ 0. 0. 0. 1. ]] SLAMing on 162.806502481 meters Centerline goodness [0,1] 0.6845588414857506 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.36 [[ 0.87545627 -0.04919063 -0.48078748 5.75113436] [ 0.089834 0.99403288 0.06187481 0.32097348] [ 0.4748749 -0.09735975 0.87465131 1.35703684] [ 0. 0. 0. 1. ]] SLAMing on 162.836502481 meters Centerline goodness [0,1] 0.6890530228918019 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87563198 -0.05074612 -0.4803056 5.74904759] [ 0.09075628 0.9940379 0.06043138 0.32549064] [ 0.47437532 -0.09650639 0.8750169 1.35695805] [ 0. 0. 0. 1. ]] SLAMing on 162.866502481 meters Centerline goodness [0,1] 0.6857535389220089 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87567627 -0.05158282 -0.48013568 5.74830741] [ 0.09131183 0.99402863 0.05974312 0.32710762] [ 0.47418689 -0.0961577 0.87515741 1.3568974 ] [ 0. 0. 0. 1. ]] SLAMing on 162.896502481 meters Centerline goodness [0,1] 0.6598318336037763 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87576631 -0.05298897 -0.47981823 5.74747515] [ 0.09233928 0.99399196 0.05876604 0.32943812] [ 0.47382151 -0.09577138 0.87539764 1.35644567] [ 0. 0. 0. 1. ]] SLAMing on 162.926502481 meters Centerline goodness [0,1] 0.6726018963181875 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87577416 -0.05356683 -0.47973974 5.74719657] [ 0.09276905 0.99397549 0.05836628 0.33059242] [ 0.47372305 -0.09562067 0.8754674 1.35630867] [ 0. 0. 0. 1. ]] SLAMing on 162.956502481 meters Centerline goodness [0,1] 0.6382568262762169 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87572802 -0.05421481 -0.47975118 5.74757269] [ 0.09327177 0.99395376 0.05793355 0.33275298] [ 0.47370964 -0.09548128 0.87548987 1.35587016] [ 0. 0. 0. 1. ]] SLAMing on 162.986502481 meters Centerline goodness [0,1] 0.6358929898439436 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87574903 -0.05460481 -0.47966859 5.74760017] [ 0.09353 0.99394821 0.05761157 0.33369459] [ 0.47361987 -0.09531668 0.87555637 1.35567366] [ 0. 0. 0. 1. ]] SLAMing on 163.01650248099997 meters Centerline goodness [0,1] 0.6265736349415241 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87576822 -0.05520617 -0.4795647 5.74760773] [ 0.09388383 0.99394853 0.05702751 0.33605307] [ 0.47351436 -0.09496626 0.87565151 1.35534038] [ 0. 0. 0. 1. ]] SLAMing on 163.04650248099998 meters Centerline goodness [0,1] 0.6244117427354896 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87573505 -0.05555643 -0.47958483 5.74743984] [ 0.09404048 0.99395944 0.0565775 0.33779428] [ 0.47354463 -0.09464729 0.87566967 1.35538518] [ 0. 0. 0. 1. ]] SLAMing on 163.07650248099998 meters Centerline goodness [0,1] 0.6343101038338659 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87629157 -0.05173779 -0.47899507 5.74576245] [ 0.09110561 0.99407415 0.05929889 0.33934547] [ 0.47308862 -0.09560225 0.8758124 1.35481443] [ 0. 0. 0. 1. ]] SLAMing on 163.10650248099998 meters Centerline goodness [0,1] 0.6447651443149417 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8762341 -0.05199644 -0.4790722 5.74568963] [ 0.09110935 0.99410669 0.05874502 0.34147477] [ 0.47319435 -0.09512234 0.87580754 1.35499706] [ 0. 0. 0. 1. ]] SLAMing on 163.13650248099998 meters Centerline goodness [0,1] 0.6641123882503193 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8764721 -0.04728651 -0.47912486 5.74547262] [ 0.08744843 0.99424742 0.0618453 0.34390791] [ 0.47344421 -0.0961044 0.87556526 1.3548732 ] [ 0. 0. 0. 1. ]] SLAMing on 163.16650248099998 meters Centerline goodness [0,1] 0.6641123882503193 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8764721 -0.04728651 -0.47912486 5.74547262] [ 0.08744843 0.99424742 0.0618453 0.34390791] [ 0.47344421 -0.0961044 0.87556526 1.3548732 ] [ 0. 0. 0. 1. ]] SLAMing on 163.19650248099998 meters Centerline goodness [0,1] 0.6716748458537813 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87690307 -0.04234606 -0.4787983 5.74515078] [ 0.08380063 0.99432504 0.06553756 0.34392071] [ 0.47330588 -0.09759369 0.87547531 1.35415711] [ 0. 0. 0. 1. ]] SLAMing on 163.22650248099998 meters Centerline goodness [0,1] 0.6769195774149522 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87714128 -0.03750718 -0.47876549 5.74519594] [ 0.07999755 0.99442773 0.06865778 0.34640816] [ 0.47352252 -0.09852264 0.87525409 1.35389455] [ 0. 0. 0. 1. ]] SLAMing on 163.25650248099998 meters Centerline goodness [0,1] 0.6761868590960881 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87705434 -0.03741856 -0.47893166 5.74583804] [ 0.07973508 0.99447212 0.06831931 0.34844026] [ 0.47372777 -0.0981074 0.87518966 1.35393876] [ 0. 0. 0. 1. ]] SLAMing on 163.28650248099999 meters Centerline goodness [0,1] 0.679991836526442 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.8773986 -0.03246213 -0.47866262 5.74622594] [ 0.07595305 0.99452465 0.07177647 0.34946575] [ 0.47371176 -0.09933246 0.87506013 1.3531021 ] [ 0. 0. 0. 1. ]] SLAMing on 163.316502481 meters Centerline goodness [0,1] 0.6781089571680331 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87731108 -0.0322251 -0.47883903 5.74691582] [ 0.07549035 0.99458867 0.07137639 0.35202489] [ 0.47394776 -0.09876702 0.87499634 1.35330789] [ 0. 0. 0. 1. ]] SLAMing on 163.346502481 meters Centerline goodness [0,1] 0.6781316131664159 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87726296 -0.03234676 -0.47891898 5.74702482] [ 0.07552899 0.99460022 0.07117422 0.35275999] [ 0.47403067 -0.09861078 0.87496905 1.35337358] [ 0. 0. 0. 1. ]] SLAMing on 163.376502481 meters Centerline goodness [0,1] 0.6772096831977071 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87729543 -0.03248632 -0.47885005 5.74691843] [ 0.07558842 0.99460758 0.07100811 0.35330905] [ 0.4739611 -0.09849061 0.87502027 1.35334875] [ 0. 0. 0. 1. ]] SLAMing on 163.406502481 meters Centerline goodness [0,1] 0.6733649144254279 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87727627 -0.03260405 -0.47887714 5.74688317] [ 0.07567752 0.99460711 0.0709198 0.35332007] [ 0.47398234 -0.09845649 0.87501261 1.35343677] [ 0. 0. 0. 1. ]] SLAMing on 163.436502481 meters Centerline goodness [0,1] 0.6745420217380211 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87733038 -0.03249304 -0.47878556 5.74696402] [ 0.07560885 0.99460325 0.07104695 0.35304175] [ 0.47389314 -0.09853207 0.87505241 1.35331534] [ 0. 0. 0. 1. ]] SLAMing on 163.466502481 meters Centerline goodness [0,1] 0.6765471149431151 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87745975 -0.03264139 -0.47853832 5.74611096] [ 0.07576009 0.99458981 0.071074 0.35218059] [ 0.47362938 -0.09861869 0.87518544 1.35335463] [ 0. 0. 0. 1. ]] SLAMing on 163.496502481 meters Centerline goodness [0,1] 0.6784573312546324 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87760707 -0.03298349 -0.47824462 5.74553952] [ 0.07603323 0.99457914 0.0709315 0.3514916 ] [ 0.47331255 -0.09861247 0.87535753 1.35317004] [ 0. 0. 0. 1. ]] SLAMing on 163.526502481 meters Centerline goodness [0,1] 0.6782977419025238 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87767479 -0.03311657 -0.47811113 5.74556719] [ 0.0761776 0.99456669 0.07095113 0.35055956] [ 0.47316375 -0.09869338 0.87542886 1.35305634] [ 0. 0. 0. 1. ]] SLAMing on 163.556502481 meters Centerline goodness [0,1] 0.6780925136011852 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87788005 -0.03313403 -0.47773293 5.74566021] [ 0.07632182 0.99453276 0.07127103 0.34870399] [ 0.47275956 -0.09902886 0.87560932 1.35243065] [ 0. 0. 0. 1. ]] SLAMing on 163.586502481 meters Centerline goodness [0,1] 0.6767354644488098 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.35 [[ 0.87797331 -0.0335017 -0.47753587 5.74501826] [ 0.07667618 0.9945104 0.07120272 0.34800761] [ 0.47252898 -0.09912971 0.87572237 1.35244704] [ 0. 0. 0. 1. ]] SLAMing on 163.616502481 meters Centerline goodness [0,1] 0.6762921806504231 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87794912 -0.03369757 -0.47756657 5.74486883] [ 0.07685531 0.99450276 0.07111621 0.34772057] [ 0.47254482 -0.09913994 0.87571266 1.35259729] [ 0. 0. 0. 1. ]] SLAMing on 163.646502481 meters Centerline goodness [0,1] 0.674017233467598 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87812682 -0.03417099 -0.47720607 5.74456161] [ 0.07726458 0.99448174 0.07096655 0.34624405] [ 0.47214773 -0.09918875 0.87592129 1.35224964] [ 0. 0. 0. 1. ]] SLAMing on 163.676502481 meters Centerline goodness [0,1] 0.6748499033275669 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87825943 -0.0345422 -0.47693522 5.74408485] [ 0.07755349 0.99447205 0.07078705 0.34559546] [ 0.4718536 -0.09915738 0.87608332 1.35208944] [ 0. 0. 0. 1. ]] SLAMing on 163.706502481 meters Centerline goodness [0,1] 0.6756585291579962 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.8782539 -0.03472062 -0.47693246 5.74383837] [ 0.07768948 0.9944701 0.07066509 0.34588313] [ 0.47184154 -0.09911452 0.87609467 1.35219897] [ 0. 0. 0. 1. ]] SLAMing on 163.736502481 meters Centerline goodness [0,1] 0.6779729970250961 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87815669 -0.0348636 -0.47710099 5.74355167] [ 0.07775568 0.99448038 0.07044737 0.34670155] [ 0.47201153 -0.09896114 0.87602044 1.35265903] [ 0. 0. 0. 1. ]] SLAMing on 163.76650248099997 meters Centerline goodness [0,1] 0.6791948699679373 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87811953 -0.03495074 -0.47716301 5.74357471] [ 0.07777371 0.9944906 0.07028296 0.34728107] [ 0.47207769 -0.09882758 0.87599987 1.35278856] [ 0. 0. 0. 1. ]] SLAMing on 163.79650248099998 meters Centerline goodness [0,1] 0.6817569456800794 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.8781831 -0.035044 -0.47703916 5.74368016] [ 0.07782878 0.99449085 0.07021852 0.34700544] [ 0.47195034 -0.09879209 0.87607248 1.3525801 ] [ 0. 0. 0. 1. ]] SLAMing on 163.82650248099998 meters Centerline goodness [0,1] 0.6876175947114163 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87825894 -0.03504971 -0.47689911 5.74406062] [ 0.07781422 0.9944924 0.07021268 0.34606644] [ 0.4718116 -0.09877444 0.8761492 1.35232157] [ 0. 0. 0. 1. ]] SLAMing on 163.85650248099998 meters Centerline goodness [0,1] 0.6846595943995746 Centerline is valid? [False, False] Translation: X:5.74, Y:0.35, Z:1.35 [[ 0.87826005 -0.03501739 -0.47689943 5.74406521] [ 0.07778715 0.99449327 0.07023029 0.34578057] [ 0.47181399 -0.09877711 0.87614762 1.3523795 ] [ 0. 0. 0. 1. ]] SLAMing on 163.88650248099998 meters Centerline goodness [0,1] 0.6908046853164621 Centerline is valid? [False, False] Translation: X:5.74, Y:0.34, Z:1.35 [[ 0.87856609 -0.02976945 -0.47669216 5.74369845] [ 0.07406469 0.99447428 0.07439975 0.34385137] [ 0.47184325 -0.10067116 0.87591624 1.35203215] [ 0. 0. 0. 1. ]] SLAMing on 163.91650248099998 meters Centerline goodness [0,1] 0.6918503150064519 Centerline is valid? [False, False] Translation: X:5.74, Y:0.34, Z:1.35 [[ 0.87846966 -0.02937622 -0.47689422 5.74428016] [ 0.07376965 0.994479 0.07462947 0.34419547] [ 0.47206896 -0.10074005 0.8757867 1.35210717] [ 0. 0. 0. 1. ]] SLAMing on 163.94650248099998 meters Centerline goodness [0,1] 0.6934800801359268 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87827232 -0.02874359 -0.47729607 5.7453724 ] [ 0.07329028 0.99448871 0.07497159 0.34427471] [ 0.4725106 -0.10082663 0.87553853 1.35236899] [ 0. 0. 0. 1. ]] SLAMing on 163.97650248099998 meters Centerline goodness [0,1] 0.6940896790672972 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87817137 -0.02798286 -0.47752697 5.74697005] [ 0.07275162 0.99448725 0.07551362 0.34362776] [ 0.4727814 -0.10105476 0.87536603 1.3521458 ] [ 0. 0. 0. 1. ]] SLAMing on 164.00650248099998 meters Centerline goodness [0,1] 0.6956103488430965 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87815751 -0.0280104 -0.47755085 5.74714813] [ 0.07277877 0.99448627 0.07550037 0.3432403 ] [ 0.47280297 -0.10105678 0.87535415 1.35218002] [ 0. 0. 0. 1. ]] SLAMing on 164.03650248099999 meters Centerline goodness [0,1] 0.6948513598987982 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87810485 -0.02805735 -0.47764491 5.74742071] [ 0.07284989 0.99448027 0.07551082 0.34264308] [ 0.47288981 -0.1011028 0.87530192 1.35231916] [ 0. 0. 0. 1. ]] SLAMing on 164.066502481 meters Centerline goodness [0,1] 0.6952707472017747 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87802569 -0.02802057 -0.47779256 5.74793352] [ 0.07284815 0.9944775 0.07554895 0.34237471] [ 0.47303703 -0.10114022 0.87521804 1.35240407] [ 0. 0. 0. 1. ]] SLAMing on 164.096502481 meters Centerline goodness [0,1] 0.6939646464646465 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87798402 -0.02798826 -0.47787103 5.74887866] [ 0.07294315 0.99445346 0.07577337 0.34068 ] [ 0.47309974 -0.10138523 0.8751558 1.3522338 ] [ 0. 0. 0. 1. ]] SLAMing on 164.126502481 meters Centerline goodness [0,1] 0.6935227473442507 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87791781 -0.02785381 -0.47800051 5.74966543] [ 0.07291104 0.99444126 0.07596419 0.33982085] [ 0.47322754 -0.10154183 0.87506854 1.35218016] [ 0. 0. 0. 1. ]] SLAMing on 164.156502481 meters Centerline goodness [0,1] 0.6924047438808982 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87758774 -0.02748542 -0.47862753 5.75048353] [ 0.07266757 0.99444617 0.07613309 0.33997309] [ 0.47387676 -0.10159416 0.87471106 1.35298849] [ 0. 0. 0. 1. ]] SLAMing on 164.186502481 meters Centerline goodness [0,1] 0.69299549152457 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.8773283 -0.02733082 -0.47911176 5.7510321 ] [ 0.07249825 0.99446668 0.07602647 0.3405624 ] [ 0.47438282 -0.10143494 0.8744552 1.3537125 ] [ 0. 0. 0. 1. ]] SLAMing on 164.216502481 meters Centerline goodness [0,1] 0.6984951223815885 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.35 [[ 0.87724607 -0.02733602 -0.47926201 5.75054429] [ 0.07233501 0.99450511 0.07567842 0.34173336] [ 0.47455977 -0.10105602 0.87440306 1.35436707] [ 0. 0. 0. 1. ]] SLAMing on 164.246502481 meters Centerline goodness [0,1] 0.6973740527203605 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.8769256 -0.02729829 -0.47985029 5.75090346] [ 0.07216187 0.99454666 0.07529676 0.34288114] [ 0.47517803 -0.10065655 0.87411332 1.35544621] [ 0. 0. 0. 1. ]] SLAMing on 164.276502481 meters Centerline goodness [0,1] 0.6999596652213371 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.8768451 -0.02763549 -0.47997808 5.75090299] [ 0.07232737 0.99456708 0.07486706 0.34368962] [ 0.47530141 -0.10036236 0.87408007 1.35573555] [ 0. 0. 0. 1. ]] SLAMing on 164.306502481 meters Centerline goodness [0,1] 0.6980836325024018 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87670109 -0.02769673 -0.48023753 5.75123791] [ 0.07225716 0.99459613 0.07454825 0.34476116] [ 0.47557765 -0.10005713 0.8739648 1.35614123] [ 0. 0. 0. 1. ]] SLAMing on 164.336502481 meters Centerline goodness [0,1] 0.6972983881139168 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.36 [[ 0.87644847 -0.02751957 -0.48070859 5.75203398] [ 0.07208188 0.99461372 0.07448319 0.34514025] [ 0.47606962 -0.09993105 0.87371134 1.35672339] [ 0. 0. 0. 1. ]] SLAMing on 164.366502481 meters Centerline goodness [0,1] 0.6960092713897007 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.36 [[ 0.87597323 -0.02679934 -0.48161467 5.75408334] [ 0.07153714 0.99463172 0.07476755 0.34555688] [ 0.47702551 -0.09994771 0.87318791 1.35754351] [ 0. 0. 0. 1. ]] SLAMing on 164.396502481 meters Centerline goodness [0,1] 0.6940586322502584 Centerline is valid? [False, False] Translation: X:5.75, Y:0.35, Z:1.36 [[ 0.87591403 -0.02700167 -0.48171103 5.75402666] [ 0.07167661 0.9946358 0.07457941 0.34540528] [ 0.47711327 -0.09985257 0.87315084 1.35782677] [ 0. 0. 0. 1. ]] SLAMing on 164.426502481 meters Centerline goodness [0,1] 0.6980590589834605 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87596746 -0.02705907 -0.48161066 5.75396722] [ 0.07178424 0.99462042 0.07468097 0.34398956] [ 0.47699899 -0.09999016 0.87319753 1.35783349] [ 0. 0. 0. 1. ]] SLAMing on 164.456502481 meters Centerline goodness [0,1] 0.6985826296743064 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87592827 -0.02699491 -0.48168552 5.75378294] [ 0.07178597 0.99461137 0.07479967 0.34249324] [ 0.47707069 -0.10009741 0.87314607 1.35830749] [ 0. 0. 0. 1. ]] SLAMing on 164.486502481 meters Centerline goodness [0,1] 0.6999172496802828 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87600279 -0.02696453 -0.48155169 5.75365201] [ 0.07178851 0.99460369 0.07489938 0.34201546] [ 0.47693346 -0.10018194 0.87321135 1.35819516] [ 0. 0. 0. 1. ]] SLAMing on 164.51650248099997 meters Centerline goodness [0,1] 0.7001256597134958 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87591086 -0.02685446 -0.48172504 5.75325279] [ 0.0717611 0.99459532 0.07503658 0.34200303] [ 0.4771064 -0.10029447 0.87310395 1.35869046] [ 0. 0. 0. 1. ]] SLAMing on 164.54650248099998 meters Centerline goodness [0,1] 0.6986174190148797 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87584384 -0.026745 -0.48185296 5.75345914] [ 0.07172429 0.9945882 0.07516611 0.3411573 ] [ 0.47723495 -0.10039433 0.87302221 1.35897694] [ 0. 0. 0. 1. ]] SLAMing on 164.57650248099998 meters Centerline goodness [0,1] 0.69671309750476 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87550912 -0.03164033 -0.48216457 5.75433453] [ 0.07530567 0.99459577 0.07147241 0.34130707] [ 0.47729743 -0.09888447 0.87316036 1.35947015] [ 0. 0. 0. 1. ]] SLAMing on 164.60650248099998 meters Centerline goodness [0,1] 0.6949616098760476 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87557788 -0.03172461 -0.48203416 5.75454117] [ 0.07550809 0.99456416 0.07169834 0.33955828] [ 0.4771393 -0.09917496 0.87321384 1.3592178 ] [ 0. 0. 0. 1. ]] SLAMing on 164.63650248099998 meters Centerline goodness [0,1] 0.6941261639082353 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87522787 -0.03662668 -0.48232216 5.7554678 ] [ 0.07918857 0.99452575 0.06817408 0.33894542] [ 0.47718482 -0.09786225 0.87333706 1.35963604] [ 0. 0. 0. 1. ]] SLAMing on 164.66650248099998 meters Centerline goodness [0,1] 0.6938566723225871 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87528469 -0.03672986 -0.4822112 5.7552369 ] [ 0.07939542 0.99449622 0.06836399 0.33787302] [ 0.47704621 -0.09812331 0.87338349 1.35955865] [ 0. 0. 0. 1. ]] SLAMing on 164.69650248099998 meters Centerline goodness [0,1] 0.6924825174825175 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87536926 -0.03682681 -0.48205026 5.75532006] [ 0.079631 0.99445897 0.06863137 0.33678966] [ 0.47685173 -0.09846394 0.87345136 1.35921921] [ 0. 0. 0. 1. ]] SLAMing on 164.72650248099998 meters Centerline goodness [0,1] 0.6910758589579731 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.8755803 -0.03738625 -0.48162371 5.75452007] [ 0.08008811 0.99443789 0.06840458 0.33590748] [ 0.47638748 -0.09846603 0.87370442 1.3589182 ] [ 0. 0. 0. 1. ]] SLAMing on 164.75650248099998 meters Centerline goodness [0,1] 0.6876706153422325 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.8756486 -0.03777004 -0.48146957 5.75378602] [ 0.08035195 0.99443578 0.06812516 0.33573034] [ 0.47621748 -0.09834072 0.8738112 1.35907747] [ 0. 0. 0. 1. ]] SLAMing on 164.78650248099999 meters Centerline goodness [0,1] 0.6934381751494749 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87570501 -0.03832485 -0.48132312 5.75237284] [ 0.08069372 0.99444188 0.06763038 0.33633216] [ 0.47605594 -0.09806401 0.87393031 1.35956262] [ 0. 0. 0. 1. ]] SLAMing on 164.816502481 meters Centerline goodness [0,1] 0.6929806918744972 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87566753 -0.03840168 -0.48138517 5.75234002] [ 0.0807119 0.99445001 0.06748907 0.33685986] [ 0.47612179 -0.0979515 0.87390706 1.35971146] [ 0. 0. 0. 1. ]] SLAMing on 164.846502481 meters Centerline goodness [0,1] 0.6875188574876798 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87560771 -0.03847706 -0.48148796 5.75240963] [ 0.08078244 0.99444778 0.0674374 0.33705202] [ 0.47621984 -0.09794448 0.87385442 1.35987218] [ 0. 0. 0. 1. ]] SLAMing on 164.876502481 meters Centerline goodness [0,1] 0.6889218844372861 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87574526 -0.03884089 -0.48120851 5.75176406] [ 0.08112721 0.9944238 0.06737715 0.33598346] [ 0.47590821 -0.09804432 0.87401298 1.35974322] [ 0. 0. 0. 1. ]] SLAMing on 164.906502481 meters Centerline goodness [0,1] 0.690659423570243 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87588743 -0.03899754 -0.48093701 5.75156512] [ 0.0812909 0.99440789 0.06741468 0.33530432] [ 0.47561855 -0.09814348 0.87415951 1.3594096 ] [ 0. 0. 0. 1. ]] SLAMing on 164.936502481 meters Centerline goodness [0,1] 0.6931275451209089 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87586451 -0.03907334 -0.48097259 5.75148022] [ 0.08142369 0.99439176 0.06749224 0.33453992] [ 0.47563804 -0.09827662 0.87413395 1.35954597] [ 0. 0. 0. 1. ]] SLAMing on 164.966502481 meters Centerline goodness [0,1] 0.6863740294982286 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87596348 -0.03897723 -0.48080013 5.75112614] [ 0.08146094 0.99436765 0.06780181 0.33358915] [ 0.47544937 -0.09855834 0.87420487 1.35941466] [ 0. 0. 0. 1. ]] SLAMing on 164.996502481 meters Centerline goodness [0,1] 0.6850924644609384 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87597892 -0.03884361 -0.4807828 5.75093482] [ 0.08136221 0.99436882 0.06790323 0.3334372 ] [ 0.47543782 -0.09859934 0.87420653 1.35952808] [ 0. 0. 0. 1. ]] SLAMing on 165.026502481 meters Centerline goodness [0,1] 0.6873945346933635 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87592117 -0.03874969 -0.48089558 5.75131985] [ 0.08127413 0.9943755 0.06791076 0.33360489] [ 0.47555926 -0.09856884 0.87414391 1.3595999 ] [ 0. 0. 0. 1. ]] SLAMing on 165.056502481 meters Centerline goodness [0,1] 0.6846733983112425 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87562779 -0.03774765 -0.48150918 5.75383016] [ 0.08047166 0.99440846 0.06838216 0.33413108] [ 0.47623554 -0.09862516 0.8737693 1.35962292] [ 0. 0. 0. 1. ]] SLAMing on 165.086502481 meters Centerline goodness [0,1] 0.6846733983112425 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87562779 -0.03774765 -0.48150918 5.75383016] [ 0.08047166 0.99440846 0.06838216 0.33413108] [ 0.47623554 -0.09862516 0.8737693 1.35962292] [ 0. 0. 0. 1. ]] SLAMing on 165.116502481 meters Centerline goodness [0,1] 0.6842264531584921 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87546029 -0.03751001 -0.4818322 5.75478142] [ 0.0802517 0.99442516 0.06839783 0.33479343] [ 0.47658046 -0.09854744 0.87358999 1.35975591] [ 0. 0. 0. 1. ]] SLAMing on 165.146502481 meters Centerline goodness [0,1] 0.6868022479272196 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87525616 -0.03693324 -0.48224743 5.75576011] [ 0.07970858 0.99446141 0.06850579 0.3363456 ] [ 0.47704632 -0.09839937 0.87335237 1.36002541] [ 0. 0. 0. 1. ]] SLAMing on 165.176502481 meters Centerline goodness [0,1] 0.6897736459175424 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87526639 -0.03705229 -0.48221974 5.75546315] [ 0.07966935 0.99448607 0.06819281 0.33764594] [ 0.47703411 -0.09810501 0.87339216 1.36015858] [ 0. 0. 0. 1. ]] SLAMing on 165.206502481 meters Centerline goodness [0,1] 0.6921460932951986 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87535743 -0.037459 -0.48202302 5.75463457] [ 0.07992323 0.99448864 0.06785743 0.33775841] [ 0.47682454 -0.09792435 0.87352686 1.3602431 ] [ 0. 0. 0. 1. ]] SLAMing on 165.236502481 meters Centerline goodness [0,1] 0.6952852594875941 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87551136 -0.0383475 -0.48167347 5.75279524] [ 0.08045833 0.99449893 0.06706958 0.33804633] [ 0.4764518 -0.09747482 0.87378049 1.36061984] [ 0. 0. 0. 1. ]] SLAMing on 165.26650248099997 meters Centerline goodness [0,1] 0.6940665774928703 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87550037 -0.03856604 -0.481676 5.75262155] [ 0.08057778 0.9945052 0.06683279 0.33839785] [ 0.47645181 -0.09732452 0.87379723 1.360734 ] [ 0. 0. 0. 1. ]] SLAMing on 165.29650248099998 meters Centerline goodness [0,1] 0.6954510993176649 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87535393 -0.03835594 -0.48195884 5.75385324] [ 0.08035939 0.99452478 0.06680441 0.33899757] [ 0.47675767 -0.09720742 0.87364343 1.36070043] [ 0. 0. 0. 1. ]] SLAMing on 165.32650248099998 meters Centerline goodness [0,1] 0.6953121044904571 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87521788 -0.03818149 -0.48221969 5.75444366] [ 0.08019343 0.99453826 0.0668031 0.33971582] [ 0.47703529 -0.09713812 0.87349958 1.36088776] [ 0. 0. 0. 1. ]] SLAMing on 165.35650248099998 meters Centerline goodness [0,1] 0.6944759599626856 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87494998 -0.03735501 -0.48277028 5.75616441] [ 0.0794736 0.99457758 0.06707738 0.34084406] [ 0.47764682 -0.09705684 0.87317437 1.36117138] [ 0. 0. 0. 1. ]] SLAMing on 165.38650248099998 meters Centerline goodness [0,1] 0.6968907329167404 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87495044 -0.03718063 -0.48278289 5.75669342] [ 0.0793346 0.99458157 0.06718273 0.34064557] [ 0.47766907 -0.09708295 0.8731593 1.36100074] [ 0. 0. 0. 1. ]] SLAMing on 165.41650248099998 meters Centerline goodness [0,1] 0.6968213317264236 Centerline is valid? [False, False] Translation: X:5.76, Y:0.34, Z:1.36 [[ 0.87500384 -0.03720652 -0.48268411 5.75624916] [ 0.07934224 0.99458211 0.06716572 0.3398861 ] [ 0.47756998 -0.09706751 0.87321521 1.3612351 ] [ 0. 0. 0. 1. ]] SLAMing on 165.44650248099998 meters Centerline goodness [0,1] 0.7009296614629013 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87512731 -0.03757083 -0.48243198 5.75448763] [ 0.07960717 0.99457541 0.06695117 0.33924457] [ 0.47729957 -0.09699584 0.87337101 1.36179749] [ 0. 0. 0. 1. ]] SLAMing on 165.47650248099998 meters Centerline goodness [0,1] 0.7013055222088835 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87521503 -0.03770566 -0.48226232 5.75409342] [ 0.07974725 0.99456316 0.06696631 0.33837824] [ 0.47711533 -0.09706902 0.87346355 1.36176456] [ 0. 0. 0. 1. ]] SLAMing on 165.50650248099998 meters Centerline goodness [0,1] 0.7039054496389396 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:1.36 [[ 0.87535814 -0.03772305 -0.48200114 5.75394471] [ 0.07991348 0.99452763 0.06729506 0.33602377] [ 0.47682487 -0.09742567 0.87358244 1.36152372] [ 0. 0. 0. 1. ]] SLAMing on 165.53650248099999 meters Centerline goodness [0,1] 0.7049323766905827 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87540404 -0.03783317 -0.48190914 5.75368128] [ 0.08003833 0.99451618 0.06731598 0.33485884] [ 0.47671965 -0.09749988 0.87363158 1.36163784] [ 0. 0. 0. 1. ]] SLAMing on 165.566502481 meters Centerline goodness [0,1] 0.7054596267092524 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87543139 -0.03763674 -0.48187484 5.75430633] [ 0.08004482 0.99448653 0.06774482 0.3326484 ] [ 0.47666834 -0.09787753 0.87361735 1.3613768 ] [ 0. 0. 0. 1. ]] SLAMing on 165.596502481 meters Centerline goodness [0,1] 0.701691785607346 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87530679 -0.03718386 -0.48213627 5.75558522] [ 0.07981563 0.9944734 0.06820645 0.33151562] [ 0.47693552 -0.09818358 0.87343717 1.36129013] [ 0. 0. 0. 1. ]] SLAMing on 165.626502481 meters Centerline goodness [0,1] 0.7038078646092583 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87519007 -0.03677916 -0.48237914 5.75649558] [ 0.07963991 0.99445561 0.06866966 0.33069228] [ 0.47717903 -0.09851563 0.87326677 1.36128417] [ 0. 0. 0. 1. ]] SLAMing on 165.656502481 meters Centerline goodness [0,1] 0.7045431926751593 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87522252 -0.03681142 -0.4823178 5.75621415] [ 0.07972053 0.9944426 0.06876454 0.32985255] [ 0.47710604 -0.0986349 0.87329318 1.36137586] [ 0. 0. 0. 1. ]] SLAMing on 165.686502481 meters Centerline goodness [0,1] 0.7055316823567401 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87520694 -0.03676079 -0.48234993 5.7565482 ] [ 0.07975565 0.99442856 0.06892655 0.32890118] [ 0.47712875 -0.09879513 0.87326266 1.36134777] [ 0. 0. 0. 1. ]] SLAMing on 165.716502481 meters Centerline goodness [0,1] 0.7037046258029178 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87536953 -0.03712458 -0.48202691 5.75601851] [ 0.08012142 0.99439992 0.06891559 0.32784928] [ 0.47676906 -0.09894729 0.87344187 1.36109039] [ 0. 0. 0. 1. ]] SLAMing on 165.746502481 meters Centerline goodness [0,1] 0.709048458806289 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87549242 -0.03758625 -0.48176789 5.75439248] [ 0.08042559 0.99439905 0.06857299 0.32858499] [ 0.47649213 -0.09878161 0.87361172 1.36146736] [ 0. 0. 0. 1. ]] SLAMing on 165.776502481 meters Centerline goodness [0,1] 0.7072614622057001 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87546765 -0.03777247 -0.48179834 5.7540064 ] [ 0.0805377 0.99440302 0.06838356 0.32903782] [ 0.47651871 -0.09867053 0.87360978 1.36172114] [ 0. 0. 0. 1. ]] SLAMing on 165.806502481 meters Centerline goodness [0,1] 0.7125108709156417 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87562894 -0.0384645 -0.48145036 5.75286158] [ 0.08095832 0.99440916 0.06779514 0.32921601] [ 0.47615094 -0.0983408 0.87384745 1.36178632] [ 0. 0. 0. 1. ]] SLAMing on 165.836502481 meters Centerline goodness [0,1] 0.7124189501403622 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87566918 -0.03884698 -0.48134645 5.75239844] [ 0.0811943 0.99441302 0.06745536 0.32939063] [ 0.47603674 -0.09815117 0.87393099 1.36192161] [ 0. 0. 0. 1. ]] SLAMing on 165.866502481 meters Centerline goodness [0,1] 0.7098527915001365 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87566632 -0.03925793 -0.4813183 5.75214971] [ 0.08146064 0.99441568 0.06709415 0.33006094] [ 0.47599648 -0.09796059 0.8739743 1.36197915] [ 0. 0. 0. 1. ]] SLAMing on 165.896502481 meters Centerline goodness [0,1] 0.7152553329023917 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87554699 -0.03898907 -0.48155719 5.75295109] [ 0.08130582 0.99441345 0.06731456 0.3299248 ] [ 0.47624241 -0.09809046 0.87382574 1.36205258] [ 0. 0. 0. 1. ]] SLAMing on 165.926502481 meters Centerline goodness [0,1] 0.7095171865686469 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.8755377 -0.03922365 -0.48155502 5.75251633] [ 0.08158828 0.99438829 0.0673445 0.32951185] [ 0.47621117 -0.09825189 0.87382463 1.3621931 ] [ 0. 0. 0. 1. ]] SLAMing on 165.956502481 meters Centerline goodness [0,1] 0.7096325719960278 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87560914 -0.03949612 -0.48140283 5.75255587] [ 0.08193772 0.99435216 0.06745362 0.327989 ] [ 0.47601979 -0.09850805 0.87390006 1.3619496 ] [ 0. 0. 0. 1. ]] SLAMing on 165.986502481 meters Centerline goodness [0,1] 0.7059157853118514 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87562619 -0.03939983 -0.48137972 5.75326211] [ 0.08196482 0.99433253 0.06770956 0.3265211 ] [ 0.47598377 -0.09874447 0.873893 1.36169331] [ 0. 0. 0. 1. ]] SLAMing on 166.01650248099997 meters Centerline goodness [0,1] 0.7051119874990699 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87568329 -0.03951289 -0.48126657 5.7531493 ] [ 0.08217255 0.99430363 0.06788196 0.32504297] [ 0.47584288 -0.09899 0.87394195 1.36160009] [ 0. 0. 0. 1. ]] SLAMing on 166.04650248099998 meters Centerline goodness [0,1] 0.7026410415375077 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87558423 -0.03935551 -0.48145966 5.75314478] [ 0.08209433 0.9943006 0.06802086 0.32504842] [ 0.47603863 -0.0990831 0.87382479 1.36197709] [ 0. 0. 0. 1. ]] SLAMing on 166.07650248099998 meters Centerline goodness [0,1] 0.7055889214275078 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87548922 -0.03908121 -0.48165474 5.75344296] [ 0.08190841 0.99430331 0.06820519 0.32549279] [ 0.47624536 -0.09916449 0.8737029 1.36218632] [ 0. 0. 0. 1. ]] SLAMing on 166.10650248099998 meters Centerline goodness [0,1] 0.7070908050836919 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87548983 -0.03922526 -0.48164192 5.75352642] [ 0.08200575 0.99430341 0.06808665 0.32536099] [ 0.47622749 -0.09910657 0.87371922 1.36220391] [ 0. 0. 0. 1. ]] SLAMing on 166.13650248099998 meters Centerline goodness [0,1] 0.7062874474802974 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.36 [[ 0.87569659 -0.03968081 -0.48122854 5.75319731] [ 0.08231476 0.99429733 0.06780195 0.32475038] [ 0.47579382 -0.09898615 0.8739691 1.36175888] [ 0. 0. 0. 1. ]] SLAMing on 166.16650248099998 meters Centerline goodness [0,1] 0.7122900176174288 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:1.36 [[ 0.8757776 -0.04014521 -0.48104258 5.75284126] [ 0.08261798 0.99429719 0.06743417 0.32497013] [ 0.47559212 -0.0988001 0.87409992 1.36164079] [ 0. 0. 0. 1. ]] SLAMing on 166.19650248099998 meters Centerline goodness [0,1] 0.7122746908982571 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87572232 -0.04018412 -0.48113996 5.75293028] [ 0.08262408 0.99430298 0.06734125 0.32548822] [ 0.47569284 -0.09872598 0.87405349 1.36176328] [ 0. 0. 0. 1. ]] SLAMing on 166.22650248099998 meters Centerline goodness [0,1] 0.7142608522699021 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87557469 -0.04029938 -0.48139892 5.75304968] [ 0.08264783 0.99431843 0.06708351 0.32712427] [ 0.4759604 -0.0985232 0.87393071 1.36207378] [ 0. 0. 0. 1. ]] SLAMing on 166.25650248099998 meters Centerline goodness [0,1] 0.7114378270620483 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87550881 -0.04025011 -0.48152284 5.75351149] [ 0.08261013 0.99432127 0.06708789 0.32763276] [ 0.47608811 -0.09851471 0.8738621 1.36202773] [ 0. 0. 0. 1. ]] SLAMing on 166.28650248099999 meters Centerline goodness [0,1] 0.7114170969592657 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87544375 -0.04022733 -0.48164303 5.75449413] [ 0.08255962 0.99433041 0.06701445 0.3281878 ] [ 0.4762165 -0.09843165 0.8738015 1.36174995] [ 0. 0. 0. 1. ]] SLAMing on 166.316502481 meters Centerline goodness [0,1] 0.7132530721104713 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87543275 -0.04034707 -0.481653 5.7549114 ] [ 0.08265004 0.99432869 0.06692847 0.32821898] [ 0.47622103 -0.09840001 0.87380259 1.36159494] [ 0. 0. 0. 1. ]] SLAMing on 166.346502481 meters Centerline goodness [0,1] 0.7133386501844283 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87550397 -0.04076988 -0.48148793 5.75507023] [ 0.08297055 0.99431909 0.06667411 0.32800491] [ 0.47603434 -0.09832276 0.87391301 1.36126646] [ 0. 0. 0. 1. ]] SLAMing on 166.376502481 meters Centerline goodness [0,1] 0.709774698434852 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87542078 -0.04087789 -0.48163 5.75508694] [ 0.08305652 0.99431866 0.06657342 0.32801358] [ 0.47617232 -0.09828226 0.87384239 1.36154064] [ 0. 0. 0. 1. ]] SLAMing on 166.406502481 meters Centerline goodness [0,1] 0.7143319797713061 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87544303 -0.04110936 -0.48156985 5.75474482] [ 0.08320546 0.99431925 0.06637835 0.32889473] [ 0.4761054 -0.09817971 0.87389038 1.36153539] [ 0. 0. 0. 1. ]] SLAMing on 166.436502481 meters Centerline goodness [0,1] 0.7161505692434169 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87545423 -0.04154301 -0.48151227 5.75384737] [ 0.08345651 0.99432681 0.06594855 0.32951867] [ 0.47604086 -0.09792027 0.87395465 1.36192665] [ 0. 0. 0. 1. ]] SLAMing on 166.466502481 meters Centerline goodness [0,1] 0.7145379049702877 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87545103 -0.0417099 -0.48150366 5.75339848] [ 0.08356409 0.99432761 0.06580004 0.32951942] [ 0.47602787 -0.09784113 0.87397059 1.36218574] [ 0. 0. 0. 1. ]] SLAMing on 166.496502481 meters Centerline goodness [0,1] 0.7204704829163973 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87544716 -0.04175362 -0.48150691 5.75253973] [ 0.08355459 0.99433564 0.06569069 0.32969728] [ 0.47603666 -0.09774084 0.87397702 1.362669 ] [ 0. 0. 0. 1. ]] SLAMing on 166.526502481 meters Centerline goodness [0,1] 0.7208770446974593 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.8752126 -0.04127579 -0.48197428 5.75333634] [ 0.08320195 0.99434933 0.06593058 0.32950815] [ 0.47652947 -0.09780447 0.87370129 1.36325791] [ 0. 0. 0. 1. ]] SLAMing on 166.556502481 meters Centerline goodness [0,1] 0.7206867463901157 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:1.36 [[ 0.87506481 -0.04064398 -0.48229622 5.75429409] [ 0.08267764 0.99437448 0.06621026 0.330103 ] [ 0.476892 -0.09781339 0.87350247 1.36343754] [ 0. 0. 0. 1. ]] SLAMing on 166.586502481 meters Centerline goodness [0,1] 0.7209694206274471 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87497459 -0.04024537 -0.48249329 5.75525571] [ 0.08235755 0.99438788 0.06640767 0.3304364 ] [ 0.47711288 -0.09784199 0.87337864 1.36334445] [ 0. 0. 0. 1. ]] SLAMing on 166.616502481 meters Centerline goodness [0,1] 0.7195143104943625 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87481884 -0.03954973 -0.48283311 5.75709009] [ 0.08183298 0.99440388 0.06681528 0.33055622] [ 0.4774886 -0.09796293 0.87315972 1.36317529] [ 0. 0. 0. 1. ]] SLAMing on 166.646502481 meters Centerline goodness [0,1] 0.7203438111515692 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87470848 -0.03913471 -0.48306682 5.75831513] [ 0.08155536 0.99440646 0.06711568 0.32988335] [ 0.47773821 -0.09810334 0.87300741 1.36313205] [ 0. 0. 0. 1. ]] SLAMing on 166.676502481 meters Centerline goodness [0,1] 0.7155863163900672 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.8746601 -0.03899961 -0.48316533 5.75955483] [ 0.08150778 0.99439883 0.06728637 0.32953417] [ 0.4778349 -0.09823443 0.87293975 1.36271522] [ 0. 0. 0. 1. ]] SLAMing on 166.706502481 meters Centerline goodness [0,1] 0.7141123740187703 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.8745127 -0.03898544 -0.48343321 5.76059382] [ 0.08151674 0.99439923 0.06726954 0.32939435] [ 0.47810308 -0.09823596 0.87279272 1.3627598 ] [ 0. 0. 0. 1. ]] SLAMing on 166.736502481 meters Centerline goodness [0,1] 0.7157912966032508 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87449039 -0.03905909 -0.48346762 5.76095249] [ 0.08157795 0.99439754 0.06722037 0.32915084] [ 0.47813345 -0.09822387 0.87277745 1.36271281] [ 0. 0. 0. 1. ]] SLAMing on 166.76650248099997 meters Centerline goodness [0,1] 0.7139289335080735 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87439453 -0.03925537 -0.48362509 5.7610983 ] [ 0.08168492 0.99440555 0.06697149 0.32974726] [ 0.47829048 -0.09806438 0.87270934 1.36297666] [ 0. 0. 0. 1. ]] SLAMing on 166.79650248099998 meters Centerline goodness [0,1] 0.713045419591695 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87425612 -0.03932581 -0.48386953 5.76125135] [ 0.0817122 0.99441362 0.06681817 0.33054968] [ 0.47853877 -0.09795424 0.87258559 1.36331421] [ 0. 0. 0. 1. ]] SLAMing on 166.82650248099998 meters Centerline goodness [0,1] 0.7122496529843347 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87423125 -0.03929914 -0.48391663 5.7606854 ] [ 0.08164193 0.99442502 0.06673438 0.33132654] [ 0.4785962 -0.09784917 0.87256588 1.3637301 ] [ 0. 0. 0. 1. ]] SLAMing on 166.85650248099998 meters Centerline goodness [0,1] 0.7094941711124283 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87427409 -0.03963289 -0.483812 5.76017019] [ 0.0818564 0.99442593 0.06645753 0.33083893] [ 0.47848129 -0.09770521 0.87264503 1.36399826] [ 0. 0. 0. 1. ]] SLAMing on 166.88650248099998 meters Centerline goodness [0,1] 0.7124559400287942 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87425058 -0.03983957 -0.4838375 5.75999361] [ 0.08204689 0.99441605 0.0663703 0.33035402] [ 0.47849162 -0.09772164 0.87263753 1.36417267] [ 0. 0. 0. 1. ]] SLAMing on 166.91650248099998 meters Centerline goodness [0,1] 0.7092720001987034 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87428345 -0.04043518 -0.4837287 5.75906905] [ 0.08258143 0.99438749 0.06613489 0.3292721 ] [ 0.47833959 -0.09776765 0.87271572 1.36448405] [ 0. 0. 0. 1. ]] SLAMing on 166.94650248099998 meters Centerline goodness [0,1] 0.7080808582497269 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87439011 -0.04059812 -0.48352222 5.75859146] [ 0.0827866 0.99436482 0.06621917 0.32827497] [ 0.47810911 -0.09793055 0.87282374 1.36438046] [ 0. 0. 0. 1. ]] SLAMing on 166.97650248099998 meters Centerline goodness [0,1] 0.7080808582497269 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.36 [[ 0.87439011 -0.04059812 -0.48352222 5.75859146] [ 0.0827866 0.99436482 0.06621917 0.32827497] [ 0.47810911 -0.09793055 0.87282374 1.36438046] [ 0. 0. 0. 1. ]] SLAMing on 167.00650248099998 meters Centerline goodness [0,1] 0.707261518655146 Centerline is valid? [False, False] Translation: X:5.76, Y:0.33, Z:1.37 [[ 0.87446151 -0.0428271 -0.4832007 5.75681886] [ 0.0844543 0.99432392 0.06471022 0.32603848] [ 0.47768666 -0.09739497 0.87311493 1.36501252] [ 0. 0. 0. 1. ]] SLAMing on 167.03650248099999 meters Centerline goodness [0,1] 0.7088163325836032 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87457878 -0.04280861 -0.48299004 5.75668447] [ 0.08455834 0.99429698 0.06498779 0.32437213] [ 0.4774535 -0.09767778 0.87321086 1.36477909] [ 0. 0. 0. 1. ]] SLAMing on 167.066502481 meters Centerline goodness [0,1] 0.7073285583285831 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87462067 -0.04253018 -0.48293878 5.75715634] [ 0.08453504 0.99426297 0.06553608 0.32209271] [ 0.47738088 -0.09814446 0.87319823 1.36454628] [ 0. 0. 0. 1. ]] SLAMing on 167.096502481 meters Centerline goodness [0,1] 0.7080335286699799 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87463892 -0.04228821 -0.48292699 5.75761722] [ 0.08441875 0.99425348 0.06582924 0.32116998] [ 0.47736804 -0.09834491 0.87318271 1.36436251] [ 0. 0. 0. 1. ]] SLAMing on 167.126502481 meters Centerline goodness [0,1] 0.709413740307206 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87460955 -0.04168924 -0.48303224 5.75830066] [ 0.08404081 0.99425031 0.06635863 0.31997119] [ 0.47748852 -0.09863231 0.87308441 1.36432395] [ 0. 0. 0. 1. ]] SLAMing on 167.156502481 meters Centerline goodness [0,1] 0.7098430249777865 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87456222 -0.04058047 -0.48321232 5.75976737] [ 0.08321662 0.99426894 0.06711379 0.3192623 ] [ 0.4777195 -0.09890648 0.87292702 1.36408896] [ 0. 0. 0. 1. ]] SLAMing on 167.186502481 meters Centerline goodness [0,1] 0.7086804954631988 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87440301 -0.03996971 -0.48355123 5.7608867 ] [ 0.08277357 0.99428025 0.06749309 0.31905892] [ 0.47808776 -0.09904143 0.87271008 1.36423102] [ 0. 0. 0. 1. ]] SLAMing on 167.216502481 meters Centerline goodness [0,1] 0.7098916290207115 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87430232 -0.03917243 -0.48379849 5.76162522] [ 0.08212736 0.99430545 0.06791006 0.31903731] [ 0.47838327 -0.09910701 0.87254069 1.3644501 ] [ 0. 0. 0. 1. ]] SLAMing on 167.246502481 meters Centerline goodness [0,1] 0.7099876695437731 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87425198 -0.0390875 -0.48389631 5.76164371] [ 0.08204174 0.99431272 0.06790703 0.3190859 ] [ 0.47848994 -0.09906755 0.87248668 1.36468481] [ 0. 0. 0. 1. ]] SLAMing on 167.276502481 meters Centerline goodness [0,1] 0.7119219138003098 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87421518 -0.03881982 -0.48398435 5.76209055] [ 0.08181659 0.99432281 0.06803086 0.31898618] [ 0.47859573 -0.09907156 0.8724282 1.36471659] [ 0. 0. 0. 1. ]] SLAMing on 167.306502481 meters Centerline goodness [0,1] 0.7113475525850206 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87415667 -0.03875821 -0.48409494 5.76251393] [ 0.08176955 0.99432559 0.06804683 0.31858709] [ 0.47871061 -0.09906782 0.87236559 1.36481798] [ 0. 0. 0. 1. ]] SLAMing on 167.336502481 meters Centerline goodness [0,1] 0.7100915629525983 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.36 [[ 0.87425042 -0.03901761 -0.48390478 5.7623395 ] [ 0.08189345 0.99433364 0.06777956 0.31805537] [ 0.4785182 -0.09888494 0.87249189 1.36479507] [ 0. 0. 0. 1. ]] SLAMing on 167.366502481 meters Centerline goodness [0,1] 0.7094631037018877 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87421361 -0.03912482 -0.48396262 5.76214566] [ 0.0819383 0.99434044 0.06762544 0.318394 ] [ 0.47857777 -0.09877415 0.87247177 1.36502916] [ 0. 0. 0. 1. ]] SLAMing on 167.396502481 meters Centerline goodness [0,1] 0.7117276228321927 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87410389 -0.0387891 -0.48418777 5.76210623] [ 0.08159052 0.9943684 0.06763479 0.3189973 ] [ 0.47883753 -0.09862496 0.87234611 1.36558953] [ 0. 0. 0. 1. ]] SLAMing on 167.426502481 meters Centerline goodness [0,1] 0.7112032991310324 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.8740896 -0.03891152 -0.48420374 5.76156506] [ 0.08158151 0.99438773 0.06736092 0.31905677] [ 0.47886514 -0.09838155 0.87235844 1.36606612] [ 0. 0. 0. 1. ]] SLAMing on 167.456502481 meters Centerline goodness [0,1] 0.7125373280462133 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87398679 -0.03894333 -0.48438673 5.76132719] [ 0.08157877 0.99439565 0.06724727 0.3190383 ] [ 0.47905323 -0.0982889 0.87226561 1.36656894] [ 0. 0. 0. 1. ]] SLAMing on 167.486502481 meters Centerline goodness [0,1] 0.7109671108937523 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87381999 -0.03834051 -0.48473563 5.76226084] [ 0.08112694 0.99440925 0.06759185 0.3185278 ] [ 0.47943409 -0.09838823 0.87204513 1.36686489] [ 0. 0. 0. 1. ]] SLAMing on 167.51650248099997 meters Centerline goodness [0,1] 0.712352566926051 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87375326 -0.03800354 -0.48488243 5.76321663] [ 0.08087869 0.99441506 0.06780351 0.31822304] [ 0.47959762 -0.09846019 0.87194708 1.36674727] [ 0. 0. 0. 1. ]] SLAMing on 167.54650248099998 meters Centerline goodness [0,1] 0.711315268649058 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87365047 -0.03726553 -0.48512486 5.76444332] [ 0.08033971 0.9944252 0.06829383 0.31745933] [ 0.47987539 -0.09863973 0.87177395 1.36676381] [ 0. 0. 0. 1. ]] SLAMing on 167.57650248099998 meters Centerline goodness [0,1] 0.7103355704697987 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87365813 -0.03714357 -0.48512043 5.7643525 ] [ 0.08027336 0.99442144 0.06842655 0.31670039] [ 0.47987255 -0.09872366 0.87176601 1.36691133] [ 0. 0. 0. 1. ]] SLAMing on 167.60650248099998 meters Centerline goodness [0,1] 0.7129047144834957 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87375577 -0.03714807 -0.4849442 5.76382822] [ 0.08037723 0.99439783 0.06864729 0.31439537] [ 0.47967735 -0.09895944 0.8718467 1.36704269] [ 0. 0. 0. 1. ]] SLAMing on 167.63650248099998 meters Centerline goodness [0,1] 0.7117818181818182 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87380794 -0.03713883 -0.48485089 5.76350833] [ 0.080448 0.99438038 0.06881699 0.31291908] [ 0.47957043 -0.09913811 0.87188522 1.36718405] [ 0. 0. 0. 1. ]] SLAMing on 167.66650248099998 meters Centerline goodness [0,1] 0.7152166043200193 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87389408 -0.03838501 -0.48459852 5.76182573] [ 0.08141643 0.99435376 0.06805851 0.31003019] [ 0.47924994 -0.09893021 0.87208504 1.36785637] [ 0. 0. 0. 1. ]] SLAMing on 167.69650248099998 meters Centerline goodness [0,1] 0.7162550258472142 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87361105 -0.04287514 -0.48473236 5.76239494] [ 0.08481405 0.99428019 0.06491126 0.30848728] [ 0.47917671 -0.09781931 0.87225058 1.36822973] [ 0. 0. 0. 1. ]] SLAMing on 167.72650248099998 meters Centerline goodness [0,1] 0.7158780382568675 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87364271 -0.04297833 -0.48466615 5.76255955] [ 0.08507164 0.99424049 0.06518181 0.30618399] [ 0.47907331 -0.09817696 0.87226719 1.36816313] [ 0. 0. 0. 1. ]] SLAMing on 167.75650248099998 meters Centerline goodness [0,1] 0.7155617118838364 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87328087 -0.04750971 -0.48489519 5.76333 ] [ 0.08864131 0.99411732 0.06223724 0.3039339 ] [ 0.47908583 -0.09733234 0.87235496 1.36855478] [ 0. 0. 0. 1. ]] SLAMing on 167.78650248099999 meters Centerline goodness [0,1] 0.7143402256087381 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87337169 -0.04768387 -0.4847145 5.7629606 ] [ 0.08895068 0.99407436 0.06248152 0.30206031] [ 0.47886289 -0.09768528 0.87243792 1.36851328] [ 0. 0. 0. 1. ]] SLAMing on 167.816502481 meters Centerline goodness [0,1] 0.7120974636648618 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87301815 -0.05261017 -0.48484171 5.76333715] [ 0.09277617 0.99392527 0.05920429 0.3004638 ] [ 0.47878168 -0.09666818 0.87259576 1.36892636] [ 0. 0. 0. 1. ]] SLAMing on 167.846502481 meters Centerline goodness [0,1] 0.7095713474640424 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87309275 -0.05281222 -0.48468539 5.76344951] [ 0.09311029 0.99388055 0.05943005 0.29852386] [ 0.47858075 -0.09701714 0.87266726 1.36868874] [ 0. 0. 0. 1. ]] SLAMing on 167.876502481 meters Centerline goodness [0,1] 0.7107001633793479 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87308674 -0.05568476 -0.48437459 5.76191727] [ 0.0953642 0.99377179 0.05764809 0.29624907] [ 0.47814768 -0.09652378 0.87295931 1.36910964] [ 0. 0. 0. 1. ]] SLAMing on 167.906502481 meters Centerline goodness [0,1] 0.7076901288769296 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87330972 -0.05707732 -0.4838102 5.75910561] [ 0.09646074 0.9937099 0.05688555 0.29554836] [ 0.4775201 -0.0963474 0.87332224 1.36953125] [ 0. 0. 0. 1. ]] SLAMing on 167.936502481 meters Centerline goodness [0,1] 0.7075502880347531 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87337208 -0.0573639 -0.48366371 5.75850105] [ 0.09670457 0.99369288 0.05676872 0.2952598 ] [ 0.47735671 -0.09635271 0.87341097 1.36962765] [ 0. 0. 0. 1. ]] SLAMing on 167.966502481 meters Centerline goodness [0,1] 0.7062880899513393 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.8734645 -0.0578745 -0.48343594 5.75817809] [ 0.09709709 0.99367127 0.05647622 0.29503638] [ 0.47710787 -0.0962702 0.87355603 1.36944206] [ 0. 0. 0. 1. ]] SLAMing on 167.996502481 meters Centerline goodness [0,1] 0.7013299945666296 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87345562 -0.05820431 -0.48341238 5.75770183] [ 0.09730289 0.99366841 0.05617143 0.29553405] [ 0.47708219 -0.09610068 0.87358871 1.36965225] [ 0. 0. 0. 1. ]] SLAMing on 168.026502481 meters Centerline goodness [0,1] 0.7005656403095638 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87340257 -0.05820637 -0.48350798 5.75795453] [ 0.09727184 0.99367614 0.05608841 0.29607981] [ 0.47718564 -0.09601947 0.87354114 1.36971302] [ 0. 0. 0. 1. ]] SLAMing on 168.056502481 meters Centerline goodness [0,1] 0.703399460252829 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87324255 -0.05750695 -0.48388057 5.75989382] [ 0.0967617 0.99370117 0.05652574 0.29639749] [ 0.47758206 -0.09618179 0.87330661 1.36942669] [ 0. 0. 0. 1. ]] SLAMing on 168.086502481 meters Centerline goodness [0,1] 0.7062320866001848 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87315937 -0.057201 -0.48406689 5.76057566] [ 0.09651424 0.99371718 0.05666717 0.29658774] [ 0.47778417 -0.09619882 0.87319418 1.3694737 ] [ 0. 0. 0. 1. ]] SLAMing on 168.116502481 meters Centerline goodness [0,1] 0.7101840665197925 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87363313 -0.05400584 -0.48357888 5.75930499] [ 0.09409974 0.99381226 0.05901206 0.29537319] [ 0.47739962 -0.09705954 0.87330925 1.3692094 ] [ 0. 0. 0. 1. ]] SLAMing on 168.146502481 meters Centerline goodness [0,1] 0.7173123055364226 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87363553 -0.05332715 -0.48364984 5.75973788] [ 0.0935043 0.99385021 0.05931871 0.29580014] [ 0.4775122 -0.09704628 0.87324918 1.36921114] [ 0. 0. 0. 1. ]] SLAMing on 168.176502481 meters Centerline goodness [0,1] 0.7181125175140706 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87355983 -0.05328129 -0.48379162 5.75980629] [ 0.09341204 0.99386521 0.05921265 0.29639216] [ 0.47766873 -0.09691776 0.87317784 1.36947433] [ 0. 0. 0. 1. ]] SLAMing on 168.206502481 meters Centerline goodness [0,1] 0.7185631583942298 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87351986 -0.05328713 -0.48386313 5.75964353] [ 0.09336826 0.99387579 0.05910398 0.29684563] [ 0.47775037 -0.09680596 0.87314557 1.36970583] [ 0. 0. 0. 1. ]] SLAMing on 168.236502481 meters Centerline goodness [0,1] 0.7230399733669417 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87353574 -0.05329085 -0.48383406 5.75967881] [ 0.09330087 0.9938895 0.05897977 0.29724335] [ 0.47773451 -0.09666307 0.87317008 1.36975353] [ 0. 0. 0. 1. ]] SLAMing on 168.26650248099997 meters Centerline goodness [0,1] 0.7189915566654774 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87338698 -0.0529711 -0.48413763 5.76159703] [ 0.0931123 0.9938923 0.05923006 0.2972729 ] [ 0.47804318 -0.09680993 0.87298486 1.36934731] [ 0. 0. 0. 1. ]] SLAMing on 168.29650248099998 meters Centerline goodness [0,1] 0.7163930128923099 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.873281 -0.05297165 -0.48432871 5.76241846] [ 0.09314754 0.99388785 0.05924922 0.2975576 ] [ 0.47822989 -0.09685524 0.87287756 1.36925029] [ 0. 0. 0. 1. ]] SLAMing on 168.32650248099998 meters Centerline goodness [0,1] 0.7142142499821339 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87319853 -0.05316663 -0.48445602 5.76333183] [ 0.09341513 0.99385952 0.0593032 0.297275 ] [ 0.47832828 -0.09703899 0.87280324 1.3689871 ] [ 0. 0. 0. 1. ]] SLAMing on 168.35650248099998 meters Centerline goodness [0,1] 0.7111550934757727 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87322576 -0.05335047 -0.48438673 5.76342173] [ 0.09361667 0.99384044 0.05930516 0.2966735 ] [ 0.47823916 -0.09713347 0.87284156 1.36887614] [ 0. 0. 0. 1. ]] SLAMing on 168.38650248099998 meters Centerline goodness [0,1] 0.7115311278482219 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87338565 -0.05421467 -0.48400235 5.76235029] [ 0.0942781 0.99380758 0.05880591 0.2967146 ] [ 0.47781706 -0.09699106 0.87308854 1.36870197] [ 0. 0. 0. 1. ]] SLAMing on 168.41650248099998 meters Centerline goodness [0,1] 0.7055219129227602 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87341193 -0.05476727 -0.48389271 5.76135848] [ 0.09459398 0.99380976 0.05825933 0.29822598] [ 0.47770659 -0.09665773 0.87318595 1.36893978] [ 0. 0. 0. 1. ]] SLAMing on 168.44650248099998 meters Centerline goodness [0,1] 0.710593078359102 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87330438 -0.05498994 -0.48406153 5.76144563] [ 0.0947029 0.99381709 0.05795651 0.299433 ] [ 0.47788159 -0.09645571 0.87311252 1.36912176] [ 0. 0. 0. 1. ]] SLAMing on 168.47650248099998 meters Centerline goodness [0,1] 0.7080718459207964 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87318661 -0.05536449 -0.48423127 5.76136819] [ 0.09480797 0.99384336 0.05733091 0.30198615] [ 0.47807593 -0.09596957 0.8730597 1.36936015] [ 0. 0. 0. 1. ]] SLAMing on 168.50650248099998 meters Centerline goodness [0,1] 0.7110087317284963 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87314829 -0.05571661 -0.48425997 5.76109923] [ 0.09498349 0.99385062 0.05691301 0.30305309] [ 0.47811107 -0.0956902 0.87307113 1.36952279] [ 0. 0. 0. 1. ]] SLAMing on 168.53650248099999 meters Centerline goodness [0,1] 0.7106164383561644 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87323423 -0.05627855 -0.48403998 5.76024653] [ 0.09524139 0.99386279 0.05626578 0.30413334] [ 0.47790276 -0.09523385 0.87323506 1.36961618] [ 0. 0. 0. 1. ]] SLAMing on 168.566502481 meters Centerline goodness [0,1] 0.715327057687666 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.37 [[ 0.87320887 -0.05642795 -0.48406834 5.76005943] [ 0.09529029 0.99387097 0.05603801 0.30481199] [ 0.47793936 -0.0950599 0.87323398 1.36980554] [ 0. 0. 0. 1. ]] SLAMing on 168.596502481 meters Centerline goodness [0,1] 0.7153957879448076 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.8729806 -0.05625244 -0.4845003 5.76035599] [ 0.09504597 0.99390443 0.05585908 0.30654575] [ 0.47840478 -0.0948137 0.87300586 1.37038265] [ 0. 0. 0. 1. ]] SLAMing on 168.626502481 meters Centerline goodness [0,1] 0.7147774653350141 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87289896 -0.05610956 -0.48466392 5.76054837] [ 0.09490739 0.99391728 0.05586613 0.30724188] [ 0.47858122 -0.09476368 0.87291458 1.37051956] [ 0. 0. 0. 1. ]] SLAMing on 168.656502481 meters Centerline goodness [0,1] 0.7189290222351685 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87278105 -0.05577187 -0.48491519 5.76102351] [ 0.0945925 0.99394334 0.0559365 0.3080315 ] [ 0.47885855 -0.09468966 0.87277051 1.37074247] [ 0. 0. 0. 1. ]] SLAMing on 168.686502481 meters Centerline goodness [0,1] 0.7125781894001842 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87269281 -0.05557803 -0.48509621 5.76148041] [ 0.09440882 0.99395929 0.05596334 0.30811105] [ 0.47905556 -0.09463617 0.87266819 1.37088152] [ 0. 0. 0. 1. ]] SLAMing on 168.716502481 meters Centerline goodness [0,1] 0.7158113966047515 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87259594 -0.05531782 -0.48530018 5.76231612] [ 0.09422024 0.99396871 0.05611374 0.30811259] [ 0.47926911 -0.09468972 0.87254512 1.3708478 ] [ 0. 0. 0. 1. ]] SLAMing on 168.746502481 meters Centerline goodness [0,1] 0.7161138931223843 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.37 [[ 0.87248552 -0.05495486 -0.48553989 5.76321336] [ 0.09396777 0.99397908 0.05635281 0.30827849] [ 0.47951963 -0.09479211 0.87239634 1.37080213] [ 0. 0. 0. 1. ]] SLAMing on 168.776502481 meters Centerline goodness [0,1] 0.7114178471969972 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87208327 -0.05390347 -0.48637967 5.76559235] [ 0.09318727 0.9940201 0.05692247 0.30950006] [ 0.48040285 -0.09496553 0.87189142 1.3710485 ] [ 0. 0. 0. 1. ]] SLAMing on 168.806502481 meters Centerline goodness [0,1] 0.7145594334360068 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87189031 -0.0535496 -0.48676455 5.76692582] [ 0.09288398 0.99404305 0.05701737 0.31049841] [ 0.48081166 -0.09492552 0.8716704 1.3710563 ] [ 0. 0. 0. 1. ]] SLAMing on 168.836502481 meters Centerline goodness [0,1] 0.7123058658202699 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87184856 -0.05372126 -0.48682042 5.76727283] [ 0.09298406 0.99404434 0.05683144 0.3106642 ] [ 0.48086803 -0.09481495 0.87165134 1.37103971] [ 0. 0. 0. 1. ]] SLAMing on 168.866502481 meters Centerline goodness [0,1] 0.7143445602132299 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.8718824 -0.05431829 -0.48669354 5.76680222] [ 0.09337577 0.99403583 0.05633597 0.31108905] [ 0.48073074 -0.09456373 0.87175435 1.37106152] [ 0. 0. 0. 1. ]] SLAMing on 168.896502481 meters Centerline goodness [0,1] 0.7143445602132299 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.8718824 -0.05431829 -0.48669354 5.76680222] [ 0.09337577 0.99403583 0.05633597 0.31108905] [ 0.48073074 -0.09456373 0.87175435 1.37106152] [ 0. 0. 0. 1. ]] SLAMing on 168.926502481 meters Centerline goodness [0,1] 0.7103139013452915 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87165511 -0.05480029 -0.4870465 5.76625937] [ 0.09357689 0.99405693 0.05562543 0.31371402] [ 0.48110366 -0.09406248 0.87160284 1.37183805] [ 0. 0. 0. 1. ]] SLAMing on 168.956502481 meters Centerline goodness [0,1] 0.7116659784799981 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87147706 -0.05503301 -0.4873388 5.76616619] [ 0.09364383 0.99407429 0.05520092 0.31547382] [ 0.48141309 -0.0937426 0.87146644 1.37235074] [ 0. 0. 0. 1. ]] SLAMing on 168.98650248099997 meters Centerline goodness [0,1] 0.7084899483473579 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87132488 -0.05519534 -0.48759249 5.76623446] [ 0.09369129 0.99408673 0.05489542 0.31671563] [ 0.48167925 -0.09351491 0.87134383 1.37272159] [ 0. 0. 0. 1. ]] SLAMing on 169.01650248099997 meters Centerline goodness [0,1] 0.7063565065840434 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87119886 -0.05586685 -0.48774116 5.76629834] [ 0.09401974 0.99410091 0.05407089 0.31809832] [ 0.48184316 -0.09296379 0.87131217 1.37304484] [ 0. 0. 0. 1. ]] SLAMing on 169.04650248099998 meters Centerline goodness [0,1] 0.7077783179387458 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87122622 -0.05624159 -0.48764921 5.76619754] [ 0.09426642 0.9940942 0.05376393 0.31823601] [ 0.48174549 -0.09280949 0.87138263 1.37294699] [ 0. 0. 0. 1. ]] SLAMing on 169.07650248099998 meters Centerline goodness [0,1] 0.7034542900053292 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87106 -0.0560825 -0.48796437 5.7671421 ] [ 0.09412047 0.9941083 0.05375903 0.3185701 ] [ 0.48207448 -0.09275477 0.87120649 1.37314837] [ 0. 0. 0. 1. ]] SLAMing on 169.10650248099998 meters Centerline goodness [0,1] 0.7022563330337843 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87113507 -0.0513807 -0.48834794 5.76752545] [ 0.09087784 0.99420017 0.05750853 0.31807988] [ 0.48256078 -0.09447771 0.87075201 1.37313207] [ 0. 0. 0. 1. ]] SLAMing on 169.13650248099998 meters Centerline goodness [0,1] 0.7005493169996597 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.87108713 -0.05145826 -0.48842529 5.76752917] [ 0.09093064 0.99420007 0.05742681 0.31858332] [ 0.48263737 -0.09443658 0.87071402 1.37325488] [ 0. 0. 0. 1. ]] SLAMing on 169.16650248099998 meters Centerline goodness [0,1] 0.7012212852573423 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.37 [[ 0.8712432 -0.05228705 -0.48805876 5.76587057] [ 0.0915366 0.99417503 0.05689512 0.31790262] [ 0.48224096 -0.09424472 0.87095441 1.37350871] [ 0. 0. 0. 1. ]] SLAMing on 169.19650248099998 meters Centerline goodness [0,1] 0.7024306229380943 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87133748 -0.05274857 -0.48784073 5.76495427] [ 0.09189988 0.99415559 0.05664866 0.3171449 ] [ 0.48200145 -0.09419261 0.87109262 1.37364321] [ 0. 0. 0. 1. ]] SLAMing on 169.22650248099998 meters Centerline goodness [0,1] 0.6999539806718822 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.8714671 -0.05327069 -0.48755238 5.76375418] [ 0.09233068 0.99412897 0.05641491 0.31594833] [ 0.48168469 -0.09417978 0.87126921 1.37382506] [ 0. 0. 0. 1. ]] SLAMing on 169.25650248099998 meters Centerline goodness [0,1] 0.6989556640719432 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87133943 -0.0528036 -0.48783131 5.76396393] [ 0.09208781 0.99412517 0.05687693 0.31548634] [ 0.48196207 -0.09448242 0.87108302 1.37418203] [ 0. 0. 0. 1. ]] SLAMing on 169.28650248099999 meters Centerline goodness [0,1] 0.6955985489721886 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.37 [[ 0.87116719 -0.05259202 -0.48816166 5.76446836] [ 0.09196209 0.99412907 0.05701205 0.31567153] [ 0.48229731 -0.0945594 0.8708891 1.37452809] [ 0. 0. 0. 1. ]] SLAMing on 169.316502481 meters Centerline goodness [0,1] 0.696745311554749 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87098898 -0.05186441 -0.48855735 5.76600701] [ 0.09148715 0.99414103 0.0575649 0.31487267] [ 0.48270934 -0.09483511 0.8706308 1.37461533] [ 0. 0. 0. 1. ]] SLAMing on 169.346502481 meters Centerline goodness [0,1] 0.6988123400762806 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.87098879 -0.05173307 -0.48857161 5.76658561] [ 0.09141401 0.99413991 0.05770018 0.31412497] [ 0.48272353 -0.0949185 0.87061385 1.37448563] [ 0. 0. 0. 1. ]] SLAMing on 169.376502481 meters Centerline goodness [0,1] 0.6945196865628325 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.37 [[ 0.8709597 -0.0519432 -0.48860117 5.76597299] [ 0.09157684 0.99413336 0.05755464 0.31373961] [ 0.48274516 -0.09487232 0.87060689 1.37487818] [ 0. 0. 0. 1. ]] SLAMing on 169.406502481 meters Centerline goodness [0,1] 0.6947832794947206 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.38 [[ 0.87084363 -0.05195196 -0.48880709 5.76586884] [ 0.09158729 0.99413503 0.05750929 0.31391699] [ 0.48295252 -0.09485012 0.87049429 1.37531736] [ 0. 0. 0. 1. ]] SLAMing on 169.436502481 meters Centerline goodness [0,1] 0.6942252467482324 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.38 [[ 0.87070509 -0.05209673 -0.48903842 5.76518778] [ 0.0917159 0.99412998 0.05739135 0.31442337] [ 0.48317785 -0.09482354 0.87037214 1.37599606] [ 0. 0. 0. 1. ]] SLAMing on 169.466502481 meters Centerline goodness [0,1] 0.6920289855072463 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.87069956 -0.05269424 -0.48898425 5.7643484 ] [ 0.09212812 0.99411914 0.05691709 0.31453981] [ 0.4831094 -0.09460688 0.87043371 1.37637786] [ 0. 0. 0. 1. ]] SLAMing on 169.496502481 meters Centerline goodness [0,1] 0.6899521068163127 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.87063168 -0.05287745 -0.48908533 5.76435538] [ 0.09226613 0.99411496 0.05676627 0.31451161] [ 0.48320538 -0.09454852 0.87038677 1.37658971] [ 0. 0. 0. 1. ]] SLAMing on 169.526502481 meters Centerline goodness [0,1] 0.6893131063850378 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:1.38 [[ 0.87052896 -0.05297989 -0.48925706 5.76521182] [ 0.09228185 0.99412608 0.05654558 0.31498738] [ 0.48338742 -0.09437411 0.87030462 1.37654099] [ 0. 0. 0. 1. ]] SLAMing on 169.556502481 meters Centerline goodness [0,1] 0.6857710863820399 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:1.38 [[ 0.87037494 -0.0529343 -0.48953594 5.76577514] [ 0.09216108 0.99414783 0.05635985 0.31590262] [ 0.48368772 -0.09417036 0.87015983 1.37680271] [ 0. 0. 0. 1. ]] SLAMing on 169.586502481 meters Centerline goodness [0,1] 0.6866995552747333 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.38 [[ 0.87073774 -0.04823703 -0.48937611 5.7644737 ] [ 0.0886199 0.9942763 0.05967548 0.31621957] [ 0.4836965 -0.09533015 0.87002865 1.37691974] [ 0. 0. 0. 1. ]] SLAMing on 169.616502481 meters Centerline goodness [0,1] 0.6935440729483282 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.38 [[ 0.87058918 -0.04825704 -0.48963837 5.76400439] [ 0.08848905 0.99430801 0.05934021 0.31765563] [ 0.48398777 -0.09498857 0.86990402 1.37762407] [ 0. 0. 0. 1. ]] SLAMing on 169.646502481 meters Centerline goodness [0,1] 0.6957705396208069 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.38 [[ 0.87099002 -0.0442471 -0.48930417 5.76170802] [ 0.08542246 0.99440552 0.06213424 0.31691996] [ 0.48381751 -0.09591587 0.86989698 1.37809466] [ 0. 0. 0. 1. ]] SLAMing on 169.676502481 meters Centerline goodness [0,1] 0.6910353872683554 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.38 [[ 0.8707696 -0.04383262 -0.48973361 5.76204558] [ 0.08509278 0.99442372 0.0622951 0.31693226] [ 0.48427216 -0.09591747 0.86964379 1.37878979] [ 0. 0. 0. 1. ]] SLAMing on 169.706502481 meters Centerline goodness [0,1] 0.6906090754671197 Centerline is valid? [False, False] Translation: X:5.76, Y:0.32, Z:1.38 [[ 0.8706912 -0.04367534 -0.48988703 5.76220206] [ 0.08502472 0.99441916 0.06246069 0.31618836] [ 0.48442506 -0.09603648 0.86954549 1.37906934] [ 0. 0. 0. 1. ]] SLAMing on 169.73650248099997 meters Centerline goodness [0,1] 0.6912563008918186 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.87076313 -0.04375528 -0.48975202 5.76165937] [ 0.08523901 0.99438499 0.06271213 0.3139538 ] [ 0.48425807 -0.09635338 0.86960344 1.3792453 ] [ 0. 0. 0. 1. ]] SLAMing on 169.76650248099997 meters Centerline goodness [0,1] 0.6895958519092847 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.8708039 -0.04374755 -0.48968023 5.76158404] [ 0.08534672 0.99436149 0.06293776 0.31263454] [ 0.48416579 -0.09659904 0.86962757 1.3792275 ] [ 0. 0. 0. 1. ]] SLAMing on 169.79650248099998 meters Centerline goodness [0,1] 0.6856302581780489 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.87077259 -0.04472405 -0.48964769 5.76118815] [ 0.08623743 0.9943096 0.0625422 0.30921906] [ 0.48406426 -0.09668599 0.86967443 1.37962253] [ 0. 0. 0. 1. ]] SLAMing on 169.82650248099998 meters Centerline goodness [0,1] 0.682630105242831 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:1.38 [[ 0.87085214 -0.04470436 -0.48950798 5.76133693] [ 0.08639764 0.99427297 0.06290242 0.30725825] [ 0.48389254 -0.09707104 0.8697271 1.37936437] [ 0. 0. 0. 1. ]] SLAMing on 169.85650248099998 meters Centerline goodness [0,1] 0.6837171289841835 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87088614 -0.04639208 -0.48929041 5.76023616] [ 0.08780754 0.99420471 0.06202277 0.30375868] [ 0.48357747 -0.09697816 0.86991268 1.37977158] [ 0. 0. 0. 1. ]] SLAMing on 169.88650248099998 meters Centerline goodness [0,1] 0.6776811872628596 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87095666 -0.04640663 -0.48916349 5.76002818] [ 0.08798474 0.99416916 0.06234081 0.30204132] [ 0.48341823 -0.09733506 0.86996132 1.37969418] [ 0. 0. 0. 1. ]] SLAMing on 169.91650248099998 meters Centerline goodness [0,1] 0.6797019145520331 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87098453 -0.04666233 -0.48908954 5.7593603 ] [ 0.0884697 0.99410318 0.06270544 0.29899718] [ 0.48327948 -0.09788508 0.8699767 1.37994359] [ 0. 0. 0. 1. ]] SLAMing on 169.94650248099998 meters Centerline goodness [0,1] 0.6762037014868197 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87100308 -0.04661246 -0.48906125 5.75926916] [ 0.08855487 0.99407902 0.06296777 0.29768363] [ 0.48323045 -0.09815387 0.86997365 1.37998205] [ 0. 0. 0. 1. ]] SLAMing on 169.97650248099998 meters Centerline goodness [0,1] 0.6750215249210754 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87108561 -0.04697305 -0.48887973 5.7577045 ] [ 0.08898052 0.99403672 0.06303536 0.2961655 ] [ 0.48300344 -0.09840997 0.87007077 1.38041477] [ 0. 0. 0. 1. ]] SLAMing on 170.00650248099998 meters Centerline goodness [0,1] 0.6755349636988919 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87109163 -0.04734889 -0.48883275 5.75671308] [ 0.08926666 0.99402665 0.06278913 0.29592787] [ 0.48293979 -0.09833155 0.87011497 1.38086715] [ 0. 0. 0. 1. ]] SLAMing on 170.03650248099999 meters Centerline goodness [0,1] 0.6786207882571605 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.87129997 -0.04825686 -0.48837243 5.75447724] [ 0.0899158 0.99400528 0.06219855 0.29557262] [ 0.48244327 -0.09810599 0.87041583 1.38120677] [ 0. 0. 0. 1. ]] SLAMing on 170.066502481 meters Centerline goodness [0,1] 0.6816717956058111 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.87136177 -0.04854731 -0.48823338 5.75402081] [ 0.09012306 0.99399848 0.0620069 0.29547708] [ 0.48229297 -0.09803152 0.8705075 1.38122108] [ 0. 0. 0. 1. ]] SLAMing on 170.096502481 meters Centerline goodness [0,1] 0.6823022131167067 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.8713931 -0.04835715 -0.48819632 5.75404288] [ 0.08982298 0.99403446 0.06186537 0.29647902] [ 0.48229233 -0.0977603 0.87053836 1.3812309 ] [ 0. 0. 0. 1. ]] SLAMing on 170.126502481 meters Centerline goodness [0,1] 0.6800712589073634 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.87126205 -0.0482766 -0.48843814 5.75439876] [ 0.08966695 0.99405921 0.06169383 0.29747239] [ 0.48255806 -0.09754825 0.87041488 1.3815195 ] [ 0. 0. 0. 1. ]] SLAMing on 170.156502481 meters Centerline goodness [0,1] 0.6870429044476738 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.87114438 -0.04807428 -0.48866792 5.75485973] [ 0.08938563 0.99409346 0.06154991 0.29866889] [ 0.48282262 -0.09729875 0.87029608 1.38170908] [ 0. 0. 0. 1. ]] SLAMing on 170.186502481 meters Centerline goodness [0,1] 0.6900021459739145 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.87157469 -0.04301288 -0.48837225 5.75461365] [ 0.0855625 0.99420136 0.06513606 0.2983011 ] [ 0.48273867 -0.09855729 0.87020103 1.38119916] [ 0. 0. 0. 1. ]] SLAMing on 170.216502481 meters Centerline goodness [0,1] 0.6942146795968815 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.8719848 -0.03761847 -0.4880854 5.75420268] [ 0.0815317 0.99427753 0.06902728 0.29758561] [ 0.48269565 -0.09998517 0.870062 1.38081898] [ 0. 0. 0. 1. ]] SLAMing on 170.246502481 meters Centerline goodness [0,1] 0.6923606822176825 Centerline is valid? [False, False] Translation: X:5.75, Y:0.30, Z:1.38 [[ 0.8717926 -0.03715806 -0.48846387 5.75474239] [ 0.08114042 0.99429901 0.06917889 0.29827831] [ 0.48310858 -0.09994381 0.86983753 1.38119987] [ 0. 0. 0. 1. ]] SLAMing on 170.276502481 meters Centerline goodness [0,1] 0.6940760598799554 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.87166132 -0.03591291 -0.48879117 5.75615967] [ 0.08019966 0.99432037 0.06996445 0.29814838] [ 0.48350239 -0.10018619 0.86959081 1.38119055] [ 0. 0. 0. 1. ]] SLAMing on 170.306502481 meters Centerline goodness [0,1] 0.6903314328972582 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:1.38 [[ 0.8716439 -0.03563245 -0.48884276 5.75661229] [ 0.0800273 0.99431641 0.07021762 0.29732432] [ 0.48356235 -0.10032553 0.8695414 1.38117338] [ 0. 0. 0. 1. ]] SLAMing on 170.336502481 meters Centerline goodness [0,1] 0.6944947866406195 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:1.38 [[ 0.87198174 -0.03602446 -0.48821111 5.75506587] [ 0.08036447 0.99429261 0.07016944 0.29431219] [ 0.48289689 -0.1004213 0.86990009 1.38111917] [ 0. 0. 0. 1. ]] SLAMing on 170.366502481 meters Centerline goodness [0,1] 0.6964092935930533 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.38 [[ 0.87226358 -0.03770339 -0.48758045 5.75309716] [ 0.08168072 0.99425045 0.06924089 0.291302 ] [ 0.48216647 -0.10022223 0.8703281 1.38124752] [ 0. 0. 0. 1. ]] SLAMing on 170.396502481 meters Centerline goodness [0,1] 0.6985443067791021 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.38 [[ 0.87229965 -0.03753977 -0.48752854 5.75337973] [ 0.08173117 0.99421556 0.06968094 0.28959054] [ 0.48209266 -0.10062894 0.87032206 1.38108832] [ 0. 0. 0. 1. ]] SLAMing on 170.426502481 meters Centerline goodness [0,1] 0.694588810761235 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.38 [[ 0.87201513 -0.04250955 -0.48762953 5.75420841] [ 0.08553239 0.99412759 0.06629136 0.28893011] [ 0.48194795 -0.09951519 0.87053024 1.38113758] [ 0. 0. 0. 1. ]] SLAMing on 170.456502481 meters Centerline goodness [0,1] 0.6948833709556057 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.38 [[ 0.87214112 -0.04506496 -0.48717451 5.75321007] [ 0.08742725 0.99407685 0.0645577 0.28695303] [ 0.48137962 -0.09889575 0.87091521 1.38115602] [ 0. 0. 0. 1. ]] SLAMing on 170.48650248099997 meters Centerline goodness [0,1] 0.6910338689277182 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.38 [[ 0.87208715 -0.05097513 -0.48668834 5.75239726] [ 0.09192908 0.99391839 0.06062412 0.28530923] [ 0.48063816 -0.09761033 0.87146955 1.38110326] [ 0. 0. 0. 1. ]] SLAMing on 170.51650248099997 meters Centerline goodness [0,1] 0.6893779590306098 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.38 [[ 0.8722071 -0.05152032 -0.4864159 5.75150761] [ 0.09248378 0.99387044 0.06056644 0.28415216] [ 0.48031399 -0.09781206 0.87162565 1.38108013] [ 0. 0. 0. 1. ]] SLAMing on 170.54650248099998 meters Centerline goodness [0,1] 0.6857826688880024 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.38 [[ 0.87238646 -0.05344854 -0.48588591 5.74887781] [ 0.09424258 0.99374596 0.05989406 0.28257211] [ 0.47964591 -0.09804191 0.87196765 1.38122343] [ 0. 0. 0. 1. ]] SLAMing on 170.57650248099998 meters Centerline goodness [0,1] 0.6837993033982868 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.38 [[ 0.87255406 -0.05430764 -0.48548953 5.74760272] [ 0.09503598 0.99368509 0.05964978 0.28142247] [ 0.47918427 -0.09818663 0.87220515 1.3811289 ] [ 0. 0. 0. 1. ]] SLAMing on 170.60650248099998 meters Centerline goodness [0,1] 0.6583661601950854 Centerline is valid? [False, False] Translation: X:5.75, Y:0.28, Z:1.38 [[ 0.87240387 -0.06041119 -0.48503813 5.74621802] [ 0.09960798 0.99348218 0.05542027 0.28113401] [ 0.47852873 -0.09666253 0.87273513 1.38146656] [ 0. 0. 0. 1. ]] SLAMing on 170.63650248099998 meters Centerline goodness [0,1] 0.6052761631327512 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87500497 -0.06350817 -0.47993022 5.72806196] [ 0.10109274 0.9934724 0.05284732 0.27788755] [ 0.4734412 -0.09475913 0.8757135 1.36753032] [ 0. 0. 0. 1. ]] SLAMing on 170.66650248099998 meters Centerline goodness [0,1] 0.5966953415127156 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87514814 -0.06378462 -0.47963241 5.72766948] [ 0.10136208 0.99344574 0.0528327 0.27736244] [ 0.47311886 -0.09485298 0.87587754 1.3672201 ] [ 0. 0. 0. 1. ]] SLAMing on 170.69650248099998 meters Centerline goodness [0,1] 0.5598645375226359 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87532911 -0.06409904 -0.47926012 5.72741575] [ 0.10166548 0.99341549 0.05281844 0.2777374 ] [ 0.47271882 -0.09495773 0.87608216 1.36658951] [ 0. 0. 0. 1. ]] SLAMing on 170.72650248099998 meters Centerline goodness [0,1] 0.5618017170410443 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87534566 -0.06405535 -0.47923574 5.72754784] [ 0.10162059 0.99341933 0.05283272 0.27816506] [ 0.47269783 -0.09494711 0.87609464 1.36646736] [ 0. 0. 0. 1. ]] SLAMing on 170.75650248099998 meters Centerline goodness [0,1] 0.5555816741496439 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87554804 -0.06422954 -0.47884255 5.72666961] [ 0.10168797 0.99342051 0.05268071 0.27842864] [ 0.47230835 -0.09481702 0.87631875 1.36623019] [ 0. 0. 0. 1. ]] SLAMing on 170.78650248099999 meters Centerline goodness [0,1] 0.5555816741496439 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87554804 -0.06422954 -0.47884255 5.72666961] [ 0.10168797 0.99342051 0.05268071 0.27842864] [ 0.47230835 -0.09481702 0.87631875 1.36623019] [ 0. 0. 0. 1. ]] SLAMing on 170.816502481 meters Centerline goodness [0,1] 0.6010558423275458 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87559262 -0.06413452 -0.47877377 5.72658326] [ 0.1015967 0.99342738 0.05272705 0.27833145] [ 0.47224535 -0.09480925 0.87635355 1.36619882] [ 0. 0. 0. 1. ]] SLAMing on 170.846502481 meters Centerline goodness [0,1] 0.6274666041715491 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.87635331 -0.06095815 -0.47779595 5.7251105 ] [ 0.09911727 0.99355254 0.05503735 0.276752 ] [ 0.47136041 -0.09559 0.87674507 1.36534511] [ 0. 0. 0. 1. ]] SLAMing on 170.876502481 meters Centerline goodness [0,1] 0.6447913497320196 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87683392 -0.0552843 -0.47760436 5.72577483] [ 0.09507128 0.99368959 0.05951848 0.27494602] [ 0.47130004 -0.09759428 0.87655669 1.3643398 ] [ 0. 0. 0. 1. ]] SLAMing on 170.906502481 meters Centerline goodness [0,1] 0.6685597615639154 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87666036 -0.05450354 -0.47801253 5.72737857] [ 0.09448387 0.99371813 0.05997564 0.27539856] [ 0.47174083 -0.09774274 0.876303 1.36427553] [ 0. 0. 0. 1. ]] SLAMing on 170.936502481 meters Centerline goodness [0,1] 0.6761546723952738 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87644379 -0.05186444 -0.47870278 5.73145032] [ 0.09258209 0.99378312 0.06183584 0.27579606] [ 0.47251966 -0.09851494 0.87579677 1.36350625] [ 0. 0. 0. 1. ]] SLAMing on 170.966502481 meters Centerline goodness [0,1] 0.6897133616143624 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87638759 -0.05147046 -0.47884818 5.73279121] [ 0.09224336 0.99380429 0.06200163 0.27619014] [ 0.47269012 -0.09850802 0.87570555 1.36310998] [ 0. 0. 0. 1. ]] SLAMing on 170.996502481 meters Centerline goodness [0,1] 0.7015558367308683 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87637209 -0.05127029 -0.47889803 5.7339279 ] [ 0.09206271 0.99381641 0.06207572 0.27635241] [ 0.47275408 -0.09849008 0.87567304 1.36268485] [ 0. 0. 0. 1. ]] SLAMing on 171.026502481 meters Centerline goodness [0,1] 0.7090654205607476 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87648578 -0.05117563 -0.47870004 5.73475912] [ 0.0918643 0.99384239 0.06195371 0.27644293] [ 0.47258187 -0.09827699 0.87578994 1.3620781 ] [ 0. 0. 0. 1. ]] SLAMing on 171.056502481 meters Centerline goodness [0,1] 0.7146606059186016 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87646775 -0.05115469 -0.47873529 5.7347944 ] [ 0.09179138 0.99385532 0.06185428 0.27693212] [ 0.47262947 -0.09815705 0.8757777 1.36212627] [ 0. 0. 0. 1. ]] SLAMing on 171.086502481 meters Centerline goodness [0,1] 0.7200438014025768 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87687863 -0.0463985 -0.4784674 5.7340524 ] [ 0.08823754 0.99395516 0.06532437 0.2771406 ] [ 0.47254418 -0.09950033 0.87567213 1.36173634] [ 0. 0. 0. 1. ]] SLAMing on 171.116502481 meters Centerline goodness [0,1] 0.7245679128311102 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87717749 -0.04139653 -0.47837849 5.73388861] [ 0.0844798 0.99404114 0.06888673 0.27743846] [ 0.47267622 -0.10083921 0.87544768 1.3613978 ] [ 0. 0. 0. 1. ]] SLAMing on 171.146502481 meters Centerline goodness [0,1] 0.7242347655153047 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87708903 -0.04145926 -0.47853522 5.73384413] [ 0.08438804 0.99407239 0.06854734 0.27877559] [ 0.47285673 -0.10050477 0.87538866 1.36170542] [ 0. 0. 0. 1. ]] SLAMing on 171.176502481 meters Centerline goodness [0,1] 0.7267022351752179 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87705617 -0.04147586 -0.47859401 5.73452914] [ 0.08424588 0.99410592 0.06823522 0.27962313] [ 0.47294302 -0.1001657 0.87538091 1.36156228] [ 0. 0. 0. 1. ]] SLAMing on 171.206502481 meters Centerline goodness [0,1] 0.7238828608097072 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.8770389 -0.04159144 -0.47861563 5.73489496] [ 0.08431697 0.99410786 0.06811913 0.2793859 ] [ 0.47296238 -0.10009855 0.87537813 1.36149813] [ 0. 0. 0. 1. ]] SLAMing on 171.23650248099997 meters Centerline goodness [0,1] 0.7263976391783966 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87704905 -0.04166355 -0.47859075 5.73472305] [ 0.08437671 0.99410517 0.06808441 0.27953802] [ 0.4729329 -0.10009528 0.87539443 1.36152237] [ 0. 0. 0. 1. ]] SLAMing on 171.26650248099997 meters Centerline goodness [0,1] 0.7281457884381148 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87706045 -0.04181331 -0.47855681 5.73437996] [ 0.0844953 0.99410102 0.06799785 0.27957769] [ 0.4728906 -0.10007402 0.87541971 1.36163845] [ 0. 0. 0. 1. ]] SLAMing on 171.29650248099998 meters Centerline goodness [0,1] 0.7295732061867659 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87719674 -0.04219148 -0.47827373 5.73363756] [ 0.08481606 0.99408271 0.06786605 0.27827343] [ 0.47258028 -0.10009717 0.87558462 1.3616975 ] [ 0. 0. 0. 1. ]] SLAMing on 171.32650248099998 meters Centerline goodness [0,1] 0.7298746096117092 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87726841 -0.04232923 -0.47813007 5.73354234] [ 0.08496823 0.99406786 0.06789328 0.27733486] [ 0.47241987 -0.10018649 0.87566097 1.36158892] [ 0. 0. 0. 1. ]] SLAMing on 171.35650248099998 meters Centerline goodness [0,1] 0.7308689255773766 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87735427 -0.04260341 -0.47794816 5.73357763] [ 0.08533814 0.99402566 0.06804691 0.2752233 ] [ 0.4721937 -0.10048846 0.87574835 1.36135724] [ 0. 0. 0. 1. ]] SLAMing on 171.38650248099998 meters Centerline goodness [0,1] 0.7320976470861495 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87743585 -0.04262761 -0.4777962 5.7336903 ] [ 0.08555282 0.99398084 0.06843101 0.27319498] [ 0.47200322 -0.10092063 0.87580134 1.36109247] [ 0. 0. 0. 1. ]] SLAMing on 171.41650248099998 meters Centerline goodness [0,1] 0.7307817513835279 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87746269 -0.04255787 -0.47775314 5.73390102] [ 0.08558441 0.99396325 0.06864668 0.27228345] [ 0.4719476 -0.10112312 0.87580795 1.36097487] [ 0. 0. 0. 1. ]] SLAMing on 171.44650248099998 meters Centerline goodness [0,1] 0.7320011140509679 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87752437 -0.04251333 -0.4776438 5.73404376] [ 0.08572199 0.99392538 0.06902226 0.27083962] [ 0.47180793 -0.10151329 0.87583807 1.36072917] [ 0. 0. 0. 1. ]] SLAMing on 171.47650248099998 meters Centerline goodness [0,1] 0.7309661206254654 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87759381 -0.04264771 -0.47750422 5.73374344] [ 0.08589039 0.99390639 0.06908637 0.27001692] [ 0.47164812 -0.10164279 0.87590912 1.36069331] [ 0. 0. 0. 1. ]] SLAMing on 171.50650248099998 meters Centerline goodness [0,1] 0.7313764526135469 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87776498 -0.04303408 -0.47715481 5.73333978] [ 0.08629826 0.99386895 0.06911668 0.26846115] [ 0.47125498 -0.10184583 0.87609712 1.36037955] [ 0. 0. 0. 1. ]] SLAMing on 171.53650248099999 meters Centerline goodness [0,1] 0.7251865931111214 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87783097 -0.04313892 -0.47702393 5.73372784] [ 0.08646547 0.99384591 0.06923893 0.2677071 ] [ 0.47110139 -0.10202618 0.87615874 1.35995677] [ 0. 0. 0. 1. ]] SLAMing on 171.566502481 meters Centerline goodness [0,1] 0.7297609690693051 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87787176 -0.04343119 -0.47692233 5.73344603] [ 0.08665802 0.9938453 0.06900652 0.26791609] [ 0.47098998 -0.10190802 0.87623239 1.35992775] [ 0. 0. 0. 1. ]] SLAMing on 171.596502481 meters Centerline goodness [0,1] 0.7260083126291592 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87792679 -0.04399047 -0.47676975 5.73248767] [ 0.08697082 0.99385662 0.06844771 0.26896852] [ 0.47082973 -0.10155713 0.87635924 1.36010439] [ 0. 0. 0. 1. ]] SLAMing on 171.626502481 meters Centerline goodness [0,1] 0.7290619765494137 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87794005 -0.04428524 -0.47671803 5.73250987] [ 0.0871609 0.99385748 0.06819299 0.26949143] [ 0.47076984 -0.10142053 0.87640723 1.35997109] [ 0. 0. 0. 1. ]] SLAMing on 171.656502481 meters Centerline goodness [0,1] 0.7263901147396292 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87789565 -0.04436339 -0.47679253 5.73380551] [ 0.08718136 0.99386561 0.06804824 0.27007729] [ 0.47084885 -0.10130667 0.87637795 1.35944446] [ 0. 0. 0. 1. ]] SLAMing on 171.686502481 meters Centerline goodness [0,1] 0.7263236044731103 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87788947 -0.04451215 -0.47679004 5.73427043] [ 0.08727192 0.99386753 0.06790392 0.27053094] [ 0.47084359 -0.10122252 0.8763905 1.35917047] [ 0. 0. 0. 1. ]] SLAMing on 171.716502481 meters Centerline goodness [0,1] 0.7274166142960221 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.8777772 -0.04454846 -0.47699332 5.73507499] [ 0.08719883 0.9938918 0.06764204 0.27209207] [ 0.4710664 -0.1009679 0.87630013 1.35907267] [ 0. 0. 0. 1. ]] SLAMing on 171.746502481 meters Centerline goodness [0,1] 0.7267099536875421 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87775176 -0.04449523 -0.47704509 5.73576723] [ 0.08711788 0.99390238 0.067591 0.27300176] [ 0.47112877 -0.10088728 0.87627589 1.35874887] [ 0. 0. 0. 1. ]] SLAMing on 171.776502481 meters Centerline goodness [0,1] 0.725153574848761 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87768743 -0.0444445 -0.47716817 5.73628963] [ 0.08700259 0.99392181 0.06745362 0.27429796] [ 0.47126991 -0.10071806 0.87621946 1.35862947] [ 0. 0. 0. 1. ]] SLAMing on 171.806502481 meters Centerline goodness [0,1] 0.7267631947687996 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87783291 -0.04476654 -0.47687036 5.73480795] [ 0.087111 0.99393969 0.06704894 0.27521628] [ 0.47097883 -0.10039842 0.87641263 1.35891949] [ 0. 0. 0. 1. ]] SLAMing on 171.836502481 meters Centerline goodness [0,1] 0.7277866018873214 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87786116 -0.04498984 -0.47679733 5.73450062] [ 0.08721846 0.9939473 0.06679602 0.27579878] [ 0.47090628 -0.10022316 0.87647168 1.35894424] [ 0. 0. 0. 1. ]] SLAMing on 171.866502481 meters Centerline goodness [0,1] 0.7280521422230528 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87779824 -0.04488699 -0.47692285 5.73518677] [ 0.08710727 0.99395842 0.06677559 0.2761091 ] [ 0.47104413 -0.10015894 0.87640494 1.35884999] [ 0. 0. 0. 1. ]] SLAMing on 171.896502481 meters Centerline goodness [0,1] 0.7276174425953233 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87779352 -0.04480821 -0.47693895 5.73574297] [ 0.08704775 0.99396018 0.06682695 0.27596834] [ 0.47106393 -0.10017672 0.87639226 1.35864695] [ 0. 0. 0. 1. ]] SLAMing on 171.926502481 meters Centerline goodness [0,1] 0.7269670006305612 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87770486 -0.0444342 -0.47713706 5.73710109] [ 0.0867877 0.99396566 0.06708326 0.27582686] [ 0.47127706 -0.10028893 0.87626483 1.35835937] [ 0. 0. 0. 1. ]] SLAMing on 171.956502481 meters Centerline goodness [0,1] 0.728325588997595 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87769327 -0.04423732 -0.47717668 5.73787081] [ 0.0866402 0.99396969 0.06721403 0.27598456] [ 0.47132579 -0.10033599 0.87623324 1.3580317 ] [ 0. 0. 0. 1. ]] SLAMing on 171.98650248099997 meters Centerline goodness [0,1] 0.7277664630006788 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87768028 -0.04406065 -0.47721691 5.73834433] [ 0.08646644 0.99398217 0.06725325 0.27644434] [ 0.47138188 -0.1002901 0.87620832 1.3578973 ] [ 0. 0. 0. 1. ]] SLAMing on 172.01650248099997 meters Centerline goodness [0,1] 0.7286584654170265 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87763814 -0.04408119 -0.47729251 5.73845071] [ 0.08643988 0.99399197 0.06714244 0.27702797] [ 0.4714652 -0.10018387 0.87617564 1.3579739 ] [ 0. 0. 0. 1. ]] SLAMing on 172.04650248099998 meters Centerline goodness [0,1] 0.728846423398589 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87751002 -0.04388408 -0.47754618 5.73923235] [ 0.0862119 0.99401648 0.0670727 0.27824593] [ 0.47174535 -0.10002713 0.87604275 1.35801908] [ 0. 0. 0. 1. ]] SLAMing on 172.07650248099998 meters Centerline goodness [0,1] 0.7297145793432055 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87740327 -0.04380661 -0.4777494 5.74009154] [ 0.08607269 0.99403827 0.06692841 0.27912948] [ 0.47196928 -0.09984438 0.87594298 1.3579772 ] [ 0. 0. 0. 1. ]] SLAMing on 172.10650248099998 meters Centerline goodness [0,1] 0.7279908387669729 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87730052 -0.04383014 -0.4779359 5.74046334] [ 0.08603572 0.99405241 0.06676569 0.27973158] [ 0.47216698 -0.09969313 0.87585365 1.3581418 ] [ 0. 0. 0. 1. ]] SLAMing on 172.13650248099998 meters Centerline goodness [0,1] 0.7284504001314215 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87718047 -0.04373907 -0.47816453 5.74093295] [ 0.08578352 0.99409637 0.06643484 0.28173678] [ 0.47243583 -0.09929399 0.87575401 1.35833719] [ 0. 0. 0. 1. ]] SLAMing on 172.16650248099998 meters Centerline goodness [0,1] 0.7269544375778367 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87705932 -0.04367618 -0.47839246 5.74129261] [ 0.08566763 0.99411551 0.06629793 0.28287218] [ 0.47268172 -0.09912997 0.8756399 1.35853284] [ 0. 0. 0. 1. ]] SLAMing on 172.19650248099998 meters Centerline goodness [0,1] 0.7275122938283805 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87693639 -0.04379686 -0.47860673 5.74189592] [ 0.08569388 0.99413026 0.06604232 0.28368426] [ 0.47290499 -0.09892858 0.87554212 1.35867392] [ 0. 0. 0. 1. ]] SLAMing on 172.22650248099998 meters Centerline goodness [0,1] 0.7270718232044199 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87653055 -0.04876369 -0.47886981 5.74306606] [ 0.08921056 0.99407718 0.06206469 0.28481787] [ 0.47300705 -0.09712185 0.87568926 1.35897827] [ 0. 0. 0. 1. ]] SLAMing on 172.25650248099998 meters Centerline goodness [0,1] 0.7276562647308381 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87656996 -0.04901482 -0.47877203 5.74284614] [ 0.08943248 0.99406309 0.06197102 0.28447975] [ 0.4728921 -0.09713971 0.87574936 1.3589309 ] [ 0. 0. 0. 1. ]] SLAMing on 172.28650248099999 meters Centerline goodness [0,1] 0.7285972786877541 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87661348 -0.0495219 -0.47864014 5.74221982] [ 0.08989502 0.99403242 0.06179341 0.28392351] [ 0.47272369 -0.0971963 0.875834 1.35904492] [ 0. 0. 0. 1. ]] SLAMing on 172.316502481 meters Centerline goodness [0,1] 0.7283846081475209 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87657145 -0.04959893 -0.47870915 5.74260896] [ 0.09000508 0.99402085 0.0618194 0.283683 ] [ 0.47278069 -0.09727537 0.87579445 1.35898887] [ 0. 0. 0. 1. ]] SLAMing on 172.346502481 meters Centerline goodness [0,1] 0.7268537027020672 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87654226 -0.0494488 -0.47877812 5.74338772] [ 0.08998395 0.99400655 0.06207949 0.28291619] [ 0.47283883 -0.09749765 0.87573835 1.35877349] [ 0. 0. 0. 1. ]] SLAMing on 172.376502481 meters Centerline goodness [0,1] 0.7271979120129795 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87643381 -0.04967902 -0.47895279 5.74440744] [ 0.09038836 0.99395581 0.06230399 0.28127319] [ 0.47296271 -0.09789708 0.87562688 1.35858417] [ 0. 0. 0. 1. ]] SLAMing on 172.406502481 meters Centerline goodness [0,1] 0.7275248548663831 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.8764762 -0.05010521 -0.4788308 5.74378878] [ 0.09079104 0.99392667 0.0621833 0.28038989] [ 0.472807 -0.09797573 0.87570218 1.35870985] [ 0. 0. 0. 1. ]] SLAMing on 172.436502481 meters Centerline goodness [0,1] 0.727306817915485 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87658998 -0.05119213 -0.47850744 5.74159052] [ 0.09172032 0.99387162 0.0616975 0.27881071] [ 0.47241654 -0.09797226 0.87591327 1.35930798] [ 0. 0. 0. 1. ]] SLAMing on 172.466502481 meters Centerline goodness [0,1] 0.7169576645076504 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87665223 -0.05150014 -0.47836032 5.74090582] [ 0.09204757 0.99384174 0.06169141 0.27798866] [ 0.47223734 -0.09811382 0.87599405 1.3594478 ] [ 0. 0. 0. 1. ]] SLAMing on 172.496502481 meters Centerline goodness [0,1] 0.7150092620817408 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87613582 -0.05650692 -0.47874106 5.74129872] [ 0.09579457 0.99370862 0.05802227 0.2778869 ] [ 0.47245045 -0.09669619 0.87603677 1.36032339] [ 0. 0. 0. 1. ]] SLAMing on 172.526502481 meters Centerline goodness [0,1] 0.6881435440365897 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87620375 -0.05684566 -0.47857661 5.74113037] [ 0.09627326 0.99364986 0.05823585 0.27634034] [ 0.47222712 -0.0971006 0.87611245 1.36006258] [ 0. 0. 0. 1. ]] SLAMing on 172.556502481 meters Centerline goodness [0,1] 0.6790607112695881 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87625287 -0.05703167 -0.47846453 5.74109682] [ 0.09648189 0.99362834 0.05825771 0.27581581] [ 0.47209338 -0.09721165 0.87617221 1.35988251] [ 0. 0. 0. 1. ]] SLAMing on 172.586502481 meters Centerline goodness [0,1] 0.6564575559154169 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87626396 -0.05732784 -0.47840881 5.74130468] [ 0.09682422 0.99359357 0.05828279 0.27505891] [ 0.47200269 -0.09739266 0.87620096 1.35966413] [ 0. 0. 0. 1. ]] SLAMing on 172.616502481 meters Centerline goodness [0,1] 0.6469208761315135 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87626558 -0.05735663 -0.47840239 5.74151389] [ 0.0968868 0.99358412 0.05833988 0.27477489] [ 0.47198683 -0.09747211 0.87620067 1.35954306] [ 0. 0. 0. 1. ]] SLAMing on 172.646502481 meters Centerline goodness [0,1] 0.6305579722071998 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87623537 -0.05773558 -0.47841215 5.74155587] [ 0.09723219 0.99355969 0.05818109 0.27487369] [ 0.47197191 -0.09749739 0.8762059 1.35946826] [ 0. 0. 0. 1. ]] SLAMing on 172.676502481 meters Centerline goodness [0,1] 0.6138871929742169 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87610289 -0.05794265 -0.47862968 5.74218585] [ 0.09743247 0.9935468 0.05806605 0.27484729] [ 0.47217649 -0.09750591 0.87609472 1.35950615] [ 0. 0. 0. 1. ]] SLAMing on 172.706502481 meters Centerline goodness [0,1] 0.6138871929742169 Centerline is valid? [False, False] Translation: X:5.74, Y:0.27, Z:1.36 [[ 0.87610289 -0.05794265 -0.47862968 5.74218585] [ 0.09743247 0.9935468 0.05806605 0.27484729] [ 0.47217649 -0.09750591 0.87609472 1.35950615] [ 0. 0. 0. 1. ]] SLAMing on 172.73650248099997 meters Centerline goodness [0,1] 0.6110381077529566 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87605655 -0.05798792 -0.47870901 5.74262283] [ 0.09747018 0.99354567 0.05802219 0.27516484] [ 0.47225467 -0.09749057 0.87605428 1.35942509] [ 0. 0. 0. 1. ]] SLAMing on 172.76650248099997 meters Centerline goodness [0,1] 0.6308097804344245 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87597167 -0.05817676 -0.47884142 5.74278611] [ 0.09756624 0.99355081 0.05777214 0.27617631] [ 0.47239228 -0.09732552 0.87599845 1.35952655] [ 0. 0. 0. 1. ]] SLAMing on 172.79650248099998 meters Centerline goodness [0,1] 0.6272264332480698 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87597198 -0.05840503 -0.47881305 5.74250824] [ 0.09770376 0.99354998 0.05755365 0.27651187] [ 0.47236327 -0.09719722 0.87602833 1.35962383] [ 0. 0. 0. 1. ]] SLAMing on 172.82650248099998 meters Centerline goodness [0,1] 0.6385915492957747 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87586597 -0.05862656 -0.47897989 5.74222668] [ 0.0977264 0.99357445 0.05709085 0.27798573] [ 0.47255514 -0.09681291 0.87596741 1.36009869] [ 0. 0. 0. 1. ]] SLAMing on 172.85650248099998 meters Centerline goodness [0,1] 0.6609257518796993 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87575475 -0.05874902 -0.47916822 5.74210078] [ 0.09769731 0.99359765 0.05673582 0.27951827] [ 0.47276724 -0.09650011 0.87588747 1.3604651 ] [ 0. 0. 0. 1. ]] SLAMing on 172.88650248099998 meters Centerline goodness [0,1] 0.6849917277239423 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87603413 -0.05390155 -0.47922732 5.74228134] [ 0.09410417 0.99373743 0.06025215 0.28007229] [ 0.47297844 -0.09788023 0.87562027 1.3600528 ] [ 0. 0. 0. 1. ]] SLAMing on 172.91650248099998 meters Centerline goodness [0,1] 0.6904570970328789 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87583777 -0.05396752 -0.47957868 5.74278812] [ 0.09401281 0.99376964 0.05986229 0.28169226] [ 0.47336011 -0.0975162 0.87545462 1.36040219] [ 0. 0. 0. 1. ]] SLAMing on 172.94650248099998 meters Centerline goodness [0,1] 0.7117250800829094 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87606647 -0.04889662 -0.47970476 5.7429804 ] [ 0.0901719 0.99390822 0.06336777 0.28296451] [ 0.47368404 -0.09877027 0.87513877 1.36015834] [ 0. 0. 0. 1. ]] SLAMing on 172.97650248099998 meters Centerline goodness [0,1] 0.7163399627986837 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87633078 -0.04375381 -0.47971864 5.74335931] [ 0.08628798 0.99401708 0.06696589 0.28409555] [ 0.47391851 -0.10007822 0.87486319 1.35965438] [ 0. 0. 0. 1. ]] SLAMing on 173.00650248099998 meters Centerline goodness [0,1] 0.7199095561109128 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87616393 -0.04381048 -0.48001814 5.74403493] [ 0.08623421 0.99404121 0.0666764 0.28540683] [ 0.47423669 -0.09981344 0.87472101 1.35981988] [ 0. 0. 0. 1. ]] SLAMing on 173.03650248099999 meters Centerline goodness [0,1] 0.7183461300014307 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87602242 -0.04382487 -0.48027503 5.74445932] [ 0.08610374 0.99407472 0.06634452 0.28667048] [ 0.47452172 -0.09947277 0.87460523 1.36010494] [ 0. 0. 0. 1. ]] SLAMing on 173.066502481 meters Centerline goodness [0,1] 0.7182003992774979 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.8759234 -0.04395 -0.48044417 5.74466509] [ 0.08613416 0.99408846 0.06609872 0.28729857] [ 0.47469897 -0.09928007 0.87453094 1.36030611] [ 0. 0. 0. 1. ]] SLAMing on 173.096502481 meters Centerline goodness [0,1] 0.7160417213642982 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87578029 -0.04380378 -0.48071834 5.74549849] [ 0.08590806 0.99411969 0.06592298 0.28874506] [ 0.47500389 -0.09903163 0.87439353 1.3603474 ] [ 0. 0. 0. 1. ]] SLAMing on 173.126502481 meters Centerline goodness [0,1] 0.7142412637625658 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87565871 -0.04379508 -0.48094056 5.74590988] [ 0.08584894 0.99413428 0.06577982 0.28966442] [ 0.47523866 -0.0988889 0.8742821 1.36051449] [ 0. 0. 0. 1. ]] SLAMing on 173.156502481 meters Centerline goodness [0,1] 0.7131751520209848 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87556324 -0.04360458 -0.48113165 5.74694083] [ 0.08568415 0.99414522 0.06582938 0.2903224 ] [ 0.47544426 -0.09886314 0.87417323 1.36032286] [ 0. 0. 0. 1. ]] SLAMing on 173.186502481 meters Centerline goodness [0,1] 0.7118013311386244 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87556988 -0.04374545 -0.48110676 5.74706065] [ 0.08581202 0.99413771 0.06577629 0.29002539] [ 0.47540896 -0.09887648 0.87419092 1.36025724] [ 0. 0. 0. 1. ]] SLAMing on 173.216502481 meters Centerline goodness [0,1] 0.7118390066366944 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:1.36 [[ 0.87570762 -0.04433508 -0.480802 5.74578493] [ 0.0863511 0.99410211 0.06560855 0.28836334] [ 0.47505753 -0.09897169 0.87437118 1.36044716] [ 0. 0. 0. 1. ]] SLAMing on 173.246502481 meters Centerline goodness [0,1] 0.7120412654094599 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.8758583 -0.04532904 -0.48043471 5.74321938] [ 0.08717004 0.99406238 0.06512583 0.2865898 ] [ 0.47462998 -0.09892051 0.87460912 1.36117004] [ 0. 0. 0. 1. ]] SLAMing on 173.276502481 meters Centerline goodness [0,1] 0.7088167875794598 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87594726 -0.04561524 -0.4802454 5.7422156 ] [ 0.08746275 0.99403761 0.06511149 0.28555766] [ 0.47441191 -0.09903781 0.87471415 1.36137737] [ 0. 0. 0. 1. ]] SLAMing on 173.306502481 meters Centerline goodness [0,1] 0.7041820418204182 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87600106 -0.04611782 -0.48009925 5.74092011] [ 0.08799583 0.99399278 0.0650775 0.28376825] [ 0.47421396 -0.09925469 0.87479691 1.36182724] [ 0. 0. 0. 1. ]] SLAMing on 173.336502481 meters Centerline goodness [0,1] 0.7036126347645167 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87603185 -0.04620945 -0.48003426 5.74068721] [ 0.08811951 0.99397843 0.06512932 0.28297595] [ 0.47413411 -0.09935574 0.87482872 1.36190204] [ 0. 0. 0. 1. ]] SLAMing on 173.366502481 meters Centerline goodness [0,1] 0.696713393803746 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87607213 -0.04633669 -0.47994848 5.74040679] [ 0.08835375 0.99394541 0.0653156 0.28126177] [ 0.47401608 -0.09962643 0.87486189 1.36198707] [ 0. 0. 0. 1. ]] SLAMing on 173.396502481 meters Centerline goodness [0,1] 0.6962469391599171 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87615654 -0.04664171 -0.47976481 5.73976569] [ 0.08869331 0.99391308 0.06534749 0.27977914] [ 0.4737966 -0.09980656 0.87496025 1.3620839 ] [ 0. 0. 0. 1. ]] SLAMing on 173.426502481 meters Centerline goodness [0,1] 0.6941896024464832 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87615727 -0.04677442 -0.47975055 5.73960809] [ 0.08884023 0.99390017 0.06534419 0.27931941] [ 0.47376772 -0.09987293 0.87496831 1.36216589] [ 0. 0. 0. 1. ]] SLAMing on 173.456502481 meters Centerline goodness [0,1] 0.6842241521334933 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87613734 -0.04690076 -0.47977462 5.73975244] [ 0.08906767 0.99386997 0.06549379 0.27852487] [ 0.47376188 -0.10011396 0.87494393 1.3621016 ] [ 0. 0. 0. 1. ]] SLAMing on 173.48650248099997 meters Centerline goodness [0,1] 0.6799217884991402 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87615733 -0.04699722 -0.47972867 5.73951194] [ 0.08921617 0.99385116 0.06557698 0.27796362] [ 0.47369696 -0.1002553 0.87496289 1.36214246] [ 0. 0. 0. 1. ]] SLAMing on 173.51650248099997 meters Centerline goodness [0,1] 0.6648819491945185 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87626031 -0.048207 -0.47942044 5.73812365] [ 0.09021731 0.99380096 0.06496528 0.27728103] [ 0.47331671 -0.10017852 0.87517744 1.36226614] [ 0. 0. 0. 1. ]] SLAMing on 173.54650248099998 meters Centerline goodness [0,1] 0.6416931965570098 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87590927 -0.05378597 -0.47946847 5.7383507 ] [ 0.09422805 0.99370043 0.06066736 0.27847987] [ 0.47318497 -0.09831848 0.87545957 1.36259317] [ 0. 0. 0. 1. ]] SLAMing on 173.57650248099998 meters Centerline goodness [0,1] 0.6187455788729073 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87591975 -0.0537894 -0.47944895 5.73859255] [ 0.09426763 0.99369236 0.06073798 0.2780602 ] [ 0.4731577 -0.09839811 0.87546536 1.36247641] [ 0. 0. 0. 1. ]] SLAMing on 173.60650248099998 meters Centerline goodness [0,1] 0.5686113200451297 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87582466 -0.05398603 -0.47960053 5.73871729] [ 0.09440145 0.99369192 0.06053711 0.27893394] [ 0.47330701 -0.09829488 0.87539625 1.36264025] [ 0. 0. 0. 1. ]] SLAMing on 173.63650248099998 meters Centerline goodness [0,1] 0.6055956891074664 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87575307 -0.05404974 -0.47972408 5.73867088] [ 0.09443131 0.99369563 0.06042957 0.27947817] [ 0.47343351 -0.09822235 0.87533598 1.36284953] [ 0. 0. 0. 1. ]] SLAMing on 173.66650248099998 meters Centerline goodness [0,1] 0.5911682925679815 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87569581 -0.054121 -0.47982056 5.7383903 ] [ 0.09438866 0.99371491 0.06017856 0.28104828] [ 0.47354792 -0.09798773 0.87530039 1.3630908 ] [ 0. 0. 0. 1. ]] SLAMing on 173.69650248099998 meters Centerline goodness [0,1] 0.6211078799914888 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87563599 -0.05418463 -0.47992253 5.73818289] [ 0.09437663 0.99372691 0.05999894 0.28202381] [ 0.47366092 -0.0978307 0.87525681 1.36331781] [ 0. 0. 0. 1. ]] SLAMing on 173.72650248099998 meters Centerline goodness [0,1] 0.6336303684969391 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87552635 -0.05403159 -0.48013978 5.73866004] [ 0.09414051 0.99375933 0.05983279 0.28371591] [ 0.47391052 -0.09758579 0.87514903 1.36346601] [ 0. 0. 0. 1. ]] SLAMing on 173.75650248099998 meters Centerline goodness [0,1] 0.643526405451448 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87550036 -0.05414942 -0.48017389 5.73865064] [ 0.09416158 0.99377032 0.05961676 0.28468541] [ 0.47395435 -0.09740842 0.87514506 1.36349364] [ 0. 0. 0. 1. ]] SLAMing on 173.78650248099999 meters Centerline goodness [0,1] 0.6601400261065622 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87594476 -0.04933618 -0.47988199 5.73839128] [ 0.09040479 0.9939209 0.0628349 0.28689248] [ 0.47386471 -0.09842353 0.87508003 1.3627355 ] [ 0. 0. 0. 1. ]] SLAMing on 173.816502481 meters Centerline goodness [0,1] 0.6571401398069333 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.8757922 -0.04942464 -0.48015125 5.73875966] [ 0.09029001 0.99396033 0.06237443 0.28895415] [ 0.47416846 -0.09797991 0.87496526 1.36300576] [ 0. 0. 0. 1. ]] SLAMing on 173.846502481 meters Centerline goodness [0,1] 0.6796209438116205 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87612669 -0.04482706 -0.47999224 5.73866613] [ 0.08673434 0.99407739 0.06547752 0.29079148] [ 0.47421427 -0.09899841 0.87482578 1.36244176] [ 0. 0. 0. 1. ]] SLAMing on 173.876502481 meters Centerline goodness [0,1] 0.685682755973515 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87597574 -0.04497761 -0.48025361 5.7390116 ] [ 0.08665461 0.9941187 0.06495372 0.29280424] [ 0.47450763 -0.09851407 0.87472138 1.36274657] [ 0. 0. 0. 1. ]] SLAMing on 173.906502481 meters Centerline goodness [0,1] 0.6895879933617144 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87620972 -0.04242649 -0.48005888 5.73998591] [ 0.08453843 0.994203 0.0664353 0.29559503] [ 0.47445736 -0.09879467 0.874717 1.36184156] [ 0. 0. 0. 1. ]] SLAMing on 173.936502481 meters Centerline goodness [0,1] 0.6937629536800501 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87607043 -0.0424298 -0.48031272 5.74065639] [ 0.08438768 0.99423877 0.06609069 0.297313 ] [ 0.47474132 -0.09843258 0.87460374 1.36193303] [ 0. 0. 0. 1. ]] SLAMing on 173.966502481 meters Centerline goodness [0,1] 0.6968192058916156 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87628077 -0.037083 -0.4803716 5.74142082] [ 0.0804291 0.99430215 0.06995993 0.29767996] [ 0.47504019 -0.0999404 0.8742704 1.36138649] [ 0. 0. 0. 1. ]] SLAMing on 173.996502481 meters Centerline goodness [0,1] 0.695702727581028 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87616381 -0.03735693 -0.48056366 5.74121733] [ 0.08050901 0.99432869 0.06948926 0.2992126 ] [ 0.47524233 -0.09957368 0.87420238 1.36181269] [ 0. 0. 0. 1. ]] SLAMing on 174.026502481 meters Centerline goodness [0,1] 0.6966139516833221 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87623311 -0.03771756 -0.48040913 5.74008567] [ 0.08059922 0.99435969 0.06893891 0.30046427] [ 0.47509926 -0.09912716 0.87433089 1.36215445] [ 0. 0. 0. 1. ]] SLAMing on 174.056502481 meters Centerline goodness [0,1] 0.6982426372560901 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87627019 -0.03790101 -0.48032704 5.74007071] [ 0.08069297 0.99436532 0.06874772 0.30052656] [ 0.47501495 -0.09900059 0.87439104 1.36206431] [ 0. 0. 0. 1. ]] SLAMing on 174.086502481 meters Centerline goodness [0,1] 0.7003105590062112 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87627652 -0.0380164 -0.48030638 5.74007678] [ 0.0807825 0.99436298 0.0686764 0.30028934] [ 0.47498805 -0.09897986 0.87440799 1.36206627] [ 0. 0. 0. 1. ]] SLAMing on 174.116502481 meters Centerline goodness [0,1] 0.702505749909212 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87633984 -0.03828159 -0.48016977 5.73919473] [ 0.08101766 0.99434998 0.06858762 0.29938945] [ 0.47483116 -0.0990083 0.87448998 1.36234508] [ 0. 0. 0. 1. ]] SLAMing on 174.146502481 meters Centerline goodness [0,1] 0.702899251026818 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87645835 -0.03852509 -0.47993393 5.73849368] [ 0.08121643 0.99433976 0.06850066 0.29901506] [ 0.47457839 -0.0990165 0.87462625 1.36231329] [ 0. 0. 0. 1. ]] SLAMing on 174.176502481 meters Centerline goodness [0,1] 0.7053698564015929 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87653061 -0.03870034 -0.47978784 5.73765568] [ 0.08152808 0.9942975 0.06874332 0.29699857] [ 0.47439146 -0.09937181 0.87468736 1.36252745] [ 0. 0. 0. 1. ]] SLAMing on 174.206502481 meters Centerline goodness [0,1] 0.7091400053041444 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87666877 -0.03876641 -0.47953001 5.73720951] [ 0.08171096 0.99426445 0.06900379 0.29528295] [ 0.47410461 -0.09967633 0.87480824 1.3623718 ] [ 0. 0. 0. 1. ]] SLAMing on 174.23650248099997 meters Centerline goodness [0,1] 0.7049219572919658 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87634996 -0.04358318 -0.47969913 5.73720774] [ 0.08537479 0.99418421 0.06564216 0.29380118] [ 0.47404841 -0.09847971 0.8749742 1.36305471] [ 0. 0. 0. 1. ]] SLAMing on 174.26650248099997 meters Centerline goodness [0,1] 0.7091282934060155 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87598565 -0.04826391 -0.47991639 5.7380587 ] [ 0.08895356 0.9940796 0.06239394 0.29221619] [ 0.47406372 -0.09734647 0.87509271 1.36345704] [ 0. 0. 0. 1. ]] SLAMing on 174.29650248099998 meters Centerline goodness [0,1] 0.7102794793261868 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87607643 -0.04832979 -0.47974401 5.73772934] [ 0.08916204 0.99404286 0.0626811 0.29067279] [ 0.47385674 -0.09768839 0.87516671 1.36331185] [ 0. 0. 0. 1. ]] SLAMing on 174.32650248099998 meters Centerline goodness [0,1] 0.703596468139073 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87614749 -0.0488307 -0.47956349 5.73648017] [ 0.08975201 0.99398457 0.06276338 0.28899462] [ 0.47361393 -0.09803177 0.87525974 1.36356942] [ 0. 0. 0. 1. ]] SLAMing on 174.35650248099998 meters Centerline goodness [0,1] 0.6970850086157381 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87624766 -0.04889835 -0.47937354 5.73625326] [ 0.08990354 0.99395931 0.06294631 0.28796455] [ 0.47339982 -0.09825394 0.87535066 1.36337952] [ 0. 0. 0. 1. ]] SLAMing on 174.38650248099998 meters Centerline goodness [0,1] 0.6645369705671214 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87582541 -0.05437624 -0.47955508 5.73657554] [ 0.09388133 0.99384745 0.05876692 0.28851301] [ 0.47340907 -0.09649083 0.87554176 1.36394716] [ 0. 0. 0. 1. ]] SLAMing on 174.41650248099998 meters Centerline goodness [0,1] 0.6398287859585357 Centerline is valid? [False, False] Translation: X:5.74, Y:0.29, Z:1.36 [[ 0.87595574 -0.05481207 -0.47926734 5.73594964] [ 0.0942499 0.99382239 0.05860046 0.2881208 ] [ 0.4730946 -0.09650231 0.87571046 1.36371782] [ 0. 0. 0. 1. ]] SLAMing on 174.44650248099998 meters Centerline goodness [0,1] 0.6513541965738348 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87600628 -0.05554037 -0.47909109 5.73493313] [ 0.09484113 0.99378932 0.05820605 0.28845109] [ 0.47288282 -0.09642641 0.8758332 1.36379462] [ 0. 0. 0. 1. ]] SLAMing on 174.47650248099998 meters Centerline goodness [0,1] 0.6459200765733428 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87603175 -0.05578174 -0.47901645 5.7347912 ] [ 0.09503961 0.99377751 0.05808376 0.2886558 ] [ 0.47279577 -0.09640876 0.87588213 1.36368494] [ 0. 0. 0. 1. ]] SLAMing on 174.50650248099998 meters Centerline goodness [0,1] 0.6080170188354528 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87613036 -0.05636495 -0.47876778 5.7343482 ] [ 0.09551746 0.9937482 0.05780084 0.28890803] [ 0.47251668 -0.09637176 0.8760368 1.36337468] [ 0. 0. 0. 1. ]] SLAMing on 174.53650248099999 meters Centerline goodness [0,1] 0.5836347521977627 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87620745 -0.05710935 -0.47853843 5.7327122 ] [ 0.09602841 0.99373167 0.05723562 0.28980476] [ 0.4722701 -0.09610356 0.87619921 1.36371132] [ 0. 0. 0. 1. ]] SLAMing on 174.566502481 meters Centerline goodness [0,1] 0.5824885233358836 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87621117 -0.05740438 -0.47849631 5.73224956] [ 0.09622536 0.99372674 0.05698993 0.29009677] [ 0.4722231 -0.09597869 0.87623823 1.36386241] [ 0. 0. 0. 1. ]] SLAMing on 174.596502481 meters Centerline goodness [0,1] 0.5824885233358836 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87621117 -0.05740438 -0.47849631 5.73224956] [ 0.09622536 0.99372674 0.05698993 0.29009677] [ 0.4722231 -0.09597869 0.87623823 1.36386241] [ 0. 0. 0. 1. ]] SLAMing on 174.626502481 meters Centerline goodness [0,1] 0.6017400865262805 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87617455 -0.05743938 -0.47855916 5.73247324] [ 0.09620983 0.99373494 0.05687298 0.29061928] [ 0.47229421 -0.09587275 0.8762115 1.36385261] [ 0. 0. 0. 1. ]] SLAMing on 174.656502481 meters Centerline goodness [0,1] 0.5777010125074449 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87604715 -0.05735596 -0.47880234 5.73281481] [ 0.09610867 0.99374862 0.05680491 0.29132185] [ 0.47255107 -0.09578083 0.87608306 1.36408484] [ 0. 0. 0. 1. ]] SLAMing on 174.686502481 meters Centerline goodness [0,1] 0.5882282598297139 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87652699 -0.05248632 -0.47848263 5.73215092] [ 0.0925922 0.99385836 0.06059905 0.29053987] [ 0.47236334 -0.09742047 0.8760035 1.36346245] [ 0. 0. 0. 1. ]] SLAMing on 174.716502481 meters Centerline goodness [0,1] 0.6164953382739661 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87644345 -0.05245812 -0.47863873 5.7324855 ] [ 0.09249639 0.99387671 0.06044423 0.29136816] [ 0.47253709 -0.0972483 0.87592892 1.36357019] [ 0. 0. 0. 1. ]] SLAMing on 174.746502481 meters Centerline goodness [0,1] 0.6786373110371098 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87676725 -0.04859544 -0.47845342 5.73393592] [ 0.08952607 0.99398363 0.06310009 0.29247006] [ 0.4725085 -0.09815814 0.87584285 1.36244832] [ 0. 0. 0. 1. ]] SLAMing on 174.776502481 meters Centerline goodness [0,1] 0.7091039942425332 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87704461 -0.04342907 -0.47844192 5.73402827] [ 0.08555593 0.99410506 0.06659807 0.29355979] [ 0.47272925 -0.09934302 0.8755901 1.36209658] [ 0. 0. 0. 1. ]] SLAMing on 174.806502481 meters Centerline goodness [0,1] 0.7129758532955691 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87728737 -0.03835054 -0.47843087 5.73372216] [ 0.0815833 0.99421217 0.06990231 0.29558986] [ 0.472981 -0.10035638 0.87533855 1.36193908] [ 0. 0. 0. 1. ]] SLAMing on 174.836502481 meters Centerline goodness [0,1] 0.7168687769714795 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87713208 -0.03806765 -0.47873809 5.73424268] [ 0.08112067 0.99427361 0.06956598 0.29780433] [ 0.47334844 -0.09985411 0.87519736 1.36228166] [ 0. 0. 0. 1. ]] SLAMing on 174.866502481 meters Centerline goodness [0,1] 0.7142477277122413 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87724059 -0.03308464 -0.47890954 5.7347165 ] [ 0.07727948 0.99434337 0.07286387 0.29930332] [ 0.47378985 -0.10092903 0.87483513 1.36214172] [ 0. 0. 0. 1. ]] SLAMing on 174.896502481 meters Centerline goodness [0,1] 0.7148114075436982 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87706749 -0.03322159 -0.47921701 5.73518015] [ 0.07725489 0.99437495 0.07245787 0.30066705] [ 0.47411422 -0.1005723 0.87470047 1.3624458 ] [ 0. 0. 0. 1. ]] SLAMing on 174.926502481 meters Centerline goodness [0,1] 0.713358676965544 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87703777 -0.03352801 -0.47925006 5.73515687] [ 0.07728378 0.99441592 0.07186229 0.30227359] [ 0.47416449 -0.1000642 0.8747315 1.36252906] [ 0. 0. 0. 1. ]] SLAMing on 174.956502481 meters Centerline goodness [0,1] 0.7122014952456994 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.8770194 -0.03377934 -0.47926604 5.73508342] [ 0.07742957 0.99442338 0.07160172 0.30254476] [ 0.47417469 -0.09990546 0.87474411 1.36260733] [ 0. 0. 0. 1. ]] SLAMing on 174.98650248099997 meters Centerline goodness [0,1] 0.7116936458081662 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.36 [[ 0.87703819 -0.03397308 -0.47921795 5.7354124 ] [ 0.0776235 0.99441085 0.07156571 0.30199953] [ 0.47410823 -0.09996444 0.8747734 1.36236008] [ 0. 0. 0. 1. ]] SLAMing on 175.01650248099997 meters Centerline goodness [0,1] 0.712501509844184 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.8772115 -0.03453555 -0.4788604 5.73444325] [ 0.07818636 0.99437053 0.0715132 0.30068058] [ 0.47369493 -0.10017255 0.87497347 1.36219421] [ 0. 0. 0. 1. ]] SLAMing on 175.04650248099998 meters Centerline goodness [0,1] 0.7121468244385414 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87729666 -0.0351735 -0.47865791 5.73290112] [ 0.0787069 0.99435284 0.07118744 0.30004246] [ 0.47345094 -0.10012619 0.87511082 1.3626147 ] [ 0. 0. 0. 1. ]] SLAMing on 175.07650248099998 meters Centerline goodness [0,1] 0.7130096527877827 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.877423 -0.03889212 -0.47813836 5.73012116] [ 0.08147565 0.99430917 0.06863667 0.29850447] [ 0.47274793 -0.09918002 0.87559849 1.36329857] [ 0. 0. 0. 1. ]] SLAMing on 175.10650248099998 meters Centerline goodness [0,1] 0.710113977204559 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87750484 -0.0390979 -0.47797136 5.72972916] [ 0.08179508 0.99426915 0.06883623 0.29693333] [ 0.47254082 -0.09949983 0.875674 1.36320867] [ 0. 0. 0. 1. ]] SLAMing on 175.13650248099998 meters Centerline goodness [0,1] 0.707776209725644 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87717944 -0.04423548 -0.47812075 5.72958512] [ 0.08572704 0.99417659 0.06529757 0.29632242] [ 0.47244799 -0.09826557 0.87586344 1.36378262] [ 0. 0. 0. 1. ]] SLAMing on 175.16650248099998 meters Centerline goodness [0,1] 0.6973546234509056 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87693243 -0.04949138 -0.4780587 5.72901524] [ 0.08969038 0.99406207 0.06161356 0.2957727 ] [ 0.47217068 -0.09690819 0.87616417 1.36426919] [ 0. 0. 0. 1. ]] SLAMing on 175.19650248099998 meters Centerline goodness [0,1] 0.6796230016702458 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87709455 -0.04990525 -0.47771813 5.72865255] [ 0.09016764 0.99401303 0.0617081 0.29413284] [ 0.47177849 -0.09719855 0.87634325 1.36384847] [ 0. 0. 0. 1. ]] SLAMing on 175.22650248099998 meters Centerline goodness [0,1] 0.6308032424465733 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87684952 -0.05528393 -0.47757576 5.72845969] [ 0.09424073 0.99385957 0.05798133 0.29342377] [ 0.4714378 -0.09584799 0.87667529 1.36403627] [ 0. 0. 0. 1. ]] SLAMing on 175.25650248099998 meters Centerline goodness [0,1] 0.5887668698560281 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.8769947 -0.05669845 -0.47714314 5.72586158] [ 0.09552012 0.99376662 0.05747879 0.2919857 ] [ 0.47090997 -0.09598536 0.87694391 1.3644141 ] [ 0. 0. 0. 1. ]] SLAMing on 175.28650248099999 meters Centerline goodness [0,1] 0.5623605374353131 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87708739 -0.05702385 -0.47693394 5.72522637] [ 0.09587488 0.99373116 0.05750119 0.29126564] [ 0.47066518 -0.09615955 0.87705623 1.36432382] [ 0. 0. 0. 1. ]] SLAMing on 175.316502481 meters Centerline goodness [0,1] 0.5388754563125208 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.8770606 -0.05733795 -0.47694555 5.72584842] [ 0.09637888 0.99366655 0.05777457 0.28987771] [ 0.47061217 -0.09663928 0.87703195 1.36388887] [ 0. 0. 0. 1. ]] SLAMing on 175.346502481 meters Centerline goodness [0,1] 0.5456249851674301 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87709153 -0.05735113 -0.47688709 5.72638385] [ 0.09650171 0.99364212 0.05798926 0.28900288] [ 0.47052935 -0.09688231 0.87704957 1.36352404] [ 0. 0. 0. 1. ]] SLAMing on 175.376502481 meters Centerline goodness [0,1] 0.533556330510284 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87722046 -0.0576537 -0.47661339 5.72684103] [ 0.09686639 0.99360051 0.05809412 0.28823446] [ 0.47021396 -0.09712917 0.8771914 1.3627258 ] [ 0. 0. 0. 1. ]] SLAMing on 175.406502481 meters Centerline goodness [0,1] 0.5145144431774991 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87733805 -0.05807673 -0.47634551 5.72684926] [ 0.09717434 0.99358542 0.05783734 0.28855787] [ 0.46993095 -0.09703146 0.87735386 1.36220325] [ 0. 0. 0. 1. ]] SLAMing on 175.436502481 meters Centerline goodness [0,1] 0.5269949146903664 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87733433 -0.058312 -0.4763236 5.72680211] [ 0.09731813 0.99358436 0.05761345 0.28909903] [ 0.46990813 -0.09690118 0.87738048 1.36215209] [ 0. 0. 0. 1. ]] SLAMing on 175.466502481 meters Centerline goodness [0,1] 0.5264386989157631 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87779154 -0.05376961 -0.47601559 5.72590605] [ 0.09403081 0.99368943 0.06115169 0.28914706] [ 0.46972356 -0.09843856 0.87730817 1.36155703] [ 0. 0. 0. 1. ]] SLAMing on 175.496502481 meters Centerline goodness [0,1] 0.5433035181872391 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.8776598 -0.05383691 -0.47625084 5.72621139] [ 0.09398785 0.99371057 0.0608735 0.29053193] [ 0.46997825 -0.09818801 0.87719984 1.36176339] [ 0. 0. 0. 1. ]] SLAMing on 175.526502481 meters Centerline goodness [0,1] 0.5615570379934486 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87808224 -0.04895626 -0.4759988 5.72596852] [ 0.09037533 0.99381671 0.06450314 0.29072224] [ 0.46989773 -0.09965761 0.87707724 1.36105121] [ 0. 0. 0. 1. ]] SLAMing on 175.556502481 meters Centerline goodness [0,1] 0.573992858341122 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87796581 -0.04899632 -0.47620941 5.72627463] [ 0.0902591 0.99385005 0.06415122 0.29230867] [ 0.47013757 -0.09930481 0.87698873 1.36125962] [ 0. 0. 0. 1. ]] SLAMing on 175.586502481 meters Centerline goodness [0,1] 0.5906553252665628 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87828721 -0.04391279 -0.47611263 5.72658751] [ 0.0864573 0.99394482 0.06781474 0.29278745] [ 0.47025175 -0.10072423 0.8767656 1.36062088] [ 0. 0. 0. 1. ]] SLAMing on 175.616502481 meters Centerline goodness [0,1] 0.6383116727124223 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87859419 -0.0387807 -0.47599192 5.72669432] [ 0.0825602 0.99402476 0.07140444 0.2933035 ] [ 0.47037864 -0.10203352 0.87654612 1.3601357 ] [ 0. 0. 0. 1. ]] SLAMing on 175.646502481 meters Centerline goodness [0,1] 0.6581104141130099 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87846254 -0.03865349 -0.47624518 5.7270887 ] [ 0.08225734 0.99407552 0.0710464 0.29535825] [ 0.47067748 -0.10158626 0.87643764 1.36041197] [ 0. 0. 0. 1. ]] SLAMing on 175.676502481 meters Centerline goodness [0,1] 0.6984688718763542 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87868374 -0.03337077 -0.47623658 5.72789006] [ 0.07816555 0.9941485 0.07455811 0.29701711] [ 0.47096182 -0.10273829 0.87615056 1.35978367] [ 0. 0. 0. 1. ]] SLAMing on 175.706502481 meters Centerline goodness [0,1] 0.7164669501352918 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87856682 -0.03309571 -0.47647141 5.72902793] [ 0.07774052 0.994202 0.07428865 0.29895494] [ 0.4712502 -0.10230868 0.87604577 1.35968026] [ 0. 0. 0. 1. ]] SLAMing on 175.73650248099997 meters Centerline goodness [0,1] 0.7214304725495415 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87875321 -0.02780535 -0.4764658 5.72970552] [ 0.07357222 0.99426095 0.0776678 0.30113022] [ 0.47157176 -0.10330548 0.8757557 1.35918025] [ 0. 0. 0. 1. ]] SLAMing on 175.76650248099997 meters Centerline goodness [0,1] 0.7232277526395173 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87901827 -0.02284217 -0.47624061 5.72938231] [ 0.06971118 0.9942749 0.0809801 0.30266994] [ 0.47166432 -0.10438229 0.87557816 1.35879303] [ 0. 0. 0. 1. ]] SLAMing on 175.79650248099998 meters Centerline goodness [0,1] 0.7218405924193705 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87894397 -0.02323114 -0.47635891 5.72926516] [ 0.06983977 0.99431517 0.08037254 0.30416478] [ 0.47178375 -0.10391176 0.87556978 1.35905101] [ 0. 0. 0. 1. ]] SLAMing on 175.82650248099998 meters Centerline goodness [0,1] 0.7204437400950872 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87886597 -0.02327119 -0.47650084 5.72928076] [ 0.06960864 0.99437554 0.07982435 0.30629189] [ 0.47196317 -0.10332348 0.8755427 1.35936398] [ 0. 0. 0. 1. ]] SLAMing on 175.85650248099998 meters Centerline goodness [0,1] 0.7196129566891711 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87874872 -0.02367228 -0.47669729 5.72919813] [ 0.06977305 0.99441083 0.07923897 0.30782398] [ 0.47215718 -0.10289176 0.87548894 1.35973637] [ 0. 0. 0. 1. ]] SLAMing on 175.88650248099998 meters Centerline goodness [0,1] 0.7145716377837442 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87852919 -0.02360722 -0.47710499 5.72994482] [ 0.06957154 0.99445177 0.07890167 0.3092915 ] [ 0.47259525 -0.10251035 0.8752973 1.36014564] [ 0. 0. 0. 1. ]] SLAMing on 175.91650248099998 meters Centerline goodness [0,1] 0.7154638169130922 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87849423 -0.02380527 -0.47715951 5.73043498] [ 0.0696807 0.99446207 0.07867526 0.30947798] [ 0.47264415 -0.10236457 0.87528796 1.3600534 ] [ 0. 0. 0. 1. ]] SLAMing on 175.94650248099998 meters Centerline goodness [0,1] 0.7140136253754303 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87852857 -0.0240242 -0.47708531 5.73021126] [ 0.06986719 0.99445653 0.07857986 0.30925218] [ 0.47255278 -0.10236726 0.87533697 1.36001954] [ 0. 0. 0. 1. ]] SLAMing on 175.97650248099998 meters Centerline goodness [0,1] 0.7147204908453448 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87860879 -0.02424906 -0.47692617 5.72980691] [ 0.07007377 0.99444592 0.07853009 0.30871656] [ 0.47237301 -0.10241724 0.87542815 1.35997094] [ 0. 0. 0. 1. ]] SLAMing on 176.00650248099998 meters Centerline goodness [0,1] 0.7145603192369459 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87822573 -0.02898646 -0.47736711 5.73025849] [ 0.07358997 0.99446443 0.07500013 0.30902447] [ 0.47255062 -0.10099647 0.87549736 1.3607955 ] [ 0. 0. 0. 1. ]] SLAMing on 176.03650248099999 meters Centerline goodness [0,1] 0.7151103317258513 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87829064 -0.02914462 -0.47723803 5.73034012] [ 0.07383216 0.99443529 0.07514836 0.30774583] [ 0.47239217 -0.10123761 0.87555502 1.3605638 ] [ 0. 0. 0. 1. ]] SLAMing on 176.066502481 meters Centerline goodness [0,1] 0.7122091617085087 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87811695 -0.03471518 -0.47718496 5.73025616] [ 0.07796517 0.99441553 0.07112802 0.30709327] [ 0.47205091 -0.09966253 0.8759197 1.36083354] [ 0. 0. 0. 1. ]] SLAMing on 176.096502481 meters Centerline goodness [0,1] 0.7138299415091603 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.8782088 -0.03492681 -0.47700043 5.7299051 ] [ 0.07823056 0.9943881 0.07121998 0.30602054] [ 0.47183607 -0.09986202 0.87601273 1.36069713] [ 0. 0. 0. 1. ]] SLAMing on 176.126502481 meters Centerline goodness [0,1] 0.7105396840755702 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87812654 -0.03510224 -0.47713898 5.72948949] [ 0.07852841 0.9943538 0.0713709 0.30519693] [ 0.47193968 -0.10014164 0.87592499 1.36105216] [ 0. 0. 0. 1. ]] SLAMing on 176.156502481 meters Centerline goodness [0,1] 0.7114812755361071 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87808429 -0.03528135 -0.47720352 5.72909739] [ 0.07868737 0.99434819 0.071274 0.30510458] [ 0.47199181 -0.10013447 0.87589772 1.3613791 ] [ 0. 0. 0. 1. ]] SLAMing on 176.186502481 meters Centerline goodness [0,1] 0.71298019969538 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87811023 -0.03531297 -0.47715346 5.72888354] [ 0.07876069 0.99433653 0.07135563 0.30421198] [ 0.47193134 -0.10023904 0.87591835 1.36147872] [ 0. 0. 0. 1. ]] SLAMing on 176.216502481 meters Centerline goodness [0,1] 0.7125090383224874 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87817647 -0.03524611 -0.47703647 5.72918068] [ 0.07874872 0.99432695 0.0715021 0.30329761] [ 0.47181005 -0.10035747 0.87597012 1.36121208] [ 0. 0. 0. 1. ]] SLAMing on 176.246502481 meters Centerline goodness [0,1] 0.7151220217302272 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87824063 -0.03510019 -0.4769291 5.72950617] [ 0.07870014 0.99431333 0.07174458 0.30195979] [ 0.47169872 -0.10054339 0.87600876 1.36095865] [ 0. 0. 0. 1. ]] SLAMing on 176.276502481 meters Centerline goodness [0,1] 0.7169893094481363 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87826747 -0.03478295 -0.47690293 5.72868107] [ 0.0784013 0.9943284 0.07186292 0.30174918] [ 0.47169852 -0.10050467 0.87601331 1.36146509] [ 0. 0. 0. 1. ]] SLAMing on 176.306502481 meters Centerline goodness [0,1] 0.7157514450867052 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87816777 -0.03408928 -0.47713656 5.72934656] [ 0.07782321 0.99435001 0.07219142 0.30177139] [ 0.47197979 -0.10052847 0.87585907 1.36165553] [ 0. 0. 0. 1. ]] SLAMing on 176.336502481 meters Centerline goodness [0,1] 0.7144782116990303 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87809837 -0.03405664 -0.47726658 5.72956242] [ 0.07775788 0.99436122 0.07210743 0.30181897] [ 0.47211965 -0.10042865 0.87579514 1.3618234 ] [ 0. 0. 0. 1. ]] SLAMing on 176.366502481 meters Centerline goodness [0,1] 0.7155841650995709 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87805092 -0.03368021 -0.47738059 5.73043366] [ 0.07751046 0.99435843 0.07241168 0.30032443] [ 0.47224857 -0.10058313 0.8757079 1.36178197] [ 0. 0. 0. 1. ]] SLAMing on 176.396502481 meters Centerline goodness [0,1] 0.7146156066583278 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87802608 -0.0335817 -0.47743321 5.73093036] [ 0.07748172 0.9943504 0.07255256 0.29942105] [ 0.47229947 -0.10069539 0.87566755 1.36170222] [ 0. 0. 0. 1. ]] SLAMing on 176.426502481 meters Centerline goodness [0,1] 0.7113797735559393 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87796729 -0.03300394 -0.47758158 5.73207382] [ 0.07723742 0.99431631 0.07327663 0.29701365] [ 0.47244874 -0.10122166 0.87552634 1.36153184] [ 0. 0. 0. 1. ]] SLAMing on 176.456502481 meters Centerline goodness [0,1] 0.7117207698937087 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87798185 -0.03305188 -0.47755152 5.73156593] [ 0.07735343 0.99429831 0.07339831 0.29603766] [ 0.47240271 -0.10138263 0.87553254 1.36178256] [ 0. 0. 0. 1. ]] SLAMing on 176.48650248099997 meters Centerline goodness [0,1] 0.7124850799713536 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87802015 -0.03345252 -0.47745319 5.72975492] [ 0.07777034 0.99426906 0.07335403 0.29397835] [ 0.47226305 -0.10153801 0.87558988 1.36265074] [ 0. 0. 0. 1. ]] SLAMing on 176.51650248099997 meters Centerline goodness [0,1] 0.7124850799713536 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87802015 -0.03345252 -0.47745319 5.72975492] [ 0.07777034 0.99426906 0.07335403 0.29397835] [ 0.47226305 -0.10153801 0.87558988 1.36265074] [ 0. 0. 0. 1. ]] SLAMing on 176.54650248099998 meters Centerline goodness [0,1] 0.7091587984874069 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87807132 -0.03336423 -0.47736525 5.72979653] [ 0.07783475 0.99423989 0.0736803 0.29220995] [ 0.47215729 -0.10185217 0.87561043 1.36257951] [ 0. 0. 0. 1. ]] SLAMing on 176.57650248099998 meters Centerline goodness [0,1] 0.7102099961991638 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87776982 -0.03833457 -0.47754643 5.73027744] [ 0.08157034 0.99419756 0.07012479 0.29058526] [ 0.4720873 -0.10050705 0.87580358 1.36307311] [ 0. 0. 0. 1. ]] SLAMing on 176.60650248099998 meters Centerline goodness [0,1] 0.7085281201303301 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87794372 -0.03959955 -0.47712336 5.72802491] [ 0.0825816 0.99416182 0.06944461 0.28757873] [ 0.47158786 -0.10037007 0.87608832 1.3637208 ] [ 0. 0. 0. 1. ]] SLAMing on 176.63650248099998 meters Centerline goodness [0,1] 0.7114586281724691 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87803902 -0.03976628 -0.47693409 5.72741938] [ 0.08282393 0.99413151 0.06958975 0.28621506] [ 0.47136788 -0.10060407 0.87617986 1.36373687] [ 0. 0. 0. 1. ]] SLAMing on 176.66650248099998 meters Centerline goodness [0,1] 0.709092614742372 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87777177 -0.0443382 -0.47702289 5.72788907] [ 0.08628688 0.99405637 0.06638155 0.28469116] [ 0.4712444 -0.09942867 0.87638043 1.36409649] [ 0. 0. 0. 1. ]] SLAMing on 176.69650248099998 meters Centerline goodness [0,1] 0.7094540861673762 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87786199 -0.04427847 -0.47686239 5.72755967] [ 0.08639583 0.99402234 0.06674845 0.28281117] [ 0.47105635 -0.09979485 0.8764399 1.3640819 ] [ 0. 0. 0. 1. ]] SLAMing on 176.72650248099998 meters Centerline goodness [0,1] 0.7108456182025664 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87812558 -0.04612225 -0.47620185 5.72544048] [ 0.0877826 0.99397717 0.06560177 0.27975591] [ 0.47030807 -0.09940883 0.87688551 1.36433435] [ 0. 0. 0. 1. ]] SLAMing on 176.75650248099998 meters Centerline goodness [0,1] 0.7098649182767199 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87821438 -0.04596472 -0.4760533 5.72552115] [ 0.0877945 0.99395029 0.06599208 0.27814376] [ 0.47014001 -0.09975005 0.87693689 1.36408867] [ 0. 0. 0. 1. ]] SLAMing on 176.78650248099999 meters Centerline goodness [0,1] 0.7076584405051558 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.8783334 -0.04565588 -0.4758634 5.72556006] [ 0.08772161 0.99391926 0.06655389 0.27619062] [ 0.46993122 -0.10020001 0.87699749 1.36383412] [ 0. 0. 0. 1. ]] SLAMing on 176.816502481 meters Centerline goodness [0,1] 0.7092142741356553 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87832683 -0.04512194 -0.47592646 5.7262556 ] [ 0.08740333 0.99391246 0.0670722 0.27497392] [ 0.47000281 -0.10050887 0.87692379 1.36369475] [ 0. 0. 0. 1. ]] SLAMing on 176.846502481 meters Centerline goodness [0,1] 0.7087895553137804 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87832898 -0.04492246 -0.47594136 5.72655273] [ 0.08725079 0.99391688 0.06720514 0.27477279] [ 0.47002713 -0.10055448 0.87690552 1.36359237] [ 0. 0. 0. 1. ]] SLAMing on 176.876502481 meters Centerline goodness [0,1] 0.7115247451855602 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87838034 -0.04452686 -0.47588374 5.72636739] [ 0.0868056 0.99395461 0.06722367 0.27491728] [ 0.47001357 -0.10035733 0.87693537 1.36376076] [ 0. 0. 0. 1. ]] SLAMing on 176.906502481 meters Centerline goodness [0,1] 0.7131194797407928 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87843887 -0.04398667 -0.47582594 5.72641239] [ 0.08621563 0.99400232 0.06727736 0.27543565] [ 0.47001278 -0.10012268 0.87696262 1.36380554] [ 0. 0. 0. 1. ]] SLAMing on 176.936502481 meters Centerline goodness [0,1] 0.715382487204316 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87841199 -0.04391715 -0.47588197 5.726592 ] [ 0.08606952 0.99402441 0.06713803 0.27610733] [ 0.47008979 -0.09993378 0.87694289 1.36382057] [ 0. 0. 0. 1. ]] SLAMing on 176.966502481 meters Centerline goodness [0,1] 0.7146042619709891 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87846282 -0.0434225 -0.47583354 5.72688872] [ 0.08549172 0.99407576 0.067116 0.27699938] [ 0.47010024 -0.09963874 0.87697086 1.36375339] [ 0. 0. 0. 1. ]] SLAMing on 176.996502481 meters Centerline goodness [0,1] 0.7152969931746911 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87846582 -0.04329825 -0.47583932 5.72699474] [ 0.08534539 0.99408914 0.06710392 0.27733543] [ 0.47012122 -0.0995592 0.87696865 1.36370801] [ 0. 0. 0. 1. ]] SLAMing on 177.026502481 meters Centerline goodness [0,1] 0.7180913686834876 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87845401 -0.04288677 -0.47589839 5.72787857] [ 0.08505193 0.99409352 0.06741094 0.2765728 ] [ 0.47019647 -0.09969349 0.87691304 1.36346136] [ 0. 0. 0. 1. ]] SLAMing on 177.056502481 meters Centerline goodness [0,1] 0.7189711203816811 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87851128 -0.04289823 -0.47579163 5.72804243] [ 0.08512496 0.99407793 0.06754858 0.27555704] [ 0.47007625 -0.09984393 0.87696038 1.36324048] [ 0. 0. 0. 1. ]] SLAMing on 177.086502481 meters Centerline goodness [0,1] 0.7217864024222406 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87872069 -0.04316897 -0.47538025 5.7265351 ] [ 0.08545968 0.99403886 0.06770066 0.2730029 ] [ 0.46962388 -0.10011581 0.87717173 1.36345244] [ 0. 0. 0. 1. ]] SLAMing on 177.116502481 meters Centerline goodness [0,1] 0.72343595974416 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87883169 -0.04322959 -0.47516951 5.72583875] [ 0.08558387 0.99401762 0.06785547 0.27207785] [ 0.4693935 -0.10030038 0.87727395 1.36346566] [ 0. 0. 0. 1. ]] SLAMing on 177.146502481 meters Centerline goodness [0,1] 0.72325161644086 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87886041 -0.04316869 -0.47512193 5.7261563 ] [ 0.08580432 0.99396076 0.06840777 0.26965023] [ 0.46929948 -0.1008884 0.87725682 1.36328118] [ 0. 0. 0. 1. ]] SLAMing on 177.176502481 meters Centerline goodness [0,1] 0.7235970404097893 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87856568 -0.04785375 -0.47521823 5.72759424] [ 0.08934465 0.99387126 0.06509571 0.26849592] [ 0.46919067 -0.09964906 0.87745665 1.36314777] [ 0. 0. 0. 1. ]] SLAMing on 177.206502481 meters Centerline goodness [0,1] 0.7236764237264988 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.8786744 -0.04803619 -0.47499877 5.7272155 ] [ 0.08957769 0.99384355 0.06519839 0.26733422] [ 0.46894258 -0.09983745 0.87756785 1.36299538] [ 0. 0. 0. 1. ]] SLAMing on 177.23650248099997 meters Centerline goodness [0,1] 0.7269691255651225 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87890248 -0.04843459 -0.4745361 5.72607755] [ 0.08999493 0.99380263 0.06524761 0.26567822] [ 0.46843499 -0.10005213 0.87781446 1.36282881] [ 0. 0. 0. 1. ]] SLAMing on 177.26650248099997 meters Centerline goodness [0,1] 0.7294796106767569 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87897377 -0.04851711 -0.47439561 5.72572364] [ 0.09009576 0.99379034 0.06529566 0.26498824] [ 0.46828182 -0.1001342 0.87788683 1.36282756] [ 0. 0. 0. 1. ]] SLAMing on 177.29650248099998 meters Centerline goodness [0,1] 0.7320783029806971 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87899622 -0.0486253 -0.47434293 5.72510004] [ 0.0901712 0.99378843 0.0652205 0.2648899 ] [ 0.46822515 -0.10010064 0.87792088 1.36310609] [ 0. 0. 0. 1. ]] SLAMing on 177.32650248099998 meters Centerline goodness [0,1] 0.7327766654532217 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.36 [[ 0.87895587 -0.04857177 -0.47442319 5.72472299] [ 0.09006754 0.9938044 0.06512024 0.26533103] [ 0.46832085 -0.09996794 0.87788495 1.36347246] [ 0. 0. 0. 1. ]] SLAMing on 177.35650248099998 meters Centerline goodness [0,1] 0.7323902151488358 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.36 [[ 0.87900352 -0.04869293 -0.47432248 5.72448862] [ 0.09014156 0.99380383 0.0650265 0.2652645 ] [ 0.46821717 -0.09991469 0.87794632 1.36342845] [ 0. 0. 0. 1. ]] SLAMing on 177.38650248099998 meters Centerline goodness [0,1] 0.731606947981084 Centerline is valid? [False, False] Translation: X:5.72, Y:0.26, Z:1.36 [[ 0.87900334 -0.04851431 -0.47434112 5.72489847] [ 0.09006606 0.99379543 0.0652591 0.26424797] [ 0.46823203 -0.100085 0.87791899 1.36332049] [ 0. 0. 0. 1. ]] SLAMing on 177.41650248099998 meters Centerline goodness [0,1] 0.7309973413320607 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87889149 -0.04802294 -0.47459829 5.72633587] [ 0.08981185 0.99378531 0.06576166 0.26322972] [ 0.46849074 -0.10042191 0.87774248 1.36309013] [ 0. 0. 0. 1. ]] SLAMing on 177.44650248099998 meters Centerline goodness [0,1] 0.7327191031634366 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87880943 -0.04796485 -0.47475611 5.72662791] [ 0.08981272 0.99377951 0.06584809 0.26304007] [ 0.4686445 -0.10050706 0.87765065 1.36321922] [ 0. 0. 0. 1. ]] SLAMing on 177.47650248099998 meters Centerline goodness [0,1] 0.7325613141011057 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87890953 -0.04804152 -0.47456301 5.72619393] [ 0.08995628 0.99375634 0.06600148 0.26214788] [ 0.46842919 -0.10069925 0.87774356 1.3631311 ] [ 0. 0. 0. 1. ]] SLAMing on 177.50650248099998 meters Centerline goodness [0,1] 0.7347472862571969 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87897426 -0.04816118 -0.47443098 5.7260107 ] [ 0.0900985 0.99374046 0.06604659 0.26152361] [ 0.46828038 -0.10079877 0.87781154 1.36300768] [ 0. 0. 0. 1. ]] SLAMing on 177.53650248099999 meters Centerline goodness [0,1] 0.7331783369803063 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87900705 -0.04812051 -0.47437435 5.72672502] [ 0.09023215 0.99370497 0.06639716 0.25995112] [ 0.46819308 -0.10116739 0.8778157 1.36261 ] [ 0. 0. 0. 1. ]] SLAMing on 177.566502481 meters Centerline goodness [0,1] 0.7330407295385806 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87903734 -0.04825372 -0.47430468 5.72672691] [ 0.0904177 0.99368259 0.06647976 0.25912517] [ 0.4681004 -0.10132373 0.87784709 1.36251848] [ 0. 0. 0. 1. ]] SLAMing on 177.596502481 meters Centerline goodness [0,1] 0.7342809782238471 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87916279 -0.04891893 -0.47400392 5.72547796] [ 0.09108527 0.99362727 0.06639522 0.25763024] [ 0.46773524 -0.10154698 0.87801592 1.36265089] [ 0. 0. 0. 1. ]] SLAMing on 177.626502481 meters Centerline goodness [0,1] 0.7321961329112483 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87911755 -0.04919073 -0.47405971 5.72581449] [ 0.09151057 0.99357427 0.06660322 0.25619843] [ 0.46773726 -0.10193353 0.87797005 1.36255437] [ 0. 0. 0. 1. ]] SLAMing on 177.656502481 meters Centerline goodness [0,1] 0.7323453871854899 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87908513 -0.04929985 -0.47410849 5.72613849] [ 0.09166642 0.99355661 0.06665224 0.25569629] [ 0.46776768 -0.10205282 0.87793998 1.36250363] [ 0. 0. 0. 1. ]] SLAMing on 177.686502481 meters Centerline goodness [0,1] 0.7305058135566225 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87904119 -0.04972899 -0.47414514 5.72590644] [ 0.09208548 0.99352677 0.0665194 0.25534743] [ 0.46776794 -0.10213517 0.87793027 1.36266251] [ 0. 0. 0. 1. ]] SLAMing on 177.716502481 meters Centerline goodness [0,1] 0.7260464691651071 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.87898522 -0.04993846 -0.47422689 5.72643722] [ 0.09232744 0.99350501 0.06650898 0.25490457] [ 0.46782543 -0.10224457 0.8778869 1.36255431] [ 0. 0. 0. 1. ]] SLAMing on 177.746502481 meters Centerline goodness [0,1] 0.7239202279202279 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87886352 -0.05001394 -0.47444443 5.72686674] [ 0.09238443 0.99350686 0.06640211 0.25536896] [ 0.46804276 -0.10218968 0.87777744 1.3626895 ] [ 0. 0. 0. 1. ]] SLAMing on 177.776502481 meters Centerline goodness [0,1] 0.7224148945879347 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87856857 -0.05008289 -0.47498312 5.7275042 ] [ 0.09231563 0.99354042 0.06599441 0.25784901] [ 0.46860974 -0.10182898 0.87751682 1.36318859] [ 0. 0. 0. 1. ]] SLAMing on 177.806502481 meters Centerline goodness [0,1] 0.7242554554188206 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87842132 -0.05031779 -0.47523058 5.72761374] [ 0.09240283 0.99355846 0.06559963 0.25927182] [ 0.46886854 -0.10153677 0.87741244 1.36349248] [ 0. 0. 0. 1. ]] SLAMing on 177.836502481 meters Centerline goodness [0,1] 0.7233847913093197 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87838669 -0.0505351 -0.47527154 5.72772617] [ 0.09238297 0.99359366 0.0650925 0.261085 ] [ 0.46893733 -0.10108338 0.87742802 1.36347756] [ 0. 0. 0. 1. ]] SLAMing on 177.866502481 meters Centerline goodness [0,1] 0.725548582161345 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87833418 -0.05082244 -0.47533794 5.72775828] [ 0.09250355 0.99360848 0.06469382 0.26207464] [ 0.46901191 -0.10079324 0.87742154 1.36355851] [ 0. 0. 0. 1. ]] SLAMing on 177.896502481 meters Centerline goodness [0,1] 0.7243805725549519 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.87814906 -0.05072801 -0.47568991 5.72868554] [ 0.09225327 0.9936547 0.06434024 0.26390042] [ 0.46940766 -0.10038427 0.87725677 1.36369682] [ 0. 0. 0. 1. ]] SLAMing on 177.926502481 meters Centerline goodness [0,1] 0.722988188795441 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87803304 -0.05047656 -0.47593076 5.72894363] [ 0.09186513 0.99370693 0.06408855 0.26576479] [ 0.46970072 -0.09999331 0.87714455 1.36400419] [ 0. 0. 0. 1. ]] SLAMing on 177.956502481 meters Centerline goodness [0,1] 0.7236709209438986 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87795829 -0.05053652 -0.47606228 5.72910425] [ 0.09185648 0.99371897 0.06391404 0.26649208] [ 0.46984213 -0.09984327 0.87708591 1.36413633] [ 0. 0. 0. 1. ]] SLAMing on 177.98650248099997 meters Centerline goodness [0,1] 0.7221891185772562 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87793403 -0.05033785 -0.47612808 5.72961269] [ 0.0917229 0.99372135 0.0640686 0.26588967] [ 0.46991356 -0.09991985 0.87703892 1.36405604] [ 0. 0. 0. 1. ]] SLAMing on 178.01650248099997 meters Centerline goodness [0,1] 0.7213805099098274 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87792161 -0.050335 -0.47615128 5.72967208] [ 0.09173167 0.99371946 0.06408541 0.26574596] [ 0.46993505 -0.09994012 0.8770251 1.36408941] [ 0. 0. 0. 1. ]] SLAMing on 178.04650248099998 meters Centerline goodness [0,1] 0.7208298110534854 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87786491 -0.0503121 -0.47625822 5.72865326] [ 0.09177192 0.99370944 0.06418311 0.26570256] [ 0.4700331 -0.10005123 0.87695989 1.36472579] [ 0. 0. 0. 1. ]] SLAMing on 178.07650248099998 meters Centerline goodness [0,1] 0.7223112494849138 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87790399 -0.05048075 -0.47616834 5.72788823] [ 0.09194638 0.99369389 0.06417411 0.26530306] [ 0.46992601 -0.10012067 0.87700935 1.36497823] [ 0. 0. 0. 1. ]] SLAMing on 178.10650248099998 meters Centerline goodness [0,1] 0.7206190736688549 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87796911 -0.05145962 -0.47594343 5.72626867] [ 0.09285932 0.99362895 0.06386441 0.26370512] [ 0.46962473 -0.10026676 0.87715403 1.36541913] [ 0. 0. 0. 1. ]] SLAMing on 178.13650248099998 meters Centerline goodness [0,1] 0.7206535858344159 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87805184 -0.05188482 -0.47574462 5.72583393] [ 0.0932977 0.99358993 0.06383253 0.26249226] [ 0.46938312 -0.10043415 0.8772642 1.36532818] [ 0. 0. 0. 1. ]] SLAMing on 178.16650248099998 meters Centerline goodness [0,1] 0.7177756567584765 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87769625 -0.05736707 -0.47577128 5.72656213] [ 0.09736 0.99344977 0.0598212 0.26239848] [ 0.46922311 -0.09882594 0.8775324 1.3654434 ] [ 0. 0. 0. 1. ]] SLAMing on 178.19650248099998 meters Centerline goodness [0,1] 0.7125575906130137 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87760845 -0.05744443 -0.47592389 5.72767017] [ 0.09754807 0.99342219 0.0599727 0.26190296] [ 0.46934826 -0.09905801 0.8774393 1.3651135 ] [ 0. 0. 0. 1. ]] SLAMing on 178.22650248099998 meters Centerline goodness [0,1] 0.7117718032189769 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87755057 -0.05757593 -0.47601471 5.72768939] [ 0.09765005 0.99341877 0.05986338 0.26248844] [ 0.46943526 -0.099016 0.8773975 1.36521672] [ 0. 0. 0. 1. ]] SLAMing on 178.25650248099998 meters Centerline goodness [0,1] 0.7083200437417414 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.8775309 -0.05820662 -0.47597428 5.72626687] [ 0.0980605 0.99341178 0.05930568 0.2641146 ] [ 0.46938648 -0.09871685 0.8774573 1.36575915] [ 0. 0. 0. 1. ]] SLAMing on 178.28650248099999 meters Centerline goodness [0,1] 0.7074623459607485 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.37 [[ 0.87756398 -0.05867431 -0.47585584 5.72542219] [ 0.09835028 0.99340812 0.05888575 0.26491061] [ 0.46926398 -0.09847657 0.87754982 1.36592685] [ 0. 0. 0. 1. ]] SLAMing on 178.316502481 meters Centerline goodness [0,1] 0.7110578568983226 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87764328 -0.05928795 -0.47563349 5.72474253] [ 0.09871474 0.99340529 0.05832088 0.26574941] [ 0.4690391 -0.09813697 0.87770807 1.36587133] [ 0. 0. 0. 1. ]] SLAMing on 178.346502481 meters Centerline goodness [0,1] 0.7118900343642611 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87764645 -0.05964112 -0.47558349 5.72441752] [ 0.09890341 0.99340895 0.05793766 0.26672956] [ 0.46899343 -0.09788561 0.87776054 1.36589245] [ 0. 0. 0. 1. ]] SLAMing on 178.376502481 meters Centerline goodness [0,1] 0.7115526122148639 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87800707 -0.05507514 -0.47546852 5.7234283 ] [ 0.09555543 0.99353051 0.06137001 0.26705072] [ 0.46901252 -0.0993169 0.87758954 1.36573846] [ 0. 0. 0. 1. ]] SLAMing on 178.406502481 meters Centerline goodness [0,1] 0.7115526122148639 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87800707 -0.05507514 -0.47546852 5.7234283 ] [ 0.09555543 0.99353051 0.06137001 0.26705072] [ 0.46901252 -0.0993169 0.87758954 1.36573846] [ 0. 0. 0. 1. ]] SLAMing on 178.436502481 meters Centerline goodness [0,1] 0.7203671830177854 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87831709 -0.05018696 -0.47543702 5.7231551 ] [ 0.09193259 0.99364499 0.06494645 0.26754548] [ 0.46915615 -0.10075173 0.87734919 1.36543308] [ 0. 0. 0. 1. ]] SLAMing on 178.466502481 meters Centerline goodness [0,1] 0.7207545431513002 Centerline is valid? [False, False] Translation: X:5.72, Y:0.27, Z:1.37 [[ 0.87821991 -0.05020892 -0.47561419 5.72359376] [ 0.09182653 0.99367356 0.06465873 0.26907109] [ 0.4693588 -0.10045858 0.87727441 1.36545874] [ 0. 0. 0. 1. ]] SLAMing on 178.496502481 meters Centerline goodness [0,1] 0.7215897329745394 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.37 [[ 0.87808292 -0.04945365 -0.47594613 5.72552337] [ 0.09103989 0.99374289 0.06470557 0.27124296] [ 0.46976816 -0.10014694 0.87709091 1.36513279] [ 0. 0. 0. 1. ]] SLAMing on 178.526502481 meters Centerline goodness [0,1] 0.7232072770928568 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87839315 -0.04417558 -0.47589284 5.72600018] [ 0.08712188 0.99383612 0.06855319 0.27148328] [ 0.46993112 -0.10167733 0.8768275 1.36447223] [ 0. 0. 0. 1. ]] SLAMing on 178.556502481 meters Centerline goodness [0,1] 0.7227048006283787 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.8782746 -0.04422778 -0.47610674 5.72605895] [ 0.08700543 0.99387244 0.06817356 0.27337338] [ 0.4701742 -0.10129898 0.87674098 1.36475937] [ 0. 0. 0. 1. ]] SLAMing on 178.586502481 meters Centerline goodness [0,1] 0.7234194739270882 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87820248 -0.04372535 -0.47628616 5.72674366] [ 0.08640956 0.9939309 0.06807905 0.27557297] [ 0.47041875 -0.10094287 0.87665086 1.36474766] [ 0. 0. 0. 1. ]] SLAMing on 178.616502481 meters Centerline goodness [0,1] 0.7231408797436016 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87814964 -0.04386274 -0.47637094 5.72693826] [ 0.08644263 0.99394503 0.06783035 0.27641065] [ 0.4705113 -0.10074395 0.87662408 1.36477836] [ 0. 0. 0. 1. ]] SLAMing on 178.646502481 meters Centerline goodness [0,1] 0.7231119157034768 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87807142 -0.04397211 -0.47650502 5.72715852] [ 0.08643709 0.99396413 0.06755698 0.27750771] [ 0.47065827 -0.10050756 0.87657232 1.36491507] [ 0. 0. 0. 1. ]] SLAMing on 178.676502481 meters Centerline goodness [0,1] 0.7227126992240138 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87806905 -0.04425985 -0.47648274 5.72702346] [ 0.08662635 0.99396453 0.06730821 0.2779856 ] [ 0.47062789 -0.10037722 0.87660356 1.36495053] [ 0. 0. 0. 1. ]] SLAMing on 178.706502481 meters Centerline goodness [0,1] 0.7213896774794062 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.37 [[ 0.878047 -0.04472828 -0.47647965 5.72686262] [ 0.08700802 0.99394984 0.06703217 0.27811824] [ 0.47059864 -0.10031495 0.87662639 1.36502366] [ 0. 0. 0. 1. ]] SLAMing on 178.73650248099997 meters Centerline goodness [0,1] 0.7186179352621558 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87811508 -0.04532469 -0.47629779 5.72647873] [ 0.08754106 0.99391791 0.06681137 0.27762642] [ 0.47037269 -0.10036368 0.87674207 1.3649056 ] [ 0. 0. 0. 1. ]] SLAMing on 178.76650248099997 meters Centerline goodness [0,1] 0.7182371809771745 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87816281 -0.04569871 -0.47617404 5.72614286] [ 0.08787832 0.99389691 0.06668081 0.27719903] [ 0.47022068 -0.10040198 0.87681923 1.36486846] [ 0. 0. 0. 1. ]] SLAMing on 178.79650248099998 meters Centerline goodness [0,1] 0.7188488004463456 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87829732 -0.04627703 -0.47587 5.72577064] [ 0.08841068 0.99386004 0.06652653 0.27640799] [ 0.46986952 -0.10050206 0.87699599 1.36455713] [ 0. 0. 0. 1. ]] SLAMing on 178.82650248099998 meters Centerline goodness [0,1] 0.7185080110689952 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87835646 -0.04664148 -0.47572524 5.72532921] [ 0.08870366 0.99384649 0.06633863 0.27619048] [ 0.46970373 -0.10046753 0.87708875 1.36451957] [ 0. 0. 0. 1. ]] SLAMing on 178.85650248099998 meters Centerline goodness [0,1] 0.7173791301101362 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87847703 -0.04714759 -0.47545263 5.7244415 ] [ 0.08909442 0.99382977 0.06606488 0.27623077] [ 0.46940418 -0.10039666 0.87725722 1.36444622] [ 0. 0. 0. 1. ]] SLAMing on 178.88650248099998 meters Centerline goodness [0,1] 0.7160669008350973 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.8785536 -0.04752355 -0.4752737 5.72367734] [ 0.08936916 0.99382091 0.06582671 0.27698665] [ 0.46920862 -0.1003071 0.87737207 1.36444927] [ 0. 0. 0. 1. ]] SLAMing on 178.91650248099998 meters Centerline goodness [0,1] 0.7146643725731824 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87859963 -0.04779166 -0.47516171 5.72341217] [ 0.08955372 0.99381719 0.06563173 0.27718059] [ 0.46908723 -0.10021651 0.87744733 1.36438331] [ 0. 0. 0. 1. ]] SLAMing on 178.94650248099998 meters Centerline goodness [0,1] 0.7178146495631158 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87880156 -0.04836505 -0.47473007 5.72239186] [ 0.08997956 0.99379931 0.06531926 0.2769186 ] [ 0.46862725 -0.10011867 0.87770425 1.36412924] [ 0. 0. 0. 1. ]] SLAMing on 178.97650248099998 meters Centerline goodness [0,1] 0.7164848964025765 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87888228 -0.04861143 -0.47455544 5.72216037] [ 0.09014325 0.99379584 0.06514617 0.27697215] [ 0.46844437 -0.10003378 0.87781155 1.36392637] [ 0. 0. 0. 1. ]] SLAMing on 179.00650248099998 meters Centerline goodness [0,1] 0.7150649169017039 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87899446 -0.04873373 -0.47433507 5.72188672] [ 0.0901453 0.99380889 0.06494398 0.27781939] [ 0.46823345 -0.09984447 0.87794563 1.3636297 ] [ 0. 0. 0. 1. ]] SLAMing on 179.03650248099999 meters Centerline goodness [0,1] 0.7168343581144028 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87896797 -0.04881154 -0.47437616 5.72160006] [ 0.09013268 0.99382298 0.06474548 0.27868333] [ 0.4682856 -0.09966599 0.87793809 1.3638127 ] [ 0. 0. 0. 1. ]] SLAMing on 179.066502481 meters Centerline goodness [0,1] 0.7208645519688164 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87897266 -0.04853998 -0.47439533 5.72175619] [ 0.08973322 0.9938707 0.06456763 0.28052276] [ 0.46835351 -0.0993222 0.87794082 1.36373265] [ 0. 0. 0. 1. ]] SLAMing on 179.096502481 meters Centerline goodness [0,1] 0.7232770499077512 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87901779 -0.04834005 -0.47433212 5.7218019 ] [ 0.08934428 0.99392455 0.06427743 0.28213337] [ 0.46834317 -0.09887987 0.87799627 1.36364816] [ 0. 0. 0. 1. ]] SLAMing on 179.126502481 meters Centerline goodness [0,1] 0.7227468212415856 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87908835 -0.04843566 -0.47419159 5.72164585] [ 0.0893024 0.9939443 0.0640297 0.28295 ] [ 0.46821871 -0.09863421 0.87809028 1.36345393] [ 0. 0. 0. 1. ]] SLAMing on 179.156502481 meters Centerline goodness [0,1] 0.7229048445340711 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87908343 -0.04821678 -0.47422302 5.72181644] [ 0.08896456 0.99398598 0.06385281 0.28420312] [ 0.46829226 -0.09832099 0.87808618 1.36343495] [ 0. 0. 0. 1. ]] SLAMing on 179.186502481 meters Centerline goodness [0,1] 0.721850743477041 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87907975 -0.04815126 -0.47423648 5.72198455] [ 0.08885219 0.99400084 0.06377783 0.28497429] [ 0.46832048 -0.09820275 0.87808436 1.3633415 ] [ 0. 0. 0. 1. ]] SLAMing on 179.216502481 meters Centerline goodness [0,1] 0.7219337636822902 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87897762 -0.04801377 -0.47443968 5.72248407] [ 0.08871966 0.99401301 0.06377266 0.28575593] [ 0.46853725 -0.09814687 0.87797496 1.36337199] [ 0. 0. 0. 1. ]] SLAMing on 179.246502481 meters Centerline goodness [0,1] 0.724523737526459 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87905073 -0.04810629 -0.47429484 5.72280132] [ 0.08882515 0.99400128 0.06380862 0.28518697] [ 0.46838009 -0.09822033 0.8780506 1.36299278] [ 0. 0. 0. 1. ]] SLAMing on 179.276502481 meters Centerline goodness [0,1] 0.7237500584631215 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87910621 -0.04826604 -0.47417576 5.72281893] [ 0.08897365 0.99399006 0.06377661 0.28474684] [ 0.46824775 -0.09825557 0.87811724 1.36276439] [ 0. 0. 0. 1. ]] SLAMing on 179.306502481 meters Centerline goodness [0,1] 0.7224368429678537 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87911129 -0.04838748 -0.47415398 5.72319926] [ 0.08913852 0.99397164 0.06383347 0.28395135] [ 0.46820687 -0.0983821 0.87812487 1.36257371] [ 0. 0. 0. 1. ]] SLAMing on 179.336502481 meters Centerline goodness [0,1] 0.7226531470492032 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87912913 -0.04845979 -0.4741135 5.72328543] [ 0.08925095 0.99395723 0.06390063 0.28351034] [ 0.46815194 -0.09849198 0.87814184 1.36244887] [ 0. 0. 0. 1. ]] SLAMing on 179.366502481 meters Centerline goodness [0,1] 0.7221407112415287 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87920641 -0.04869352 -0.47394624 5.72318593] [ 0.0895607 0.99392131 0.06402586 0.28268541] [ 0.46794762 -0.0987389 0.87822301 1.36218188] [ 0. 0. 0. 1. ]] SLAMing on 179.396502481 meters Centerline goodness [0,1] 0.7186741929464453 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87918446 -0.04889092 -0.47396663 5.72309108] [ 0.0898441 0.99388876 0.06413405 0.28181531] [ 0.46793453 -0.09896876 0.87820411 1.36225714] [ 0. 0. 0. 1. ]] SLAMing on 179.426502481 meters Centerline goodness [0,1] 0.7176814988290399 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87916994 -0.04901348 -0.47398091 5.72318555] [ 0.08995771 0.99388172 0.06408385 0.28164082] [ 0.46793999 -0.09897883 0.87820007 1.36227378] [ 0. 0. 0. 1. ]] SLAMing on 179.456502481 meters Centerline goodness [0,1] 0.7177285770944637 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.8791253 -0.04904862 -0.47406006 5.72336654] [ 0.09000367 0.99387803 0.0640766 0.28147452] [ 0.46801501 -0.0989985 0.87815787 1.36234531] [ 0. 0. 0. 1. ]] SLAMing on 179.48650248099997 meters Centerline goodness [0,1] 0.7180235953743721 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87906312 -0.04936381 -0.47414264 5.72330946] [ 0.09014072 0.99389331 0.06364545 0.28246111] [ 0.46810542 -0.09868792 0.87814464 1.36251199] [ 0. 0. 0. 1. ]] SLAMing on 179.51650248099997 meters Centerline goodness [0,1] 0.7192391380641538 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87894454 -0.04960062 -0.47433771 5.72272571] [ 0.090121 0.99393242 0.06305991 0.28503539] [ 0.46833182 -0.09817396 0.87808153 1.36309983] [ 0. 0. 0. 1. ]] SLAMing on 179.54650248099998 meters Centerline goodness [0,1] 0.7172768717394369 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.8788653 -0.05010862 -0.47443114 5.72230412] [ 0.09033013 0.99395804 0.06235289 0.28744612] [ 0.46844023 -0.09765522 0.87808155 1.3633921 ] [ 0. 0. 0. 1. ]] SLAMing on 179.57650248099998 meters Centerline goodness [0,1] 0.7157956547269524 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87881315 -0.05043275 -0.47449339 5.72253006] [ 0.09050111 0.99396633 0.06197159 0.28840608] [ 0.46850506 -0.09740362 0.87807491 1.36335847] [ 0. 0. 0. 1. ]] SLAMing on 179.60650248099998 meters Centerline goodness [0,1] 0.7161878726462895 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87886329 -0.0510332 -0.47433631 5.72304875] [ 0.09085651 0.99396928 0.06140162 0.28957217] [ 0.4683422 -0.09706017 0.87819981 1.36278126] [ 0. 0. 0. 1. ]] SLAMing on 179.63650248099998 meters Centerline goodness [0,1] 0.7138788192646297 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87887393 -0.05140061 -0.47427692 5.72299274] [ 0.09108584 0.99396895 0.06106635 0.29023106] [ 0.46827768 -0.09686954 0.87825526 1.36268371] [ 0. 0. 0. 1. ]] SLAMing on 179.66650248099998 meters Centerline goodness [0,1] 0.7116874527588813 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87867975 -0.0519014 -0.47458208 5.7230914 ] [ 0.09133175 0.99398745 0.06039424 0.29292859] [ 0.46859408 -0.09641161 0.87813688 1.36302692] [ 0. 0. 0. 1. ]] SLAMing on 179.69650248099998 meters Centerline goodness [0,1] 0.7108779078030985 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87853611 -0.05207386 -0.47482903 5.72368943] [ 0.0913806 0.99400304 0.06006285 0.29463802] [ 0.4688538 -0.09615754 0.87802611 1.36304952] [ 0. 0. 0. 1. ]] SLAMing on 179.72650248099998 meters Centerline goodness [0,1] 0.7078635751258597 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87831911 -0.05191101 -0.47524814 5.72559494] [ 0.09115477 0.99403432 0.05988799 0.29694009] [ 0.46930411 -0.0959219 0.87781128 1.36273253] [ 0. 0. 0. 1. ]] SLAMing on 179.75650248099998 meters Centerline goodness [0,1] 0.7050885112618468 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87825971 -0.05224607 -0.47532119 5.72552733] [ 0.09124381 0.99405971 0.0593284 0.29926633] [ 0.46939796 -0.09547586 0.87780972 1.3628097 ] [ 0. 0. 0. 1. ]] SLAMing on 179.78650248099999 meters Centerline goodness [0,1] 0.7054250625968761 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87815445 -0.05263768 -0.47547244 5.72536825] [ 0.09133858 0.99409173 0.05864209 0.30191754] [ 0.46957644 -0.09492579 0.87777393 1.36308544] [ 0. 0. 0. 1. ]] SLAMing on 179.816502481 meters Centerline goodness [0,1] 0.7037010625401127 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87804455 -0.05286504 -0.47565014 5.72559034] [ 0.09141814 0.99410635 0.05826913 0.30334765] [ 0.46976643 -0.09464595 0.87770248 1.36320836] [ 0. 0. 0. 1. ]] SLAMing on 179.846502481 meters Centerline goodness [0,1] 0.7029705340258994 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87792311 -0.05324382 -0.47583202 5.72576579] [ 0.09147343 0.99414431 0.05752995 0.30643924] [ 0.46998258 -0.09403286 0.87765266 1.36335064] [ 0. 0. 0. 1. ]] SLAMing on 179.876502481 meters Centerline goodness [0,1] 0.702577233243198 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87788064 -0.05356322 -0.47587452 5.72561028] [ 0.09163325 0.99415189 0.05714338 0.30774209] [ 0.47003077 -0.093771 0.87765487 1.36343967] [ 0. 0. 0. 1. ]] SLAMing on 179.906502481 meters Centerline goodness [0,1] 0.702587446094873 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87787191 -0.05427536 -0.47580994 5.72537643] [ 0.092011 0.99416187 0.05635732 0.3096512 ] [ 0.46997329 -0.09325425 0.87774071 1.36341944] [ 0. 0. 0. 1. ]] SLAMing on 179.936502481 meters Centerline goodness [0,1] 0.7020225042585351 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87788779 -0.05455755 -0.47574837 5.72548672] [ 0.09217015 0.99416329 0.05607153 0.31041819] [ 0.46991244 -0.09307431 0.87779239 1.36321111] [ 0. 0. 0. 1. ]] SLAMing on 179.966502481 meters Centerline goodness [0,1] 0.7004091456077015 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87783513 -0.05493722 -0.47580183 5.72574111] [ 0.09240439 0.99416277 0.05569395 0.31161752] [ 0.4699648 -0.09285628 0.87778745 1.36310812] [ 0. 0. 0. 1. ]] SLAMing on 179.996502481 meters Centerline goodness [0,1] 0.6982345432211758 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87775295 -0.05516942 -0.47592656 5.72663074] [ 0.0925573 0.9941616 0.05546051 0.31264773] [ 0.47008819 -0.09273111 0.87773461 1.36280674] [ 0. 0. 0. 1. ]] SLAMing on 180.026502481 meters Centerline goodness [0,1] 0.6984625039221839 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87773337 -0.05525953 -0.47595222 5.72740015] [ 0.09262443 0.9941593 0.05538955 0.31283592] [ 0.47011152 -0.09270206 0.87772518 1.3624729 ] [ 0. 0. 0. 1. ]] SLAMing on 180.056502481 meters Centerline goodness [0,1] 0.6955945757159718 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87772977 -0.05525936 -0.47595887 5.72855753] [ 0.09267909 0.99414858 0.05549048 0.31238563] [ 0.47010747 -0.09281708 0.87771519 1.36194491] [ 0. 0. 0. 1. ]] SLAMing on 180.086502481 meters Centerline goodness [0,1] 0.6959907423033342 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87775414 -0.05546382 -0.47589015 5.72814749] [ 0.09284374 0.99413933 0.05538088 0.31240454] [ 0.47002947 -0.09279421 0.87775938 1.36202865] [ 0. 0. 0. 1. ]] SLAMing on 180.116502481 meters Centerline goodness [0,1] 0.6971909029584659 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87784959 -0.05592536 -0.47566002 5.7267584 ] [ 0.09317715 0.99412492 0.05507868 0.31254556] [ 0.46978518 -0.09267144 0.87790312 1.36235654] [ 0. 0. 0. 1. ]] SLAMing on 180.146502481 meters Centerline goodness [0,1] 0.6999639119451462 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87786368 -0.05592522 -0.47563404 5.72680833] [ 0.09318162 0.9941237 0.05509314 0.31239694] [ 0.46975797 -0.09268462 0.87791629 1.36234098] [ 0. 0. 0. 1. ]] SLAMing on 180.176502481 meters Centerline goodness [0,1] 0.6975353127702508 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87782216 -0.05569279 -0.47573792 5.72754737] [ 0.09304201 0.99412524 0.05530089 0.31214581] [ 0.46986321 -0.09280796 0.87784694 1.36221716] [ 0. 0. 0. 1. ]] SLAMing on 180.206502481 meters Centerline goodness [0,1] 0.7005176357289034 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87786587 -0.05575512 -0.47564996 5.72695586] [ 0.09308599 0.9941228 0.05527085 0.31206163] [ 0.46977284 -0.09279674 0.87789649 1.36238352] [ 0. 0. 0. 1. ]] SLAMing on 180.23650248099997 meters Centerline goodness [0,1] 0.7007930785868781 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87790613 -0.05584973 -0.47556455 5.72658228] [ 0.09315871 0.9941185 0.05522563 0.31173412] [ 0.46968318 -0.0927859 0.87794561 1.36246106] [ 0. 0. 0. 1. ]] SLAMing on 180.26650248099997 meters Centerline goodness [0,1] 0.6988767281105991 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87805145 -0.0556967 -0.47531414 5.72685804] [ 0.09316213 0.99409663 0.05561216 0.31019857] [ 0.46941077 -0.09311162 0.87805681 1.36193457] [ 0. 0. 0. 1. ]] SLAMing on 180.29650248099998 meters Centerline goodness [0,1] 0.7006045485078207 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87806376 -0.05558411 -0.47530457 5.72725032] [ 0.09315372 0.99408481 0.055837 0.30926683] [ 0.4693894 -0.09330484 0.87804772 1.36176336] [ 0. 0. 0. 1. ]] SLAMing on 180.32650248099998 meters Centerline goodness [0,1] 0.7006045485078207 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87806376 -0.05558411 -0.47530457 5.72725032] [ 0.09315372 0.99408481 0.055837 0.30926683] [ 0.4693894 -0.09330484 0.87804772 1.36176336] [ 0. 0. 0. 1. ]] SLAMing on 180.35650248099998 meters Centerline goodness [0,1] 0.701620248310244 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87815762 -0.05555246 -0.47513484 5.72707075] [ 0.09320074 0.99406953 0.05603027 0.30816428] [ 0.46920445 -0.09348633 0.87812726 1.3616443 ] [ 0. 0. 0. 1. ]] SLAMing on 180.38650248099998 meters Centerline goodness [0,1] 0.7011521785996598 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87820084 -0.05562771 -0.47504615 5.72663181] [ 0.09326512 0.99406456 0.05601134 0.3078082 ] [ 0.46911076 -0.09349444 0.87817645 1.36178448] [ 0. 0. 0. 1. ]] SLAMing on 180.41650248099998 meters Centerline goodness [0,1] 0.7036763303452223 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87830741 -0.05550691 -0.47486321 5.72618615] [ 0.09320968 0.99405884 0.05620484 0.30699012] [ 0.46892221 -0.09362698 0.87826303 1.36177609] [ 0. 0. 0. 1. ]] SLAMing on 180.44650248099998 meters Centerline goodness [0,1] 0.7036656225341336 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87829887 -0.05534798 -0.47489757 5.72602304] [ 0.0931097 0.99406017 0.05634674 0.30665539] [ 0.46895808 -0.09370685 0.87823536 1.36196335] [ 0. 0. 0. 1. ]] SLAMing on 180.47650248099998 meters Centerline goodness [0,1] 0.7045926279374926 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87830937 -0.05534688 -0.47487828 5.72595292] [ 0.09315216 0.99405131 0.05643293 0.30609576] [ 0.46892999 -0.09380151 0.87824025 1.36200802] [ 0. 0. 0. 1. ]] SLAMing on 180.50650248099998 meters Centerline goodness [0,1] 0.7040444243189781 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87847956 -0.05543646 -0.4745529 5.72587438] [ 0.0933404 0.99402019 0.05666948 0.30433978] [ 0.46857361 -0.09407793 0.87840088 1.36157197] [ 0. 0. 0. 1. ]] SLAMing on 180.53650248099999 meters Centerline goodness [0,1] 0.7027927113563919 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.8785253 -0.05547263 -0.47446401 5.72568586] [ 0.09343212 0.99400498 0.05678495 0.30336035] [ 0.46846958 -0.09421719 0.87844145 1.3615769 ] [ 0. 0. 0. 1. ]] SLAMing on 180.566502481 meters Centerline goodness [0,1] 0.7026994942899879 Centerline is valid? [False, False] Translation: X:5.72, Y:0.30, Z:1.36 [[ 0.87871335 -0.05604865 -0.47404789 5.72472842] [ 0.0939881 0.9939574 0.05670025 0.3015672 ] [ 0.46800544 -0.09437812 0.87867154 1.36142556] [ 0. 0. 0. 1. ]] SLAMing on 180.596502481 meters Centerline goodness [0,1] 0.7026950220243452 Centerline is valid? [False, False] Translation: X:5.72, Y:0.30, Z:1.36 [[ 0.87878172 -0.05606148 -0.47391962 5.72474665] [ 0.09408792 0.99393713 0.05688973 0.30052832] [ 0.46785699 -0.09458377 0.87872849 1.36122637] [ 0. 0. 0. 1. ]] SLAMing on 180.626502481 meters Centerline goodness [0,1] 0.7051870064778476 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87887771 -0.05582847 -0.47376909 5.72529792] [ 0.09407034 0.99391025 0.05738627 0.29860486] [ 0.46768016 -0.09500314 0.87877737 1.36078709] [ 0. 0. 0. 1. ]] SLAMing on 180.656502481 meters Centerline goodness [0,1] 0.7101168693188525 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87894813 -0.055706 -0.47365285 5.72501151] [ 0.09403805 0.99390021 0.05761258 0.2975919 ] [ 0.4675543 -0.09517986 0.87882522 1.36081803] [ 0. 0. 0. 1. ]] SLAMing on 180.686502481 meters Centerline goodness [0,1] 0.7131147540983607 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87900667 -0.05539145 -0.47358111 5.72500521] [ 0.09387347 0.99389392 0.05798834 0.29617386] [ 0.46747733 -0.09542884 0.87883917 1.36081727] [ 0. 0. 0. 1. ]] SLAMing on 180.716502481 meters Centerline goodness [0,1] 0.71251674146479 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87908443 -0.05525066 -0.47345319 5.72522008] [ 0.09386715 0.99387597 0.05830533 0.29475252] [ 0.46733234 -0.09569701 0.87888712 1.36056007] [ 0. 0. 0. 1. ]] SLAMing on 180.746502481 meters Centerline goodness [0,1] 0.7126619952661057 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87930556 -0.05554557 -0.47300785 5.72405831] [ 0.09425448 0.99382727 0.05851021 0.29226509] [ 0.46683812 -0.09603147 0.87911326 1.36046288] [ 0. 0. 0. 1. ]] SLAMing on 180.776502481 meters Centerline goodness [0,1] 0.714195450716091 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87935148 -0.05557747 -0.47291873 5.72365321] [ 0.09439042 0.99380205 0.05871908 0.2910464 ] [ 0.46672414 -0.09627371 0.87914728 1.36055615] [ 0. 0. 0. 1. ]] SLAMing on 180.806502481 meters Centerline goodness [0,1] 0.7095510204081632 Centerline is valid? [False, False] Translation: X:5.72, Y:0.29, Z:1.36 [[ 0.87934214 -0.05591697 -0.47289608 5.72421698] [ 0.09496869 0.99372492 0.05909095 0.28790169] [ 0.46662443 -0.09687148 0.87913455 1.3603328 ] [ 0. 0. 0. 1. ]] SLAMing on 180.836502481 meters Centerline goodness [0,1] 0.7060108781553625 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87900986 -0.06053284 -0.4729455 5.7260785 ] [ 0.09856522 0.9935522 0.05602602 0.28622534] [ 0.46650463 -0.0958634 0.87930861 1.35995007] [ 0. 0. 0. 1. ]] SLAMing on 180.866502481 meters Centerline goodness [0,1] 0.6974946014349734 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87914704 -0.06060927 -0.47268065 5.72617938] [ 0.09876349 0.9935171 0.05629866 0.28459002] [ 0.46620409 -0.09617839 0.8794336 1.35950786] [ 0. 0. 0. 1. ]] SLAMing on 180.896502481 meters Centerline goodness [0,1] 0.6969281531740867 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87938895 -0.06129356 -0.47214211 5.72505044] [ 0.0994463 0.99345153 0.05625383 0.28243097] [ 0.46560231 -0.09642179 0.87972571 1.3592276 ] [ 0. 0. 0. 1. ]] SLAMing on 180.926502481 meters Centerline goodness [0,1] 0.688241964223729 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87944877 -0.06145776 -0.47200933 5.72468223] [ 0.0996223 0.99343315 0.05626696 0.28170587] [ 0.46545167 -0.09650657 0.87979613 1.35924696] [ 0. 0. 0. 1. ]] SLAMing on 180.956502481 meters Centerline goodness [0,1] 0.6715947536728925 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87948596 -0.06186901 -0.4718863 5.72377173] [ 0.0999798 0.99340705 0.05609343 0.28137395] [ 0.46530473 -0.09651249 0.8798732 1.35951055] [ 0. 0. 0. 1. ]] SLAMing on 180.98650248099997 meters Centerline goodness [0,1] 0.6753204608145384 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87948542 -0.0619052 -0.47188255 5.72371566] [ 0.10000826 0.99340546 0.05607083 0.28153117] [ 0.46529962 -0.09650564 0.87987665 1.35955149] [ 0. 0. 0. 1. ]] SLAMing on 181.01650248099997 meters Centerline goodness [0,1] 0.6783286546180081 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87938514 -0.06176376 -0.47208793 5.72429936] [ 0.09986545 0.99342073 0.0560548 0.28243086] [ 0.46551978 -0.09643903 0.87976749 1.35961943] [ 0. 0. 0. 1. ]] SLAMing on 181.04650248099998 meters Centerline goodness [0,1] 0.6930029897791272 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87937599 -0.06168312 -0.47211551 5.72466139] [ 0.09975542 0.99343417 0.05601256 0.28290424] [ 0.46556065 -0.09635218 0.87975539 1.35952061] [ 0. 0. 0. 1. ]] SLAMing on 181.07650248099998 meters Centerline goodness [0,1] 0.7051621596505901 Centerline is valid? [False, False] Translation: X:5.72, Y:0.28, Z:1.36 [[ 0.87938787 -0.0616177 -0.47210194 5.72480549] [ 0.09966008 0.99344584 0.05597525 0.28313241] [ 0.46555864 -0.09627368 0.87976504 1.35949149] [ 0. 0. 0. 1. ]] SLAMing on 181.10650248099998 meters Centerline goodness [0,1] 0.7104101825614344 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87935289 -0.06122528 -0.47221812 5.72540808] [ 0.09920234 0.99349471 0.05592092 0.28482797] [ 0.46572243 -0.09601937 0.87970614 1.35941239] [ 0. 0. 0. 1. ]] SLAMing on 181.13650248099998 meters Centerline goodness [0,1] 0.7191890947221251 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87928103 -0.06121955 -0.47235266 5.72562524] [ 0.0990858 0.99351978 0.05568177 0.28632877] [ 0.46588289 -0.09576337 0.87964908 1.35953232] [ 0. 0. 0. 1. ]] SLAMing on 181.16650248099998 meters Centerline goodness [0,1] 0.723342939481268 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87965992 -0.05654412 -0.47223002 5.72551196] [ 0.09559187 0.99366543 0.05908647 0.28635664] [ 0.46589765 -0.09711736 0.87949281 1.3590779 ] [ 0. 0. 0. 1. ]] SLAMing on 181.19650248099998 meters Centerline goodness [0,1] 0.7255209552797939 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87959317 -0.05616444 -0.47239963 5.727161 ] [ 0.09514515 0.99371267 0.05901298 0.28775938] [ 0.46611507 -0.09685395 0.87940665 1.35861566] [ 0. 0. 0. 1. ]] SLAMing on 181.22650248099998 meters Centerline goodness [0,1] 0.7240297004192725 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87951957 -0.05605682 -0.47254943 5.72777882] [ 0.09498625 0.99373413 0.05890746 0.28882528] [ 0.46628633 -0.09669596 0.87933324 1.35851701] [ 0. 0. 0. 1. ]] SLAMing on 181.25650248099998 meters Centerline goodness [0,1] 0.7276279244927741 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87983527 -0.0509714 -0.47253763 5.72846154] [ 0.0911944 0.99386404 0.06259272 0.28886553] [ 0.46644772 -0.09816407 0.87908494 1.35789456] [ 0. 0. 0. 1. ]] SLAMing on 181.28650248099999 meters Centerline goodness [0,1] 0.726597045818045 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87978421 -0.05097447 -0.47263236 5.72878143] [ 0.09109616 0.99388651 0.06237856 0.29004624] [ 0.46656321 -0.09793467 0.87904924 1.35790246] [ 0. 0. 0. 1. ]] SLAMing on 181.316502481 meters Centerline goodness [0,1] 0.727535202934564 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87971136 -0.0507384 -0.47279334 5.72934382] [ 0.09080312 0.99391883 0.06229082 0.29122491] [ 0.46675767 -0.09772906 0.87896889 1.35791283] [ 0. 0. 0. 1. ]] SLAMing on 181.346502481 meters Centerline goodness [0,1] 0.7277010868278361 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87970346 -0.05099139 -0.47278081 5.72905286] [ 0.09093108 0.99392554 0.06199647 0.29188918] [ 0.46674764 -0.09752898 0.87899644 1.35804112] [ 0. 0. 0. 1. ]] SLAMing on 181.376502481 meters Centerline goodness [0,1] 0.7275808133472368 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87969694 -0.05102658 -0.47278914 5.72969863] [ 0.09095381 0.99392558 0.06196243 0.29188162] [ 0.46675549 -0.09751013 0.87899436 1.35776733] [ 0. 0. 0. 1. ]] SLAMing on 181.406502481 meters Centerline goodness [0,1] 0.7266408170985437 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87970135 -0.05102655 -0.47278095 5.73007055] [ 0.09096693 0.99392271 0.06198915 0.29181003] [ 0.46674463 -0.09753937 0.87899688 1.35757843] [ 0. 0. 0. 1. ]] SLAMing on 181.436502481 meters Centerline goodness [0,1] 0.7260329110926956 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87973069 -0.05123572 -0.47270372 5.73030214] [ 0.09117022 0.99390683 0.06194516 0.29168217] [ 0.46664965 -0.09759156 0.87904152 1.35731277] [ 0. 0. 0. 1. ]] SLAMing on 181.466502481 meters Centerline goodness [0,1] 0.7273844408734285 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87970586 -0.05135138 -0.47273738 5.73086721] [ 0.09131275 0.99389285 0.06195955 0.2914528 ] [ 0.4666686 -0.09767313 0.8790224 1.35708929] [ 0. 0. 0. 1. ]] SLAMing on 181.496502481 meters Centerline goodness [0,1] 0.7272167487684729 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87978236 -0.05159776 -0.47256816 5.73075984] [ 0.09151825 0.99388 0.06186231 0.29108959] [ 0.46648409 -0.09767398 0.87912024 1.356885 ] [ 0. 0. 0. 1. ]] SLAMing on 181.526502481 meters Centerline goodness [0,1] 0.726564705882353 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.88001268 -0.05273641 -0.4720133 5.72918652] [ 0.0924357 0.99383005 0.06129817 0.29000432] [ 0.46586836 -0.09757405 0.87945778 1.35674541] [ 0. 0. 0. 1. ]] SLAMing on 181.556502481 meters Centerline goodness [0,1] 0.7277221867385801 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.88015465 -0.05337028 -0.47167723 5.72773519] [ 0.09290589 0.99380984 0.06091378 0.28990826] [ 0.46550649 -0.09743514 0.87966477 1.3568898 ] [ 0. 0. 0. 1. ]] SLAMing on 181.586502481 meters Centerline goodness [0,1] 0.7306680569708748 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.88030281 -0.05416921 -0.47130951 5.72567373] [ 0.09345832 0.99379307 0.06033961 0.29067361] [ 0.46511558 -0.09716492 0.8799014 1.35723094] [ 0. 0. 0. 1. ]] SLAMing on 181.616502481 meters Centerline goodness [0,1] 0.7324054060473624 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.880189 -0.05410274 -0.47152966 5.72624643] [ 0.093329 0.9938146 0.0601851 0.2923795 ] [ 0.46535688 -0.09698166 0.87979403 1.35724247] [ 0. 0. 0. 1. ]] SLAMing on 181.646502481 meters Centerline goodness [0,1] 0.7314012407065398 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.88006202 -0.05405841 -0.4717717 5.72724823] [ 0.09326343 0.99382597 0.06009888 0.29344676] [ 0.46561011 -0.09688979 0.87967016 1.35709047] [ 0. 0. 0. 1. ]] SLAMing on 181.676502481 meters Centerline goodness [0,1] 0.7327139666397378 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.8799499 -0.05408338 -0.47197793 5.72833225] [ 0.0932107 0.99384307 0.05989763 0.29479326] [ 0.46583253 -0.09670031 0.87957325 1.35685718] [ 0. 0. 0. 1. ]] SLAMing on 181.706502481 meters Centerline goodness [0,1] 0.7338723100701463 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87995937 -0.05438938 -0.47192511 5.72817099] [ 0.09340217 0.99384185 0.05961894 0.29525731] [ 0.46577628 -0.09654107 0.87962053 1.35682569] [ 0. 0. 0. 1. ]] SLAMing on 181.73650248099997 meters Centerline goodness [0,1] 0.7339626230443673 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.88004686 -0.05504281 -0.47168613 5.72725184] [ 0.09378896 0.99384168 0.05901136 0.29674551] [ 0.46553319 -0.09617171 0.87978966 1.3567752 ] [ 0. 0. 0. 1. ]] SLAMing on 181.76650248099997 meters Centerline goodness [0,1] 0.7335269472481432 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.8799659 -0.05540474 -0.47179479 5.72685813] [ 0.09402154 0.99384091 0.05865316 0.29777789] [ 0.4656393 -0.09597165 0.87975535 1.35708627] [ 0. 0. 0. 1. ]] SLAMing on 181.79650248099998 meters Centerline goodness [0,1] 0.7335161559556456 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87999004 -0.05612135 -0.47166506 5.72611155] [ 0.09442455 0.99384597 0.05791544 0.29977232] [ 0.46551212 -0.09550177 0.87987378 1.35714394] [ 0. 0. 0. 1. ]] SLAMing on 181.82650248099998 meters Centerline goodness [0,1] 0.7338050651609368 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87982365 -0.05635847 -0.47194711 5.72688203] [ 0.09448094 0.99386758 0.05745072 0.30165253] [ 0.46581509 -0.09513651 0.879753 1.35722112] [ 0. 0. 0. 1. ]] SLAMing on 181.85650248099998 meters Centerline goodness [0,1] 0.7325087157934954 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87973977 -0.05636228 -0.47210299 5.7282784 ] [ 0.09435496 0.9938958 0.05716883 0.30329893] [ 0.46599901 -0.09483895 0.87968773 1.35675753] [ 0. 0. 0. 1. ]] SLAMing on 181.88650248099998 meters Centerline goodness [0,1] 0.7324831671861245 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87967927 -0.05649725 -0.47219959 5.72858186] [ 0.09435509 0.99391356 0.05685908 0.3044064 ] [ 0.46611319 -0.09457219 0.87965595 1.35677125] [ 0. 0. 0. 1. ]] SLAMing on 181.91650248099998 meters Centerline goodness [0,1] 0.731862029346291 Centerline is valid? [False, False] Translation: X:5.73, Y:0.30, Z:1.36 [[ 0.87997593 -0.05156812 -0.47221086 5.72839675] [ 0.09068758 0.99404345 0.06044321 0.30498081] [ 0.46628117 -0.09601223 0.8794109 1.3564748 ] [ 0. 0. 0. 1. ]] SLAMing on 181.94650248099998 meters Centerline goodness [0,1] 0.7301724137931034 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.8797899 -0.05150902 -0.4725638 5.72892611] [ 0.09050853 0.99407758 0.06014962 0.30700128] [ 0.46666683 -0.09569009 0.87924142 1.35679178] [ 0. 0. 0. 1. ]] SLAMing on 181.97650248099998 meters Centerline goodness [0,1] 0.7293718248140033 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88008149 -0.04654234 -0.47253612 5.72844796] [ 0.08677719 0.99418933 0.06369694 0.30781595] [ 0.46682576 -0.09706386 0.87900644 1.35661311] [ 0. 0. 0. 1. ]] SLAMing on 182.00650248099998 meters Centerline goodness [0,1] 0.7293265644924573 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88003584 -0.0468464 -0.47259109 5.72804793] [ 0.08686312 0.99421359 0.06319911 0.30936822] [ 0.46689584 -0.09666822 0.87901282 1.35690282] [ 0. 0. 0. 1. ]] SLAMing on 182.03650248099999 meters Centerline goodness [0,1] 0.7290481242164143 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88006282 -0.04745332 -0.47248027 5.7269744 ] [ 0.08711247 0.99424204 0.06240337 0.31153896] [ 0.4667985 -0.09607781 0.87912923 1.35721462] [ 0. 0. 0. 1. ]] SLAMing on 182.066502481 meters Centerline goodness [0,1] 0.7283858372098628 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88003277 -0.04782886 -0.47249838 5.72678582] [ 0.08730596 0.99425252 0.06196454 0.31242956] [ 0.46681901 -0.09578276 0.87915054 1.35738658] [ 0. 0. 0. 1. ]] SLAMing on 182.096502481 meters Centerline goodness [0,1] 0.728612075617284 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88004367 -0.0482067 -0.47243969 5.72638419] [ 0.08755303 0.994251 0.06163946 0.31295941] [ 0.4667522 -0.09560894 0.87920493 1.357449 ] [ 0. 0. 0. 1. ]] SLAMing on 182.126502481 meters Centerline goodness [0,1] 0.7289033345371374 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88000102 -0.04841816 -0.4724975 5.72665041] [ 0.08768321 0.99425303 0.0614213 0.31348136] [ 0.46680817 -0.0954809 0.87918913 1.35741916] [ 0. 0. 0. 1. ]] SLAMing on 182.156502481 meters Centerline goodness [0,1] 0.728761638284529 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87996671 -0.0484664 -0.47255645 5.72713371] [ 0.08772951 0.99425074 0.06139223 0.31339516] [ 0.46686414 -0.09548027 0.87915948 1.35731277] [ 0. 0. 0. 1. ]] SLAMing on 182.186502481 meters Centerline goodness [0,1] 0.7295184792048635 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87994839 -0.04860901 -0.47257591 5.72794927] [ 0.08789702 0.99423548 0.06139975 0.31279025] [ 0.46686716 -0.09556663 0.87914849 1.35697047] [ 0. 0. 0. 1. ]] SLAMing on 182.216502481 meters Centerline goodness [0,1] 0.7295184792048635 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87994839 -0.04860901 -0.47257591 5.72794927] [ 0.08789702 0.99423548 0.06139975 0.31279025] [ 0.46686716 -0.09556663 0.87914849 1.35697047] [ 0. 0. 0. 1. ]] SLAMing on 182.246502481 meters Centerline goodness [0,1] 0.7296834695402714 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87996197 -0.04914567 -0.47249511 5.72769688] [ 0.08837736 0.99420637 0.06118111 0.31221023] [ 0.46675086 -0.09559492 0.87920717 1.35695459] [ 0. 0. 0. 1. ]] SLAMing on 182.276502481 meters Centerline goodness [0,1] 0.728305436303121 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.87995997 -0.0494702 -0.47246497 5.72737811] [ 0.08864113 0.99419437 0.06099428 0.31208276] [ 0.46670461 -0.09555235 0.87923635 1.35710284] [ 0. 0. 0. 1. ]] SLAMing on 182.306502481 meters Centerline goodness [0,1] 0.7305607093804969 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.8800914 -0.05019756 -0.47214334 5.72623146] [ 0.0891698 0.99417631 0.06051627 0.31256356] [ 0.46635596 -0.09536078 0.87944212 1.35708443] [ 0. 0. 0. 1. ]] SLAMing on 182.336502481 meters Centerline goodness [0,1] 0.7300595740575481 Centerline is valid? [False, False] Translation: X:5.73, Y:0.31, Z:1.36 [[ 0.88016219 -0.05119937 -0.47190373 5.7250434 ] [ 0.08987198 0.99415874 0.05976137 0.31357605] [ 0.46608748 -0.09501062 0.87962233 1.35719812] [ 0. 0. 0. 1. ]] SLAMing on 182.366502481 meters Centerline goodness [0,1] 0.7281684698608965 Centerline is valid? [False, False] Translation: X:5.72, Y:0.31, Z:1.36 [[ 0.88018031 -0.05158363 -0.47182809 5.72487861] [ 0.09017401 0.9941453 0.05952965 0.31359783] [ 0.46599492 -0.09494346 0.87967862 1.35714763] [ 0. 0. 0. 1. ]] SLAMing on 182.396502481 meters Centerline goodness [0,1] 0.7279969194483887 Centerline is valid? [False, False] Translation: X:5.72, Y:0.31, Z:1.36 [[ 0.88018751 -0.0520775 -0.4717604 5.72463734] [ 0.09053879 0.99413297 0.05918079 0.3137775 ] [ 0.46591058 -0.0948028 0.87973846 1.35715364] [ 0. 0. 0. 1. ]] SLAMing on 182.426502481 meters Centerline goodness [0,1] 0.727661218281465 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88027611 -0.05310327 -0.47148066 5.72297532] [ 0.09124216 0.9941157 0.05838522 0.31517638] [ 0.46560589 -0.09441403 0.87994156 1.35740283] [ 0. 0. 0. 1. ]] SLAMing on 182.456502481 meters Centerline goodness [0,1] 0.7297618182258729 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88036197 -0.05416119 -0.47119992 5.7209769 ] [ 0.09190974 0.99410853 0.05745277 0.31712497] [ 0.46531215 -0.0938871 0.88015329 1.35785135] [ 0. 0. 0. 1. ]] SLAMing on 182.48650248099997 meters Centerline goodness [0,1] 0.7288341471710031 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88033476 -0.05454332 -0.47120668 5.72055502] [ 0.09215228 0.99410676 0.0570938 0.31802792] [ 0.46531566 -0.09368443 0.88017303 1.35801475] [ 0. 0. 0. 1. ]] SLAMing on 182.51650248099997 meters Centerline goodness [0,1] 0.7278316444314841 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88039712 -0.05542746 -0.47098694 5.71926622] [ 0.09264888 0.99411187 0.05619415 0.3200405 ] [ 0.46509901 -0.09310958 0.88034852 1.35827169] [ 0. 0. 0. 1. ]] SLAMing on 182.54650248099998 meters Centerline goodness [0,1] 0.7283093944099379 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88041089 -0.05594891 -0.47089955 5.71827961] [ 0.09294502 0.99411428 0.05565984 0.32092254] [ 0.46501386 -0.0927713 0.88042921 1.35865371] [ 0. 0. 0. 1. ]] SLAMing on 182.57650248099998 meters Centerline goodness [0,1] 0.7272462147908718 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:1.36 [[ 0.88040419 -0.05626706 -0.47087417 5.71733287] [ 0.09302483 0.99413598 0.05513646 0.32291942] [ 0.46501059 -0.09234536 0.88047571 1.35906169] [ 0. 0. 0. 1. ]] SLAMing on 182.60650248099998 meters Centerline goodness [0,1] 0.7251279551547648 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.88034353 -0.05621786 -0.47099344 5.71760397] [ 0.09278386 0.99417938 0.05475879 0.32534055] [ 0.46517355 -0.09190714 0.88043549 1.3591624 ] [ 0. 0. 0. 1. ]] SLAMing on 182.63650248099998 meters Centerline goodness [0,1] 0.7238000048755515 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.88028528 -0.05639411 -0.47108123 5.7178698 ] [ 0.09281561 0.99419487 0.05442262 0.32658835] [ 0.46527743 -0.09163112 0.88040937 1.35917665] [ 0. 0. 0. 1. ]] SLAMing on 182.66650248099998 meters Centerline goodness [0,1] 0.7247259737717753 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.88024451 -0.05618347 -0.47118257 5.71857414] [ 0.09243502 0.99424629 0.05413023 0.3287943 ] [ 0.4654303 -0.09120161 0.88037316 1.35907053] [ 0. 0. 0. 1. ]] SLAMing on 182.69650248099998 meters Centerline goodness [0,1] 0.7234465007966663 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.88020736 -0.05632394 -0.47123521 5.71887888] [ 0.09242777 0.99426463 0.05380477 0.33032151] [ 0.46550201 -0.09091457 0.88036494 1.35897991] [ 0. 0. 0. 1. ]] SLAMing on 182.72650248099998 meters Centerline goodness [0,1] 0.723762473578135 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.87993207 -0.05607983 -0.47177813 5.72064841] [ 0.09209698 0.99430739 0.05358132 0.33288017] [ 0.46608765 -0.09059726 0.88008775 1.35895005] [ 0. 0. 0. 1. ]] SLAMing on 182.75650248099998 meters Centerline goodness [0,1] 0.7229425513593308 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.87989287 -0.05623714 -0.47183251 5.72121367] [ 0.09216086 0.99431368 0.05335437 0.33399726] [ 0.46614902 -0.09043062 0.88007238 1.35868282] [ 0. 0. 0. 1. ]] SLAMing on 182.78650248099999 meters Centerline goodness [0,1] 0.722754240417518 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:1.36 [[ 0.87990743 -0.0565614 -0.47176661 5.72141303] [ 0.09234027 0.99431515 0.05301569 0.33490176] [ 0.46608604 -0.09021196 0.88012818 1.35846238] [ 0. 0. 0. 1. ]] SLAMing on 182.816502481 meters Centerline goodness [0,1] 0.7223221989399728 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87981955 -0.05700807 -0.47187672 5.72206122] [ 0.09261697 0.99431355 0.05256104 0.3359381 ] [ 0.46619702 -0.08994802 0.88009641 1.35830421] [ 0. 0. 0. 1. ]] SLAMing on 182.846502481 meters Centerline goodness [0,1] 0.7216415692490589 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87982761 -0.05729994 -0.47182633 5.72246025] [ 0.09273392 0.99432324 0.05217004 0.33751973] [ 0.46615855 -0.08965494 0.88014669 1.35796147] [ 0. 0. 0. 1. ]] SLAMing on 182.876502481 meters Centerline goodness [0,1] 0.7215704754582206 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87978844 -0.05793598 -0.47182171 5.72132568] [ 0.09306577 0.99433025 0.05144038 0.34003385] [ 0.46616636 -0.0891671 0.88019211 1.35843739] [ 0. 0. 0. 1. ]] SLAMing on 182.906502481 meters Centerline goodness [0,1] 0.721003056887939 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.8797724 -0.05844716 -0.47178856 5.72066873] [ 0.09340134 0.99432197 0.05099026 0.34122817] [ 0.4661295 -0.0889255 0.88023608 1.35862244] [ 0. 0. 0. 1. ]] SLAMing on 182.936502481 meters Centerline goodness [0,1] 0.7217458305371213 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.8798098 -0.05929508 -0.47161298 5.72011938] [ 0.09406712 0.99428547 0.05047558 0.34212425] [ 0.46592498 -0.08877219 0.88035982 1.35842477] [ 0. 0. 0. 1. ]] SLAMing on 182.966502481 meters Centerline goodness [0,1] 0.723095285458524 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87984599 -0.05988284 -0.47147119 5.71963565] [ 0.09453379 0.99425855 0.05013275 0.342006 ] [ 0.46576217 -0.08867906 0.88045535 1.35842108] [ 0. 0. 0. 1. ]] SLAMing on 182.996502481 meters Centerline goodness [0,1] 0.7228759795994526 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87954166 -0.06587277 -0.47124011 5.71934576] [ 0.09889415 0.99405143 0.04562558 0.34345547] [ 0.46543142 -0.08673249 0.88082408 1.35853512] [ 0. 0. 0. 1. ]] SLAMing on 183.026502481 meters Centerline goodness [0,1] 0.7219817937621251 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.8795285 -0.06627078 -0.47120887 5.71952418] [ 0.09928858 0.99401662 0.04552732 0.34306454] [ 0.46537231 -0.08682823 0.88084588 1.35834121] [ 0. 0. 0. 1. ]] SLAMing on 183.056502481 meters Centerline goodness [0,1] 0.7212853802914988 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87937507 -0.06656319 -0.47145395 5.7205948 ] [ 0.09973283 0.99396464 0.04569079 0.34305277] [ 0.46556723 -0.08719878 0.88070627 1.35791635] [ 0. 0. 0. 1. ]] SLAMing on 183.086502481 meters Centerline goodness [0,1] 0.7213600697471665 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87941316 -0.06724815 -0.47128566 5.72011416] [ 0.10037419 0.99390997 0.04547512 0.34338265] [ 0.4653574 -0.08729634 0.88080749 1.35765006] [ 0. 0. 0. 1. ]] SLAMing on 183.116502481 meters Centerline goodness [0,1] 0.7178720115673223 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87944475 -0.06749233 -0.4711918 5.72015032] [ 0.10061322 0.99388809 0.04542513 0.34312294] [ 0.46524607 -0.08735702 0.88086029 1.35744124] [ 0. 0. 0. 1. ]] SLAMing on 183.146502481 meters Centerline goodness [0,1] 0.7130523234177686 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87961807 -0.06812447 -0.47077713 5.719417 ] [ 0.10114676 0.99384553 0.04517066 0.34232096] [ 0.46480252 -0.08735051 0.88109506 1.35712694] [ 0. 0. 0. 1. ]] SLAMing on 183.176502481 meters Centerline goodness [0,1] 0.7149564050972501 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87965438 -0.0684474 -0.47066243 5.71890503] [ 0.10138539 0.99383097 0.04495569 0.3424882 ] [ 0.46468179 -0.08726377 0.88116733 1.35717301] [ 0. 0. 0. 1. ]] SLAMing on 183.206502481 meters Centerline goodness [0,1] 0.7098370849396841 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87957501 -0.06851574 -0.4708008 5.71912933] [ 0.10144242 0.9938282 0.04488806 0.34323938] [ 0.46481957 -0.08724159 0.88109686 1.35721269] [ 0. 0. 0. 1. ]] SLAMing on 183.23650248099997 meters Centerline goodness [0,1] 0.7077688004972033 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87952552 -0.0682711 -0.47092878 5.72006487] [ 0.10129215 0.99383393 0.04510002 0.34337445] [ 0.46494598 -0.08736801 0.88101763 1.35691844] [ 0. 0. 0. 1. ]] SLAMing on 183.26650248099997 meters Centerline goodness [0,1] 0.7088314980984813 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87939885 -0.06781727 -0.47123082 5.72161741] [ 0.10099402 0.99384867 0.04544252 0.34354787] [ 0.46525034 -0.08755359 0.88083852 1.35662251] [ 0. 0. 0. 1. ]] SLAMing on 183.29650248099998 meters Centerline goodness [0,1] 0.7057024197358932 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87941869 -0.06762558 -0.47122134 5.72224881] [ 0.10088973 0.99384942 0.04565725 0.34337206] [ 0.46523546 -0.08769323 0.88083248 1.35626222] [ 0. 0. 0. 1. ]] SLAMing on 183.32650248099998 meters Centerline goodness [0,1] 0.7156536012733785 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87935751 -0.06703649 -0.47141964 5.72403 ] [ 0.10049524 0.99386763 0.04612844 0.34236194] [ 0.46543644 -0.08793882 0.88070182 1.35584499] [ 0. 0. 0. 1. ]] SLAMing on 183.35650248099998 meters Centerline goodness [0,1] 0.7134694688726586 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:1.36 [[ 0.87929082 -0.06648074 -0.4716227 5.72462559] [ 0.1001011 0.9938888 0.0465277 0.34201733] [ 0.46564732 -0.08812133 0.88057209 1.35592789] [ 0. 0. 0. 1. ]] SLAMing on 183.38650248099998 meters Centerline goodness [0,1] 0.7206612390786338 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:1.36 [[ 0.87919376 -0.06619294 -0.47184406 5.72506166] [ 0.09988562 0.99390296 0.046688 0.34212987] [ 0.4658768 -0.08817824 0.88044501 1.35612879] [ 0. 0. 0. 1. ]] SLAMing on 183.41650248099998 meters Centerline goodness [0,1] 0.7192121906279567 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:1.36 [[ 0.87912297 -0.06537367 -0.47209012 5.72688874] [ 0.0993332 0.99392741 0.04734142 0.34153052] [ 0.46612843 -0.08851315 0.8802782 1.35565937] [ 0. 0. 0. 1. ]] SLAMing on 183.44650248099998 meters Centerline goodness [0,1] 0.7180366147502297 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:1.36 [[ 0.87908557 -0.06499033 -0.47221268 5.72826472] [ 0.09909204 0.9939354 0.04767807 0.34060529] [ 0.46625029 -0.08870562 0.88019429 1.35531486] [ 0. 0. 0. 1. ]] SLAMing on 183.47650248099998 meters Centerline goodness [0,1] 0.7191331976368962 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:1.35 [[ 0.87913735 -0.06438571 -0.4721991 5.73083212] [ 0.0987902 0.99393047 0.04840169 0.337482 ] [ 0.4662167 -0.08920038 0.88016208 1.35427297] [ 0. 0. 0. 1. ]] SLAMing on 183.50650248099998 meters Centerline goodness [0,1] 0.7123494722235988 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:1.35 [[ 0.87917848 -0.06400063 -0.47217488 5.73175311] [ 0.09858525 0.99392928 0.04884193 0.33591515] [ 0.46618252 -0.08949026 0.88015076 1.35388893] [ 0. 0. 0. 1. ]] SLAMing on 183.53650248099999 meters Centerline goodness [0,1] 0.718261428854146 Centerline is valid? [False, False] Translation: X:5.73, Y:0.33, Z:1.35 [[ 0.87906859 -0.06285639 -0.47253306 5.73402364] [ 0.09785184 0.99395315 0.04982121 0.33397606] [ 0.46654414 -0.09003449 0.8799036 1.35351779] [ 0. 0. 0. 1. ]] SLAMing on 183.566502481 meters Centerline goodness [0,1] 0.7159090909090908 Centerline is valid? [False, False] Translation: X:5.74, Y:0.33, Z:1.35 [[ 0.87890364 -0.06161079 -0.47300371 5.73589095] [ 0.09701983 0.99398492 0.05080485 0.3322842 ] [ 0.46702843 -0.09054331 0.87959443 1.35357495] [ 0. 0. 0. 1. ]] SLAMing on 183.596502481 meters Centerline goodness [0,1] 0.7162675882498148 Centerline is valid? [False, False] Translation: X:5.74, Y:0.33, Z:1.35 [[ 0.8789148 -0.06125865 -0.4730287 5.73602705] [ 0.09678554 0.99399221 0.05110815 0.33118696] [ 0.46705603 -0.09070205 0.87956342 1.35370262] [ 0. 0. 0. 1. ]] SLAMing on 183.626502481 meters Centerline goodness [0,1] 0.7171463714637146 Centerline is valid? [False, False] Translation: X:5.74, Y:0.33, Z:1.35 [[ 0.87896194 -0.06032227 -0.47306144 5.73634862] [ 0.09621261 0.99400073 0.05201616 0.32761352] [ 0.46708568 -0.0912347 0.87949258 1.35394137] [ 0. 0. 0. 1. ]] SLAMing on 183.656502481 meters Centerline goodness [0,1] 0.7206899936202582 Centerline is valid? [False, False] Translation: X:5.74, Y:0.33, Z:1.35 [[ 0.87902684 -0.0600532 -0.47297509 5.73608479] [ 0.09609934 0.99399179 0.05239496 0.32558727] [ 0.46698687 -0.09150917 0.87951654 1.35408038] [ 0. 0. 0. 1. ]] SLAMing on 183.686502481 meters Centerline goodness [0,1] 0.7234240179902716 Centerline is valid? [False, False] Translation: X:5.74, Y:0.32, Z:1.35 [[ 0.87909288 -0.05966786 -0.47290111 5.73610365] [ 0.09592677 0.99398134 0.05290704 0.32304282] [ 0.46689803 -0.09187408 0.87952566 1.35417176] [ 0. 0. 0. 1. ]] SLAMing on 183.716502481 meters Centerline goodness [0,1] 0.7229924969040624 Centerline is valid? [False, False] Translation: X:5.74, Y:0.32, Z:1.35 [[ 0.8792444 -0.05922833 -0.47267462 5.73631771] [ 0.09580572 0.99395233 0.05366589 0.31737735] [ 0.4666375 -0.09247037 0.87960143 1.35416801] [ 0. 0. 0. 1. ]] SLAMing on 183.746502481 meters Centerline goodness [0,1] 0.7221376627769323 Centerline is valid? [False, False] Translation: X:5.74, Y:0.31, Z:1.35 [[ 0.87928552 -0.06011553 -0.47248608 5.73679707] [ 0.09667656 0.99387915 0.05345919 0.31117761] [ 0.46638033 -0.09268421 0.87971531 1.3543165 ] [ 0. 0. 0. 1. ]] SLAMing on 183.776502481 meters Centerline goodness [0,1] 0.7217581782731146 Centerline is valid? [False, False] Translation: X:5.74, Y:0.31, Z:1.35 [[ 0.87935516 -0.0595155 -0.47243244 5.73731631] [ 0.09645756 0.99385279 0.05433751 0.30749318] [ 0.46629438 -0.09335165 0.8796903 1.3542062 ] [ 0. 0. 0. 1. ]] SLAMing on 183.806502481 meters Centerline goodness [0,1] 0.7245849006876393 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.35 [[ 0.87948954 -0.05912725 -0.47223099 5.73755944] [ 0.09635721 0.99382488 0.05502185 0.30394127] [ 0.46606162 -0.093894 0.87975592 1.35401775] [ 0. 0. 0. 1. ]] SLAMing on 183.836502481 meters Centerline goodness [0,1] 0.7249447178828732 Centerline is valid? [False, False] Translation: X:5.74, Y:0.30, Z:1.35 [[ 0.87973934 -0.0599223 -0.47166515 5.73600661] [ 0.09716786 0.99374796 0.05498546 0.29703086] [ 0.46542143 -0.09420357 0.88006169 1.35453968] [ 0. 0. 0. 1. ]] SLAMing on 183.866502481 meters Centerline goodness [0,1] 0.7249052132701421 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.8799616 -0.06004274 -0.47123503 5.73440911] [ 0.09746624 0.9936962 0.05539127 0.29029846] [ 0.46493861 -0.0946717 0.88026664 1.35524935] [ 0. 0. 0. 1. ]] SLAMing on 183.896502481 meters Centerline goodness [0,1] 0.7251362638918384 Centerline is valid? [False, False] Translation: X:5.73, Y:0.29, Z:1.36 [[ 0.87995571 -0.0594716 -0.47131845 5.73440065] [ 0.09720236 0.99368266 0.05609345 0.28763718] [ 0.465005 -0.09517302 0.88017751 1.35561065] [ 0. 0. 0. 1. ]] SLAMing on 183.926502481 meters Centerline goodness [0,1] 0.7265107761656571 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.8798918 -0.05815024 -0.47160256 5.73412877] [ 0.09646813 0.99367604 0.05746155 0.28316863] [ 0.46527876 -0.09605457 0.87993704 1.35663724] [ 0. 0. 0. 1. ]] SLAMing on 183.956502481 meters Centerline goodness [0,1] 0.7253220894823144 Centerline is valid? [False, False] Translation: X:5.73, Y:0.28, Z:1.36 [[ 0.87993401 -0.05771435 -0.47157734 5.73408019] [ 0.09626434 0.99366376 0.05801298 0.2809409 ] [ 0.46524114 -0.09644367 0.87991437 1.35680491] [ 0. 0. 0. 1. ]] SLAMing on 183.98650248099997 meters Centerline goodness [0,1] 0.7267466280860597 Centerline is valid? [False, False] Translation: X:5.74, Y:0.28, Z:1.36 [[ 0.87995589 -0.05664001 -0.47166676 5.73502367] [ 0.0955993 0.99366816 0.05902853 0.27600341] [ 0.46533686 -0.09703351 0.8797989 1.35705431] [ 0. 0. 0. 1. ]] SLAMing on 184.01650248099997 meters Centerline goodness [0,1] 0.7274919987012385 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.880022 -0.05645238 -0.47156592 5.73435506] [ 0.09550919 0.9936617 0.05928253 0.27201287] [ 0.46523035 -0.09720881 0.87983587 1.35769009] [ 0. 0. 0. 1. ]] SLAMing on 184.04650248099998 meters Centerline goodness [0,1] 0.7280176415970288 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.88006776 -0.05612746 -0.47151929 5.7341982 ] [ 0.09532549 0.99365795 0.05963997 0.27045376] [ 0.46518145 -0.09743502 0.87983671 1.35782541] [ 0. 0. 0. 1. ]] SLAMing on 184.07650248099998 meters Centerline goodness [0,1] 0.7285770304246535 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.87998129 -0.05570387 -0.47173087 5.73382155] [ 0.09508349 0.99365725 0.06003664 0.26832045] [ 0.46539452 -0.09768494 0.87969631 1.358642 ] [ 0. 0. 0. 1. ]] SLAMing on 184.10650248099998 meters Centerline goodness [0,1] 0.72885927701955 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.88000751 -0.05558367 -0.47169613 5.73348302] [ 0.09504582 0.99364914 0.06023024 0.26697965] [ 0.46535264 -0.09783581 0.8797017 1.35890294] [ 0. 0. 0. 1. ]] SLAMing on 184.13650248099998 meters Centerline goodness [0,1] 0.72885927701955 Centerline is valid? [False, False] Translation: X:5.73, Y:0.27, Z:1.36 [[ 0.88000751 -0.05558367 -0.47169613 5.73348302] [ 0.09504582 0.99364914 0.06023024 0.26697965] [ 0.46535264 -0.09783581 0.8797017 1.35890294] [ 0. 0. 0. 1. ]] SLAMing on 184.16650248099998 meters Centerline goodness [0,1] 0.7299074413489737 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.8800556 -0.05566875 -0.47159637 5.73278164] [ 0.09517573 0.99363139 0.06031792 0.26325121] [ 0.46523513 -0.09796765 0.87974918 1.35951069] [ 0. 0. 0. 1. ]] SLAMing on 184.19650248099998 meters Centerline goodness [0,1] 0.7293656401723234 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.88030969 -0.05699403 -0.47096341 5.73064574] [ 0.09616152 0.99358564 0.05950244 0.25952568] [ 0.46455119 -0.09766913 0.8801437 1.35998609] [ 0. 0. 0. 1. ]] SLAMing on 184.22650248099998 meters Centerline goodness [0,1] 0.7299801908058016 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.88031912 -0.05703786 -0.47094047 5.73006593] [ 0.09626382 0.99356941 0.05960797 0.25837012] [ 0.46451213 -0.09780856 0.88014883 1.3603555 ] [ 0. 0. 0. 1. ]] SLAMing on 184.25650248099998 meters Centerline goodness [0,1] 0.7319730361560635 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.88027309 -0.0567561 -0.47106054 5.72915238] [ 0.09619049 0.99355032 0.06004292 0.25688964] [ 0.46461455 -0.09816571 0.880055 1.36112473] [ 0. 0. 0. 1. ]] SLAMing on 184.28650248099999 meters Centerline goodness [0,1] 0.7323892602243118 Centerline is valid? [False, False] Translation: X:5.73, Y:0.26, Z:1.36 [[ 0.88025951 -0.05662021 -0.47110227 5.72915646] [ 0.09618287 0.99353494 0.06030904 0.25577364] [ 0.46464186 -0.09839958 0.88001447 1.36128897] [ 0. 0. 0. 1. ]] SLAMing on 184.316502481 meters Centerline goodness [0,1] 0.7339089658903893 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.87987832 -0.06136423 -0.4712203 5.73008751] [ 0.09974507 0.99338566 0.0568846 0.25457581] [ 0.4646128 -0.09705343 0.88017929 1.36159258] [ 0. 0. 0. 1. ]] SLAMing on 184.346502481 meters Centerline goodness [0,1] 0.7329747490660306 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.8798939 -0.06157733 -0.47116341 5.73021675] [ 0.10008595 0.9933397 0.05708807 0.2523959 ] [ 0.46450999 -0.09738828 0.88019656 1.36153904] [ 0. 0. 0. 1. ]] SLAMing on 184.376502481 meters Centerline goodness [0,1] 0.7334916758161734 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.87961887 -0.06679863 -0.47096559 5.72974561] [ 0.10403852 0.99313587 0.05345216 0.25078027] [ 0.46416229 -0.09601609 0.88053068 1.36201774] [ 0. 0. 0. 1. ]] SLAMing on 184.406502481 meters Centerline goodness [0,1] 0.73442278927511 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.8795852 -0.06932989 -0.47066256 5.72724853] [ 0.10607667 0.99299908 0.05196705 0.24825737] [ 0.46376462 -0.09563577 0.88078157 1.36296841] [ 0. 0. 0. 1. ]] SLAMing on 184.436502481 meters Centerline goodness [0,1] 0.7335572410418381 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:1.36 [[ 0.87960194 -0.06961603 -0.47058904 5.72637657] [ 0.10642798 0.99295777 0.05203793 0.24696763] [ 0.46365237 -0.09585651 0.88081667 1.3633321 ] [ 0. 0. 0. 1. ]] SLAMing on 184.466502481 meters Centerline goodness [0,1] 0.7287419691883601 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.8796321 -0.07042348 -0.47041248 5.72480401] [ 0.10726239 0.99287349 0.05193279 0.24494501] [ 0.46340279 -0.09613932 0.88091718 1.36389337] [ 0. 0. 0. 1. ]] SLAMing on 184.496502481 meters Centerline goodness [0,1] 0.7314855974395449 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87968008 -0.0705803 -0.47029925 5.72452838] [ 0.10748908 0.99284264 0.05205381 0.24359046] [ 0.46325917 -0.09634273 0.8809705 1.36393295] [ 0. 0. 0. 1. ]] SLAMing on 184.526502481 meters Centerline goodness [0,1] 0.7276552396137833 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87973077 -0.07191519 -0.4700021 5.72336016] [ 0.10863458 0.99275012 0.05143672 0.24122947] [ 0.46289556 -0.09630894 0.8811653 1.3641599 ] [ 0. 0. 0. 1. ]] SLAMing on 184.556502481 meters Centerline goodness [0,1] 0.7229384577961566 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87979291 -0.07215959 -0.46984831 5.72288296] [ 0.10885975 0.99272857 0.05137648 0.24083747] [ 0.46272454 -0.09634823 0.88125083 1.36414535] [ 0. 0. 0. 1. ]] SLAMing on 184.586502481 meters Centerline goodness [0,1] 0.7017121396222247 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87981849 -0.07276211 -0.46970747 5.72138145] [ 0.1093409 0.99269351 0.05103106 0.24092598] [ 0.46256243 -0.09625631 0.88134597 1.36464989] [ 0. 0. 0. 1. ]] SLAMing on 184.616502481 meters Centerline goodness [0,1] 0.7175380542686962 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87982063 -0.07321981 -0.46963233 5.72099399] [ 0.1097235 0.99266346 0.05079372 0.24106332] [ 0.46246775 -0.09621907 0.88139972 1.36471318] [ 0. 0. 0. 1. ]] SLAMing on 184.646502481 meters Centerline goodness [0,1] 0.7137716141490389 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:1.36 [[ 0.87978808 -0.07327865 -0.46968412 5.72111135] [ 0.10977788 0.99265924 0.05075866 0.24138025] [ 0.46251676 -0.09621779 0.88137415 1.36473237] [ 0. 0. 0. 1. ]] SLAMing on 184.676502481 meters Centerline goodness [0,1] 0.7112660420089703 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88138543 -0.07274548 -0.46676313 5.69957052] [ 0.10853271 0.99282411 0.05020895 0.23939318] [ 0.45976122 -0.0949125 0.88295597 1.35198731] [ 0. 0. 0. 1. ]] SLAMing on 184.706502481 meters Centerline goodness [0,1] 0.6964515413617209 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88138385 -0.07321063 -0.46669339 5.69900427] [ 0.10884791 0.99280898 0.0498242 0.23976448] [ 0.45968973 -0.09471285 0.88301463 1.35219325] [ 0. 0. 0. 1. ]] SLAMing on 184.73650248099997 meters Centerline goodness [0,1] 0.6863739490190846 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88137676 -0.0736215 -0.46664213 5.69833738] [ 0.1090867 0.99280369 0.0494057 0.24086922] [ 0.45964671 -0.09444949 0.88306523 1.35239836] [ 0. 0. 0. 1. ]] SLAMing on 184.76650248099997 meters Centerline goodness [0,1] 0.6629125954283426 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88129603 -0.07377101 -0.46677098 5.69837869] [ 0.10916401 0.99280536 0.04920092 0.24174915] [ 0.45978313 -0.09431517 0.88300857 1.35256359] [ 0. 0. 0. 1. ]] SLAMing on 184.79650248099998 meters Centerline goodness [0,1] 0.6564408941397597 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88118817 -0.07367608 -0.46698956 5.69906592] [ 0.10904782 0.99282151 0.04913268 0.2432011 ] [ 0.46001737 -0.09421933 0.88289678 1.35249194] [ 0. 0. 0. 1. ]] SLAMing on 184.82650248099998 meters Centerline goodness [0,1] 0.6543096702068194 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88113453 -0.07367007 -0.46709171 5.69971678] [ 0.10904515 0.99282258 0.049117 0.24351219] [ 0.46012074 -0.09421277 0.88284362 1.35232778] [ 0. 0. 0. 1. ]] SLAMing on 184.85650248099998 meters Centerline goodness [0,1] 0.6978662363277748 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.8810751 -0.07366045 -0.46720531 5.7003503 ] [ 0.10898596 0.99283496 0.04899803 0.24438126] [ 0.46024855 -0.09408976 0.88279012 1.35217333] [ 0. 0. 0. 1. ]] SLAMing on 184.88650248099998 meters Centerline goodness [0,1] 0.7126744107668457 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.35 [[ 0.88139508 -0.06964837 -0.4672171 5.69915825] [ 0.10602936 0.99300269 0.05199455 0.24477927] [ 0.4603265 -0.09536647 0.88261246 1.35229184] [ 0. 0. 0. 1. ]] SLAMing on 184.91650248099998 meters Centerline goodness [0,1] 0.7139325842696629 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88129189 -0.06979666 -0.46738959 5.69928189] [ 0.10600531 0.99302646 0.05158799 0.24654734] [ 0.46052956 -0.09500986 0.88254498 1.35247843] [ 0. 0. 0. 1. ]] SLAMing on 184.94650248099998 meters Centerline goodness [0,1] 0.7193839641546393 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88154974 -0.06493053 -0.46760462 5.69945644] [ 0.10235091 0.99322451 0.05503973 0.24775847] [ 0.46086261 -0.09638002 0.88222251 1.35223379] [ 0. 0. 0. 1. ]] SLAMing on 184.97650248099998 meters Centerline goodness [0,1] 0.7228334385427 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88141876 -0.06496044 -0.46784731 5.70015311] [ 0.10225178 0.99325192 0.05472844 0.24947102] [ 0.46113506 -0.09607689 0.8821132 1.35225386] [ 0. 0. 0. 1. ]] SLAMing on 185.00650248099998 meters Centerline goodness [0,1] 0.7225293945070073 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88131356 -0.06519081 -0.46801343 5.70057842] [ 0.10223334 0.9932851 0.05415777 0.25156754] [ 0.46134018 -0.09557655 0.88206029 1.35232084] [ 0. 0. 0. 1. ]] SLAMing on 185.03650248099999 meters Centerline goodness [0,1] 0.7228550763945394 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88132139 -0.06567243 -0.46793135 5.70049799] [ 0.10251493 0.99328215 0.05367741 0.25258087] [ 0.46126273 -0.095277 0.8821332 1.3521866 ] [ 0. 0. 0. 1. ]] SLAMing on 185.066502481 meters Centerline goodness [0,1] 0.7195903849203652 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88125539 -0.06592401 -0.46802025 5.70050137] [ 0.10267394 0.99327968 0.0534186 0.25322906] [ 0.46135344 -0.09512891 0.88210175 1.3523374 ] [ 0. 0. 0. 1. ]] SLAMing on 185.096502481 meters Centerline goodness [0,1] 0.7178341348334997 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.35 [[ 0.88121818 -0.06632644 -0.46803346 5.70006796] [ 0.10292132 0.99327536 0.05302124 0.25409665] [ 0.46136939 -0.0948939 0.88211872 1.35256017] [ 0. 0. 0. 1. ]] SLAMing on 185.126502481 meters Centerline goodness [0,1] 0.7125081565150868 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88106132 -0.06662964 -0.46828563 5.69993828] [ 0.1030625 0.99328421 0.05257948 0.25575404] [ 0.46163737 -0.09458844 0.88201132 1.3530429 ] [ 0. 0. 0. 1. ]] SLAMing on 185.156502481 meters Centerline goodness [0,1] 0.7175783999818335 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.8809565 -0.0668492 -0.46845152 5.70021112] [ 0.10311225 0.99330098 0.05216342 0.25746472] [ 0.46182627 -0.0942568 0.88194793 1.35314334] [ 0. 0. 0. 1. ]] SLAMing on 185.186502481 meters Centerline goodness [0,1] 0.7174264689130385 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.8808321 -0.06697664 -0.46866719 5.70061724] [ 0.10313439 0.99331343 0.05188179 0.25848069] [ 0.46205855 -0.09403485 0.88184995 1.35330984] [ 0. 0. 0. 1. ]] SLAMing on 185.216502481 meters Centerline goodness [0,1] 0.7225841723996538 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88078377 -0.06726119 -0.46871728 5.70067002] [ 0.10315317 0.99334202 0.05129375 0.26072648] [ 0.46214649 -0.09352837 0.88185774 1.35333688] [ 0. 0. 0. 1. ]] SLAMing on 185.246502481 meters Centerline goodness [0,1] 0.7280499760607373 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.8806569 -0.06751166 -0.4689196 5.70071102] [ 0.10322786 0.99335702 0.05085123 0.26233608] [ 0.46237153 -0.09318806 0.8817758 1.35361751] [ 0. 0. 0. 1. ]] SLAMing on 185.276502481 meters Centerline goodness [0,1] 0.7301561892565575 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88068299 -0.06757121 -0.46886202 5.70053269] [ 0.10302367 0.99340391 0.05034676 0.2648243 ] [ 0.46236737 -0.09264342 0.88183536 1.35361258] [ 0. 0. 0. 1. ]] SLAMing on 185.306502481 meters Centerline goodness [0,1] 0.7303303853732301 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88071745 -0.06806391 -0.46872602 5.69946942] [ 0.10317588 0.9934253 0.04960763 0.26674492] [ 0.46226779 -0.09205153 0.88194955 1.35399537] [ 0. 0. 0. 1. ]] SLAMing on 185.336502481 meters Centerline goodness [0,1] 0.7298792525595703 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.8807432 -0.06839374 -0.46862961 5.69882557] [ 0.10332219 0.99343043 0.04919854 0.2678991 ] [ 0.46218604 -0.09175112 0.88202369 1.35413136] [ 0. 0. 0. 1. ]] SLAMing on 185.366502481 meters Centerline goodness [0,1] 0.7328514869717337 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88107872 -0.06377483 -0.46865025 5.69848488] [ 0.09994759 0.99359638 0.05269444 0.26808938] [ 0.46228861 -0.09326841 0.88181077 1.35386419] [ 0. 0. 0. 1. ]] SLAMing on 185.396502481 meters Centerline goodness [0,1] 0.7310409905866648 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88098203 -0.06391277 -0.4688132 5.69850651] [ 0.09997881 0.99360775 0.05242027 0.26905939] [ 0.4624661 -0.09305271 0.88174049 1.35412046] [ 0. 0. 0. 1. ]] SLAMing on 185.426502481 meters Centerline goodness [0,1] 0.7307630300099035 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88098095 -0.06411374 -0.4687878 5.69827852] [ 0.09998616 0.99362868 0.05200788 0.27027204] [ 0.46246658 -0.09269024 0.88177842 1.35423942] [ 0. 0. 0. 1. ]] SLAMing on 185.456502481 meters Centerline goodness [0,1] 0.7321222739637605 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88093907 -0.06414151 -0.4688627 5.69862706] [ 0.09993676 0.99364257 0.05183706 0.27100702] [ 0.46255703 -0.09252191 0.88174865 1.35419373] [ 0. 0. 0. 1. ]] SLAMing on 185.48650248099997 meters Centerline goodness [0,1] 0.7308403866611165 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88085869 -0.06394306 -0.46904077 5.69905506] [ 0.09960255 0.99368916 0.05158665 0.2727921 ] [ 0.46278212 -0.09215821 0.88166863 1.35427638] [ 0. 0. 0. 1. ]] SLAMing on 185.51650248099997 meters Centerline goodness [0,1] 0.729037931912333 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88077516 -0.06399579 -0.46919043 5.69907413] [ 0.09955755 0.99370572 0.05135406 0.27376351] [ 0.46295077 -0.09194284 0.88160257 1.35451145] [ 0. 0. 0. 1. ]] SLAMing on 185.54650248099998 meters Centerline goodness [0,1] 0.7275189222970627 Centerline is valid? [False, False] Translation: X:5.70, Y:0.28, Z:1.35 [[ 0.88079392 -0.06390127 -0.4691681 5.69869428] [ 0.0992783 0.99375033 0.05103036 0.27534295] [ 0.46297505 -0.09152545 0.88163326 1.35473411] [ 0. 0. 0. 1. ]] SLAMing on 185.57650248099998 meters Centerline goodness [0,1] 0.7288108170576679 Centerline is valid? [False, False] Translation: X:5.70, Y:0.28, Z:1.35 [[ 0.88071313 -0.06366362 -0.46935203 5.69955324] [ 0.0990392 0.99377346 0.05104465 0.2757256 ] [ 0.4631799 -0.09143994 0.88153452 1.35466086] [ 0. 0. 0. 1. ]] SLAMing on 185.60650248099998 meters Centerline goodness [0,1] 0.7281427712793009 Centerline is valid? [False, False] Translation: X:5.70, Y:0.28, Z:1.35 [[ 0.8807414 -0.06362602 -0.46930409 5.70006636] [ 0.09901567 0.9937734 0.05109131 0.27543381] [ 0.46313118 -0.09146669 0.88155735 1.35434795] [ 0. 0. 0. 1. ]] SLAMing on 185.63650248099998 meters Centerline goodness [0,1] 0.7273882113821138 Centerline is valid? [False, False] Translation: X:5.70, Y:0.28, Z:1.35 [[ 0.88066933 -0.06323487 -0.46949215 5.70119555] [ 0.09874139 0.99378646 0.05136732 0.2752552 ] [ 0.46332674 -0.09159593 0.88144116 1.35411542] [ 0. 0. 0. 1. ]] SLAMing on 185.66650248099998 meters Centerline goodness [0,1] 0.7283219613738869 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88065195 -0.06319227 -0.46953049 5.70137833] [ 0.09872961 0.99378451 0.0514278 0.27497407] [ 0.46336229 -0.09164655 0.88141721 1.35412752] [ 0. 0. 0. 1. ]] SLAMing on 185.69650248099998 meters Centerline goodness [0,1] 0.7290768698859053 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88078339 -0.06384007 -0.46919619 5.69995651] [ 0.09929599 0.99374039 0.05118926 0.27354079] [ 0.46299128 -0.09167595 0.88160909 1.35438286] [ 0. 0. 0. 1. ]] SLAMing on 185.72650248099998 meters Centerline goodness [0,1] 0.7297029702970297 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88092025 -0.06410432 -0.46890314 5.69903528] [ 0.09955779 0.99371439 0.0511856 0.27234989] [ 0.46267457 -0.09177339 0.88176521 1.35443627] [ 0. 0. 0. 1. ]] SLAMing on 185.75650248099998 meters Centerline goodness [0,1] 0.7302327718927365 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88106994 -0.06633604 -0.46831111 5.69682274] [ 0.10128846 0.99360901 0.04981758 0.26949545] [ 0.46201343 -0.09132728 0.8821581 1.35486054] [ 0. 0. 0. 1. ]] SLAMing on 185.78650248099999 meters Centerline goodness [0,1] 0.7301678414804951 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88102935 -0.06621152 -0.46840508 5.69746176] [ 0.10144779 0.99356496 0.05036887 0.26723214] [ 0.46205587 -0.09189511 0.8820769 1.35471727] [ 0. 0. 0. 1. ]] SLAMing on 185.816502481 meters Centerline goodness [0,1] 0.7303497210039266 Centerline is valid? [False, False] Translation: X:5.70, Y:0.27, Z:1.35 [[ 0.88100259 -0.06608426 -0.46847339 5.6975955 ] [ 0.10145118 0.99355114 0.05063396 0.26635248] [ 0.46210616 -0.09213583 0.88202545 1.35478226] [ 0. 0. 0. 1. ]] SLAMing on 185.846502481 meters Centerline goodness [0,1] 0.7312505730264968 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88108435 -0.06570435 -0.46837305 5.69810292] [ 0.1013234 0.9935336 0.05123049 0.26415636] [ 0.46197829 -0.09259554 0.88204429 1.35448178] [ 0. 0. 0. 1. ]] SLAMing on 185.876502481 meters Centerline goodness [0,1] 0.7318584476981687 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.8810464 -0.0655487 -0.46846623 5.69856653] [ 0.10128063 0.99352595 0.05146283 0.26295812] [ 0.46206003 -0.0927877 0.88198128 1.35450635] [ 0. 0. 0. 1. ]] SLAMing on 185.906502481 meters Centerline goodness [0,1] 0.7301005566117691 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88103893 -0.06542411 -0.46849769 5.69860425] [ 0.10124447 0.99351967 0.05165487 0.26159519] [ 0.4620822 -0.09294275 0.88195334 1.35466643] [ 0. 0. 0. 1. ]] SLAMing on 185.936502481 meters Centerline goodness [0,1] 0.732307269479181 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.35 [[ 0.88102467 -0.06548965 -0.46851535 5.69810742] [ 0.10128682 0.99351869 0.05159063 0.26143073] [ 0.4621001 -0.09290705 0.88194772 1.35498 ] [ 0. 0. 0. 1. ]] SLAMing on 185.966502481 meters Centerline goodness [0,1] 0.7341711303392391 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88102591 -0.06549486 -0.4685123 5.69698407] [ 0.10127025 0.99352257 0.05154846 0.26122984] [ 0.46210139 -0.09286188 0.8819518 1.35566476] [ 0. 0. 0. 1. ]] SLAMing on 185.996502481 meters Centerline goodness [0,1] 0.734414249828728 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88101298 -0.06540352 -0.46854936 5.69724487] [ 0.10122874 0.99352114 0.05165742 0.26054403] [ 0.46213512 -0.09294151 0.88192574 1.35568664] [ 0. 0. 0. 1. ]] SLAMing on 186.026502481 meters Centerline goodness [0,1] 0.734414249828728 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88101298 -0.06540352 -0.46854936 5.69724487] [ 0.10122874 0.99352114 0.05165742 0.26054403] [ 0.46213512 -0.09294151 0.88192574 1.35568664] [ 0. 0. 0. 1. ]] SLAMing on 186.056502481 meters Centerline goodness [0,1] 0.7336690318150607 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88099842 -0.06535228 -0.46858389 5.69769851] [ 0.10123673 0.9935142 0.05177509 0.25978533] [ 0.46216113 -0.09305167 0.88190049 1.35557887] [ 0. 0. 0. 1. ]] SLAMing on 186.086502481 meters Centerline goodness [0,1] 0.7344626328028818 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88099496 -0.06526024 -0.46860322 5.69834101] [ 0.10125988 0.99349942 0.05201294 0.25834156] [ 0.46216265 -0.09327384 0.88187622 1.35539752] [ 0. 0. 0. 1. ]] SLAMing on 186.116502481 meters Centerline goodness [0,1] 0.7356547103596007 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88098795 -0.06515375 -0.46863123 5.69873677] [ 0.10122712 0.99349435 0.05217321 0.25779283] [ 0.4621832 -0.09340216 0.88185187 1.35526808] [ 0. 0. 0. 1. ]] SLAMing on 186.146502481 meters Centerline goodness [0,1] 0.7367812181013951 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88091645 -0.06466577 -0.46883318 5.69945261] [ 0.10090606 0.99350639 0.05256445 0.25724819] [ 0.46238964 -0.093613 0.88172128 1.35532204] [ 0. 0. 0. 1. ]] SLAMing on 186.176502481 meters Centerline goodness [0,1] 0.7371941679326999 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88093832 -0.06481502 -0.46877148 5.6987743 ] [ 0.10099743 0.99350412 0.05243176 0.25728867] [ 0.46232803 -0.09353386 0.88176199 1.35561145] [ 0. 0. 0. 1. ]] SLAMing on 186.206502481 meters Centerline goodness [0,1] 0.7395552941708702 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88103452 -0.06509186 -0.46855227 5.69720035] [ 0.10126073 0.9934796 0.05238853 0.25621584] [ 0.46208705 -0.09360205 0.88188107 1.35613762] [ 0. 0. 0. 1. ]] SLAMing on 186.23650248099997 meters Centerline goodness [0,1] 0.7389038066656137 Centerline is valid? [False, False] Translation: X:5.70, Y:0.26, Z:1.36 [[ 0.88109697 -0.06512002 -0.4684309 5.69683587] [ 0.1013385 0.99346556 0.05250411 0.25540623] [ 0.4619509 -0.09373129 0.88193867 1.35615446] [ 0. 0. 0. 1. ]] SLAMing on 186.26650248099997 meters Centerline goodness [0,1] 0.7424106138970092 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.36 [[ 0.88115403 -0.06530676 -0.46829756 5.69607642] [ 0.1016297 0.99342605 0.05268868 0.25357232] [ 0.46177806 -0.09401978 0.88199847 1.35642227] [ 0. 0. 0. 1. ]] SLAMing on 186.29650248099998 meters Centerline goodness [0,1] 0.7429486748661425 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.8812564 -0.06753535 -0.46778855 5.69491807] [ 0.10329116 0.99333361 0.05117882 0.25117754] [ 0.46121371 -0.09342008 0.88235741 1.35657391] [ 0. 0. 0. 1. ]] SLAMing on 186.32650248099998 meters Centerline goodness [0,1] 0.742954205127059 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.36 [[ 0.88127766 -0.06739098 -0.46776933 5.69526181] [ 0.10330918 0.99331363 0.05152902 0.24943357] [ 0.46116906 -0.09373624 0.88234722 1.35649048] [ 0. 0. 0. 1. ]] SLAMing on 186.35650248099998 meters Centerline goodness [0,1] 0.7447495601434266 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.36 [[ 0.88135567 -0.06696424 -0.46768362 5.69640208] [ 0.10320651 0.99328545 0.0522726 0.24679006] [ 0.46104294 -0.09433875 0.88234891 1.35586922] [ 0. 0. 0. 1. ]] SLAMing on 186.38650248099998 meters Centerline goodness [0,1] 0.7439035243859025 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88137191 -0.06633801 -0.46774226 5.69740461] [ 0.10290518 0.99327641 0.05303296 0.2447911 ] [ 0.46107925 -0.09487486 0.88227246 1.35558967] [ 0. 0. 0. 1. ]] SLAMing on 186.41650248099998 meters Centerline goodness [0,1] 0.744465950299228 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88135133 -0.06625207 -0.46779323 5.69727225] [ 0.10291391 0.99326534 0.05322313 0.24393747] [ 0.46111665 -0.0950507 0.88223398 1.35580521] [ 0. 0. 0. 1. ]] SLAMing on 186.44650248099998 meters Centerline goodness [0,1] 0.7447219876438953 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88141238 -0.06595835 -0.4677197 5.69701771] [ 0.10283815 0.99324597 0.05372865 0.24208971] [ 0.46101686 -0.09545652 0.88224232 1.35593356] [ 0. 0. 0. 1. ]] SLAMing on 186.47650248099998 meters Centerline goodness [0,1] 0.7443162877525169 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88147049 -0.06590949 -0.46761706 5.69684515] [ 0.10288488 0.99322927 0.05394745 0.24077073] [ 0.4608953 -0.09566381 0.88228338 1.35593109] [ 0. 0. 0. 1. ]] SLAMing on 186.50650248099998 meters Centerline goodness [0,1] 0.7454198219004686 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88149185 -0.06578966 -0.46759366 5.69712427] [ 0.10289972 0.9932118 0.05423982 0.23933479] [ 0.46085113 -0.09592722 0.88227785 1.35584895] [ 0. 0. 0. 1. ]] SLAMing on 186.53650248099999 meters Centerline goodness [0,1] 0.7461176679385926 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88152555 -0.06555136 -0.46756361 5.6975261 ] [ 0.1028796 0.99318742 0.05472242 0.23738157] [ 0.46079117 -0.09634197 0.88226398 1.3557122 ] [ 0. 0. 0. 1. ]] SLAMing on 186.566502481 meters Centerline goodness [0,1] 0.7442413203314155 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88144678 -0.06525327 -0.46775376 5.69793202] [ 0.10270185 0.99319157 0.05498024 0.23714322] [ 0.46098145 -0.09650133 0.88214715 1.35587357] [ 0. 0. 0. 1. ]] SLAMing on 186.596502481 meters Centerline goodness [0,1] 0.7433299184891542 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88141054 -0.06523076 -0.46782519 5.69823239] [ 0.10268595 0.99319315 0.05498152 0.2372513 ] [ 0.46105429 -0.09650037 0.88210919 1.35585236] [ 0. 0. 0. 1. ]] SLAMing on 186.626502481 meters Centerline goodness [0,1] 0.7448431193274312 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88134718 -0.06503622 -0.46797163 5.698871 ] [ 0.10259668 0.9931905 0.05519551 0.23637692] [ 0.46119527 -0.09665875 0.88201815 1.35587821] [ 0. 0. 0. 1. ]] SLAMing on 186.656502481 meters Centerline goodness [0,1] 0.7443699463167976 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88137003 -0.0650319 -0.46792918 5.69875857] [ 0.10263165 0.99318209 0.05528175 0.23560789] [ 0.46114381 -0.09674802 0.88203526 1.35594924] [ 0. 0. 0. 1. ]] SLAMing on 186.686502481 meters Centerline goodness [0,1] 0.7433238731591767 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.881397 -0.0652151 -0.46785289 5.69794902] [ 0.10283706 0.99315995 0.05529783 0.23441152] [ 0.4610465 -0.09685196 0.88207473 1.35633615] [ 0. 0. 0. 1. ]] SLAMing on 186.716502481 meters Centerline goodness [0,1] 0.7426040783543795 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88141776 -0.0653538 -0.4677944 5.6972898 ] [ 0.10297975 0.99314584 0.05528567 0.23391745] [ 0.46097494 -0.09690312 0.88210651 1.35662683] [ 0. 0. 0. 1. ]] SLAMing on 186.746502481 meters Centerline goodness [0,1] 0.7418253241970404 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88143505 -0.06535526 -0.46776162 5.69646949] [ 0.1031272 0.99311453 0.05557249 0.23216481] [ 0.46090891 -0.09722249 0.88210587 1.35713123] [ 0. 0. 0. 1. ]] SLAMing on 186.776502481 meters Centerline goodness [0,1] 0.7419958976188352 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88142171 -0.06515289 -0.46781499 5.69655122] [ 0.1031783 0.99307991 0.05609391 0.22972479] [ 0.46092299 -0.09771075 0.88204456 1.35734942] [ 0. 0. 0. 1. ]] SLAMing on 186.806502481 meters Centerline goodness [0,1] 0.740947199429183 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88140444 -0.06502291 -0.46786562 5.69669953] [ 0.10317562 0.9930653 0.0563569 0.228612 ] [ 0.46095663 -0.09794555 0.88200094 1.35744305] [ 0. 0. 0. 1. ]] SLAMing on 186.836502481 meters Centerline goodness [0,1] 0.7409041285119087 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88131248 -0.06470671 -0.46808263 5.69707042] [ 0.10307641 0.99305055 0.0567966 0.22693136] [ 0.4611546 -0.09830383 0.88185758 1.3577599 ] [ 0. 0. 0. 1. ]] SLAMing on 186.866502481 meters Centerline goodness [0,1] 0.7399422093798622 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88127103 -0.06459398 -0.46817624 5.69702765] [ 0.10304162 0.99304535 0.05695044 0.22624026] [ 0.46124158 -0.09843041 0.88179797 1.35802787] [ 0. 0. 0. 1. ]] SLAMing on 186.896502481 meters Centerline goodness [0,1] 0.7421450586487506 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88125342 -0.06429769 -0.46825016 5.69670788] [ 0.10283328 0.99305418 0.05717262 0.22538187] [ 0.46132171 -0.09853527 0.88174434 1.35847069] [ 0. 0. 0. 1. ]] SLAMing on 186.926502481 meters Centerline goodness [0,1] 0.7401411098577843 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.8812692 -0.06412928 -0.46824355 5.69654 ] [ 0.10271744 0.99305793 0.05731553 0.22498179] [ 0.46131737 -0.09860719 0.88173857 1.35862031] [ 0. 0. 0. 1. ]] SLAMing on 186.956502481 meters Centerline goodness [0,1] 0.7406021656835989 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88116023 -0.06375946 -0.46849908 5.69638118] [ 0.10248737 0.99306463 0.05761064 0.22418043] [ 0.46157664 -0.09877944 0.88158359 1.35927468] [ 0. 0. 0. 1. ]] SLAMing on 186.98650248099997 meters Centerline goodness [0,1] 0.7397224289654569 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88117542 -0.0636226 -0.46848911 5.69603638] [ 0.10245853 0.99305354 0.05785255 0.22274363] [ 0.46155404 -0.09897895 0.88157305 1.35959535] [ 0. 0. 0. 1. ]] SLAMing on 187.01650248099997 meters Centerline goodness [0,1] 0.741455744578629 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88118146 -0.06356695 -0.4684853 5.69571027] [ 0.10254497 0.99302792 0.05813838 0.2205677 ] [ 0.4615233 -0.09927128 0.88155627 1.35995798] [ 0. 0. 0. 1. ]] SLAMing on 187.04650248099998 meters Centerline goodness [0,1] 0.740089744992886 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.8811839 -0.06351492 -0.46848776 5.69553874] [ 0.10261078 0.99300722 0.05837548 0.21937371] [ 0.46150401 -0.09951142 0.88153929 1.36014296] [ 0. 0. 0. 1. ]] SLAMing on 187.07650248099998 meters Centerline goodness [0,1] 0.7430497970584384 Centerline is valid? [False, False] Translation: X:5.69, Y:0.22, Z:1.36 [[ 0.88112899 -0.06548721 -0.46831948 5.69406233] [ 0.10419684 0.99291045 0.0572001 0.21652397] [ 0.46125343 -0.09919807 0.88170574 1.36096152] [ 0. 0. 0. 1. ]] SLAMing on 187.10650248099998 meters Centerline goodness [0,1] 0.7422574809842426 Centerline is valid? [False, False] Translation: X:5.69, Y:0.21, Z:1.36 [[ 0.88113777 -0.06548762 -0.46830289 5.693749 ] [ 0.10433703 0.99288007 0.05747123 0.21488318] [ 0.46120496 -0.0995014 0.88169692 1.36122716] [ 0. 0. 0. 1. ]] SLAMing on 187.13650248099998 meters Centerline goodness [0,1] 0.7413905415381943 Centerline is valid? [False, False] Translation: X:5.69, Y:0.21, Z:1.36 [[ 0.88098459 -0.06828044 -0.4681922 5.69222601] [ 0.10664621 0.99272465 0.05589584 0.21144709] [ 0.46096935 -0.0991743 0.88185697 1.36223624] [ 0. 0. 0. 1. ]] SLAMing on 187.16650248099998 meters Centerline goodness [0,1] 0.7423979901238846 Centerline is valid? [False, False] Translation: X:5.69, Y:0.21, Z:1.36 [[ 0.8810514 -0.06828315 -0.46806607 5.6920747 ] [ 0.10687041 0.99267489 0.05634965 0.20886508] [ 0.4607897 -0.09966935 0.88189505 1.36227682] [ 0. 0. 0. 1. ]] SLAMing on 187.19650248099998 meters Centerline goodness [0,1] 0.7334993503681247 Centerline is valid? [False, False] Translation: X:5.69, Y:0.21, Z:1.36 [[ 0.8807618 -0.07310029 -0.46788352 5.69214313] [ 0.11070478 0.99242077 0.05334298 0.20557476] [ 0.46043794 -0.0987794 0.88217886 1.36268326] [ 0. 0. 0. 1. ]] SLAMing on 187.22650248099998 meters Centerline goodness [0,1] 0.7248140781736423 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88082431 -0.07301802 -0.46777868 5.69200188] [ 0.11086472 0.99237539 0.05385252 0.20314038] [ 0.46027985 -0.09929476 0.8822035 1.36274031] [ 0. 0. 0. 1. ]] SLAMing on 187.25650248099998 meters Centerline goodness [0,1] 0.7115998963909516 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88044338 -0.07788368 -0.46771101 5.69118099] [ 0.11462553 0.99212089 0.05056811 0.2012283 ] [ 0.46008743 -0.09813398 0.88243373 1.36375767] [ 0. 0. 0. 1. ]] SLAMing on 187.28650248099999 meters Centerline goodness [0,1] 0.6619040424751257 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88050908 -0.08002 -0.46722646 5.68842098] [ 0.11633123 0.99198427 0.04933822 0.19837152] [ 0.45953325 -0.09779578 0.88275998 1.36469299] [ 0. 0. 0. 1. ]] SLAMing on 187.316502481 meters Centerline goodness [0,1] 0.6543353598068382 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88051938 -0.08008729 -0.4671955 5.68819808] [ 0.1164893 0.99195747 0.04950368 0.19714371] [ 0.45947346 -0.09801223 0.8827671 1.36486035] [ 0. 0. 0. 1. ]] SLAMing on 187.346502481 meters Centerline goodness [0,1] 0.6289209129740692 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.37 [[ 0.8805534 -0.08010421 -0.46712849 5.68794998] [ 0.11671973 0.99190922 0.04992597 0.19482774] [ 0.45934978 -0.09848559 0.88277878 1.36503774] [ 0. 0. 0. 1. ]] SLAMing on 187.376502481 meters Centerline goodness [0,1] 0.6153846153846154 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.37 [[ 0.88054819 -0.08006379 -0.46714523 5.68814109] [ 0.11675585 0.99189726 0.05007886 0.1941237 ] [ 0.45935057 -0.09863879 0.88276126 1.36504391] [ 0. 0. 0. 1. ]] SLAMing on 187.406502481 meters Centerline goodness [0,1] 0.6108743381118429 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.37 [[ 0.88055202 -0.07996138 -0.46715556 5.6882562 ] [ 0.1168173 0.99187294 0.05041613 0.19282333] [ 0.45932762 -0.09896588 0.8827366 1.36511461] [ 0. 0. 0. 1. ]] SLAMing on 187.436502481 meters Centerline goodness [0,1] 0.5870043577684774 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.37 [[ 0.8805725 -0.07997979 -0.4671138 5.68826478] [ 0.11689219 0.9918583 0.05053037 0.19214727] [ 0.45926929 -0.09909761 0.88275216 1.36508705] [ 0. 0. 0. 1. ]] SLAMing on 187.466502481 meters Centerline goodness [0,1] 0.5950242326332795 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88053384 -0.07974539 -0.46722674 5.6892247 ] [ 0.11681625 0.99185018 0.05086434 0.19109665] [ 0.45936273 -0.09936745 0.88267321 1.3648912 ] [ 0. 0. 0. 1. ]] SLAMing on 187.496502481 meters Centerline goodness [0,1] 0.6353911059451547 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88049636 -0.07950289 -0.46733869 5.69024195] [ 0.11667172 0.9918559 0.05108418 0.19079351] [ 0.45947129 -0.09950464 0.88260125 1.3645974 ] [ 0. 0. 0. 1. ]] SLAMing on 187.526502481 meters Centerline goodness [0,1] 0.6198363127288391 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88035604 -0.07906893 -0.46767655 5.6919782 ] [ 0.11632018 0.99188783 0.05126547 0.19157421] [ 0.45982917 -0.09953208 0.88241175 1.36423417] [ 0. 0. 0. 1. ]] SLAMing on 187.556502481 meters Centerline goodness [0,1] 0.6630531021227892 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88074276 -0.07437331 -0.46771871 5.69164934] [ 0.11291231 0.99208899 0.0548658 0.19140426] [ 0.45993803 -0.10113385 0.88217286 1.36393236] [ 0. 0. 0. 1. ]] SLAMing on 187.586502481 meters Centerline goodness [0,1] 0.6550042088450497 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88063684 -0.07444758 -0.46790631 5.6918741 ] [ 0.11288462 0.99210648 0.05460586 0.19266573] [ 0.46014761 -0.10090736 0.8820895 1.36408817] [ 0. 0. 0. 1. ]] SLAMing on 187.616502481 meters Centerline goodness [0,1] 0.6872207713724559 Centerline is valid? [False, False] Translation: X:5.69, Y:0.19, Z:1.36 [[ 0.88045963 -0.07305973 -0.46845823 5.69448903] [ 0.11181742 0.99218216 0.05542043 0.19467967] [ 0.4607469 -0.10117724 0.88174569 1.36354126] [ 0. 0. 0. 1. ]] SLAMing on 187.646502481 meters Centerline goodness [0,1] 0.6913814682145786 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88036752 -0.07324859 -0.46860182 5.69486644] [ 0.11184121 0.99220159 0.05502326 0.19630175] [ 0.4609171 -0.10084968 0.88169426 1.36350513] [ 0. 0. 0. 1. ]] SLAMing on 187.676502481 meters Centerline goodness [0,1] 0.6897888841016804 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88078369 -0.06847664 -0.4685414 5.69459044] [ 0.10819131 0.99241665 0.0583423 0.19819834] [ 0.4609932 -0.10207905 0.88151298 1.36292003] [ 0. 0. 0. 1. ]] SLAMing on 187.706502481 meters Centerline goodness [0,1] 0.7276514906202103 Centerline is valid? [False, False] Translation: X:5.69, Y:0.20, Z:1.36 [[ 0.88107538 -0.06367277 -0.46867041 5.69475053] [ 0.10440868 0.99263579 0.06142493 0.20146892] [ 0.46130793 -0.10305325 0.88123494 1.36241615] [ 0. 0. 0. 1. ]] SLAMing on 187.73650248099997 meters Centerline goodness [0,1] 0.7316172500917788 Centerline is valid? [False, False] Translation: X:5.70, Y:0.20, Z:1.36 [[ 0.88097731 -0.06386957 -0.46882795 5.69517379] [ 0.1043476 0.99267791 0.06084525 0.20413824] [ 0.46150899 -0.10252436 0.88119136 1.36234422] [ 0. 0. 0. 1. ]] SLAMing on 187.76650248099997 meters Centerline goodness [0,1] 0.7374889114866181 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.36 [[ 0.88125257 -0.05939575 -0.46889876 5.695675 ] [ 0.10080435 0.99286587 0.06368557 0.20723215] [ 0.46177092 -0.10339011 0.88095295 1.36160708] [ 0. 0. 0. 1. ]] SLAMing on 187.79650248099998 meters Centerline goodness [0,1] 0.7360828315210328 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.36 [[ 0.88105819 -0.05961141 -0.46923656 5.69676104] [ 0.10077967 0.99290639 0.06309015 0.21003423] [ 0.46214709 -0.10287559 0.88081592 1.36146495] [ 0. 0. 0. 1. ]] SLAMing on 187.82650248099998 meters Centerline goodness [0,1] 0.735742604452577 Centerline is valid? [False, False] Translation: X:5.70, Y:0.21, Z:1.36 [[ 0.88126842 -0.0554107 -0.46935661 5.69809152] [ 0.09746084 0.99306476 0.06575543 0.21384659] [ 0.46245796 -0.10369207 0.88055698 1.36033924] [ 0. 0. 0. 1. ]] SLAMing on 187.85650248099998 meters Centerline goodness [0,1] 0.7344856218861988 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88112409 -0.05596565 -0.4695617 5.69827355] [ 0.097672 0.99309929 0.06491522 0.21700309] [ 0.46268837 -0.10306139 0.88050998 1.36038305] [ 0. 0. 0. 1. ]] SLAMing on 187.88650248099998 meters Centerline goodness [0,1] 0.7320980590643018 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88139774 -0.05215667 -0.46948665 5.69779968] [ 0.09469255 0.99322009 0.0674327 0.22068048] [ 0.46278651 -0.10389192 0.88036079 1.35979823] [ 0. 0. 0. 1. ]] SLAMing on 187.91650248099998 meters Centerline goodness [0,1] 0.7273069179885401 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88124725 -0.05264855 -0.46971418 5.69848856] [ 0.09492039 0.99324417 0.06675437 0.22312648] [ 0.46302635 -0.10341256 0.88029111 1.35969046] [ 0. 0. 0. 1. ]] SLAMing on 187.94650248099998 meters Centerline goodness [0,1] 0.7273069179885401 Centerline is valid? [False, False] Translation: X:5.70, Y:0.22, Z:1.36 [[ 0.88124725 -0.05264855 -0.46971418 5.69848856] [ 0.09492039 0.99324417 0.06675437 0.22312648] [ 0.46302635 -0.10341256 0.88029111 1.35969046] [ 0. 0. 0. 1. ]] SLAMing on 187.97650248099998 meters Centerline goodness [0,1] 0.7265105521827118 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88099625 -0.05326597 -0.47011524 5.70066603] [ 0.09520639 0.99327552 0.06587469 0.22739322] [ 0.46344508 -0.10279333 0.88014328 1.35895202] [ 0. 0. 0. 1. ]] SLAMing on 188.00650248099998 meters Centerline goodness [0,1] 0.7247638987883107 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.88093483 -0.05390889 -0.47015705 5.7010003 ] [ 0.09558088 0.99328415 0.06519881 0.2294009 ] [ 0.46348475 -0.10237393 0.88017127 1.35870879] [ 0. 0. 0. 1. ]] SLAMing on 188.03650248099999 meters Centerline goodness [0,1] 0.7186374717631008 Centerline is valid? [False, False] Translation: X:5.70, Y:0.23, Z:1.36 [[ 0.8808766 -0.05522729 -0.47011314 5.70078435] [ 0.09636302 0.9932948 0.06387175 0.2330124 ] [ 0.46343348 -0.10156465 0.88029202 1.35851201] [ 0. 0. 0. 1. ]] SLAMing on 188.066502481 meters Centerline goodness [0,1] 0.7138132733408324 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88081192 -0.0565529 -0.47007674 5.70029004] [ 0.09719439 0.99329349 0.0626203 0.23691528] [ 0.4633828 -0.10084552 0.88040136 1.35836869] [ 0. 0. 0. 1. ]] SLAMing on 188.096502481 meters Centerline goodness [0,1] 0.7022046430096411 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88078525 -0.05729323 -0.47003706 5.69981065] [ 0.09764198 0.9932951 0.06189412 0.23900202] [ 0.46333939 -0.10041077 0.8804739 1.35842154] [ 0. 0. 0. 1. ]] SLAMing on 188.126502481 meters Centerline goodness [0,1] 0.6767289065498634 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:1.36 [[ 0.88082547 -0.05905607 -0.46974341 5.69752197] [ 0.09869829 0.99329517 0.06019427 0.24334703] [ 0.46303902 -0.09938352 0.88074842 1.358822 ] [ 0. 0. 0. 1. ]] SLAMing on 188.156502481 meters Centerline goodness [0,1] 0.6931771847959045 Centerline is valid? [False, False] Translation: X:5.70, Y:0.25, Z:1.36 [[ 0.88082209 -0.06002612 -0.46962678 5.69601046] [ 0.09923714 0.99330324 0.05916639 0.2458966 ] [ 0.46293028 -0.09871948 0.88088026 1.35926112] [ 0. 0. 0. 1. ]] SLAMing on 188.186502481 meters Centerline goodness [0,1] 0.6939244364579306 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.88132773 -0.056877 -0.46906976 5.69283078] [ 0.09670651 0.993427 0.06124245 0.24916921] [ 0.46250328 -0.09933677 0.88103514 1.35927373] [ 0. 0. 0. 1. ]] SLAMing on 188.216502481 meters Centerline goodness [0,1] 0.699427763718852 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.88121654 -0.05770697 -0.46917727 5.69216034] [ 0.09710245 0.99345279 0.06018864 0.25229256] [ 0.46263217 -0.09859749 0.88105052 1.35965622] [ 0. 0. 0. 1. ]] SLAMing on 188.246502481 meters Centerline goodness [0,1] 0.7044257112750263 Centerline is valid? [False, False] Translation: X:5.69, Y:0.26, Z:1.36 [[ 0.88150841 -0.05391902 -0.46907958 5.69119271] [ 0.09409788 0.99359152 0.06262176 0.25577744] [ 0.46269699 -0.099341 0.88093295 1.35939295] [ 0. 0. 0. 1. ]] SLAMing on 188.276502481 meters Centerline goodness [0,1] 0.7084303464810162 Centerline is valid? [False, False] Translation: X:5.69, Y:0.26, Z:1.36 [[ 0.88172631 -0.05099144 -0.46899742 5.69199724] [ 0.09175601 0.99369267 0.06446488 0.25958955] [ 0.46275214 -0.09987371 0.88084374 1.35838889] [ 0. 0. 0. 1. ]] SLAMing on 188.306502481 meters Centerline goodness [0,1] 0.7104503797409912 Centerline is valid? [False, False] Translation: X:5.69, Y:0.26, Z:1.36 [[ 0.88156889 -0.05130639 -0.46925893 5.69299756] [ 0.09187486 0.99371482 0.06395209 0.26190098] [ 0.46302841 -0.09949127 0.88074184 1.35821026] [ 0. 0. 0. 1. ]] SLAMing on 188.336502481 meters Centerline goodness [0,1] 0.6984739030452254 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88142454 -0.05210958 -0.46944156 5.69352256] [ 0.09222778 0.99375198 0.06285731 0.26587354] [ 0.46323301 -0.09869953 0.88072333 1.35809513] [ 0. 0. 0. 1. ]] SLAMing on 188.366502481 meters Centerline goodness [0,1] 0.694554248244431 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88134766 -0.05269081 -0.46952101 5.69322922] [ 0.0925176 0.99376994 0.06214338 0.26795315] [ 0.46332148 -0.09820888 0.88073164 1.35832109] [ 0. 0. 0. 1. ]] SLAMing on 188.396502481 meters Centerline goodness [0,1] 0.6990659456422501 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.8812502 -0.05360652 -0.46960029 5.69281884] [ 0.09292509 0.99380667 0.06093636 0.2721842 ] [ 0.46342531 -0.09733783 0.88077371 1.35847792] [ 0. 0. 0. 1. ]] SLAMing on 188.426502481 meters Centerline goodness [0,1] 0.6940555750967288 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88119403 -0.05417579 -0.46964037 5.69257953] [ 0.09319145 0.99382581 0.06021299 0.27424991] [ 0.46347863 -0.0968258 0.88080209 1.3586332 ] [ 0. 0. 0. 1. ]] SLAMing on 188.456502481 meters Centerline goodness [0,1] 0.7004844551055924 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88149854 -0.05022529 -0.46950798 5.69133512] [ 0.09018703 0.99393019 0.06300065 0.27593919] [ 0.46349393 -0.09787852 0.88067768 1.35856266] [ 0. 0. 0. 1. ]] SLAMing on 188.48650248099997 meters Centerline goodness [0,1] 0.6940412618504317 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88137857 -0.05076627 -0.469675 5.69127859] [ 0.09043559 0.99395338 0.06227432 0.27838879] [ 0.46367362 -0.09736259 0.88064028 1.3588265 ] [ 0. 0. 0. 1. ]] SLAMing on 188.51650248099997 meters Centerline goodness [0,1] 0.7031079994323288 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88115457 -0.05142788 -0.47002318 5.69145529] [ 0.09070199 0.99399082 0.0612813 0.28227651] [ 0.46404716 -0.09663033 0.88052417 1.35918018] [ 0. 0. 0. 1. ]] SLAMing on 188.54650248099998 meters Centerline goodness [0,1] 0.7047937252671738 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.881094 -0.05221974 -0.47004942 5.69076219] [ 0.09108808 0.99401475 0.06031276 0.28503236] [ 0.46408654 -0.09595711 0.88057704 1.35951714] [ 0. 0. 0. 1. ]] SLAMing on 188.57650248099998 meters Centerline goodness [0,1] 0.6876248454294682 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88108388 -0.05270773 -0.47001392 5.690222 ] [ 0.09133084 0.99402725 0.05973699 0.28656516] [ 0.46405805 -0.09556007 0.88063523 1.35968356] [ 0. 0. 0. 1. ]] SLAMing on 188.60650248099998 meters Centerline goodness [0,1] 0.6933054094576263 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.8815136 -0.04879349 -0.46963068 5.6879754 ] [ 0.08836954 0.99411961 0.06258617 0.28763977] [ 0.46381527 -0.0966716 0.88064181 1.35973922] [ 0. 0. 0. 1. ]] SLAMing on 188.63650248099998 meters Centerline goodness [0,1] 0.7135506003430532 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88145452 -0.04925856 -0.469693 5.68751715] [ 0.08861317 0.99413226 0.06203831 0.28909569] [ 0.46388105 -0.09630493 0.88064734 1.36005382] [ 0. 0. 0. 1. ]] SLAMing on 188.66650248099998 meters Centerline goodness [0,1] 0.7125396863288057 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.8813762 -0.04969318 -0.46979419 5.68677504] [ 0.08876033 0.99416102 0.0613635 0.29126629] [ 0.46400172 -0.09578342 0.88064064 1.36060279] [ 0. 0. 0. 1. ]] SLAMing on 188.69650248099998 meters Centerline goodness [0,1] 0.7099557786542369 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88129948 -0.05012285 -0.46989246 5.68642911] [ 0.08899961 0.99416966 0.06087499 0.29255642] [ 0.4641016 -0.09546935 0.88062211 1.36094951] [ 0. 0. 0. 1. ]] SLAMing on 188.72650248099998 meters Centerline goodness [0,1] 0.7088529124245965 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88129363 -0.05018268 -0.46989705 5.68687743] [ 0.08906032 0.99416507 0.06086105 0.29233216] [ 0.46410106 -0.09548564 0.88062063 1.36075552] [ 0. 0. 0. 1. ]] SLAMing on 188.75650248099998 meters Centerline goodness [0,1] 0.709954124056198 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88131271 -0.05017989 -0.46986157 5.6874454 ] [ 0.08908438 0.99415925 0.06092091 0.29198773] [ 0.46406022 -0.09554769 0.88063542 1.36044068] [ 0. 0. 0. 1. ]] SLAMing on 188.78650248099999 meters Centerline goodness [0,1] 0.7075365579302587 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.8811275 -0.05021652 -0.47020487 5.68750707] [ 0.08912718 0.99416012 0.06084401 0.29258167] [ 0.46440356 -0.09551936 0.88045748 1.36098234] [ 0. 0. 0. 1. ]] SLAMing on 188.816502481 meters Centerline goodness [0,1] 0.7024208209740694 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88106884 -0.05036901 -0.47029849 5.68728275] [ 0.08927738 0.99415051 0.06078086 0.29297706] [ 0.46448601 -0.09553913 0.88041185 1.36122466] [ 0. 0. 0. 1. ]] SLAMing on 188.846502481 meters Centerline goodness [0,1] 0.7027363184079602 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88109056 -0.05030581 -0.47026455 5.68764937] [ 0.08930537 0.99413599 0.06097696 0.29206179] [ 0.46443942 -0.09572337 0.88041641 1.36104335] [ 0. 0. 0. 1. ]] SLAMing on 188.876502481 meters Centerline goodness [0,1] 0.7019451347734659 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88108919 -0.0502876 -0.47026906 5.68820634] [ 0.08946491 0.99410071 0.06131729 0.28992919] [ 0.46441131 -0.09609858 0.88039037 1.36088116] [ 0. 0. 0. 1. ]] SLAMing on 188.906502481 meters Centerline goodness [0,1] 0.6898755305450903 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88123228 -0.05068206 -0.46995851 5.68710104] [ 0.08984026 0.99407053 0.06125774 0.28861924] [ 0.46406724 -0.09620349 0.88056033 1.36096507] [ 0. 0. 0. 1. ]] SLAMing on 188.936502481 meters Centerline goodness [0,1] 0.6975778546712803 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88129797 -0.05082412 -0.46981996 5.68646206] [ 0.08996842 0.99406069 0.06122926 0.2881391 ] [ 0.46391763 -0.09623018 0.88063624 1.3611079 ] [ 0. 0. 0. 1. ]] SLAMing on 188.966502481 meters Centerline goodness [0,1] 0.690315046947238 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88126434 -0.05103658 -0.46986001 5.68542187] [ 0.09014772 0.99405207 0.06110533 0.28775939] [ 0.46394671 -0.09620676 0.88062348 1.36177636] [ 0. 0. 0. 1. ]] SLAMing on 188.996502481 meters Centerline goodness [0,1] 0.7064253005151688 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88127272 -0.05108933 -0.46983856 5.68518139] [ 0.09021304 0.99404516 0.06112141 0.28751829] [ 0.46391809 -0.0962502 0.88063381 1.36187169] [ 0. 0. 0. 1. ]] SLAMing on 189.026502481 meters Centerline goodness [0,1] 0.691553652153224 Centerline is valid? [False, False] Translation: X:5.69, Y:0.29, Z:1.36 [[ 0.88123281 -0.05048353 -0.46997888 5.68657442] [ 0.08988856 0.99403449 0.06176954 0.28579939] [ 0.46405688 -0.09667907 0.8805137 1.36154148] [ 0. 0. 0. 1. ]] SLAMing on 189.056502481 meters Centerline goodness [0,1] 0.7068760691883672 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88120635 -0.0500134 -0.47007874 5.68707096] [ 0.08967014 0.99401875 0.06233772 0.28350837] [ 0.46414936 -0.09708443 0.88042035 1.36162913] [ 0. 0. 0. 1. ]] SLAMing on 189.086502481 meters Centerline goodness [0,1] 0.7092274169864052 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88129445 -0.05005892 -0.46990871 5.68615541] [ 0.08971092 0.99401381 0.06235782 0.28293258] [ 0.46397418 -0.09711155 0.88050969 1.36186109] [ 0. 0. 0. 1. ]] SLAMing on 189.116502481 meters Centerline goodness [0,1] 0.7194608654528257 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.36 [[ 0.88145218 -0.05006882 -0.46961171 5.68390821] [ 0.08966155 0.99402108 0.06231297 0.28196729] [ 0.463684 -0.09703202 0.8806713 1.36273444] [ 0. 0. 0. 1. ]] SLAMing on 189.146502481 meters Centerline goodness [0,1] 0.7215715904797884 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.36 [[ 0.88143718 -0.04981193 -0.4696672 5.68388426] [ 0.08951396 0.99401825 0.06256976 0.28102277] [ 0.46374104 -0.09719308 0.8806235 1.36294174] [ 0. 0. 0. 1. ]] SLAMing on 189.176502481 meters Centerline goodness [0,1] 0.7190691326650667 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88130773 -0.04885481 -0.47001052 5.68546183] [ 0.08896422 0.99400901 0.06349374 0.27855066] [ 0.46409272 -0.09777164 0.88037415 1.36291561] [ 0. 0. 0. 1. ]] SLAMing on 189.206502481 meters Centerline goodness [0,1] 0.7216895568800208 Centerline is valid? [False, False] Translation: X:5.69, Y:0.28, Z:1.36 [[ 0.88128523 -0.04835218 -0.47010468 5.68661087] [ 0.08870487 0.9939962 0.06405469 0.27691409] [ 0.46418508 -0.09815103 0.88028324 1.36262734] [ 0. 0. 0. 1. ]] SLAMing on 189.23650248099997 meters Centerline goodness [0,1] 0.7198216171810821 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88132525 -0.04952104 -0.46990794 5.68708932] [ 0.08959141 0.99396615 0.06328247 0.27341438] [ 0.46393877 -0.09787216 0.88044412 1.36258904] [ 0. 0. 0. 1. ]] SLAMing on 189.26650248099997 meters Centerline goodness [0,1] 0.7199690909942397 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88138034 -0.04936493 -0.46982102 5.68709281] [ 0.08959753 0.9939422 0.06364894 0.27143039] [ 0.46383292 -0.09819372 0.88046409 1.36254937] [ 0. 0. 0. 1. ]] SLAMing on 189.29650248099998 meters Centerline goodness [0,1] 0.7184784124180881 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88136404 -0.04921459 -0.46986737 5.68683777] [ 0.08968025 0.99390467 0.06411669 0.26809122] [ 0.4638479 -0.09864797 0.88040542 1.36302411] [ 0. 0. 0. 1. ]] SLAMing on 189.32650248099998 meters Centerline goodness [0,1] 0.7160356347438752 Centerline is valid? [False, False] Translation: X:5.69, Y:0.27, Z:1.36 [[ 0.88139273 -0.04879567 -0.46985726 5.68676221] [ 0.08956681 0.99387056 0.06480045 0.26521949] [ 0.46381532 -0.09919827 0.88036075 1.36320255] [ 0. 0. 0. 1. ]] SLAMing on 189.35650248099998 meters Centerline goodness [0,1] 0.7157295834586118 Centerline is valid? [False, False] Translation: X:5.69, Y:0.26, Z:1.36 [[ 0.88140772 -0.04892558 -0.46981563 5.68584016] [ 0.08971102 0.99385718 0.06480616 0.26438715] [ 0.46375896 -0.09926829 0.88038255 1.36364759] [ 0. 0. 0. 1. ]] SLAMing on 189.38650248099998 meters Centerline goodness [0,1] 0.719134522328218 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.36 [[ 0.88146325 -0.04923685 -0.4696789 5.68392391] [ 0.09000309 0.99383591 0.06472735 0.26283599] [ 0.46359678 -0.09932733 0.8804613 1.3645071 ] [ 0. 0. 0. 1. ]] SLAMing on 189.41650248099998 meters Centerline goodness [0,1] 0.716708137498848 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.36 [[ 0.88150743 -0.04914696 -0.4696054 5.68363403] [ 0.09000829 0.99382108 0.06494749 0.26158246] [ 0.46351177 -0.09952008 0.88048429 1.36460864] [ 0. 0. 0. 1. ]] SLAMing on 189.44650248099998 meters Centerline goodness [0,1] 0.7184423690309553 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.36 [[ 0.88158388 -0.04885264 -0.46949258 5.6837875 ] [ 0.08994326 0.99379191 0.06548171 0.25832574] [ 0.46337898 -0.09995532 0.88050489 1.36462305] [ 0. 0. 0. 1. ]] SLAMing on 189.47650248099998 meters Centerline goodness [0,1] 0.7210719193770041 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.36 [[ 0.88162658 -0.04871472 -0.46942672 5.68385621] [ 0.08990227 0.9937802 0.06571528 0.25698878] [ 0.46330567 -0.10013887 0.88052261 1.3645734 ] [ 0. 0. 0. 1. ]] SLAMing on 189.50650248099998 meters Centerline goodness [0,1] 0.7222222222222222 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.36 [[ 0.88171408 -0.04821051 -0.46931442 5.68423291] [ 0.08959865 0.9937724 0.06624581 0.25516875] [ 0.46319797 -0.10045981 0.88054271 1.36435799] [ 0. 0. 0. 1. ]] SLAMing on 189.53650248099999 meters Centerline goodness [0,1] 0.7222943575024487 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88173857 -0.04809501 -0.46928025 5.68401333] [ 0.0895396 0.99376814 0.06638939 0.25453284] [ 0.46316276 -0.10055725 0.88055011 1.36443571] [ 0. 0. 0. 1. ]] SLAMing on 189.566502481 meters Centerline goodness [0,1] 0.7252969363886177 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88179744 -0.04798702 -0.46918068 5.68322877] [ 0.08950086 0.99375944 0.06657152 0.25323399] [ 0.46305816 -0.10069467 0.88058942 1.36481223] [ 0. 0. 0. 1. ]] SLAMing on 189.596502481 meters Centerline goodness [0,1] 0.7250837331402191 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88188039 -0.04768849 -0.46905521 5.68335768] [ 0.08944385 0.99372675 0.06713378 0.2505042 ] [ 0.46291121 -0.10115806 0.88061357 1.36474245] [ 0. 0. 0. 1. ]] SLAMing on 189.626502481 meters Centerline goodness [0,1] 0.7255725708090528 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88192219 -0.04744222 -0.46900159 5.68398761] [ 0.08939079 0.99370169 0.06757399 0.24856645] [ 0.46284181 -0.10151943 0.88060846 1.36447248] [ 0. 0. 0. 1. ]] SLAMing on 189.656502481 meters Centerline goodness [0,1] 0.7206233391883979 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.88148165 -0.05200364 -0.46934607 5.68566288] [ 0.09282254 0.99360826 0.06423858 0.24760668] [ 0.46300549 -0.10019103 0.88067456 1.36470468] [ 0. 0. 0. 1. ]] SLAMing on 189.686502481 meters Centerline goodness [0,1] 0.726212760199364 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.88153419 -0.05200253 -0.4692475 5.68565884] [ 0.09288748 0.99359249 0.06438854 0.2467635 ] [ 0.46289242 -0.10034792 0.88071613 1.36455821] [ 0. 0. 0. 1. ]] SLAMing on 189.716502481 meters Centerline goodness [0,1] 0.7204259831682498 Centerline is valid? [False, False] Translation: X:5.69, Y:0.25, Z:1.36 [[ 0.88152962 -0.05185655 -0.46927223 5.68601193] [ 0.09291033 0.99356758 0.06473901 0.24540652] [ 0.46289653 -0.1006696 0.88067726 1.36451546] [ 0. 0. 0. 1. ]] SLAMing on 189.746502481 meters Centerline goodness [0,1] 0.7224373114842659 Centerline is valid? [False, False] Translation: X:5.69, Y:0.24, Z:1.36 [[ 0.88150213 -0.05172896 -0.46933794 5.68655982] [ 0.09288188 0.99355697 0.06494234 0.24439645] [ 0.46295458 -0.1008398 0.88062727 1.36441984] [ 0. 0. 0. 1. ]] SLAMing on 189.776502481 meters Centerline goodness [0,1] 0.7209490428686978 Centerline is valid? [False, False] Translation: X:5.69, Y:0.24, Z:1.36 [[ 0.88160608 -0.05165034 -0.46915132 5.6864318 ] [ 0.09282613 0.99355509 0.0650507 0.2434673 ] [ 0.46276779 -0.10089859 0.88071871 1.36426649] [ 0. 0. 0. 1. ]] SLAMing on 189.806502481 meters Centerline goodness [0,1] 0.7264182838596254 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.36 [[ 0.88202867 -0.04687215 -0.46885865 5.68476485] [ 0.08932719 0.99362946 0.06871068 0.24260741] [ 0.46265115 -0.10248662 0.88059662 1.36431605] [ 0. 0. 0. 1. ]] SLAMing on 189.836502481 meters Centerline goodness [0,1] 0.7264182838596254 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.36 [[ 0.88202867 -0.04687215 -0.46885865 5.68476485] [ 0.08932719 0.99362946 0.06871068 0.24260741] [ 0.46265115 -0.10248662 0.88059662 1.36431605] [ 0. 0. 0. 1. ]] SLAMing on 189.866502481 meters Centerline goodness [0,1] 0.7268070317965383 Centerline is valid? [False, False] Translation: X:5.68, Y:0.24, Z:1.36 [[ 0.88193392 -0.04700253 -0.46902379 5.68443982] [ 0.08931083 0.99365519 0.06835888 0.24384044] [ 0.46283488 -0.10217692 0.88053606 1.36475093] [ 0. 0. 0. 1. ]] SLAMing on 189.896502481 meters Centerline goodness [0,1] 0.7317398278471862 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88205011 -0.04646952 -0.46885839 5.68436368] [ 0.08862622 0.99372466 0.06823992 0.24560063] [ 0.46274507 -0.10174418 0.88063337 1.36458857] [ 0. 0. 0. 1. ]] SLAMing on 189.926502481 meters Centerline goodness [0,1] 0.7342445294290693 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88198107 -0.04666833 -0.46896851 5.68439483] [ 0.08865863 0.9937486 0.06784816 0.24673093] [ 0.46287044 -0.1014189 0.880605 1.36475278] [ 0. 0. 0. 1. ]] SLAMing on 189.956502481 meters Centerline goodness [0,1] 0.7335447338618346 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88200841 -0.04670274 -0.46891366 5.68417287] [ 0.08849354 0.9937888 0.06747381 0.24784434] [ 0.46284993 -0.1010083 0.88066297 1.36479218] [ 0. 0. 0. 1. ]] SLAMing on 189.98650248099997 meters Centerline goodness [0,1] 0.7318810982527797 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.36 [[ 0.88199556 -0.04684191 -0.46892394 5.68414754] [ 0.08853794 0.99379952 0.06725739 0.24839926] [ 0.46286592 -0.10083828 0.88067405 1.3648203 ] [ 0. 0. 0. 1. ]] SLAMing on 190.01650248099997 meters Centerline goodness [0,1] 0.7338564767428637 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88192607 -0.04693277 -0.46904555 5.68394751] [ 0.08848621 0.99382593 0.06693441 0.24985213] [ 0.46300821 -0.10053527 0.88063389 1.36509292] [ 0. 0. 0. 1. ]] SLAMing on 190.04650248099998 meters Centerline goodness [0,1] 0.7352525528811087 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88191123 -0.04721297 -0.46904533 5.68336545] [ 0.08866335 0.99382786 0.06667084 0.25040821] [ 0.46300259 -0.10038489 0.88065401 1.36533207] [ 0. 0. 0. 1. ]] SLAMing on 190.07650248099998 meters Centerline goodness [0,1] 0.7351601293790715 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88187979 -0.04761455 -0.46906384 5.6831324 ] [ 0.08901053 0.99381055 0.06646589 0.25018748] [ 0.46299585 -0.10036655 0.88065964 1.36547943] [ 0. 0. 0. 1. ]] SLAMing on 190.10650248099998 meters Centerline goodness [0,1] 0.7346966722965262 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88148462 -0.0529519 -0.46923444 5.68382203] [ 0.09284073 0.99373209 0.06226668 0.25150211] [ 0.46299618 -0.09845119 0.88087564 1.3657935 ] [ 0. 0. 0. 1. ]] SLAMing on 190.13650248099998 meters Centerline goodness [0,1] 0.737183439519536 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88147893 -0.05309909 -0.4692285 5.68418561] [ 0.09300742 0.99371632 0.06226956 0.25104301] [ 0.46297356 -0.09853103 0.8808786 1.36559354] [ 0. 0. 0. 1. ]] SLAMing on 190.16650248099998 meters Centerline goodness [0,1] 0.7359594205547686 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88139049 -0.05356366 -0.46934182 5.68427705] [ 0.09347666 0.99368048 0.06213867 0.25046286] [ 0.46304743 -0.09864094 0.88082747 1.36576509] [ 0. 0. 0. 1. ]] SLAMing on 190.19650248099998 meters Centerline goodness [0,1] 0.7334875412238915 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88133639 -0.05396306 -0.46939765 5.6840872 ] [ 0.09382976 0.99365958 0.06194039 0.2504468 ] [ 0.46307898 -0.09863379 0.88081169 1.36593782] [ 0. 0. 0. 1. ]] SLAMing on 190.22650248099998 meters Centerline goodness [0,1] 0.7347228259626164 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88131985 -0.05417842 -0.46940391 5.68407182] [ 0.09398962 0.99365439 0.0617811 0.25062716] [ 0.46307805 -0.098568 0.88081954 1.365964 ] [ 0. 0. 0. 1. ]] SLAMing on 190.25650248099998 meters Centerline goodness [0,1] 0.7320745204977199 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88130394 -0.05432467 -0.46941687 5.68415809] [ 0.09419411 0.99363053 0.06185331 0.24987841] [ 0.46306677 -0.09872787 0.88080757 1.36596866] [ 0. 0. 0. 1. ]] SLAMing on 190.28650248099999 meters Centerline goodness [0,1] 0.7312766249828226 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88136006 -0.05462036 -0.46927717 5.68353794] [ 0.0944325 0.99361705 0.06170619 0.249339 ] [ 0.46291138 -0.09870039 0.88089232 1.36611345] [ 0. 0. 0. 1. ]] SLAMing on 190.316502481 meters Centerline goodness [0,1] 0.7348147132112566 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88155758 -0.05543046 -0.46881094 5.68124532] [ 0.09501714 0.99359308 0.06119259 0.24926542] [ 0.46241537 -0.09848986 0.88117636 1.36648985] [ 0. 0. 0. 1. ]] SLAMing on 190.346502481 meters Centerline goodness [0,1] 0.7351858204688393 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88163272 -0.05578704 -0.46862732 5.68008327] [ 0.0953149 0.99357405 0.06103824 0.24921757] [ 0.4622108 -0.09848048 0.88128473 1.3667875 ] [ 0. 0. 0. 1. ]] SLAMing on 190.376502481 meters Centerline goodness [0,1] 0.7327769520978622 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88167411 -0.05603204 -0.4685202 5.67974448] [ 0.09552577 0.99355986 0.06093956 0.24901545] [ 0.4620883 -0.09848459 0.88134851 1.3667943 ] [ 0. 0. 0. 1. ]] SLAMing on 190.406502481 meters Centerline goodness [0,1] 0.7354328555477063 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88177225 -0.05639293 -0.46829214 5.67927463] [ 0.09583027 0.99353912 0.06079943 0.24842635] [ 0.4618379 -0.09848781 0.88147938 1.36666598] [ 0. 0. 0. 1. ]] SLAMing on 190.436502481 meters Centerline goodness [0,1] 0.7340887284689541 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88179405 -0.0566233 -0.46822329 5.67897809] [ 0.09600556 0.99353102 0.0606551 0.24834154] [ 0.46175987 -0.09843735 0.8815259 1.36672707] [ 0. 0. 0. 1. ]] SLAMing on 190.466502481 meters Centerline goodness [0,1] 0.7346766464332983 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88180729 -0.05680606 -0.46817622 5.67916092] [ 0.09611752 0.99353045 0.06048701 0.248501 ] [ 0.4617113 -0.09833782 0.88156245 1.36656877] [ 0. 0. 0. 1. ]] SLAMing on 190.496502481 meters Centerline goodness [0,1] 0.7303130335799659 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88170501 -0.05688662 -0.46835904 5.67953909] [ 0.0961155 0.99354407 0.06026607 0.24944589] [ 0.46190701 -0.09815346 0.88148046 1.36666545] [ 0. 0. 0. 1. ]] SLAMing on 190.526502481 meters Centerline goodness [0,1] 0.7340670357964774 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88195593 -0.0518624 -0.46846988 5.67949444] [ 0.09243669 0.99365832 0.06402029 0.24966782] [ 0.46217875 -0.09976688 0.88115684 1.36645236] [ 0. 0. 0. 1. ]] SLAMing on 190.556502481 meters Centerline goodness [0,1] 0.7356694441273828 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88184227 -0.05198492 -0.46867023 5.67986387] [ 0.09240748 0.99368464 0.06365289 0.25126771] [ 0.46240142 -0.09944044 0.88107691 1.36656425] [ 0. 0. 0. 1. ]] SLAMing on 190.586502481 meters Centerline goodness [0,1] 0.7377337382132012 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88184154 -0.05192306 -0.46867845 5.68063113] [ 0.09211379 0.99373928 0.06322412 0.25340194] [ 0.4624614 -0.0989254 0.88110341 1.36617477] [ 0. 0. 0. 1. ]] SLAMing on 190.616502481 meters Centerline goodness [0,1] 0.7362052827431911 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88184839 -0.05218822 -0.46863612 5.68073125] [ 0.0921122 0.99377504 0.06266192 0.25513193] [ 0.46244867 -0.09842542 0.88116608 1.36602387] [ 0. 0. 0. 1. ]] SLAMing on 190.646502481 meters Centerline goodness [0,1] 0.7360914609100452 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88186483 -0.05244113 -0.46857694 5.68057912] [ 0.09223183 0.99378287 0.06236095 0.25571589] [ 0.46239346 -0.09821164 0.88121891 1.36598879] [ 0. 0. 0. 1. ]] SLAMing on 190.676502481 meters Centerline goodness [0,1] 0.7378709427248467 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88189153 -0.05293729 -0.46847088 5.6800477 ] [ 0.09258069 0.99377392 0.06198555 0.2560588 ] [ 0.4622728 -0.09803589 0.88130178 1.3660494 ] [ 0. 0. 0. 1. ]] SLAMing on 190.706502481 meters Centerline goodness [0,1] 0.7397660151884877 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88193926 -0.05333528 -0.46833588 5.67921512] [ 0.09287521 0.9937627 0.06172425 0.25613473] [ 0.46212265 -0.09793383 0.88139186 1.36623528] [ 0. 0. 0. 1. ]] SLAMing on 190.73650248099997 meters Centerline goodness [0,1] 0.7390304961310878 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88203212 -0.05397635 -0.46808749 5.67761007] [ 0.09343554 0.99372566 0.06147454 0.25559858] [ 0.46183238 -0.09795853 0.88154125 1.36658684] [ 0. 0. 0. 1. ]] SLAMing on 190.76650248099997 meters Centerline goodness [0,1] 0.7380584816563749 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88205415 -0.05411452 -0.46803001 5.67752194] [ 0.09363081 0.99370174 0.06156392 0.25479513] [ 0.46175073 -0.09812474 0.88156554 1.36652228] [ 0. 0. 0. 1. ]] SLAMing on 190.79650248099998 meters Centerline goodness [0,1] 0.7378137174956962 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88200352 -0.05662132 -0.46782884 5.67644859] [ 0.09558201 0.99361497 0.05994473 0.25313762] [ 0.46144759 -0.09758749 0.88178388 1.36686452] [ 0. 0. 0. 1. ]] SLAMing on 190.82650248099998 meters Centerline goodness [0,1] 0.7383844312999504 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88209612 -0.05685678 -0.46762564 5.67596206] [ 0.09587548 0.99358051 0.06004719 0.25210691] [ 0.46120963 -0.09780122 0.88188468 1.36677462] [ 0. 0. 0. 1. ]] SLAMing on 190.85650248099998 meters Centerline goodness [0,1] 0.7354997293884178 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88175495 -0.06204814 -0.46760906 5.67597566] [ 0.09975415 0.99341895 0.05628403 0.25187213] [ 0.46103939 -0.09627467 0.88214164 1.3671661 ] [ 0. 0. 0. 1. ]] SLAMing on 190.88650248099998 meters Centerline goodness [0,1] 0.7306236481614996 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.8817772 -0.06242867 -0.46751645 5.67655483] [ 0.10025611 0.99335923 0.05644606 0.25007894] [ 0.46088793 -0.09664423 0.88218037 1.36671219] [ 0. 0. 0. 1. ]] SLAMing on 190.91650248099998 meters Centerline goodness [0,1] 0.7208234897063787 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88182109 -0.06270972 -0.46739603 5.67619483] [ 0.10049648 0.99334161 0.05632856 0.25010753] [ 0.46075158 -0.09664337 0.88225169 1.3666637 ] [ 0. 0. 0. 1. ]] SLAMing on 190.94650248099998 meters Centerline goodness [0,1] 0.7086949660722739 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88184089 -0.0632049 -0.46729197 5.67524882] [ 0.1009083 0.99331428 0.05607359 0.25034269] [ 0.46062366 -0.09660163 0.88232305 1.36693246] [ 0. 0. 0. 1. ]] SLAMing on 190.97650248099998 meters Centerline goodness [0,1] 0.6902335647939399 Centerline is valid? [False, False] Translation: X:5.68, Y:0.25, Z:1.37 [[ 0.88184596 -0.06357596 -0.46723206 5.67502095] [ 0.10121723 0.99329383 0.05587886 0.25028373] [ 0.46054617 -0.09656848 0.88236713 1.36692538] [ 0. 0. 0. 1. ]] SLAMing on 191.00650248099998 meters Centerline goodness [0,1] 0.6662973180769753 Centerline is valid? [False, False] Translation: X:5.67, Y:0.25, Z:1.37 [[ 0.88195078 -0.06428965 -0.46693646 5.6748622 ] [ 0.10180648 0.99325276 0.05553739 0.24993451] [ 0.46021545 -0.0965184 0.88254515 1.36648401] [ 0. 0. 0. 1. ]] SLAMing on 191.03650248099999 meters Centerline goodness [0,1] 0.6455659012836739 Centerline is valid? [False, False] Translation: X:5.67, Y:0.25, Z:1.37 [[ 0.88198614 -0.064654 -0.46681936 5.67456323] [ 0.10206866 0.99324016 0.05528091 0.25036816] [ 0.4600896 -0.09640462 0.8826232 1.36639624] [ 0. 0. 0. 1. ]] SLAMing on 191.066502481 meters Centerline goodness [0,1] 0.6217903602969554 Centerline is valid? [False, False] Translation: X:5.67, Y:0.25, Z:1.37 [[ 0.88180332 -0.06518103 -0.46709136 5.67464896] [ 0.10236491 0.99324477 0.0546467 0.25256902] [ 0.46037412 -0.0960014 0.88251878 1.36670456] [ 0. 0. 0. 1. ]] SLAMing on 191.096502481 meters Centerline goodness [0,1] 0.631558598103209 Centerline is valid? [False, False] Translation: X:5.67, Y:0.25, Z:1.37 [[ 0.88170195 -0.065651 -0.46721689 5.67475051] [ 0.10260828 0.99325127 0.05406907 0.25458795] [ 0.46051408 -0.09561312 0.88248791 1.36677431] [ 0. 0. 0. 1. ]] SLAMing on 191.126502481 meters Centerline goodness [0,1] 0.6293935530868694 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.8816825 -0.0660713 -0.46719433 5.67428665] [ 0.10284701 0.99325068 0.05362447 0.25570926] [ 0.46049805 -0.0953293 0.88252698 1.36692709] [ 0. 0. 0. 1. ]] SLAMing on 191.156502481 meters Centerline goodness [0,1] 0.5852411494830065 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.8815718 -0.06641808 -0.46735405 5.67396895] [ 0.10291869 0.99327805 0.05297609 0.25824363] [ 0.46069394 -0.09480169 0.88248157 1.36727976] [ 0. 0. 0. 1. ]] SLAMing on 191.186502481 meters Centerline goodness [0,1] 0.6277841298879487 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88149434 -0.06670847 -0.46745878 5.67377849] [ 0.1030374 0.99328824 0.05255254 0.2596068 ] [ 0.46081561 -0.0944905 0.88245143 1.3675018 ] [ 0. 0. 0. 1. ]] SLAMing on 191.216502481 meters Centerline goodness [0,1] 0.6560697610546553 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88138743 -0.06683474 -0.4676423 5.67375286] [ 0.10293311 0.99332613 0.05203819 0.26205219] [ 0.46104336 -0.09400169 0.88238467 1.36778295] [ 0. 0. 0. 1. ]] SLAMing on 191.246502481 meters Centerline goodness [0,1] 0.6327710843373494 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88133409 -0.0669737 -0.46772294 5.67369563] [ 0.10292098 0.99334521 0.05169677 0.26345759] [ 0.46114802 -0.09370063 0.882362 1.36792833] [ 0. 0. 0. 1. ]] SLAMing on 191.276502481 meters Centerline goodness [0,1] 0.7007153207443015 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88126578 -0.06689574 -0.46786279 5.67378401] [ 0.10267676 0.99338766 0.05136573 0.2655257 ] [ 0.46133297 -0.0933055 0.88230719 1.36808408] [ 0. 0. 0. 1. ]] SLAMing on 191.306502481 meters Centerline goodness [0,1] 0.6939957260047336 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88118532 -0.0670404 -0.46799362 5.67391195] [ 0.10269629 0.99340133 0.05106147 0.26668152] [ 0.4614823 -0.09305583 0.88225546 1.36821447] [ 0. 0. 0. 1. ]] SLAMing on 191.336502481 meters Centerline goodness [0,1] 0.7120158430433381 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88116138 -0.06715668 -0.46802201 5.67373489] [ 0.10256535 0.9934408 0.05055412 0.26879062] [ 0.46155711 -0.09254918 0.88226962 1.36834225] [ 0. 0. 0. 1. ]] SLAMing on 191.366502481 meters Centerline goodness [0,1] 0.7171633171633172 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88103863 -0.06734274 -0.46822632 5.67395739] [ 0.10255452 0.99346561 0.05008646 0.27047972] [ 0.46179379 -0.09214683 0.88218788 1.36857449] [ 0. 0. 0. 1. ]] SLAMing on 191.396502481 meters Centerline goodness [0,1] 0.7144538008997577 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88089828 -0.06733886 -0.46849087 5.6748234 ] [ 0.10251756 0.99347555 0.04996476 0.27125542] [ 0.46206965 -0.09204242 0.88205432 1.36855763] [ 0. 0. 0. 1. ]] SLAMing on 191.426502481 meters Centerline goodness [0,1] 0.7127501853224611 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88065752 -0.06687746 -0.46900932 5.67708062] [ 0.1021198 0.99351059 0.05008239 0.27272224] [ 0.46261634 -0.09200057 0.88177209 1.36824853] [ 0. 0. 0. 1. ]] SLAMing on 191.456502481 meters Centerline goodness [0,1] 0.7177625168205652 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88054803 -0.06687857 -0.46921469 5.67766957] [ 0.10207741 0.99352146 0.04995319 0.27345058] [ 0.46283406 -0.0918824 0.88167015 1.36830085] [ 0. 0. 0. 1. ]] SLAMing on 191.48650248099997 meters Centerline goodness [0,1] 0.7169986319475039 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88042504 -0.06703545 -0.46942304 5.67718678] [ 0.10210368 0.99353548 0.04961951 0.27456913] [ 0.46306218 -0.09161608 0.88157808 1.36890663] [ 0. 0. 0. 1. ]] SLAMing on 191.51650248099997 meters Centerline goodness [0,1] 0.7196786775631501 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88030699 -0.06734264 -0.46960044 5.67641696] [ 0.10223611 0.9935441 0.04917218 0.27557697] [ 0.46325737 -0.09129674 0.88150866 1.36965924] [ 0. 0. 0. 1. ]] SLAMing on 191.54650248099998 meters Centerline goodness [0,1] 0.7187979718100199 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88018734 -0.06754339 -0.46979585 5.67628642] [ 0.10233605 0.99354784 0.04888786 0.27645041] [ 0.4634626 -0.09110752 0.88142035 1.37003506] [ 0. 0. 0. 1. ]] SLAMing on 191.57650248099998 meters Centerline goodness [0,1] 0.7177698728232313 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88005872 -0.06760767 -0.4700275 5.67628882] [ 0.1023269 0.99355893 0.04868116 0.27736213] [ 0.4637088 -0.09093874 0.88130829 1.37043206] [ 0. 0. 0. 1. ]] SLAMing on 191.60650248099998 meters Centerline goodness [0,1] 0.7230855122359728 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.87995109 -0.0678915 -0.47018807 5.67594806] [ 0.10243483 0.99356924 0.04824184 0.27861865] [ 0.46388919 -0.09061409 0.88124679 1.37088769] [ 0. 0. 0. 1. ]] SLAMing on 191.63650248099998 meters Centerline goodness [0,1] 0.7250395459197916 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.87995162 -0.06788991 -0.4701873 5.67641496] [ 0.10243601 0.99356883 0.04824766 0.27841272] [ 0.46388792 -0.09061972 0.88124688 1.3707008 ] [ 0. 0. 0. 1. ]] SLAMing on 191.66650248099998 meters Centerline goodness [0,1] 0.7196576823794796 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.87991441 -0.06780635 -0.47026899 5.67699674] [ 0.10241142 0.9935658 0.04836214 0.27793696] [ 0.46396393 -0.09071546 0.88119701 1.37060395] [ 0. 0. 0. 1. ]] SLAMing on 191.69650248099998 meters Centerline goodness [0,1] 0.7188249260923205 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.87995463 -0.06753926 -0.47023218 5.67760805] [ 0.1023227 0.99355478 0.04877458 0.27654397] [ 0.46390723 -0.09103485 0.88119393 1.37028984] [ 0. 0. 0. 1. ]] SLAMing on 191.72650248099998 meters Centerline goodness [0,1] 0.7184773250808572 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.8799697 -0.06738265 -0.47022643 5.67755194] [ 0.10225187 0.99355211 0.04897721 0.27613232] [ 0.46389425 -0.09118 0.88118575 1.37031861] [ 0. 0. 0. 1. ]] SLAMing on 191.75650248099998 meters Centerline goodness [0,1] 0.7184773250808572 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.8799697 -0.06738265 -0.47022643 5.67755194] [ 0.10225187 0.99355211 0.04897721 0.27613232] [ 0.46389425 -0.09118 0.88118575 1.37031861] [ 0. 0. 0. 1. ]] SLAMing on 191.78650248099999 meters Centerline goodness [0,1] 0.7194453477028848 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.87990541 -0.0672264 -0.47036909 5.6766097 ] [ 0.10220341 0.99354665 0.04918854 0.27567798] [ 0.46402687 -0.09135458 0.88109784 1.37108314] [ 0. 0. 0. 1. ]] SLAMing on 191.816502481 meters Centerline goodness [0,1] 0.717226510883928 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.879979 -0.0669994 -0.4702638 5.6765004 ] [ 0.10221494 0.99351898 0.04972066 0.27364985] [ 0.46388475 -0.09182112 0.88112418 1.37102153] [ 0. 0. 0. 1. ]] SLAMing on 191.846502481 meters Centerline goodness [0,1] 0.7148488221109256 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88002182 -0.066822 -0.47020891 5.67676602] [ 0.10218406 0.99350538 0.05005475 0.27239748] [ 0.46381032 -0.09209713 0.88113455 1.37086982] [ 0. 0. 0. 1. ]] SLAMing on 191.876502481 meters Centerline goodness [0,1] 0.7123043437992035 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88006369 -0.06671985 -0.47014504 5.67658885] [ 0.10221344 0.99348774 0.050344 0.27111543] [ 0.46372439 -0.09236107 0.88115215 1.37090516] [ 0. 0. 0. 1. ]] SLAMing on 191.906502481 meters Centerline goodness [0,1] 0.7132064978101175 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88012985 -0.06674324 -0.47001786 5.6763606 ] [ 0.10224304 0.99348294 0.05037869 0.27088294] [ 0.46359228 -0.09239584 0.88121802 1.37082215] [ 0. 0. 0. 1. ]] SLAMing on 191.936502481 meters Centerline goodness [0,1] 0.7104476228007139 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88006341 -0.06642339 -0.47018754 5.67745697] [ 0.10199049 0.99350036 0.05054672 0.27098405] [ 0.46377401 -0.09243898 0.88111787 1.37058984] [ 0. 0. 0. 1. ]] SLAMing on 191.966502481 meters Centerline goodness [0,1] 0.7162764771460424 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.87986415 -0.06569971 -0.47066191 5.67940118] [ 0.10134356 0.99355553 0.0507631 0.27216564] [ 0.46429362 -0.09236319 0.88085213 1.3704542 ] [ 0. 0. 0. 1. ]] SLAMing on 191.996502481 meters Centerline goodness [0,1] 0.7133922343641014 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.87979993 -0.06561662 -0.47079352 5.67965854] [ 0.10117098 0.99358224 0.05058421 0.27309615] [ 0.46445291 -0.09213463 0.88079209 1.37058261] [ 0. 0. 0. 1. ]] SLAMing on 192.026502481 meters Centerline goodness [0,1] 0.7163422405172213 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.87976795 -0.06564956 -0.47084869 5.67936883] [ 0.10108647 0.99360319 0.05034106 0.27389939] [ 0.46453189 -0.09188489 0.88077653 1.37084682] [ 0. 0. 0. 1. ]] SLAMing on 192.056502481 meters Centerline goodness [0,1] 0.7185157682222171 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.8803156 -0.06076296 -0.47048093 5.67805886] [ 0.09743207 0.99377843 0.05395766 0.27323224] [ 0.46427517 -0.09333971 0.88075891 1.37054042] [ 0. 0. 0. 1. ]] SLAMing on 192.086502481 meters Centerline goodness [0,1] 0.7187094080534422 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88043682 -0.06031586 -0.47031161 5.67783781] [ 0.09686278 0.99383864 0.05387349 0.27467695] [ 0.46416442 -0.09298789 0.88085449 1.3704307 ] [ 0. 0. 0. 1. ]] SLAMing on 192.116502481 meters Centerline goodness [0,1] 0.7216085765999907 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88045723 -0.06037741 -0.4702655 5.67750677] [ 0.09685292 0.99384719 0.05373335 0.27526821] [ 0.46412777 -0.0928565 0.88088767 1.37048215] [ 0. 0. 0. 1. ]] SLAMing on 192.146502481 meters Centerline goodness [0,1] 0.7227021503878129 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88045385 -0.06030429 -0.4702812 5.67748871] [ 0.09679673 0.99385015 0.0537798 0.27494781] [ 0.46414589 -0.09287232 0.88087645 1.37056278] [ 0. 0. 0. 1. ]] SLAMing on 192.176502481 meters Centerline goodness [0,1] 0.7233677374463644 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88049674 -0.06018849 -0.47021574 5.67779039] [ 0.09677293 0.99384067 0.05399751 0.27390624] [ 0.4640695 -0.09304879 0.88089808 1.37036999] [ 0. 0. 0. 1. ]] SLAMing on 192.206502481 meters Centerline goodness [0,1] 0.7203358467872507 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88044307 -0.05978626 -0.47036752 5.67964458] [ 0.09668445 0.99381324 0.05465679 0.27166789] [ 0.46418974 -0.09359942 0.88077638 1.36978446] [ 0. 0. 0. 1. ]] SLAMing on 192.23650248099997 meters Centerline goodness [0,1] 0.7207284141528377 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88045371 -0.05940399 -0.47039604 5.68043565] [ 0.09655776 0.99379394 0.05522859 0.27003306] [ 0.46419594 -0.0940466 0.88072548 1.36948112] [ 0. 0. 0. 1. ]] SLAMing on 192.26650248099997 meters Centerline goodness [0,1] 0.7232410265861862 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88050824 -0.05938055 -0.47029693 5.68020964] [ 0.09659173 0.993783 0.05536595 0.26946388] [ 0.46408543 -0.09417697 0.88076978 1.36944378] [ 0. 0. 0. 1. ]] SLAMing on 192.29650248099998 meters Centerline goodness [0,1] 0.7263356495329253 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88056493 -0.05943279 -0.47018417 5.6794109 ] [ 0.0966549 0.99377497 0.05539978 0.2688334 ] [ 0.4639647 -0.0942287 0.88082785 1.36976232] [ 0. 0. 0. 1. ]] SLAMing on 192.32650248099998 meters Centerline goodness [0,1] 0.7257648359749356 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88057218 -0.05946555 -0.47016644 5.67912449] [ 0.096664 0.99377681 0.05535092 0.26873821] [ 0.46394903 -0.09418866 0.88084039 1.36992453] [ 0. 0. 0. 1. ]] SLAMing on 192.35650248099998 meters Centerline goodness [0,1] 0.7261277026871445 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88067571 -0.05937875 -0.46998347 5.67905377] [ 0.09662605 0.9937718 0.05550682 0.26773525] [ 0.46376039 -0.09429615 0.88092822 1.36974007] [ 0. 0. 0. 1. ]] SLAMing on 192.38650248099998 meters Centerline goodness [0,1] 0.7279538507503849 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88076754 -0.05931061 -0.46981995 5.67880196] [ 0.09662719 0.9937613 0.05569262 0.26680567] [ 0.46358572 -0.09444964 0.88100372 1.36963724] [ 0. 0. 0. 1. ]] SLAMing on 192.41650248099998 meters Centerline goodness [0,1] 0.7278159545861966 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88074769 -0.05928537 -0.46986035 5.6785832 ] [ 0.09663875 0.99375643 0.05575943 0.26670367] [ 0.46362102 -0.09451671 0.88097795 1.36981953] [ 0. 0. 0. 1. ]] SLAMing on 192.44650248099998 meters Centerline goodness [0,1] 0.7301215875200734 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88079477 -0.05910626 -0.46979466 5.6788255 ] [ 0.09655325 0.99375143 0.05599611 0.26617636] [ 0.4635494 -0.09468128 0.88099796 1.36964652] [ 0. 0. 0. 1. ]] SLAMing on 192.47650248099998 meters Centerline goodness [0,1] 0.7292407182333112 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88082048 -0.0590156 -0.46975785 5.67899096] [ 0.09653428 0.99374386 0.05616294 0.26546216] [ 0.46350449 -0.0948172 0.88100697 1.36955113] [ 0. 0. 0. 1. ]] SLAMing on 192.50650248099998 meters Centerline goodness [0,1] 0.7301438255771344 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88093433 -0.05912137 -0.46953102 5.67899943] [ 0.09671 0.99371774 0.05632259 0.26383749] [ 0.46325143 -0.09502485 0.88111769 1.36927673] [ 0. 0. 0. 1. ]] SLAMing on 192.53650248099999 meters Centerline goodness [0,1] 0.7322645565567397 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88098501 -0.05911555 -0.46943665 5.67908278] [ 0.09675191 0.99370719 0.05643666 0.26308549] [ 0.46314629 -0.09513874 0.88116067 1.36911408] [ 0. 0. 0. 1. ]] SLAMing on 192.566502481 meters Centerline goodness [0,1] 0.729954128440367 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88099525 -0.05926046 -0.46939915 5.67865381] [ 0.09685501 0.99370317 0.05633052 0.26335799] [ 0.46310525 -0.09509058 0.88118744 1.36924873] [ 0. 0. 0. 1. ]] SLAMing on 192.596502481 meters Centerline goodness [0,1] 0.7301558203483043 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.8809877 -0.05962206 -0.46936754 5.6771836 ] [ 0.0970843 0.99369958 0.05599804 0.26400039] [ 0.46307161 -0.0949018 0.88122547 1.36995052] [ 0. 0. 0. 1. ]] SLAMing on 192.626502481 meters Centerline goodness [0,1] 0.7309004327022139 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88100613 -0.05977905 -0.46931298 5.67712443] [ 0.09721832 0.99369038 0.0559287 0.26368131] [ 0.46300843 -0.09489935 0.88125893 1.36991571] [ 0. 0. 0. 1. ]] SLAMing on 192.656502481 meters Centerline goodness [0,1] 0.7290374270344512 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88091762 -0.05961455 -0.46950001 5.67868368] [ 0.09719365 0.99367797 0.05619155 0.26243585] [ 0.46318198 -0.09513254 0.88114258 1.36952977] [ 0. 0. 0. 1. ]] SLAMing on 192.686502481 meters Centerline goodness [0,1] 0.727892401299236 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88082129 -0.05939649 -0.46970833 5.68061337] [ 0.09707637 0.9936783 0.05638804 0.26220053] [ 0.46338973 -0.09526536 0.881019 1.36892919] [ 0. 0. 0. 1. ]] SLAMing on 192.716502481 meters Centerline goodness [0,1] 0.7263653051858651 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88082819 -0.05938303 -0.4696971 5.68054936] [ 0.09706781 0.99367827 0.05640325 0.26242866] [ 0.46337841 -0.09527404 0.88102401 1.36891566] [ 0. 0. 0. 1. ]] SLAMing on 192.746502481 meters Centerline goodness [0,1] 0.7280956408439436 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88080292 -0.05963921 -0.46971201 5.68009478] [ 0.09719674 0.9936831 0.05609542 0.26326248] [ 0.4633994 -0.09506348 0.88103571 1.36917564] [ 0. 0. 0. 1. ]] SLAMing on 192.776502481 meters Centerline goodness [0,1] 0.7290770076000366 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88081182 -0.05986528 -0.46966657 5.67902515] [ 0.09726682 0.99369544 0.05575425 0.26434108] [ 0.46336778 -0.09479198 0.88108159 1.36964329] [ 0. 0. 0. 1. ]] SLAMing on 192.806502481 meters Centerline goodness [0,1] 0.7280675585744774 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88086283 -0.06029365 -0.46951609 5.67798377] [ 0.09755066 0.99368689 0.05540969 0.26442882] [ 0.46321113 -0.09460995 0.88118353 1.36993491] [ 0. 0. 0. 1. ]] SLAMing on 192.836502481 meters Centerline goodness [0,1] 0.7273645314544077 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.8809255 -0.06049695 -0.46937233 5.67737975] [ 0.09770841 0.99367713 0.05530663 0.26413799] [ 0.46305867 -0.09458264 0.88126658 1.37002021] [ 0. 0. 0. 1. ]] SLAMing on 192.866502481 meters Centerline goodness [0,1] 0.7276623049247198 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88100603 -0.06095588 -0.46916176 5.67669771] [ 0.09810604 0.99364795 0.05512668 0.26367862] [ 0.46282133 -0.09459454 0.88138998 1.37002512] [ 0. 0. 0. 1. ]] SLAMing on 192.896502481 meters Centerline goodness [0,1] 0.7267837114015612 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88099425 -0.061027 -0.46917463 5.67710746] [ 0.09819983 0.99363742 0.05514955 0.26337041] [ 0.46282385 -0.0946593 0.8813817 1.36987482] [ 0. 0. 0. 1. ]] SLAMing on 192.926502481 meters Centerline goodness [0,1] 0.7227042743652556 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88090085 -0.06096705 -0.46935776 5.67807383] [ 0.09828723 0.99361471 0.05540241 0.26277367] [ 0.46298306 -0.0949359 0.88126833 1.36966699] [ 0. 0. 0. 1. ]] SLAMing on 192.956502481 meters Centerline goodness [0,1] 0.7220796480454608 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88091102 -0.06119412 -0.46930912 5.67840885] [ 0.09852684 0.9935921 0.05538224 0.26235503] [ 0.46291277 -0.09502637 0.8812955 1.36941496] [ 0. 0. 0. 1. ]] SLAMing on 192.98650248099997 meters Centerline goodness [0,1] 0.7223873770866682 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88090232 -0.06135778 -0.46930409 5.67824655] [ 0.09863713 0.99358897 0.05524193 0.26255301] [ 0.46290585 -0.09495355 0.88130698 1.36949547] [ 0. 0. 0. 1. ]] SLAMing on 193.01650248099997 meters Centerline goodness [0,1] 0.7213675606171932 Centerline is valid? [False, False] Translation: X:5.68, Y:0.26, Z:1.37 [[ 0.88084799 -0.06193986 -0.46932961 5.67749885] [ 0.09894198 0.99359599 0.05456644 0.26441669] [ 0.46294418 -0.09450113 0.88133548 1.36982867] [ 0. 0. 0. 1. ]] SLAMing on 193.04650248099998 meters Centerline goodness [0,1] 0.7205936408748392 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88080653 -0.0622139 -0.46937116 5.67721435] [ 0.0990537 0.99360594 0.0541811 0.26562329] [ 0.46299915 -0.09421601 0.88133712 1.37001274] [ 0. 0. 0. 1. ]] SLAMing on 193.07650248099998 meters Centerline goodness [0,1] 0.7234703742921597 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88071934 -0.06254984 -0.4694901 5.67701591] [ 0.09903228 0.9936508 0.05339186 0.26860466] [ 0.46316956 -0.09351792 0.88132194 1.37029046] [ 0. 0. 0. 1. ]] SLAMing on 193.10650248099998 meters Centerline goodness [0,1] 0.7253018155008755 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.8806674 -0.06275544 -0.4695601 5.67716707] [ 0.09893962 0.99369387 0.05275833 0.27141772] [ 0.46328812 -0.09292064 0.8813228 1.37027656] [ 0. 0. 0. 1. ]] SLAMing on 193.13650248099998 meters Centerline goodness [0,1] 0.725263060734724 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88060259 -0.06287293 -0.46966592 5.67761573] [ 0.0989741 0.99370159 0.05254782 0.27216172] [ 0.46340394 -0.0927585 0.88127899 1.37021078] [ 0. 0. 0. 1. ]] SLAMing on 193.16650248099998 meters Centerline goodness [0,1] 0.7227176122712993 Centerline is valid? [False, False] Translation: X:5.68, Y:0.27, Z:1.37 [[ 0.88054244 -0.06346842 -0.4696986 5.67738833] [ 0.09930157 0.99370374 0.05188529 0.27384835] [ 0.46344818 -0.09232901 0.88130082 1.37029937] [ 0. 0. 0. 1. ]] SLAMing on 193.19650248099998 meters Centerline goodness [0,1] 0.7262780476520935 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88051275 -0.06445552 -0.46961982 5.67579078] [ 0.09996469 0.99368074 0.05104548 0.27566216] [ 0.46336201 -0.0918916 0.88139184 1.37085011] [ 0. 0. 0. 1. ]] SLAMing on 193.22650248099998 meters Centerline goodness [0,1] 0.725977989457135 Centerline is valid? [False, False] Translation: X:5.68, Y:0.28, Z:1.37 [[ 0.88053714 -0.06477667 -0.4695299 5.67526444] [ 0.10022214 0.99366402 0.05086592 0.27568929] [ 0.46326004 -0.09184663 0.88145013 1.37095509] [ 0. 0. 0. 1. ]] SLAMing on 193.25650248099998 meters Centerline goodness [0,1] 0.722111645991483 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88057442 -0.0653795 -0.46937641 5.67440794] [ 0.10076456 0.9936208 0.05063795 0.27517851] [ 0.46307149 -0.09188699 0.881545 1.37110071] [ 0. 0. 0. 1. ]] SLAMing on 193.28650248099999 meters Centerline goodness [0,1] 0.7193976683937824 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88056155 -0.06556034 -0.46937533 5.67411577] [ 0.10096442 0.99360091 0.0506302 0.27472587] [ 0.46305242 -0.09197321 0.88154602 1.37127154] [ 0. 0. 0. 1. ]] SLAMing on 193.316502481 meters Centerline goodness [0,1] 0.7166528008874098 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.8806513 -0.06624975 -0.46911008 5.67295362] [ 0.10158297 0.99355026 0.05038629 0.27405212] [ 0.46274636 -0.09202635 0.88170117 1.37139523] [ 0. 0. 0. 1. ]] SLAMing on 193.346502481 meters Centerline goodness [0,1] 0.7081396155714386 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.8806399 -0.06672707 -0.46906382 5.67233817] [ 0.10205661 0.99350746 0.05027307 0.27379345] [ 0.46266383 -0.09214353 0.88173224 1.37152975] [ 0. 0. 0. 1. ]] SLAMing on 193.376502481 meters Centerline goodness [0,1] 0.6974208186701241 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88060846 -0.06692635 -0.46909445 5.67218973] [ 0.10224505 0.99349194 0.05019686 0.27391774] [ 0.46268206 -0.09216636 0.88172029 1.37161349] [ 0. 0. 0. 1. ]] SLAMing on 193.406502481 meters Centerline goodness [0,1] 0.6917016198178574 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88058915 -0.06715112 -0.46909857 5.67205221] [ 0.10246233 0.99347309 0.05012675 0.27393459] [ 0.46267074 -0.092206 0.88172209 1.37165272] [ 0. 0. 0. 1. ]] SLAMing on 193.436502481 meters Centerline goodness [0,1] 0.6662181598849348 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88050375 -0.06810122 -0.46912191 5.67178483] [ 0.10334082 0.99340089 0.04975288 0.27333705] [ 0.46263789 -0.09228705 0.88173085 1.37175733] [ 0. 0. 0. 1. ]] SLAMing on 193.466502481 meters Centerline goodness [0,1] 0.5929857159447218 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.8806023 -0.06883434 -0.46882985 5.67107555] [ 0.10398045 0.99334871 0.04946126 0.27319914] [ 0.46230689 -0.09230484 0.88190258 1.37152723] [ 0. 0. 0. 1. ]] SLAMing on 193.496502481 meters Centerline goodness [0,1] 0.6013073415836978 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88059307 -0.06926138 -0.46878428 5.67068871] [ 0.10427302 0.99333543 0.04911069 0.27390063] [ 0.46225856 -0.09212808 0.88194639 1.37161602] [ 0. 0. 0. 1. ]] SLAMing on 193.526502481 meters Centerline goodness [0,1] 0.5899979045889502 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88045619 -0.06968058 -0.46897923 5.67047217] [ 0.10446279 0.99334418 0.04852689 0.27603826] [ 0.46247641 -0.09171668 0.88187506 1.37196549] [ 0. 0. 0. 1. ]] SLAMing on 193.556502481 meters Centerline goodness [0,1] 0.5861338670638615 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.8803656 -0.06987435 -0.46912043 5.67025291] [ 0.10453268 0.99335217 0.0482118 0.27723614] [ 0.46263303 -0.09148243 0.88181724 1.37228214] [ 0. 0. 0. 1. ]] SLAMing on 193.586502481 meters Centerline goodness [0,1] 0.5636244684331044 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88079714 -0.06565822 -0.46891939 5.66905281] [ 0.10145549 0.99350835 0.05145813 0.27753935] [ 0.46249668 -0.09289862 0.8817407 1.37199674] [ 0. 0. 0. 1. ]] SLAMing on 193.616502481 meters Centerline goodness [0,1] 0.6598648996096581 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.8807139 -0.06552969 -0.46909369 5.66932779] [ 0.10113776 0.99355977 0.05108951 0.27978817] [ 0.46272473 -0.09243833 0.88166943 1.37216191] [ 0. 0. 0. 1. ]] SLAMing on 193.646502481 meters Centerline goodness [0,1] 0.6598648996096581 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.8807139 -0.06552969 -0.46909369 5.66932779] [ 0.10113776 0.99355977 0.05108951 0.27978817] [ 0.46272473 -0.09243833 0.88166943 1.37216191] [ 0. 0. 0. 1. ]] SLAMing on 193.676502481 meters Centerline goodness [0,1] 0.6900532859680284 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88057297 -0.06560515 -0.46934764 5.66980592] [ 0.10105407 0.99358768 0.05071084 0.28128254] [ 0.46301114 -0.09208408 0.88155613 1.37234988] [ 0. 0. 0. 1. ]] SLAMing on 193.706502481 meters Centerline goodness [0,1] 0.6962238547564457 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88039729 -0.06547559 -0.46969517 5.67059217] [ 0.10082619 0.99362271 0.05047758 0.28262571] [ 0.46339474 -0.0917979 0.8813844 1.37254858] [ 0. 0. 0. 1. ]] SLAMing on 193.73650248099997 meters Centerline goodness [0,1] 0.7051071997004026 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.8806719 -0.06034317 -0.46986775 5.67035237] [ 0.09691876 0.99382514 0.05402172 0.28398092] [ 0.46370654 -0.09311441 0.88108226 1.37249341] [ 0. 0. 0. 1. ]] SLAMing on 193.76650248099997 meters Centerline goodness [0,1] 0.7075080284100232 Centerline is valid? [False, False] Translation: X:5.67, Y:0.29, Z:1.37 [[ 0.88048412 -0.06011998 -0.47024812 5.67087859] [ 0.09658342 0.99387104 0.05377727 0.28592339] [ 0.4641329 -0.09276821 0.88089427 1.37288083] [ 0. 0. 0. 1. ]] SLAMing on 193.79650248099998 meters Centerline goodness [0,1] 0.7084488510878248 Centerline is valid? [False, False] Translation: X:5.67, Y:0.29, Z:1.37 [[ 0.88030348 -0.05994052 -0.47060909 5.67160427] [ 0.09621339 0.99392843 0.05337847 0.28809658] [ 0.46455222 -0.09226815 0.88072574 1.3731817 ] [ 0. 0. 0. 1. ]] SLAMing on 193.82650248099998 meters Centerline goodness [0,1] 0.7086083382266588 Centerline is valid? [False, False] Translation: X:5.67, Y:0.29, Z:1.37 [[ 0.88037825 -0.06016058 -0.47044112 5.67093169] [ 0.09635103 0.99392434 0.053206 0.28774366] [ 0.46438198 -0.09216889 0.8808259 1.37328189] [ 0. 0. 0. 1. ]] SLAMing on 193.85650248099998 meters Centerline goodness [0,1] 0.7083489769100807 Centerline is valid? [False, False] Translation: X:5.67, Y:0.29, Z:1.37 [[ 0.88043666 -0.06027696 -0.47031688 5.67037723] [ 0.09646474 0.99391362 0.0532003 0.28733678] [ 0.4642476 -0.09220849 0.88089259 1.37336987] [ 0. 0. 0. 1. ]] SLAMing on 193.88650248099998 meters Centerline goodness [0,1] 0.7097820720784258 Centerline is valid? [False, False] Translation: X:5.67, Y:0.29, Z:1.37 [[ 0.88041803 -0.06044083 -0.47033074 5.66957431] [ 0.09668487 0.99388882 0.05326388 0.28674364] [ 0.46423715 -0.09236835 0.88088135 1.37379587] [ 0. 0. 0. 1. ]] SLAMing on 193.91650248099998 meters Centerline goodness [0,1] 0.7058284801803494 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88033937 -0.06004769 -0.47052829 5.67096229] [ 0.09666137 0.99385048 0.05401672 0.28438281] [ 0.46439119 -0.09303495 0.88072999 1.37344774] [ 0. 0. 0. 1. ]] SLAMing on 193.94650248099998 meters Centerline goodness [0,1] 0.7001496096124176 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88033568 -0.05975259 -0.47057276 5.67210656] [ 0.0965962 0.99382962 0.05451481 0.28257485] [ 0.46441174 -0.09344688 0.88067554 1.37303401] [ 0. 0. 0. 1. ]] SLAMing on 193.97650248099998 meters Centerline goodness [0,1] 0.6982017748715553 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88032266 -0.05961437 -0.47061464 5.67315433] [ 0.0967488 0.99378303 0.05509052 0.2797099 ] [ 0.46440465 -0.09402884 0.88061734 1.3726252 ] [ 0. 0. 0. 1. ]] SLAMing on 194.00650248099998 meters Centerline goodness [0,1] 0.6981431001141633 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88029329 -0.05927221 -0.47071279 5.67339744] [ 0.09656255 0.9937813 0.0554473 0.27881959] [ 0.46449909 -0.09426312 0.88054248 1.37273059] [ 0. 0. 0. 1. ]] SLAMing on 194.03650248099999 meters Centerline goodness [0,1] 0.6967285794287847 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88022436 -0.05920122 -0.4708506 5.673118 ] [ 0.09646966 0.99379343 0.05539159 0.27933187] [ 0.46464898 -0.09417983 0.88047231 1.37312715] [ 0. 0. 0. 1. ]] SLAMing on 194.066502481 meters Centerline goodness [0,1] 0.7046553455887505 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88067758 -0.05468798 -0.47054886 5.67065458] [ 0.09311401 0.99392023 0.05875677 0.27861602] [ 0.46447475 -0.09556046 0.88041548 1.37356542] [ 0. 0. 0. 1. ]] SLAMing on 194.096502481 meters Centerline goodness [0,1] 0.7030019857493284 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88070338 -0.05491123 -0.47047456 5.66994334] [ 0.09320434 0.99392882 0.05846762 0.27889146] [ 0.46440769 -0.0953429 0.88047443 1.37384796] [ 0. 0. 0. 1. ]] SLAMing on 194.126502481 meters Centerline goodness [0,1] 0.7055728350599846 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88068898 -0.05488135 -0.470505 5.67031385] [ 0.09312384 0.99394199 0.05837188 0.27845408] [ 0.46445114 -0.0952227 0.88046452 1.37384333] [ 0. 0. 0. 1. ]] SLAMing on 194.156502481 meters Centerline goodness [0,1] 0.703336212733173 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88066725 -0.05482152 -0.47055266 5.67071864] [ 0.0930545 0.99394933 0.05835742 0.27844618] [ 0.46450626 -0.09518051 0.88044001 1.37375697] [ 0. 0. 0. 1. ]] SLAMing on 194.186502481 meters Centerline goodness [0,1] 0.702897536394177 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88044514 -0.05438323 -0.47101892 5.67133315] [ 0.09270263 0.99397264 0.05852023 0.27895178] [ 0.4649974 -0.09518855 0.88017984 1.37428556] [ 0. 0. 0. 1. ]] SLAMing on 194.216502481 meters Centerline goodness [0,1] 0.7022717750570271 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88039554 -0.05396616 -0.47115957 5.67123914] [ 0.09244004 0.99397574 0.05888185 0.27819778] [ 0.46514356 -0.09539332 0.88008044 1.37466606] [ 0. 0. 0. 1. ]] SLAMing on 194.246502481 meters Centerline goodness [0,1] 0.7016829217196993 Centerline is valid? [False, False] Translation: X:5.67, Y:0.28, Z:1.37 [[ 0.88047895 -0.0538383 -0.47101832 5.67121883] [ 0.09245085 0.99395534 0.05920822 0.27682128] [ 0.46498351 -0.09567763 0.88013415 1.3744951 ] [ 0. 0. 0. 1. ]] SLAMing on 194.276502481 meters Centerline goodness [0,1] 0.6991788829096307 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88064956 -0.05472202 -0.47059734 5.67018829] [ 0.09321254 0.99390492 0.05885943 0.27310451] [ 0.46450811 -0.0957001 0.88038271 1.37463721] [ 0. 0. 0. 1. ]] SLAMing on 194.306502481 meters Centerline goodness [0,1] 0.7026132444506168 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88074773 -0.0545778 -0.47043033 5.66999193] [ 0.09326301 0.99387384 0.05930258 0.27122036] [ 0.46431179 -0.09610436 0.88044222 1.37454441] [ 0. 0. 0. 1. ]] SLAMing on 194.336502481 meters Centerline goodness [0,1] 0.6991785259747773 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88089934 -0.05558809 -0.470028 5.66886529] [ 0.09422805 0.99379697 0.05906489 0.26736406] [ 0.4638291 -0.09632005 0.88067305 1.37468056] [ 0. 0. 0. 1. ]] SLAMing on 194.366502481 meters Centerline goodness [0,1] 0.6954713493530499 Centerline is valid? [False, False] Translation: X:5.67, Y:0.27, Z:1.37 [[ 0.88101659 -0.05555245 -0.46981241 5.66843688] [ 0.0943784 0.9937581 0.05947743 0.26535874] [ 0.46357576 -0.09674075 0.88076032 1.37461543] [ 0. 0. 0. 1. ]] SLAMing on 194.396502481 meters Centerline goodness [0,1] 0.6977181947568982 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.38 [[ 0.88117057 -0.05786717 -0.46924387 5.66623997] [ 0.09622558 0.99365896 0.05815935 0.26204666] [ 0.46290286 -0.09640157 0.88115134 1.37510851] [ 0. 0. 0. 1. ]] SLAMing on 194.426502481 meters Centerline goodness [0,1] 0.6950238926667892 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88125837 -0.05778129 -0.46908955 5.66616053] [ 0.09631939 0.99362642 0.05855864 0.26020335] [ 0.46271617 -0.09678771 0.88120706 1.37499092] [ 0. 0. 0. 1. ]] SLAMing on 194.456502481 meters Centerline goodness [0,1] 0.6884358733289 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88131773 -0.05784524 -0.46897014 5.66644941] [ 0.09654861 0.99358482 0.05888616 0.25827817] [ 0.46255532 -0.09717583 0.88124879 1.37472626] [ 0. 0. 0. 1. ]] SLAMing on 194.48650248099997 meters Centerline goodness [0,1] 0.6830282288628063 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.8812653 -0.05777823 -0.46907691 5.66668064] [ 0.09651673 0.99358448 0.05894405 0.25840351] [ 0.46266186 -0.09721912 0.88118809 1.37480214] [ 0. 0. 0. 1. ]] SLAMing on 194.51650248099997 meters Centerline goodness [0,1] 0.6828735632183909 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88132764 -0.05790048 -0.4689447 5.66659472] [ 0.09659774 0.99358117 0.05886713 0.25851686] [ 0.46252619 -0.09718023 0.8812636 1.37461186] [ 0. 0. 0. 1. ]] SLAMing on 194.54650248099998 meters Centerline goodness [0,1] 0.6859841068755039 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88136218 -0.05792016 -0.46887735 5.66684199] [ 0.09655285 0.99359215 0.05875528 0.2588004 ] [ 0.46246974 -0.09705613 0.8813069 1.37442116] [ 0. 0. 0. 1. ]] SLAMing on 194.57650248099998 meters Centerline goodness [0,1] 0.69613781350038 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88135014 -0.05810115 -0.46887758 5.66676343] [ 0.09660934 0.99360325 0.05847404 0.25961854] [ 0.46248088 -0.09683406 0.88132548 1.37445256] [ 0. 0. 0. 1. ]] SLAMing on 194.60650248099998 meters Centerline goodness [0,1] 0.6995060246526015 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.8817877 -0.05337668 -0.46861646 5.66605434] [ 0.09304146 0.99373714 0.06188521 0.25994657] [ 0.46237835 -0.09817038 0.88123143 1.37399574] [ 0. 0. 0. 1. ]] SLAMing on 194.63650248099998 meters Centerline goodness [0,1] 0.6999306678992374 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88207277 -0.04824985 -0.46863587 5.66611189] [ 0.08923342 0.99384599 0.06563188 0.26036765] [ 0.46258515 -0.09971008 0.88094999 1.37363005] [ 0. 0. 0. 1. ]] SLAMing on 194.66650248099998 meters Centerline goodness [0,1] 0.7026608410199505 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.8819869 -0.04842559 -0.46877934 5.66616192] [ 0.0892725 0.99386471 0.06529446 0.26146093] [ 0.46274132 -0.09943796 0.88089873 1.37382127] [ 0. 0. 0. 1. ]] SLAMing on 194.69650248099998 meters Centerline goodness [0,1] 0.7024705610713461 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88197857 -0.04855809 -0.46878131 5.66613605] [ 0.08930313 0.9938768 0.06506804 0.26214985] [ 0.46275129 -0.09925225 0.88091443 1.37383763] [ 0. 0. 0. 1. ]] SLAMing on 194.72650248099998 meters Centerline goodness [0,1] 0.7091806151150459 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88217393 -0.04895693 -0.46837206 5.66504351] [ 0.08947903 0.99388853 0.06464589 0.26266736] [ 0.46234475 -0.0989384 0.88116317 1.3737101 ] [ 0. 0. 0. 1. ]] SLAMing on 194.75650248099998 meters Centerline goodness [0,1] 0.7141243719172083 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.37 [[ 0.88239756 -0.04959724 -0.46788316 5.66292232] [ 0.08985506 0.99388963 0.06410513 0.26291122] [ 0.46184478 -0.09860788 0.88146235 1.37399822] [ 0. 0. 0. 1. ]] SLAMing on 194.78650248099999 meters Centerline goodness [0,1] 0.7174248887454172 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.37 [[ 0.88246974 -0.04969125 -0.46773703 5.66242682] [ 0.08992988 0.99388442 0.06408097 0.26285492] [ 0.46169229 -0.09861305 0.88154166 1.37400935] [ 0. 0. 0. 1. ]] SLAMing on 194.816502481 meters Centerline goodness [0,1] 0.7183150520785326 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.37 [[ 0.88256281 -0.04975413 -0.46755473 5.66246881] [ 0.09008226 0.99385773 0.06428067 0.26200867] [ 0.46148465 -0.09885011 0.88162383 1.37363422] [ 0. 0. 0. 1. ]] SLAMing on 194.846502481 meters Centerline goodness [0,1] 0.7166766425710207 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.37 [[ 0.88268907 -0.04979019 -0.46731246 5.66280166] [ 0.09019163 0.99383551 0.06447059 0.26111842] [ 0.46122171 -0.09905516 0.8817384 1.37304352] [ 0. 0. 0. 1. ]] SLAMing on 194.876502481 meters Centerline goodness [0,1] 0.7113290512696548 Centerline is valid? [False, False] Translation: X:5.66, Y:0.26, Z:1.37 [[ 0.88235627 -0.05460114 -0.4674036 5.66430125] [ 0.09378339 0.99372473 0.06095772 0.26084519] [ 0.46114216 -0.09762112 0.88193992 1.37283054] [ 0. 0. 0. 1. ]] SLAMing on 194.906502481 meters Centerline goodness [0,1] 0.7096333409246185 Centerline is valid? [False, False] Translation: X:5.67, Y:0.26, Z:1.37 [[ 0.88197346 -0.05939381 -0.46754165 5.66559581] [ 0.09734813 0.99359274 0.05741779 0.26071041] [ 0.46113573 -0.09615527 0.8821043 1.37286014] [ 0. 0. 0. 1. ]] SLAMing on 194.936502481 meters Centerline goodness [0,1] 0.7136126496747949 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88346424 -0.0585064 -0.46483109 5.64662741] [ 0.09560862 0.99380692 0.05662859 0.25729012] [ 0.45863921 -0.0944712 0.88358659 1.36081774] [ 0. 0. 0. 1. ]] SLAMing on 194.966502481 meters Centerline goodness [0,1] 0.7056128556957362 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88357604 -0.05903397 -0.4645518 5.64550371] [ 0.09604758 0.99377784 0.05639561 0.25725397] [ 0.45833202 -0.09444888 0.88374836 1.36086827] [ 0. 0. 0. 1. ]] SLAMing on 194.996502481 meters Centerline goodness [0,1] 0.7134607863436631 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88359124 -0.05940281 -0.46447587 5.64485531] [ 0.09628751 0.99377271 0.05607591 0.25790359] [ 0.45825238 -0.09427141 0.88380861 1.36103628] [ 0. 0. 0. 1. ]] SLAMing on 195.026502481 meters Centerline goodness [0,1] 0.7228275925754917 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88366325 -0.06012539 -0.46424583 5.64318747] [ 0.09661076 0.99379123 0.05518474 0.25987493] [ 0.45804543 -0.09361587 0.88398555 1.36151186] [ 0. 0. 0. 1. ]] SLAMing on 195.056502481 meters Centerline goodness [0,1] 0.7221298605338505 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88359818 -0.06022762 -0.46435643 5.64344473] [ 0.09642046 0.99384363 0.05457038 0.26253211] [ 0.45821103 -0.09299175 0.8839656 1.36157189] [ 0. 0. 0. 1. ]] SLAMing on 195.086502481 meters Centerline goodness [0,1] 0.7279603969557473 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88347888 -0.06027016 -0.46457784 5.64410528] [ 0.09636523 0.99386265 0.05432111 0.26359023] [ 0.45845262 -0.0927607 0.88386461 1.36160928] [ 0. 0. 0. 1. ]] SLAMing on 195.116502481 meters Centerline goodness [0,1] 0.7278475149381629 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88342887 -0.06007603 -0.46469807 5.64482591] [ 0.09600285 0.99391433 0.05401627 0.26573625] [ 0.45862499 -0.09233187 0.88382009 1.36144403] [ 0. 0. 0. 1. ]] SLAMing on 195.146502481 meters Centerline goodness [0,1] 0.7281156069364162 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88333215 -0.06015125 -0.46487217 5.64486635] [ 0.09597678 0.99393055 0.05376361 0.26680295] [ 0.4588167 -0.09210806 0.88374393 1.36168915] [ 0. 0. 0. 1. ]] SLAMing on 195.176502481 meters Centerline goodness [0,1] 0.7298086279597794 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88340346 -0.05987557 -0.46477226 5.64451213] [ 0.09555967 0.99398064 0.05358018 0.26806992] [ 0.45876648 -0.09174639 0.88380762 1.36179405] [ 0. 0. 0. 1. ]] SLAMing on 195.206502481 meters Centerline goodness [0,1] 0.7317107093184979 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88334749 -0.05989115 -0.46487661 5.64428961] [ 0.09548458 0.99399872 0.05337834 0.26876295] [ 0.45888986 -0.09154017 0.88376495 1.36210598] [ 0. 0. 0. 1. ]] SLAMing on 195.23650248099997 meters Centerline goodness [0,1] 0.7307942104286509 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88378774 -0.05471121 -0.46467828 5.64376057] [ 0.09168974 0.99413545 0.05733843 0.26782692] [ 0.4588161 -0.09328123 0.88362118 1.36169592] [ 0. 0. 0. 1. ]] SLAMing on 195.26650248099997 meters Centerline goodness [0,1] 0.7279430460208492 Centerline is valid? [False, False] Translation: X:5.64, Y:0.27, Z:1.36 [[ 0.88376049 -0.05448791 -0.46475634 5.64389042] [ 0.09152564 0.99414192 0.05748825 0.26782109] [ 0.45890135 -0.09334297 0.8835704 1.36179251] [ 0. 0. 0. 1. ]] SLAMing on 195.29650248099998 meters Centerline goodness [0,1] 0.7301700860815583 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.8836661 -0.0542385 -0.46496496 5.64551268] [ 0.09158598 0.994101 0.05809658 0.26520478] [ 0.45907106 -0.09392225 0.88342084 1.36138342] [ 0. 0. 0. 1. ]] SLAMing on 195.32650248099998 meters Centerline goodness [0,1] 0.727947257190113 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.8836812 -0.05392874 -0.46497229 5.6467463 ] [ 0.09151656 0.99407596 0.05863189 0.26330084] [ 0.45905584 -0.09436457 0.88338161 1.36085888] [ 0. 0. 0. 1. ]] SLAMing on 195.35650248099998 meters Centerline goodness [0,1] 0.7258606406480117 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88356092 -0.05559759 -0.46500431 5.64687888] [ 0.09288027 0.99400773 0.05763589 0.26062566] [ 0.45901346 -0.09411455 0.8834303 1.36112588] [ 0. 0. 0. 1. ]] SLAMing on 195.38650248099998 meters Centerline goodness [0,1] 0.7241125620746736 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88351582 -0.05561118 -0.46508836 5.64648192] [ 0.09308492 0.99396852 0.0579809 0.25911795] [ 0.4590588 -0.09451976 0.88336348 1.36152067] [ 0. 0. 0. 1. ]] SLAMing on 195.41650248099998 meters Centerline goodness [0,1] 0.7210688639292948 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88349789 -0.05552341 -0.46513291 5.6464338 ] [ 0.09309011 0.99395695 0.05817055 0.25849316] [ 0.45909226 -0.09469283 0.88332755 1.36169087] [ 0. 0. 0. 1. ]] SLAMing on 195.44650248099998 meters Centerline goodness [0,1] 0.7217083974020608 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88353503 -0.05578917 -0.46503055 5.64585667] [ 0.09337378 0.99393068 0.05816485 0.25744285] [ 0.45896316 -0.09481234 0.88338182 1.36190729] [ 0. 0. 0. 1. ]] SLAMing on 195.47650248099998 meters Centerline goodness [0,1] 0.720901931069321 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88348952 -0.05582952 -0.46511218 5.64596974] [ 0.09342147 0.99392704 0.05815032 0.25709987] [ 0.45904107 -0.09482666 0.8833398 1.36206103] [ 0. 0. 0. 1. ]] SLAMing on 195.50650248099998 meters Centerline goodness [0,1] 0.7180046371754552 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88347804 -0.05603874 -0.46510881 5.64570519] [ 0.09353195 0.99393064 0.05791075 0.25744018] [ 0.45904065 -0.09466541 0.88335731 1.3622599 ] [ 0. 0. 0. 1. ]] SLAMing on 195.53650248099999 meters Centerline goodness [0,1] 0.7183535576392719 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.8834293 -0.05615863 -0.46518693 5.64550554] [ 0.0936084 0.99393104 0.05778021 0.25763518] [ 0.45911887 -0.09459013 0.88332473 1.36252828] [ 0. 0. 0. 1. ]] SLAMing on 195.566502481 meters Centerline goodness [0,1] 0.7183535576392719 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.8834293 -0.05615863 -0.46518693 5.64550554] [ 0.0936084 0.99393104 0.05778021 0.25763518] [ 0.45911887 -0.09459013 0.88332473 1.36252828] [ 0. 0. 0. 1. ]] SLAMing on 195.596502481 meters Centerline goodness [0,1] 0.7163321146903957 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88331465 -0.05649101 -0.46536437 5.6453928 ] [ 0.09387186 0.99392091 0.05752651 0.25795866] [ 0.45928565 -0.09449862 0.88324782 1.36290341] [ 0. 0. 0. 1. ]] SLAMing on 195.626502481 meters Centerline goodness [0,1] 0.713391048075152 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88327256 -0.05660198 -0.46543077 5.64571596] [ 0.09399364 0.99391063 0.05750521 0.25815116] [ 0.45934168 -0.0945403 0.88321422 1.36285801] [ 0. 0. 0. 1. ]] SLAMing on 195.656502481 meters Centerline goodness [0,1] 0.7122645864106352 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88325077 -0.05668342 -0.4654622 5.64572322] [ 0.09408854 0.99390171 0.0575042 0.25811293] [ 0.45936415 -0.09458529 0.88319772 1.36291047] [ 0. 0. 0. 1. ]] SLAMing on 195.686502481 meters Centerline goodness [0,1] 0.7084447929157827 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.8833005 -0.05693591 -0.46533701 5.64503586] [ 0.09430879 0.99388626 0.0574104 0.25750804] [ 0.45922335 -0.09459601 0.88326978 1.36315663] [ 0. 0. 0. 1. ]] SLAMing on 195.716502481 meters Centerline goodness [0,1] 0.7108755760368664 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.8833316 -0.0570216 -0.46526747 5.64453624] [ 0.09436437 0.99388459 0.05734795 0.25723889] [ 0.4591521 -0.09456193 0.88331047 1.3633813 ] [ 0. 0. 0. 1. ]] SLAMing on 195.746502481 meters Centerline goodness [0,1] 0.70852266174605 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88318519 -0.05679717 -0.46557276 5.6447155 ] [ 0.09416773 0.99390112 0.05738473 0.25762837] [ 0.459474 -0.09452327 0.88314721 1.36385299] [ 0. 0. 0. 1. ]] SLAMing on 195.776502481 meters Centerline goodness [0,1] 0.7079680814155198 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88308814 -0.05660462 -0.46578026 5.64517475] [ 0.0940151 0.99391123 0.05745984 0.25795797] [ 0.45969174 -0.09453248 0.88303291 1.36396999] [ 0. 0. 0. 1. ]] SLAMing on 195.806502481 meters Centerline goodness [0,1] 0.708732472580869 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88296085 -0.05617892 -0.46607303 5.64591661] [ 0.09368232 0.9939303 0.05767311 0.25820594] [ 0.46000409 -0.0945859 0.88286451 1.36414494] [ 0. 0. 0. 1. ]] SLAMing on 195.836502481 meters Centerline goodness [0,1] 0.7059641962712179 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88293474 -0.05589394 -0.46615674 5.64638754] [ 0.09349854 0.99393344 0.05791668 0.25778683] [ 0.46009158 -0.09472162 0.88280437 1.36409483] [ 0. 0. 0. 1. ]] SLAMing on 195.866502481 meters Centerline goodness [0,1] 0.7079034613868731 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88294488 -0.055688 -0.46616218 5.64719444] [ 0.0933779 0.9939324 0.05812876 0.25717289] [ 0.46009662 -0.09485373 0.88278755 1.36376201] [ 0. 0. 0. 1. ]] SLAMing on 195.896502481 meters Centerline goodness [0,1] 0.7053664648152015 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88287315 -0.05544153 -0.4663274 5.64774763] [ 0.09324284 0.99393132 0.05836357 0.25683557] [ 0.46026164 -0.09500932 0.8826848 1.3637955 ] [ 0. 0. 0. 1. ]] SLAMing on 195.926502481 meters Centerline goodness [0,1] 0.7015858989861408 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88288057 -0.05538738 -0.46631979 5.64755383] [ 0.09312447 0.99394877 0.05825523 0.25774383] [ 0.46027138 -0.09485819 0.88269597 1.36386834] [ 0. 0. 0. 1. ]] SLAMing on 195.956502481 meters Centerline goodness [0,1] 0.7063493911383268 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.8829005 -0.05540916 -0.46627946 5.64725259] [ 0.09307866 0.99396041 0.05812972 0.25851326] [ 0.4602424 -0.09472342 0.88272555 1.36395737] [ 0. 0. 0. 1. ]] SLAMing on 195.98650248099997 meters Centerline goodness [0,1] 0.7073847085964626 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88287941 -0.05542421 -0.46631761 5.64713622] [ 0.09297015 0.99398512 0.05788026 0.2596773 ] [ 0.4603048 -0.0944549 0.88272179 1.36409063] [ 0. 0. 0. 1. ]] SLAMing on 196.01650248099997 meters Centerline goodness [0,1] 0.7056286140645402 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88288496 -0.05564366 -0.46628096 5.64670941] [ 0.09307332 0.99399101 0.05761278 0.26002743] [ 0.4602733 -0.09426377 0.88275865 1.36428472] [ 0. 0. 0. 1. ]] SLAMing on 196.04650248099998 meters Centerline goodness [0,1] 0.7098817174257241 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88293781 -0.05590387 -0.46614974 5.64593641] [ 0.09320997 0.99399379 0.05734318 0.26001164] [ 0.46014425 -0.09408027 0.8828455 1.36455968] [ 0. 0. 0. 1. ]] SLAMing on 196.07650248099998 meters Centerline goodness [0,1] 0.7096962072500232 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88296189 -0.05586765 -0.46610846 5.64619816] [ 0.09319348 0.9939921 0.05739928 0.25993322] [ 0.46010137 -0.09411964 0.88286365 1.36436702] [ 0. 0. 0. 1. ]] SLAMing on 196.10650248099998 meters Centerline goodness [0,1] 0.7074518950437318 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88295878 -0.05585601 -0.46611576 5.64678251] [ 0.09325597 0.99397795 0.05754264 0.25957069] [ 0.46009469 -0.09427585 0.88285046 1.36406884] [ 0. 0. 0. 1. ]] SLAMing on 196.13650248099998 meters Centerline goodness [0,1] 0.7052683085956615 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88302941 -0.056156 -0.46594588 5.64635897] [ 0.09357112 0.99394857 0.05753862 0.2586809 ] [ 0.4598951 -0.09440737 0.8829404 1.3640346 ] [ 0. 0. 0. 1. ]] SLAMing on 196.16650248099998 meters Centerline goodness [0,1] 0.7027096233530425 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88310967 -0.05625593 -0.46578168 5.64625825] [ 0.09371823 0.99392865 0.05764309 0.25789478] [ 0.45971099 -0.09455741 0.88302022 1.36383963] [ 0. 0. 0. 1. ]] SLAMing on 196.19650248099998 meters Centerline goodness [0,1] 0.6995250512199664 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88323157 -0.0564254 -0.46552998 5.64595388] [ 0.09399831 0.99388883 0.05787317 0.25629651] [ 0.45941953 -0.09487444 0.88313789 1.36358022] [ 0. 0. 0. 1. ]] SLAMing on 196.22650248099998 meters Centerline goodness [0,1] 0.7021133145793133 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88326889 -0.05660063 -0.4654379 5.64523239] [ 0.09418708 0.99387066 0.05787842 0.25585662] [ 0.45930911 -0.09496045 0.88318608 1.36379512] [ 0. 0. 0. 1. ]] SLAMing on 196.25650248099998 meters Centerline goodness [0,1] 0.7003715745471435 Centerline is valid? [False, False] Translation: X:5.64, Y:0.26, Z:1.36 [[ 0.88338905 -0.05692894 -0.46516974 5.6439193 ] [ 0.09451691 0.99384014 0.05786477 0.25532118] [ 0.45901018 -0.09508351 0.88332824 1.364044 ] [ 0. 0. 0. 1. ]] SLAMing on 196.28650248099999 meters Centerline goodness [0,1] 0.7007239987005152 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88345121 -0.05694862 -0.46504927 5.64376996] [ 0.09459763 0.99382425 0.05800562 0.25456049] [ 0.4588739 -0.09523769 0.88338243 1.36394332] [ 0. 0. 0. 1. ]] SLAMing on 196.316502481 meters Centerline goodness [0,1] 0.69901429959739 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88355752 -0.05714827 -0.46482274 5.64428346] [ 0.09491034 0.99378141 0.05822834 0.25240645] [ 0.45860455 -0.09556457 0.883487 1.36343277] [ 0. 0. 0. 1. ]] SLAMing on 196.346502481 meters Centerline goodness [0,1] 0.6947042656874293 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88360918 -0.05692321 -0.46475215 5.64487491] [ 0.09486228 0.99376179 0.05864 0.25063582] [ 0.45851495 -0.09590229 0.88349691 1.36309884] [ 0. 0. 0. 1. ]] SLAMing on 196.376502481 meters Centerline goodness [0,1] 0.6957686003832037 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88364226 -0.05685457 -0.46469766 5.64482486] [ 0.09480556 0.99376412 0.05869228 0.25068991] [ 0.45846294 -0.0959189 0.8835221 1.36303076] [ 0. 0. 0. 1. ]] SLAMing on 196.406502481 meters Centerline goodness [0,1] 0.6974908243115348 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.8840784 -0.05204016 -0.46443213 5.64342971] [ 0.09136086 0.99385148 0.06254945 0.249687 ] [ 0.45832148 -0.09772954 0.88339706 1.36289392] [ 0. 0. 0. 1. ]] SLAMing on 196.436502481 meters Centerline goodness [0,1] 0.6997968793278553 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88421109 -0.05184237 -0.46420159 5.64266249] [ 0.09107615 0.9938817 0.06248441 0.25047978] [ 0.45812213 -0.0975271 0.88352282 1.3629688 ] [ 0. 0. 0. 1. ]] SLAMing on 196.466502481 meters Centerline goodness [0,1] 0.703533381092136 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88430127 -0.05193298 -0.46401965 5.64214744] [ 0.09108627 0.99388915 0.06235098 0.25061833] [ 0.45794602 -0.09740287 0.88362782 1.36295971] [ 0. 0. 0. 1. ]] SLAMing on 196.496502481 meters Centerline goodness [0,1] 0.7058321216737058 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88434197 -0.05199232 -0.46393543 5.64184186] [ 0.09109283 0.99389456 0.06225506 0.25070103] [ 0.45786612 -0.09731595 0.8836788 1.36298718] [ 0. 0. 0. 1. ]] SLAMing on 196.526502481 meters Centerline goodness [0,1] 0.7039810709609244 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88432416 -0.05165751 -0.46400677 5.64243384] [ 0.09081883 0.99390833 0.06243542 0.25072536] [ 0.45795493 -0.0973537 0.88362862 1.36283898] [ 0. 0. 0. 1. ]] SLAMing on 196.556502481 meters Centerline goodness [0,1] 0.7043324043577401 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88430697 -0.05118937 -0.4640914 5.64400492] [ 0.09048978 0.99391566 0.06279544 0.25022716] [ 0.45805325 -0.09752598 0.88355866 1.36220956] [ 0. 0. 0. 1. ]] SLAMing on 196.586502481 meters Centerline goodness [0,1] 0.7030268155138681 Centerline is valid? [False, False] Translation: X:5.64, Y:0.25, Z:1.36 [[ 0.88427504 -0.05092727 -0.46418106 5.64472226] [ 0.09034312 0.99391229 0.06305929 0.24966184] [ 0.45814383 -0.09769733 0.88349277 1.36201388] [ 0. 0. 0. 1. ]] SLAMing on 196.616502481 meters Centerline goodness [0,1] 0.7029241645244215 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88427118 -0.0506789 -0.4642156 5.64579751] [ 0.09026238 0.99389581 0.06343362 0.24849106] [ 0.45816719 -0.09799373 0.88344782 1.36154525] [ 0. 0. 0. 1. ]] SLAMing on 196.646502481 meters Centerline goodness [0,1] 0.7030255870371218 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88429355 -0.0505848 -0.46418326 5.64689424] [ 0.09035603 0.99386218 0.06382594 0.2465758 ] [ 0.45810556 -0.09838263 0.88343656 1.36097984] [ 0. 0. 0. 1. ]] SLAMing on 196.676502481 meters Centerline goodness [0,1] 0.703176016622143 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.8843115 -0.05057094 -0.46415056 5.64696558] [ 0.09041753 0.99384652 0.06398249 0.24563401] [ 0.45805877 -0.0985478 0.88344241 1.36093001] [ 0. 0. 0. 1. ]] SLAMing on 196.706502481 meters Centerline goodness [0,1] 0.7041275497384591 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88443432 -0.05067917 -0.46390469 5.64591423] [ 0.09050133 0.99383976 0.06396898 0.24538588] [ 0.45780503 -0.09856036 0.88357253 1.3610769 ] [ 0. 0. 0. 1. ]] SLAMing on 196.73650248099997 meters Centerline goodness [0,1] 0.7037898481324394 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88446806 -0.05072561 -0.46383527 5.64535449] [ 0.0905101 0.99384328 0.06390196 0.24569113] [ 0.4577381 -0.09850102 0.88361382 1.36124216] [ 0. 0. 0. 1. ]] SLAMing on 196.76650248099997 meters Centerline goodness [0,1] 0.7053805624615104 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.8844339 -0.05062457 -0.46391145 5.64535506] [ 0.09039375 0.9938554 0.06387814 0.2458334 ] [ 0.4578271 -0.09843069 0.88357555 1.36141777] [ 0. 0. 0. 1. ]] SLAMing on 196.79650248099998 meters Centerline goodness [0,1] 0.7052203885046452 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88450013 -0.05056307 -0.46379187 5.64556367] [ 0.0903613 0.99385194 0.06397779 0.2454984 ] [ 0.45770553 -0.0984972 0.88363111 1.36110204] [ 0. 0. 0. 1. ]] SLAMing on 196.82650248099998 meters Centerline goodness [0,1] 0.7068354777521311 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88458504 -0.05062007 -0.46362368 5.64502798] [ 0.09046698 0.99383452 0.0640989 0.24459365] [ 0.45752053 -0.09864356 0.8837106 1.36114499] [ 0. 0. 0. 1. ]] SLAMing on 196.85650248099998 meters Centerline goodness [0,1] 0.7050041092137704 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88466108 -0.05071637 -0.46346804 5.64473583] [ 0.09061016 0.99381468 0.06420422 0.24373684] [ 0.45734513 -0.09879389 0.88378459 1.36103651] [ 0. 0. 0. 1. ]] SLAMing on 196.88650248099998 meters Centerline goodness [0,1] 0.703611655798258 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88480071 -0.05090506 -0.46318071 5.64433291] [ 0.0909342 0.99376653 0.0644908 0.24127629] [ 0.45701058 -0.09918048 0.88391434 1.36084803] [ 0. 0. 0. 1. ]] SLAMing on 196.91650248099998 meters Centerline goodness [0,1] 0.7051987628490858 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88491744 -0.05078434 -0.46297092 5.64426244] [ 0.09101071 0.99372946 0.0649524 0.23917675] [ 0.45676927 -0.09961282 0.88399045 1.36057724] [ 0. 0. 0. 1. ]] SLAMing on 196.94650248099998 meters Centerline goodness [0,1] 0.705332149928313 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88492536 -0.05060473 -0.46297544 5.64427531] [ 0.09096318 0.99371434 0.06524963 0.23843344] [ 0.4567634 -0.09985477 0.88396619 1.36059321] [ 0. 0. 0. 1. ]] SLAMing on 196.97650248099998 meters Centerline goodness [0,1] 0.7052864037883617 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88489913 -0.05002673 -0.4630884 5.64469381] [ 0.09066045 0.99369962 0.06589197 0.2373842 ] [ 0.4568744 -0.10029155 0.88385937 1.36058883] [ 0. 0. 0. 1. ]] SLAMing on 197.00650248099998 meters Centerline goodness [0,1] 0.7032158078264239 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88491482 -0.04986642 -0.4630757 5.6448607 ] [ 0.09058182 0.99369355 0.06609126 0.23682027] [ 0.4568596 -0.10043137 0.88385114 1.36051571] [ 0. 0. 0. 1. ]] SLAMing on 197.03650248099999 meters Centerline goodness [0,1] 0.7083152929380399 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88507074 -0.04995006 -0.46276859 5.64441602] [ 0.09065109 0.99368536 0.06611941 0.23565407] [ 0.45654371 -0.10047084 0.88400987 1.36032671] [ 0. 0. 0. 1. ]] SLAMing on 197.066502481 meters Centerline goodness [0,1] 0.7110347495619325 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88512053 -0.05012001 -0.46265497 5.64402926] [ 0.09072883 0.99369095 0.06592851 0.23563765] [ 0.45643172 -0.10033083 0.8840836 1.36037382] [ 0. 0. 0. 1. ]] SLAMing on 197.096502481 meters Centerline goodness [0,1] 0.7107396611404627 Centerline is valid? [False, False] Translation: X:5.64, Y:0.24, Z:1.36 [[ 0.88502501 -0.04964016 -0.46288938 5.64476499] [ 0.09029105 0.99372168 0.06606619 0.23612055] [ 0.45670368 -0.100265 0.88395061 1.36043377] [ 0. 0. 0. 1. ]] SLAMing on 197.126502481 meters Centerline goodness [0,1] 0.71153758593999 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88485639 -0.04939717 -0.46323762 5.64588506] [ 0.09008342 0.99373784 0.06610658 0.2366819 ] [ 0.45707128 -0.10022485 0.88376514 1.36044856] [ 0. 0. 0. 1. ]] SLAMing on 197.156502481 meters Centerline goodness [0,1] 0.7109822631086355 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88465387 -0.04855268 -0.46371346 5.64828183] [ 0.08938081 0.9937774 0.0664646 0.23764725] [ 0.45760093 -0.10024525 0.8834887 1.36003675] [ 0. 0. 0. 1. ]] SLAMing on 197.186502481 meters Centerline goodness [0,1] 0.712913091108271 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88453383 -0.04815862 -0.46398345 5.64971137] [ 0.08907272 0.99379212 0.06665793 0.23759847] [ 0.45789294 -0.10028947 0.88333237 1.35979277] [ 0. 0. 0. 1. ]] SLAMing on 197.216502481 meters Centerline goodness [0,1] 0.7101337038471175 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88455214 -0.04825282 -0.46393876 5.64981052] [ 0.08915655 0.99378671 0.06662647 0.23718553] [ 0.45784126 -0.10029776 0.88335822 1.35970155] [ 0. 0. 0. 1. ]] SLAMing on 197.246502481 meters Centerline goodness [0,1] 0.7120624343936836 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88462614 -0.04833619 -0.46378897 5.64977187] [ 0.08931275 0.9937621 0.06678407 0.23587229] [ 0.45766782 -0.1005012 0.88342497 1.35950992] [ 0. 0. 0. 1. ]] SLAMing on 197.276502481 meters Centerline goodness [0,1] 0.712698738566117 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88464707 -0.04841498 -0.46374082 5.64899484] [ 0.08943575 0.99374577 0.06686254 0.23559432] [ 0.45760333 -0.10062476 0.88344431 1.3598272 ] [ 0. 0. 0. 1. ]] SLAMing on 197.306502481 meters Centerline goodness [0,1] 0.7136461236237379 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88462869 -0.04855986 -0.46376074 5.64863404] [ 0.08957867 0.9937358 0.06681936 0.23560367] [ 0.45761091 -0.10065339 0.88343712 1.3600275 ] [ 0. 0. 0. 1. ]] SLAMing on 197.336502481 meters Centerline goodness [0,1] 0.7114611031567464 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88472192 -0.04909181 -0.46352682 5.64748295] [ 0.09002177 0.99371189 0.06657894 0.23510429] [ 0.45734363 -0.10063135 0.88357803 1.36028487] [ 0. 0. 0. 1. ]] SLAMing on 197.366502481 meters Centerline goodness [0,1] 0.7095600772990792 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.88475101 -0.04927007 -0.46345239 5.64738198] [ 0.09021901 0.99369316 0.06659159 0.234493 ] [ 0.45724849 -0.10072919 0.88361612 1.36023059] [ 0. 0. 0. 1. ]] SLAMing on 197.396502481 meters Centerline goodness [0,1] 0.7060142291766751 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.8847296 -0.04937256 -0.46348234 5.6483762 ] [ 0.09040946 0.99366658 0.06672974 0.23325985] [ 0.4572523 -0.10094097 0.88358998 1.3598439 ] [ 0. 0. 0. 1. ]] SLAMing on 197.426502481 meters Centerline goodness [0,1] 0.7084389052477802 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.88470405 -0.04921739 -0.46354762 5.64907762] [ 0.09030981 0.99366704 0.06685776 0.23323906] [ 0.45732143 -0.10101223 0.88354606 1.35959523] [ 0. 0. 0. 1. ]] SLAMing on 197.456502481 meters Centerline goodness [0,1] 0.7084389052477802 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.88470405 -0.04921739 -0.46354762 5.64907762] [ 0.09030981 0.99366704 0.06685776 0.23323906] [ 0.45732143 -0.10101223 0.88354606 1.35959523] [ 0. 0. 0. 1. ]] SLAMing on 197.48650248099997 meters Centerline goodness [0,1] 0.7101508822388094 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.8847261 -0.04929159 -0.46349765 5.64877805] [ 0.09032386 0.99367392 0.06673628 0.23385481] [ 0.45727599 -0.10090823 0.88358146 1.35965778] [ 0. 0. 0. 1. ]] SLAMing on 197.51650248099997 meters Centerline goodness [0,1] 0.71016976260653 Centerline is valid? [False, False] Translation: X:5.65, Y:0.23, Z:1.36 [[ 0.88469089 -0.04927582 -0.46356652 5.64838728] [ 0.09026501 0.99368575 0.06663975 0.23451512] [ 0.45735571 -0.10079941 0.88355262 1.35998265] [ 0. 0. 0. 1. ]] SLAMing on 197.54650248099998 meters Centerline goodness [0,1] 0.7128237927726255 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88461621 -0.04904958 -0.463733 5.64819846] [ 0.09004113 0.99370491 0.06665696 0.23518128] [ 0.45754426 -0.10072088 0.88346395 1.36040291] [ 0. 0. 0. 1. ]] SLAMing on 197.57650248099998 meters Centerline goodness [0,1] 0.7135441677528527 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88458189 -0.04906742 -0.46379658 5.6485463 ] [ 0.09000412 0.9937167 0.0665311 0.23532038] [ 0.45761789 -0.10059581 0.88344007 1.3603888 ] [ 0. 0. 0. 1. ]] SLAMing on 197.60650248099998 meters Centerline goodness [0,1] 0.7130266454110681 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88449316 -0.04891052 -0.46398234 5.64930367] [ 0.08986693 0.99372713 0.06656067 0.23547037] [ 0.45781632 -0.10056913 0.88334029 1.36036747] [ 0. 0. 0. 1. ]] SLAMing on 197.63650248099998 meters Centerline goodness [0,1] 0.7123130825070416 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.8843453 -0.04906059 -0.46424826 5.65045889] [ 0.08990257 0.99374543 0.06623865 0.2367965 ] [ 0.45809488 -0.10031495 0.88322477 1.36017469] [ 0. 0. 0. 1. ]] SLAMing on 197.66650248099998 meters Centerline goodness [0,1] 0.7112342315529201 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88421986 -0.04908067 -0.46448502 5.65138274] [ 0.08991305 0.99374991 0.06615714 0.23739382] [ 0.45833491 -0.10026072 0.88310639 1.36006004] [ 0. 0. 0. 1. ]] SLAMing on 197.69650248099998 meters Centerline goodness [0,1] 0.7080763852272988 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.8840203 -0.04924688 -0.46484713 5.65275009] [ 0.09001339 0.9937578 0.06590166 0.23878585] [ 0.45870001 -0.10010087 0.88293494 1.35991015] [ 0. 0. 0. 1. ]] SLAMing on 197.72650248099998 meters Centerline goodness [0,1] 0.7064005505849966 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88393071 -0.0498463 -0.4649536 5.65309234] [ 0.09043089 0.99375421 0.06538215 0.23980669] [ 0.45879054 -0.09983946 0.88291751 1.35985611] [ 0. 0. 0. 1. ]] SLAMing on 197.75650248099998 meters Centerline goodness [0,1] 0.6990507711048288 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88391093 -0.05026693 -0.46494592 5.65273942] [ 0.09075466 0.99374341 0.06509705 0.24002938] [ 0.45876471 -0.099736 0.88294262 1.36001315] [ 0. 0. 0. 1. ]] SLAMing on 197.78650248099999 meters Centerline goodness [0,1] 0.6946691176470587 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88385776 -0.05097267 -0.46497016 5.65231033] [ 0.09134246 0.99371579 0.06469532 0.24055236] [ 0.45875049 -0.09965298 0.88295938 1.36018773] [ 0. 0. 0. 1. ]] SLAMing on 197.816502481 meters Centerline goodness [0,1] 0.6725352920922759 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88377523 -0.05184496 -0.46503058 5.65179983] [ 0.09213752 0.99366654 0.06432321 0.24047547] [ 0.4587505 -0.09969403 0.88295475 1.36046332] [ 0. 0. 0. 1. ]] SLAMing on 197.846502481 meters Centerline goodness [0,1] 0.638030888030888 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88381247 -0.05211905 -0.46492916 5.651762 ] [ 0.09243498 0.99363865 0.0643274 0.23992223] [ 0.4586189 -0.09982907 0.88300785 1.36030303] [ 0. 0. 0. 1. ]] SLAMing on 197.876502481 meters Centerline goodness [0,1] 0.5756339126048879 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.8837967 -0.05241212 -0.46492619 5.65180052] [ 0.09273476 0.99361437 0.06427093 0.23952282] [ 0.45858876 -0.09991726 0.88301353 1.360268 ] [ 0. 0. 0. 1. ]] SLAMing on 197.906502481 meters Centerline goodness [0,1] 0.5319711317458858 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88387575 -0.05370166 -0.46462867 5.64986762] [ 0.09371179 0.99357654 0.06343318 0.24025412] [ 0.45823767 -0.09960823 0.88323068 1.36065415] [ 0. 0. 0. 1. ]] SLAMing on 197.936502481 meters Centerline goodness [0,1] 0.5585802894555478 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88386514 -0.05414739 -0.4645971 5.64918529] [ 0.09402039 0.99357051 0.0630699 0.24088954] [ 0.45819491 -0.09942689 0.8832733 1.36092043] [ 0. 0. 0. 1. ]] SLAMing on 197.966502481 meters Centerline goodness [0,1] 0.5230185206487978 Centerline is valid? [False, False] Translation: X:5.65, Y:0.24, Z:1.36 [[ 0.88381509 -0.05468368 -0.46462951 5.64897124] [ 0.09435563 0.99357184 0.06254612 0.24262766] [ 0.45822254 -0.09911961 0.8832935 1.36094755] [ 0. 0. 0. 1. ]] SLAMing on 197.996502481 meters Centerline goodness [0,1] 0.55700175390012 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88359557 -0.05488336 -0.46502331 5.64934966] [ 0.094376 0.99360056 0.06205728 0.2450719 ] [ 0.45864151 -0.09872058 0.88312073 1.36134405] [ 0. 0. 0. 1. ]] SLAMing on 198.026502481 meters Centerline goodness [0,1] 0.556821596135623 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88352831 -0.05519648 -0.46511404 5.64925375] [ 0.09444603 0.99362903 0.06149228 0.24687187] [ 0.45875666 -0.09825835 0.88311247 1.36153401] [ 0. 0. 0. 1. ]] SLAMing on 198.056502481 meters Centerline goodness [0,1] 0.5676131506596123 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88347047 -0.05522845 -0.4652201 5.64983541] [ 0.09441634 0.99364124 0.0613404 0.24748304] [ 0.45887414 -0.09811681 0.88306716 1.3614159 ] [ 0. 0. 0. 1. ]] SLAMing on 198.086502481 meters Centerline goodness [0,1] 0.5707406292686314 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88322006 -0.05479547 -0.46574649 5.651888 ] [ 0.09398557 0.9936832 0.06132221 0.24964631] [ 0.45944428 -0.09793445 0.88279091 1.3611944 ] [ 0. 0. 0. 1. ]] SLAMing on 198.116502481 meters Centerline goodness [0,1] 0.5833815798615132 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88307844 -0.05476589 -0.46601842 5.65251956] [ 0.09387237 0.99370737 0.06110358 0.25105291] [ 0.45973954 -0.09770551 0.88266255 1.36133478] [ 0. 0. 0. 1. ]] SLAMing on 198.146502481 meters Centerline goodness [0,1] 0.6027629440445785 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88295392 -0.0547849 -0.46625207 5.65290134] [ 0.0937486 0.99373955 0.06076922 0.25268253] [ 0.46000389 -0.0973669 0.88256224 1.36156291] [ 0. 0. 0. 1. ]] SLAMing on 198.176502481 meters Centerline goodness [0,1] 0.6271792371799336 Centerline is valid? [False, False] Translation: X:5.65, Y:0.25, Z:1.36 [[ 0.88287581 -0.05491746 -0.46638436 5.65326015] [ 0.0937943 0.99374928 0.06053918 0.25330173] [ 0.46014446 -0.09719277 0.88250815 1.36161073] [ 0. 0. 0. 1. ]] SLAMing on 198.206502481 meters Centerline goodness [0,1] 0.6313529821304247 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88268384 -0.05509229 -0.46672699 5.65373505] [ 0.09377948 0.99378022 0.06005226 0.2550439 ] [ 0.46051564 -0.09677657 0.88236027 1.3619702 ] [ 0. 0. 0. 1. ]] SLAMing on 198.23650248099997 meters Centerline goodness [0,1] 0.6387125281983301 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88253496 -0.05523354 -0.46699175 5.65383786] [ 0.0938193 0.993794 0.05976133 0.25625812] [ 0.46079277 -0.0965543 0.88223993 1.36235427] [ 0. 0. 0. 1. ]] SLAMing on 198.26650248099997 meters Centerline goodness [0,1] 0.6578794294888202 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88248191 -0.05543893 -0.46706766 5.65395975] [ 0.09390306 0.99380411 0.05946101 0.25762398] [ 0.46087731 -0.09633235 0.88222003 1.36238155] [ 0. 0. 0. 1. ]] SLAMing on 198.29650248099998 meters Centerline goodness [0,1] 0.6152123191787214 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88245344 -0.0558447 -0.46707311 5.65403194] [ 0.09420127 0.9937941 0.05915585 0.25823077] [ 0.46087096 -0.09620116 0.88223766 1.36232654] [ 0. 0. 0. 1. ]] SLAMing on 198.32650248099998 meters Centerline goodness [0,1] 0.6110553701845673 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88245677 -0.05611574 -0.46703434 5.65411767] [ 0.09441586 0.99378351 0.05899143 0.25843488] [ 0.46082068 -0.09615284 0.8822692 1.36218377] [ 0. 0. 0. 1. ]] SLAMing on 198.35650248099998 meters Centerline goodness [0,1] 0.5869281350557292 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88255164 -0.05663987 -0.46679173 5.65343646] [ 0.09481936 0.99376289 0.0586908 0.2591465 ] [ 0.46055606 -0.09605855 0.88241763 1.36202596] [ 0. 0. 0. 1. ]] SLAMing on 198.38650248099998 meters Centerline goodness [0,1] 0.5717020332889792 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88252615 -0.05700517 -0.46679546 5.65305178] [ 0.09507719 0.99375563 0.05839582 0.2599978 ] [ 0.46055175 -0.09591744 0.88243523 1.3621902 ] [ 0. 0. 0. 1. ]] SLAMing on 198.41650248099998 meters Centerline goodness [0,1] 0.5524869630287865 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88253973 -0.05784446 -0.46666652 5.65233599] [ 0.09564075 0.9937425 0.05769486 0.26142711] [ 0.46040902 -0.09555035 0.88254953 1.36227991] [ 0. 0. 0. 1. ]] SLAMing on 198.44650248099998 meters Centerline goodness [0,1] 0.528058834551246 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88254364 -0.05870283 -0.46655193 5.65180871] [ 0.09626118 0.99371936 0.05705807 0.26257393] [ 0.46027221 -0.09526708 0.8826515 1.36225475] [ 0. 0. 0. 1. ]] SLAMing on 198.47650248099998 meters Centerline goodness [0,1] 0.5267096774193548 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88249988 -0.05896278 -0.46660193 5.65209659] [ 0.09647224 0.99370853 0.05688987 0.26285047] [ 0.46031193 -0.09521944 0.88263593 1.36219255] [ 0. 0. 0. 1. ]] SLAMing on 198.50650248099998 meters Centerline goodness [0,1] 0.507319250922249 Centerline is valid? [False, False] Translation: X:5.65, Y:0.26, Z:1.36 [[ 0.88247006 -0.05951785 -0.46658784 5.65234401] [ 0.09690526 0.99368722 0.05652497 0.26370165] [ 0.46027813 -0.09509641 0.88266682 1.36193084] [ 0. 0. 0. 1. ]] SLAMing on 198.53650248099999 meters Centerline goodness [0,1] 0.5110787377522967 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.88240619 -0.05988364 -0.46666184 5.65208835] [ 0.09705125 0.99370282 0.05599788 0.26624035] [ 0.46036983 -0.09470299 0.8826613 1.36205386] [ 0. 0. 0. 1. ]] SLAMing on 198.566502481 meters Centerline goodness [0,1] 0.5105014901555863 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.88222114 -0.06009695 -0.46698417 5.65234763] [ 0.09711629 0.9937195 0.05558761 0.26797248] [ 0.46071063 -0.09439233 0.88251674 1.36245177] [ 0. 0. 0. 1. ]] SLAMing on 198.596502481 meters Centerline goodness [0,1] 0.5191078278164512 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.88262398 -0.05582683 -0.46675291 5.65169351] [ 0.09393019 0.99384381 0.05875031 0.26920662] [ 0.46059965 -0.09569662 0.8824342 1.36185392] [ 0. 0. 0. 1. ]] SLAMing on 198.626502481 meters Centerline goodness [0,1] 0.5203992129530854 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.88246427 -0.05597175 -0.46703744 5.65198353] [ 0.09392713 0.99386677 0.0583655 0.27095468] [ 0.46090617 -0.09537295 0.88230919 1.36216949] [ 0. 0. 0. 1. ]] SLAMing on 198.656502481 meters Centerline goodness [0,1] 0.5306248222243293 Centerline is valid? [False, False] Translation: X:5.65, Y:0.27, Z:1.36 [[ 0.88224405 -0.0558509 -0.46746776 5.65299897] [ 0.0936253 0.99391965 0.05794851 0.27382444] [ 0.46138891 -0.09489154 0.88210876 1.36240904] [ 0. 0. 0. 1. ]] SLAMing on 198.686502481 meters Centerline goodness [0,1] 0.5373745063520008 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88218968 -0.05601784 -0.4675504 5.65309514] [ 0.09362309 0.99394211 0.05756561 0.27530429] [ 0.46149333 -0.0945573 0.88209003 1.36252845] [ 0. 0. 0. 1. ]] SLAMing on 198.716502481 meters Centerline goodness [0,1] 0.5479318154726427 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88248669 -0.05167694 -0.46748983 5.65253952] [ 0.09041505 0.99404686 0.06079442 0.27607836] [ 0.46156512 -0.09591838 0.88190549 1.36226008] [ 0. 0. 0. 1. ]] SLAMing on 198.746502481 meters Centerline goodness [0,1] 0.5428782534083325 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88239917 -0.05179814 -0.46764159 5.65308515] [ 0.09043131 0.99406156 0.0605292 0.27742585] [ 0.46172923 -0.09570036 0.88184327 1.3622235 ] [ 0. 0. 0. 1. ]] SLAMing on 198.776502481 meters Centerline goodness [0,1] 0.560954084675015 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88238718 -0.05222781 -0.46761642 5.65293353] [ 0.09058495 0.99408545 0.05990401 0.27981524] [ 0.46172202 -0.09521754 0.88189931 1.36220182] [ 0. 0. 0. 1. ]] SLAMing on 198.806502481 meters Centerline goodness [0,1] 0.5417044857402188 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88230594 -0.05261372 -0.46772643 5.65258747] [ 0.09069092 0.99411495 0.05925056 0.28261972] [ 0.46185645 -0.09469566 0.88188511 1.36251549] [ 0. 0. 0. 1. ]] SLAMing on 198.836502481 meters Centerline goodness [0,1] 0.565829482605885 Centerline is valid? [False, False] Translation: X:5.65, Y:0.28, Z:1.36 [[ 0.88224135 -0.05274333 -0.46783367 5.6528649 ] [ 0.09069879 0.99413138 0.05896204 0.28395426] [ 0.46197828 -0.0944507 0.88184757 1.36255927] [ 0. 0. 0. 1. ]] SLAMing on 198.866502481 meters Centerline goodness [0,1] 0.5755316343410611 Centerline is valid? [False, False] Translation: X:5.65, Y:0.29, Z:1.36 [[ 0.88252896 -0.04955127 -0.46764015 5.65307688] [ 0.08826891 0.99421277 0.06123374 0.28585897] [ 0.4618996 -0.09531864 0.88179539 1.36181329] [ 0. 0. 0. 1. ]] SLAMing on 198.896502481 meters Centerline goodness [0,1] 0.6023519792217786 Centerline is valid? [False, False] Translation: X:5.65, Y:0.29, Z:1.36 [[ 0.88278458 -0.04493674 -0.46762386 5.65263675] [ 0.08473773 0.99431874 0.0644187 0.28801015] [ 0.4620724 -0.09649322 0.88157709 1.36159937] [ 0. 0. 0. 1. ]] SLAMing on 198.926502481 meters Centerline goodness [0,1] 0.5970544351927612 Centerline is valid? [False, False] Translation: X:5.65, Y:0.29, Z:1.36 [[ 0.88263323 -0.04517665 -0.46788636 5.65310787] [ 0.08475547 0.99435226 0.06387554 0.29027164] [ 0.46235818 -0.0960346 0.88147732 1.36182585] [ 0. 0. 0. 1. ]] SLAMing on 198.956502481 meters Centerline goodness [0,1] 0.6183058390982537 Centerline is valid? [False, False] Translation: X:5.65, Y:0.29, Z:1.36 [[ 0.88243978 -0.04556944 -0.46821304 5.65374728] [ 0.08472672 0.99441682 0.06290131 0.29408165] [ 0.46273255 -0.09517677 0.88137391 1.36212295] [ 0. 0. 0. 1. ]] SLAMing on 198.98650248099997 meters Centerline goodness [0,1] 0.6203117802506849 Centerline is valid? [False, False] Translation: X:5.65, Y:0.30, Z:1.36 [[ 0.88231128 -0.04580063 -0.4684326 5.65422493] [ 0.08476682 0.99444305 0.06243075 0.2958489 ] [ 0.46297018 -0.0947909 0.8812907 1.36227609] [ 0. 0. 0. 1. ]] SLAMing on 199.01650248099997 meters Centerline goodness [0,1] 0.6371545172405366 Centerline is valid? [False, False] Translation: X:5.65, Y:0.30, Z:1.36 [[ 0.88210446 -0.04637709 -0.46876528 5.65482679] [ 0.08492824 0.99449191 0.06142506 0.29975288] [ 0.46333456 -0.09399474 0.88118447 1.36248984] [ 0. 0. 0. 1. ]] SLAMing on 199.04650248099998 meters Centerline goodness [0,1] 0.6393847508191911 Centerline is valid? [False, False] Translation: X:5.66, Y:0.30, Z:1.36 [[ 0.88196956 -0.04648429 -0.46900843 5.65551351] [ 0.08492395 0.99451036 0.0611316 0.30128291] [ 0.46359208 -0.09374626 0.88107549 1.36254897] [ 0. 0. 0. 1. ]] SLAMing on 199.07650248099998 meters Centerline goodness [0,1] 0.6338414783589039 Centerline is valid? [False, False] Translation: X:5.66, Y:0.31, Z:1.36 [[ 0.88162932 -0.04634634 -0.46966132 5.65727337] [ 0.08474231 0.99453801 0.0609335 0.30505197] [ 0.46427198 -0.09352094 0.88074137 1.36263888] [ 0. 0. 0. 1. ]] SLAMing on 199.10650248099998 meters Centerline goodness [0,1] 0.6177924217462932 Centerline is valid? [False, False] Translation: X:5.66, Y:0.31, Z:1.36 [[ 0.88151722 -0.04685504 -0.46982124 5.65788645] [ 0.08500707 0.99455336 0.06031094 0.30757978] [ 0.46443642 -0.09310326 0.88069892 1.36248866] [ 0. 0. 0. 1. ]] SLAMing on 199.13650248099998 meters Centerline goodness [0,1] 0.6255878659542511 Centerline is valid? [False, False] Translation: X:5.66, Y:0.31, Z:1.36 [[ 0.88146717 -0.04720084 -0.46988053 5.65793765] [ 0.08520343 0.99455958 0.05993008 0.30881438] [ 0.46449544 -0.09286183 0.88069329 1.36252342] [ 0. 0. 0. 1. ]] SLAMing on 199.16650248099998 meters Centerline goodness [0,1] 0.6041975308641976 Centerline is valid? [False, False] Translation: X:5.66, Y:0.31, Z:1.36 [[ 0.88141207 -0.04786857 -0.46991634 5.65731346] [ 0.08563815 0.99455895 0.05931777 0.31107008] [ 0.46452004 -0.09252617 0.88071564 1.36274751] [ 0. 0. 0. 1. ]] SLAMing on 199.19650248099998 meters Centerline goodness [0,1] 0.5918175754131976 Centerline is valid? [False, False] Translation: X:5.66, Y:0.31, Z:1.36 [[ 0.8815122 -0.04855875 -0.46965763 5.65612614] [ 0.08613077 0.9945452 0.05883319 0.31200287] [ 0.46423887 -0.09231415 0.88088613 1.36277813] [ 0. 0. 0. 1. ]] SLAMing on 199.22650248099998 meters Centerline goodness [0,1] 0.5517463782496528 Centerline is valid? [False, False] Translation: X:5.65, Y:0.31, Z:1.36 [[ 0.88182458 -0.05031621 -0.46888558 5.65301343] [ 0.08740807 0.99450209 0.05766654 0.31345418] [ 0.46340613 -0.09183616 0.88137443 1.36283583] [ 0. 0. 0. 1. ]] SLAMing on 199.25650248099998 meters Centerline goodness [0,1] 0.5371289586022039 Centerline is valid? [False, False] Translation: X:5.65, Y:0.31, Z:1.36 [[ 0.88194355 -0.0508845 -0.46860042 5.65230197] [ 0.08785796 0.99447977 0.05736689 0.31377013] [ 0.46309455 -0.09176463 0.88154563 1.36260556] [ 0. 0. 0. 1. ]] SLAMing on 199.28650248099999 meters Centerline goodness [0,1] 0.520227764378248 Centerline is valid? [False, False] Translation: X:5.65, Y:0.32, Z:1.36 [[ 0.88203877 -0.05197571 -0.46830132 5.6519622 ] [ 0.08872397 0.99443886 0.05673978 0.31519584] [ 0.46274795 -0.09159623 0.88174513 1.36200182] [ 0. 0. 0. 1. ]] SLAMing on 199.316502481 meters Centerline goodness [0,1] 0.5068250884272405 Centerline is valid? [False, False] Translation: X:5.65, Y:0.32, Z:1.36 [[ 0.88204895 -0.05238845 -0.46823616 5.65213454] [ 0.08904004 0.99442598 0.05646986 0.31624184] [ 0.46266784 -0.09150095 0.88179706 1.36166548] [ 0. 0. 0. 1. ]] SLAMing on 199.346502481 meters Centerline goodness [0,1] 0.48627765791982336 Centerline is valid? [False, False] Translation: X:5.65, Y:0.32, Z:1.36 [[ 0.88218363 -0.05381757 -0.46782016 5.6528043 ] [ 0.09017787 0.9943691 0.05566011 0.3208998 ] [ 0.46219042 -0.09128946 0.8820693 1.35978607] [ 0. 0. 0. 1. ]] SLAMing on 199.376502481 meters Centerline goodness [0,1] 0.48627765791982336 Centerline is valid? [False, False] Translation: X:5.65, Y:0.32, Z:1.36 [[ 0.88218363 -0.05381757 -0.46782016 5.6528043 ] [ 0.09017787 0.9943691 0.05566011 0.3208998 ] [ 0.46219042 -0.09128946 0.8820693 1.35978607] [ 0. 0. 0. 1. ]] SLAMing on 199.406502481 meters Centerline goodness [0,1] 0.4992829647520568 Centerline is valid? [False, False] Translation: X:5.65, Y:0.32, Z:1.36 [[ 0.88213694 -0.05432102 -0.46785003 5.65300068] [ 0.09046438 0.99437331 0.05511724 0.3228964 ] [ 0.46222356 -0.09094471 0.88208755 1.35963176] [ 0. 0. 0. 1. ]] SLAMing on 199.436502481 meters Centerline goodness [0,1] 0.49351206705038875 Centerline is valid? [False, False] Translation: X:5.65, Y:0.33, Z:1.36 [[ 0.88266349 -0.05182538 -0.46713948 5.65230136] [ 0.08852821 0.99444435 0.05694908 0.32667244] [ 0.46159281 -0.0916219 0.88234773 1.35809878] [ 0. 0. 0. 1. ]] SLAMing on 199.466502481 meters Centerline goodness [0,1] 0.49538633137294663 Centerline is valid? [False, False] Translation: X:5.65, Y:0.33, Z:1.36 [[ 0.88247962 -0.05233741 -0.46742968 5.65252696] [ 0.08873636 0.99446956 0.05617972 0.33003999] [ 0.46190429 -0.09105546 0.88224335 1.35835821] [ 0. 0. 0. 1. ]] SLAMing on 199.496502481 meters Centerline goodness [0,1] 0.49466101261942474 Centerline is valid? [False, False] Translation: X:5.65, Y:0.33, Z:1.36 [[ 0.88296601 -0.04878771 -0.46689483 5.65106536] [ 0.08591637 0.99458029 0.05855267 0.33468629] [ 0.46150775 -0.09181392 0.88237226 1.35741024] [ 0. 0. 0. 1. ]] SLAMing on 199.526502481 meters Centerline goodness [0,1] 0.504752389004176 Centerline is valid? [False, False] Translation: X:5.65, Y:0.34, Z:1.36 [[ 0.88276915 -0.04924384 -0.46721908 5.65180724] [ 0.08605965 0.99461356 0.05777207 0.33807864] [ 0.46185751 -0.09120811 0.88225207 1.35754373] [ 0. 0. 0. 1. ]] SLAMing on 199.556502481 meters Centerline goodness [0,1] 0.5048583726384701 Centerline is valid? [False, False] Translation: X:5.65, Y:0.34, Z:1.36 [[ 0.88264338 -0.04817941 -0.46756754 5.65442503] [ 0.0849999 0.99469367 0.05796135 0.34444317] [ 0.46229393 -0.0909024 0.88205503 1.35652372] [ 0. 0. 0. 1. ]] SLAMing on 199.586502481 meters Centerline goodness [0,1] 0.5114749002745687 Centerline is valid? [False, False] Translation: X:5.66, Y:0.35, Z:1.36 [[ 0.88240314 -0.04832013 -0.46800627 5.65583554] [ 0.08489763 0.99473686 0.05736702 0.34793217] [ 0.4627711 -0.09035346 0.88186119 1.35654885] [ 0. 0. 0. 1. ]] SLAMing on 199.616502481 meters Centerline goodness [0,1] 0.5173647378316273 Centerline is valid? [False, False] Translation: X:5.66, Y:0.35, Z:1.36 [[ 0.88256938 -0.04362951 -0.46815356 5.65646742] [ 0.08119405 0.99486946 0.0603514 0.3541002 ] [ 0.46311858 -0.09127558 0.88158377 1.35579115] [ 0. 0. 0. 1. ]] SLAMing on 199.646502481 meters Centerline goodness [0,1] 0.5269175797999047 Centerline is valid? [False, False] Translation: X:5.66, Y:0.36, Z:1.36 [[ 0.88270305 -0.03876117 -0.46832991 5.65677374] [ 0.07745952 0.99496184 0.06364716 0.36063476] [ 0.46350335 -0.09245815 0.88125827 1.35505603] [ 0. 0. 0. 1. ]] SLAMing on 199.676502481 meters Centerline goodness [0,1] 0.5347270122565926 Centerline is valid? [False, False] Translation: X:5.66, Y:0.36, Z:1.36 [[ 0.88257041 -0.03922824 -0.46854095 5.65715082] [ 0.077548 0.99501084 0.0627673 0.36425622] [ 0.46374108 -0.09173097 0.88120919 1.35524303] [ 0. 0. 0. 1. ]] SLAMing on 199.706502481 meters Centerline goodness [0,1] 0.5475338000320633 Centerline is valid? [False, False] Translation: X:5.66, Y:0.37, Z:1.35 [[ 0.88261684 -0.03896035 -0.46847582 5.65787125] [ 0.07710994 0.99506025 0.06252328 0.37040985] [ 0.46372574 -0.09130824 0.88126117 1.35440572] [ 0. 0. 0. 1. ]] SLAMing on 199.73650248099997 meters Centerline goodness [0,1] 0.5534621578099839 Centerline is valid? [False, False] Translation: X:5.66, Y:0.37, Z:1.35 [[ 0.88256391 -0.0395835 -0.46852331 5.65807878] [ 0.07736434 0.9950943 0.0616611 0.37360794] [ 0.46378411 -0.09066686 0.88129667 1.35432792] [ 0. 0. 0. 1. ]] SLAMing on 199.76650248099997 meters Centerline goodness [0,1] 0.554956606112878 Centerline is valid? [False, False] Translation: X:5.66, Y:0.38, Z:1.35 [[ 0.88289572 -0.03715069 -0.46809718 5.65908573] [ 0.07535164 0.99515583 0.06314268 0.3790511 ] [ 0.46348385 -0.09102029 0.88141819 1.35261605] [ 0. 0. 0. 1. ]] SLAMing on 199.79650248099998 meters Centerline goodness [0,1] 0.5494081876425236 Centerline is valid? [False, False] Translation: X:5.66, Y:0.38, Z:1.35 [[ 0.8825867 -0.03700784 -0.46869088 5.66082936] [ 0.07518188 0.99517804 0.0629949 0.38285797] [ 0.46409956 -0.09083552 0.88111322 1.35255281] [ 0. 0. 0. 1. ]] SLAMing on 199.82650248099998 meters Centerline goodness [0,1] 0.5623562903755612 Centerline is valid? [False, False] Translation: X:5.66, Y:0.39, Z:1.35 [[ 0.88280225 -0.03238216 -0.46862735 5.66147161] [ 0.0716409 0.99523207 0.06618688 0.38697383] [ 0.46424969 -0.09200281 0.880913 1.35152002] [ 0. 0. 0. 1. ]] SLAMing on 199.85650248099998 meters Centerline goodness [0,1] 0.5477262059253942 Centerline is valid? [False, False] Translation: X:5.66, Y:0.39, Z:1.35 [[ 0.88240862 -0.03140781 -0.46943432 5.66498767] [ 0.070865 0.99525883 0.06661846 0.39286658] [ 0.46511631 -0.09205117 0.88045068 1.35071878] [ 0. 0. 0. 1. ]] SLAMing on 199.88650248099998 meters Centerline goodness [0,1] 0.5639301624194129 Centerline is valid? [False, False] Translation: X:5.67, Y:0.40, Z:1.35 [[ 0.88231829 -0.03180201 -0.46957754 5.66569868] [ 0.07100864 0.99528867 0.06601687 0.39566728] [ 0.46526574 -0.09159196 0.88041962 1.35055604] [ 0. 0. 0. 1. ]] SLAMing on 199.91650248099998 meters Centerline goodness [0,1] 0.5697917537843941 Centerline is valid? [False, False] Translation: X:5.67, Y:0.40, Z:1.35 [[ 0.88286351 -0.02948871 -0.46870293 5.66509085] [ 0.06919216 0.9953027 0.06771247 0.40040761] [ 0.46450453 -0.09221143 0.88075683 1.34862567] [ 0. 0. 0. 1. ]] SLAMing on 199.94650248099998 meters Centerline goodness [0,1] 0.5643416949914324 Centerline is valid? [False, False] Translation: X:5.67, Y:0.41, Z:1.35 [[ 0.88259197 -0.0294162 -0.4692186 5.66711052] [ 0.0689639 0.99534518 0.06731982 0.4071185 ] [ 0.46505418 -0.09177508 0.88051232 1.34811556] [ 0. 0. 0. 1. ]] SLAMing on 199.97650248099998 meters Centerline goodness [0,1] 0.5649481037359654 Centerline is valid? [False, False] Translation: X:5.67, Y:0.41, Z:1.35 [[ 0.88236667 -0.02964516 -0.46962776 5.66875915] [ 0.06895709 0.99538554 0.06672747 0.41032553] [ 0.46548253 -0.09126226 0.88033926 1.34803869] [ 0. 0. 0. 1. ]] SLAMing on 200.00650248099998 meters Centerline goodness [0,1] 0.5696227814871883 Centerline is valid? [False, False] Translation: X:5.67, Y:0.42, Z:1.35 [[ 0.88252726 -0.02526774 -0.46958193 5.66932302] [ 0.06552167 0.99542243 0.06957803 0.41546052] [ 0.4656743 -0.0921723 0.88014301 1.34713982] [ 0. 0. 0. 1. ]] SLAMing on 200.03650248099999 meters Centerline goodness [0,1] 0.5670621872766262 Centerline is valid? [False, False] Translation: X:5.67, Y:0.42, Z:1.35 [[ 0.88214797 -0.02579077 -0.47026566 5.669551 ] [ 0.06566003 0.99548304 0.06857314 0.41992404] [ 0.46637293 -0.09136932 0.87985677 1.34828722] [ 0. 0. 0. 1. ]] SLAMing on 200.066502481 meters Centerline goodness [0,1] 0.5742211185863194 Centerline is valid? [False, False] Translation: X:5.67, Y:0.42, Z:1.35 [[ 0.88253329 -0.02193053 -0.46973827 5.66842091] [ 0.06255453 0.99550941 0.07104894 0.42423538] [ 0.46607072 -0.09208731 0.87994205 1.34751642] [ 0. 0. 0. 1. ]] SLAMing on 200.096502481 meters Centerline goodness [0,1] 0.5809266991417305 Centerline is valid? [False, False] Translation: X:5.67, Y:0.43, Z:1.35 [[ 0.88225967 -0.02242176 -0.47022881 5.66906463] [ 0.06265424 0.99557163 0.07008257 0.42755606] [ 0.46657509 -0.09129285 0.87975752 1.34825331] [ 0. 0. 0. 1. ]] SLAMing on 200.126502481 meters Centerline goodness [0,1] 0.5770363673481291 Centerline is valid? [False, False] Translation: X:5.67, Y:0.43, Z:1.35 [[ 0.88254435 -0.02030896 -0.46979039 5.66958545] [ 0.06080488 0.9956079 0.07118759 0.43310233] [ 0.46628128 -0.09139176 0.87990302 1.34699814] [ 0. 0. 0. 1. ]] SLAMing on 200.156502481 meters Centerline goodness [0,1] 0.57803637214198 Centerline is valid? [False, False] Translation: X:5.67, Y:0.44, Z:1.35 [[ 0.88238494 -0.02072067 -0.47007178 5.67038108] [ 0.06088706 0.99565857 0.07040438 0.43602111] [ 0.46657217 -0.09074505 0.87981574 1.34723582] [ 0. 0. 0. 1. ]] SLAMing on 200.186502481 meters Centerline goodness [0,1] 0.5732137606586298 Centerline is valid? [False, False] Translation: X:5.67, Y:0.44, Z:1.35 [[ 0.88209288 -0.02069293 -0.47062081 5.67191231] [ 0.06078406 0.99568289 0.07014902 0.44204735] [ 0.4671375 -0.0904842 0.87954259 1.34692794] [ 0. 0. 0. 1. ]] SLAMing on 200.216502481 meters Centerline goodness [0,1] 0.5658527944259101 Centerline is valid? [False, False] Translation: X:5.67, Y:0.44, Z:1.35 [[ 0.8823858 -0.01651671 -0.47023665 5.67088468] [ 0.05766443 0.9956463 0.07323434 0.44492725] [ 0.46697979 -0.09173686 0.87949658 1.34616163] [ 0. 0. 0. 1. ]] SLAMing on 200.246502481 meters Centerline goodness [0,1] 0.5639593308506237 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88218365 -0.0169618 -0.47059995 5.67103286] [ 0.0577828 0.99569817 0.07243138 0.44752281] [ 0.46734694 -0.09109036 0.87936874 1.34696562] [ 0. 0. 0. 1. ]] SLAMing on 200.276502481 meters Centerline goodness [0,1] 0.5716116724790605 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88216894 -0.01808241 -0.47058578 5.67074936] [ 0.05837831 0.99575404 0.07117491 0.45201972] [ 0.46730068 -0.0902603 0.87947891 1.34690312] [ 0. 0. 0. 1. ]] SLAMing on 200.306502481 meters Centerline goodness [0,1] 0.5578903506161081 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88196489 -0.01810148 -0.47096738 5.67181487] [ 0.05825633 0.99578635 0.07082196 0.45345486] [ 0.46770091 -0.08989931 0.87930312 1.347285 ] [ 0. 0. 0. 1. ]] SLAMing on 200.336502481 meters Centerline goodness [0,1] 0.548317823908375 Centerline is valid? [False, False] Translation: X:5.67, Y:0.46, Z:1.35 [[ 0.88179356 -0.01847215 -0.47127369 5.67304807] [ 0.05836752 0.99582542 0.07017805 0.45626428] [ 0.46800998 -0.08938963 0.87919062 1.34728292] [ 0. 0. 0. 1. ]] SLAMing on 200.366502481 meters Centerline goodness [0,1] 0.5367519319475229 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88179253 -0.01852198 -0.47127368 5.67275201] [ 0.05873854 0.99576176 0.07076933 0.4548807 ] [ 0.46796552 -0.09008579 0.87914323 1.34684997] [ 0. 0. 0. 1. ]] SLAMing on 200.396502481 meters Centerline goodness [0,1] 0.53297955267734 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88169196 -0.01818568 -0.47147489 5.67337015] [ 0.0585503 0.99575034 0.0710853 0.45426733] [ 0.46817855 -0.09028034 0.87900984 1.34699386] [ 0. 0. 0. 1. ]] SLAMing on 200.426502481 meters Centerline goodness [0,1] 0.5297148334531512 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:1.35 [[ 0.88160942 -0.01805334 -0.4716343 5.67465729] [ 0.05846587 0.99574906 0.07117266 0.45371486] [ 0.4683445 -0.090321 0.87891726 1.34683705] [ 0. 0. 0. 1. ]] SLAMing on 200.45650248099997 meters Centerline goodness [0,1] 0.525228945950799 Centerline is valid? [False, False] Translation: X:5.68, Y:0.45, Z:1.35 [[ 0.88159078 -0.01785648 -0.47167663 5.67561539] [ 0.05831589 0.9957488 0.07129923 0.45328782] [ 0.46839829 -0.09036299 0.87888428 1.34656237] [ 0. 0. 0. 1. ]] SLAMing on 200.48650248099997 meters Centerline goodness [0,1] 0.5247290581402311 Centerline is valid? [False, False] Translation: X:5.68, Y:0.45, Z:1.35 [[ 0.88142125 -0.01762894 -0.47200191 5.67679548] [ 0.05805559 0.99576952 0.07122232 0.45275573] [ 0.46874954 -0.09017922 0.87871587 1.34701863] [ 0. 0. 0. 1. ]] SLAMing on 200.51650248099997 meters Centerline goodness [0,1] 0.5286532521666116 Centerline is valid? [False, False] Translation: X:5.68, Y:0.45, Z:1.35 [[ 0.88169993 -0.01263639 -0.47164135 5.67546595] [ 0.05431223 0.99571425 0.07485531 0.45259918] [ 0.46867411 -0.09161582 0.87860749 1.34697506] [ 0. 0. 0. 1. ]] SLAMing on 200.54650248099998 meters Centerline goodness [0,1] 0.5537749180672901 Centerline is valid? [False, False] Translation: X:5.68, Y:0.45, Z:1.35 [[ 0.88136613 -0.01270792 -0.47226291 5.67530182] [ 0.05413432 0.99577045 0.07423403 0.45413934] [ 0.46932209 -0.09099299 0.87832628 1.34866865] [ 0. 0. 0. 1. ]] SLAMing on 200.57650248099998 meters Centerline goodness [0,1] 0.5575841429301892 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.35 [[ 0.88103484 -0.01293647 -0.47287447 5.67523616] [ 0.05384058 0.99587255 0.07306878 0.45679169] [ 0.46997745 -0.08983597 0.87809492 1.35069901] [ 0. 0. 0. 1. ]] SLAMing on 200.60650248099998 meters Centerline goodness [0,1] 0.5680439441040654 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.35 [[ 0.88075118 -0.01295039 -0.4734022 5.67594593] [ 0.05364533 0.9959202 0.07256121 0.45805284] [ 0.47053112 -0.08930419 0.87785262 1.35173023] [ 0. 0. 0. 1. ]] SLAMing on 200.63650248099998 meters Centerline goodness [0,1] 0.5762441257982889 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.35 [[ 0.88045923 -0.01257948 -0.47395495 5.67649661] [ 0.05322753 0.99595101 0.07244596 0.45751702] [ 0.47112458 -0.08901316 0.87756384 1.35307391] [ 0. 0. 0. 1. ]] SLAMing on 200.66650248099998 meters Centerline goodness [0,1] 0.5834186284544525 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.35 [[ 0.87990733 -0.01168246 -0.4750017 5.67945816] [ 0.05229092 0.99600622 0.07236892 0.45792215] [ 0.4722592 -0.08851622 0.87700406 1.35446221] [ 0. 0. 0. 1. ]] SLAMing on 200.69650248099998 meters Centerline goodness [0,1] 0.5819460304104813 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.36 [[ 0.87948337 -0.01113627 -0.47579932 5.6812427 ] [ 0.05171203 0.99604338 0.07227345 0.45830844] [ 0.4731119 -0.08816785 0.87657946 1.35567299] [ 0. 0. 0. 1. ]] SLAMing on 200.72650248099998 meters Centerline goodness [0,1] 0.6007693694776702 Centerline is valid? [False, False] Translation: X:5.68, Y:0.46, Z:1.36 [[ 0.87884927 -0.01044016 -0.47698529 5.68356023] [ 0.05084838 0.9961159 0.07188576 0.46001521] [ 0.47438213 -0.08743068 0.87596659 1.35763725] [ 0. 0. 0. 1. ]] SLAMing on 200.75650248099998 meters Centerline goodness [0,1] 0.600636483727633 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.36 [[ 0.87840269 -0.01000599 -0.47781648 5.68503492] [ 0.05039114 0.99614697 0.07177709 0.46071118] [ 0.47525724 -0.08712691 0.87552239 1.35886973] [ 0. 0. 0. 1. ]] SLAMing on 200.78650248099999 meters Centerline goodness [0,1] 0.612071289501273 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.36 [[ 0.87790277 -0.00955041 -0.47874369 5.68661783] [ 0.04977975 0.99620401 0.07141112 0.46142285] [ 0.47624438 -0.08652376 0.87504568 1.36063695] [ 0. 0. 0. 1. ]] SLAMing on 200.816502481 meters Centerline goodness [0,1] 0.6179246696431246 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.36 [[ 0.87769452 -0.00924673 -0.47913133 5.68745803] [ 0.0494535 0.99622356 0.0713651 0.46138532] [ 0.47666203 -0.08633148 0.87483724 1.36132817] [ 0. 0. 0. 1. ]] SLAMing on 200.846502481 meters Centerline goodness [0,1] 0.6375561545372865 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.36 [[ 0.8772895 -0.00913346 -0.47987469 5.68833464] [ 0.04905185 0.99628995 0.07071243 0.46305498] [ 0.47744848 -0.08557401 0.87448272 1.36299594] [ 0. 0. 0. 1. ]] SLAMing on 200.876502481 meters Centerline goodness [0,1] 0.6442152466367713 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.36 [[ 0.87679136 -0.00894085 -0.48078787 5.68952967] [ 0.04857865 0.99635907 0.07006218 0.46460471] [ 0.47841094 -0.08478594 0.87403336 1.36493379] [ 0. 0. 0. 1. ]] SLAMing on 200.906502481 meters Centerline goodness [0,1] 0.6509093080897064 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.37 [[ 0.87653367 -0.00863576 -0.48126308 5.69046726] [ 0.04826419 0.99637693 0.07002556 0.4646955 ] [ 0.47891471 -0.08460754 0.87377472 1.36570365] [ 0. 0. 0. 1. ]] SLAMing on 200.936502481 meters Centerline goodness [0,1] 0.6499193500209093 Centerline is valid? [False, False] Translation: X:5.69, Y:0.47, Z:1.37 [[ 0.87623153 -0.00856365 -0.48181424 5.69081109] [ 0.04805095 0.99641175 0.06967589 0.46552592] [ 0.47948869 -0.08420385 0.87349889 1.36699513] [ 0. 0. 0. 1. ]] SLAMing on 200.966502481 meters Centerline goodness [0,1] 0.6558305994631672 Centerline is valid? [False, False] Translation: X:5.69, Y:0.47, Z:1.37 [[ 0.87608592 -0.00843154 -0.48208128 5.69119143] [ 0.04788169 0.99642604 0.06958799 0.46559165] [ 0.47977161 -0.08404792 0.87335855 1.36755933] [ 0. 0. 0. 1. ]] SLAMing on 200.996502481 meters Centerline goodness [0,1] 0.6595294187814988 Centerline is valid? [False, False] Translation: X:5.69, Y:0.47, Z:1.37 [[ 0.87602664 -0.00836309 -0.48219019 5.69121511] [ 0.0477471 0.99644122 0.06946306 0.46506759] [ 0.47989326 -0.08387468 0.87330837 1.36815856] [ 0. 0. 0. 1. ]] SLAMing on 201.026502481 meters Centerline goodness [0,1] 0.6576587313410601 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.37 [[ 0.87589098 -0.00825188 -0.48243849 5.69125435] [ 0.04765871 0.99644405 0.06948305 0.4643083 ] [ 0.4801496 -0.08385197 0.87316963 1.36887674] [ 0. 0. 0. 1. ]] SLAMing on 201.056502481 meters Centerline goodness [0,1] 0.6585893937596393 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.37 [[ 0.87586424 -0.00794757 -0.48249215 5.69199698] [ 0.04747904 0.99643222 0.06977518 0.46343637] [ 0.48021618 -0.08402185 0.87311669 1.36873122] [ 0. 0. 0. 1. ]] SLAMing on 201.086502481 meters Centerline goodness [0,1] 0.6574002497472795 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.37 [[ 0.87584284 -0.00759407 -0.48253669 5.69332591] [ 0.04729361 0.99641399 0.07016034 0.46180869] [ 0.48027351 -0.08427033 0.87306121 1.36838624] [ 0. 0. 0. 1. ]] SLAMing on 201.116502481 meters Centerline goodness [0,1] 0.656746562119457 Centerline is valid? [False, False] Translation: X:5.69, Y:0.46, Z:1.37 [[ 0.87566744 -0.00713611 -0.48286189 5.69449182] [ 0.0469656 0.99640934 0.07044615 0.46114746] [ 0.48062538 -0.08436529 0.87285837 1.36865855] [ 0. 0. 0. 1. ]] SLAMing on 201.146502481 meters Centerline goodness [0,1] 0.6578549176680017 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.37 [[ 0.87544715 -0.00689162 -0.48326473 5.69544791] [ 0.04668884 0.99642783 0.07036849 0.46169444] [ 0.48105347 -0.08416697 0.87264167 1.36929076] [ 0. 0. 0. 1. ]] SLAMing on 201.176502481 meters Centerline goodness [0,1] 0.6558327633887419 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.37 [[ 0.8752063 -0.00674164 -0.48370289 5.69629038] [ 0.04647273 0.99644988 0.07019912 0.46235301] [ 0.48151243 -0.08391771 0.87241252 1.36999439] [ 0. 0. 0. 1. ]] SLAMing on 201.20650248099997 meters Centerline goodness [0,1] 0.661661959268619 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.37 [[ 0.8749172 -0.0064166 -0.48423003 5.69752609] [ 0.04610515 0.99647398 0.07009935 0.46358961] [ 0.48207283 -0.08365662 0.87212806 1.37067744] [ 0. 0. 0. 1. ]] SLAMing on 201.23650248099997 meters Centerline goodness [0,1] 0.6650999524036173 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 0.87455186 -0.00631667 -0.48489086 5.69860426] [ 0.04581626 0.99651862 0.0696528 0.46509801] [ 0.4827628 -0.08313087 0.87179661 1.37191159] [ 0. 0. 0. 1. ]] SLAMing on 201.26650248099997 meters Centerline goodness [0,1] 0.6650999524036173 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 0.87455186 -0.00631667 -0.48489086 5.69860426] [ 0.04581626 0.99651862 0.0696528 0.46509801] [ 0.4827628 -0.08313087 0.87179661 1.37191159] [ 0. 0. 0. 1. ]] SLAMing on 201.29650248099998 meters Centerline goodness [0,1] 0.666080686490674 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 0.87426945 -0.00603599 -0.48540344 5.69980024] [ 0.04552983 0.99653455 0.06961275 0.46559139] [ 0.48330111 -0.08296063 0.87151453 1.3725543 ] [ 0. 0. 0. 1. ]] SLAMing on 201.32650248099998 meters Centerline goodness [0,1] 0.6704874481358765 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 0.87382833 -0.00576696 -0.48620037 5.70145312] [ 0.04516935 0.99656854 0.06936046 0.46696666] [ 0.48413199 -0.08257049 0.87109031 1.37367532] [ 0. 0. 0. 1. ]] SLAMing on 201.35650248099998 meters Centerline goodness [0,1] 0.6633825944170773 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 8.73614891e-01 -5.25877836e-03 -4.86589527e-01 5.70207917e+00] [ 4.48537538e-02 9.96554942e-01 6.97595072e-02 4.66038171e-01] [ 4.84546348e-01 -8.27683111e-02 8.70841112e-01 1.37428394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38650248099998 meters Centerline goodness [0,1] 0.6667759725741541 Centerline is valid? [False, False] Translation: X:5.70, Y:0.47, Z:1.37 [[ 8.73400155e-01 -4.74611012e-03 -4.86980127e-01 5.70316154e+00] [ 4.45117441e-02 9.96545005e-01 7.01196002e-02 4.65019054e-01] [ 4.84964818e-01 -8.29188045e-02 8.70593819e-01 1.37471597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41650248099998 meters Centerline goodness [0,1] 0.6641729010806318 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.37 [[ 8.73326374e-01 -4.23785888e-03 -4.87117117e-01 5.70411029e+00] [ 4.42206925e-02 9.96523244e-01 7.06112985e-02 4.63197280e-01] [ 4.85124289e-01 -8.32073655e-02 8.70477432e-01 1.37470818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44650248099998 meters Centerline goodness [0,1] 0.6623727404944941 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.38 [[ 8.73157332e-01 -4.12358860e-03 -4.87421040e-01 5.70449268e+00] [ 4.40896851e-02 9.96533334e-01 7.05507877e-02 4.62783481e-01] [ 4.85440392e-01 -8.30921777e-02 8.70312195e-01 1.37537914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47650248099998 meters Centerline goodness [0,1] 0.6683876327814373 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.38 [[ 8.72947126e-01 -3.97048848e-03 -4.87798679e-01 5.70483152e+00] [ 4.38531536e-02 9.96556803e-01 7.03664619e-02 4.62646979e-01] [ 4.85839702e-01 -8.28177111e-02 8.70115515e-01 1.37636158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50650248099998 meters Centerline goodness [0,1] 0.6631822085344548 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.72787280e-01 -3.71088037e-03 -4.88086666e-01 5.70519836e+00] [ 4.36190258e-02 9.96563160e-01 7.04219282e-02 4.61988100e-01] [ 4.86147863e-01 -8.27532280e-02 8.69949515e-01 1.37702134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53650248099999 meters Centerline goodness [0,1] 0.666459148582948 Centerline is valid? [False, False] Translation: X:5.70, Y:0.46, Z:1.38 [[ 8.72752747e-01 -3.70312010e-03 -4.88148471e-01 5.70480982e+00] [ 4.35766371e-02 9.96570100e-01 7.03499304e-02 4.61393520e-01] [ 4.86213656e-01 -8.26699638e-02 8.69920662e-01 1.37754706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566502481 meters Centerline goodness [0,1] 0.6650148367952522 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.72633828e-01 -3.32253290e-03 -4.88363762e-01 5.70520143e+00] [ 4.34065408e-02 9.96546988e-01 7.07811643e-02 4.60234018e-01] [ 4.86442263e-01 -8.29642198e-02 8.69764832e-01 1.37777291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.596502481 meters Centerline goodness [0,1] 0.6604125911435177 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.72443254e-01 -2.93758536e-03 -4.88706598e-01 5.70595920e+00] [ 4.31797044e-02 9.96534525e-01 7.10946748e-02 4.59350159e-01] [ 4.86804151e-01 -8.31282759e-02 8.69546668e-01 1.37817192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626502481 meters Centerline goodness [0,1] 0.653707213075921 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.72099812e-01 -2.06071084e-03 -4.89323688e-01 5.70861196e+00] [ 4.26937270e-02 9.96498079e-01 7.18945308e-02 4.57924368e-01] [ 4.87461961e-01 -8.35902587e-02 8.69133767e-01 1.37820428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.656502481 meters Centerline goodness [0,1] 0.6446300645046223 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.72072307e-01 -1.64566968e-03 -4.89374277e-01 5.70999668e+00] [ 4.24710259e-02 9.96475861e-01 7.23330527e-02 4.56949065e-01] [ 4.87530618e-01 -8.38638797e-02 8.69068896e-01 1.37769402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686502481 meters Centerline goodness [0,1] 0.6414449234428423 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.71755465e-01 -7.95464993e-04 -4.89940585e-01 5.71267898e+00] [ 4.19809679e-02 9.96442180e-01 7.30792762e-02 4.55112438e-01] [ 4.88139332e-01 -8.42754384e-02 8.68687310e-01 1.37770990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.716502481 meters Centerline goodness [0,1] 0.6404077023653869 Centerline is valid? [False, False] Translation: X:5.71, Y:0.45, Z:1.38 [[ 8.71605128e-01 -4.36862813e-04 -4.90208436e-01 5.71334803e+00] [ 4.17433862e-02 9.96433522e-01 7.33329785e-02 4.54592215e-01] [ 4.88428082e-01 -8.43803602e-02 8.68514804e-01 1.37803682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746502481 meters Centerline goodness [0,1] 0.6386858046611561 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.71165509e-01 -7.40791479e-04 -4.90988908e-01 5.71241154e+00] [ 4.17177350e-02 9.96494340e-01 7.25166226e-02 4.56732350e-01] [ 4.89213948e-01 -8.36569256e-02 8.68142403e-01 1.38034616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.776502481 meters Centerline goodness [0,1] 0.6417291100695585 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.70966811e-01 -7.17866171e-04 -4.91341326e-01 5.71257948e+00] [ 4.15645570e-02 9.96522089e-01 7.22226654e-02 4.56996287e-01] [ 4.89580638e-01 -8.33259291e-02 8.67967504e-01 1.38130688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806502481 meters Centerline goodness [0,1] 0.6417839255902695 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.70732627e-01 -6.83802135e-04 -4.91756265e-01 5.71292950e+00] [ 4.14333966e-02 9.96545203e-01 7.19786876e-02 4.56874326e-01] [ 4.90008128e-01 -8.30493242e-02 8.67752755e-01 1.38230334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.836502481 meters Centerline goodness [0,1] 0.6379709972661358 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.70514109e-01 -6.29478517e-04 -4.92143059e-01 5.71299578e+00] [ 4.12196380e-02 9.96578791e-01 7.16355760e-02 4.56976799e-01] [ 4.90414242e-01 -8.26457384e-02 8.67561844e-01 1.38352914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.866502481 meters Centerline goodness [0,1] 0.6460322195704058 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.70476080e-01 -5.01572333e-04 -4.92210465e-01 5.71357716e+00] [ 4.10942374e-02 9.96582229e-01 7.16597778e-02 4.56437200e-01] [ 4.90492260e-01 -8.26051362e-02 8.67521604e-01 1.38359381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.896502481 meters Centerline goodness [0,1] 0.6419910846953938 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.38 [[ 8.70285909e-01 -2.01925636e-04 -4.92546847e-01 5.71464832e+00] [ 4.07909063e-02 9.96594295e-01 7.16652908e-02 4.55826682e-01] [ 4.90854906e-01 -8.24607249e-02 8.67330208e-01 1.38415575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.926502481 meters Centerline goodness [0,1] 0.6412894783798251 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.39 [[ 8.70054499e-01 -1.74383284e-04 -4.92955514e-01 5.71474497e+00] [ 4.06689310e-02 9.96616378e-01 7.14271210e-02 4.56294466e-01] [ 4.91275083e-01 -8.21934618e-02 8.67117655e-01 1.38513278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95650248099997 meters Centerline goodness [0,1] 0.6478667184187741 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.39 [[ 8.69809533e-01 -4.27516695e-04 -4.93387468e-01 5.71396688e+00] [ 4.05616379e-02 9.96676576e-01 7.06438767e-02 4.58353904e-01] [ 4.91717531e-01 -8.14593212e-02 8.66936127e-01 1.38677666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98650248099997 meters Centerline goodness [0,1] 0.6486591064678393 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.39 [[ 8.69523155e-01 -4.85535739e-04 -4.93891940e-01 5.71404795e+00] [ 4.04329133e-02 9.96712854e-01 7.02044553e-02 4.59286286e-01] [ 4.92234358e-01 -8.10138894e-02 8.66684537e-01 1.38805331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01650248099997 meters Centerline goodness [0,1] 0.6478281594470595 Centerline is valid? [False, False] Translation: X:5.71, Y:0.46, Z:1.39 [[ 8.69317913e-01 -3.67023473e-04 -4.94253206e-01 5.71449201e+00] [ 4.01930631e-02 9.96740202e-01 6.99534617e-02 4.60290316e-01] [ 4.92616366e-01 -8.06773476e-02 8.66498864e-01 1.38884684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04650248099998 meters Centerline goodness [0,1] 0.65171858216971 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.68814764e-01 3.43839984e-04 -4.95137141e-01 5.71688314e+00] [ 3.95360957e-02 9.96758574e-01 7.00659801e-02 4.60999209e-01] [ 4.93556282e-01 -8.04501473e-02 8.65984971e-01 1.38987435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07650248099998 meters Centerline goodness [0,1] 0.647171162568632 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.68613798e-01 8.05171159e-04 -4.95489072e-01 5.71847353e+00] [ 3.91949967e-02 9.96753434e-01 7.03302535e-02 4.60836866e-01] [ 4.93937062e-01 -8.05105212e-02 8.65762227e-01 1.38996930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10650248099998 meters Centerline goodness [0,1] 0.6409421047912245 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.68315669e-01 1.82179488e-03 -4.96008650e-01 5.72168605e+00] [ 3.84675077e-02 9.96734125e-01 7.10023602e-02 4.60288043e-01] [ 4.94518099e-01 -8.07326784e-02 8.65409778e-01 1.38971157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13650248099998 meters Centerline goodness [0,1] 0.6451516330868485 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.68019531e-01 2.58480714e-03 -4.96523325e-01 5.72329045e+00] [ 3.79254873e-02 9.96720048e-01 7.14898797e-02 4.59484226e-01] [ 4.95079540e-01 -8.08855009e-02 8.65074439e-01 1.39022261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16650248099998 meters Centerline goodness [0,1] 0.6464776503697494 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.67892806e-01 2.79694579e-03 -4.96743651e-01 5.72342324e+00] [ 3.77283757e-02 9.96724665e-01 7.15297934e-02 4.59045417e-01] [ 4.95316714e-01 -8.08215242e-02 8.64944642e-01 1.39082650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19650248099998 meters Centerline goodness [0,1] 0.6477938538801865 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.67866198e-01 2.60999097e-03 -4.96791153e-01 5.72234146e+00] [ 3.76891976e-02 9.96758498e-01 7.10775768e-02 4.59158076e-01] [ 4.95366315e-01 -8.04094864e-02 8.64954640e-01 1.39185716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22650248099998 meters Centerline goodness [0,1] 0.6478042058594452 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.67821637e-01 2.66862144e-03 -4.96868679e-01 5.72222077e+00] [ 3.75796609e-02 9.96768912e-01 7.09894652e-02 4.58624816e-01] [ 4.95452697e-01 -8.02783504e-02 8.64917344e-01 1.39233447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25650248099998 meters Centerline goodness [0,1] 0.6548956180549316 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.68037634e-01 2.88385342e-03 -4.96490029e-01 5.72219069e+00] [ 3.74865157e-02 9.96748174e-01 7.13290901e-02 4.56414660e-01] [ 4.95081233e-01 -8.05280159e-02 8.65106821e-01 1.39180214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28650248099999 meters Centerline goodness [0,1] 0.6497252747252747 Centerline is valid? [False, False] Translation: X:5.72, Y:0.46, Z:1.39 [[ 8.67898696e-01 3.31664746e-03 -4.96730161e-01 5.72256232e+00] [ 3.72478183e-02 9.96727964e-01 7.17353827e-02 4.55090438e-01] [ 4.95342763e-01 -8.07611599e-02 8.64935363e-01 1.39217825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.316502481 meters Centerline goodness [0,1] 0.6546404058490003 Centerline is valid? [False, False] Translation: X:5.72, Y:0.45, Z:1.39 [[ 8.67833620e-01 3.85931639e-03 -4.96839927e-01 5.72276688e+00] [ 3.70304119e-02 9.96686320e-01 7.24232540e-02 4.52782028e-01] [ 4.95473063e-01 -8.12495218e-02 8.64814985e-01 1.39233586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.346502481 meters Centerline goodness [0,1] 0.6560545595330276 Centerline is valid? [False, False] Translation: X:5.72, Y:0.45, Z:1.39 [[ 8.67482420e-01 -1.06713483e-03 -4.97466694e-01 5.72382409e+00] [ 4.05859381e-02 9.96815909e-01 6.86354509e-02 4.52577104e-01] [ 4.95809472e-01 -7.97301995e-02 8.64763588e-01 1.39330713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.376502481 meters Centerline goodness [0,1] 0.6581148416182228 Centerline is valid? [False, False] Translation: X:5.72, Y:0.45, Z:1.39 [[ 8.67591879e-01 -6.66969792e-04 -4.97276470e-01 5.72440559e+00] [ 4.04955772e-02 9.96772548e-01 6.93151975e-02 4.50176479e-01] [ 4.95625302e-01 -8.02748001e-02 8.64818776e-01 1.39262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406502481 meters Centerline goodness [0,1] 0.6589439335508751 Centerline is valid? [False, False] Translation: X:5.72, Y:0.45, Z:1.39 [[ 8.67758511e-01 -2.10438518e-03 -4.96981627e-01 5.72312952e+00] [ 4.16955189e-02 9.96773785e-01 6.85821035e-02 4.46109985e-01] [ 4.95233935e-01 -8.02346108e-02 8.65046679e-01 1.39279694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.436502481 meters Centerline goodness [0,1] 0.6584362139917695 Centerline is valid? [False, False] Translation: X:5.72, Y:0.44, Z:1.39 [[ 8.67821730e-01 -1.86919702e-03 -4.96872167e-01 5.72312339e+00] [ 4.16636886e-02 9.96744971e-01 6.90188419e-02 4.44375584e-01] [ 4.95125824e-01 -8.05975780e-02 8.65074823e-01 1.39257750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466502481 meters Centerline goodness [0,1] 0.6519516591318737 Centerline is valid? [False, False] Translation: X:5.72, Y:0.44, Z:1.39 [[ 8.67807627e-01 -1.95434724e-03 -4.96896471e-01 5.72310628e+00] [ 4.21752993e-02 9.96673446e-01 6.97372642e-02 4.40943684e-01] [ 4.95107227e-01 -8.14752871e-02 8.65003244e-01 1.39220042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.496502481 meters Centerline goodness [0,1] 0.6441432088511849 Centerline is valid? [False, False] Translation: X:5.72, Y:0.44, Z:1.39 [[ 8.67991470e-01 -1.89888774e-03 -4.96575474e-01 5.72284007e+00] [ 4.24035959e-02 9.96623624e-01 7.03085130e-02 4.38697448e-01] [ 4.94765341e-01 -8.20837754e-02 8.65141325e-01 1.39147889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526502481 meters Centerline goodness [0,1] 0.6070901033973413 Centerline is valid? [False, False] Translation: X:5.72, Y:0.44, Z:1.39 [[ 0.86779584 -0.00692741 -0.4968726 5.72363332] [ 0.04645746 0.99665442 0.0672433 0.436072 ] [ 0.49474446 -0.0814369 0.8652144 1.39141107] [ 0. 0. 0. 1. ]] SLAMing on 202.556502481 meters Centerline goodness [0,1] 0.5536709900815775 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.39 [[ 0.86756001 -0.01195297 -0.49718886 5.72503935] [ 0.05055553 0.9966521 0.06425527 0.432988 ] [ 0.49475628 -0.08088095 0.86525979 1.39112791] [ 0. 0. 0. 1. ]] SLAMing on 202.586502481 meters Centerline goodness [0,1] 0.5405207723815096 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86774932 -0.01211762 -0.49685439 5.72480571] [ 0.05105183 0.99658789 0.06485586 0.43033444] [ 0.49437317 -0.08164395 0.86540709 1.39018572] [ 0. 0. 0. 1. ]] SLAMing on 202.616502481 meters Centerline goodness [0,1] 0.516094327004158 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.8675193 -0.01441226 -0.49719468 5.72385683] [ 0.05305954 0.99655806 0.0636924 0.4269468 ] [ 0.49456542 -0.08163531 0.86529806 1.39103177] [ 0. 0. 0. 1. ]] SLAMing on 202.646502481 meters Centerline goodness [0,1] 0.5090355329949239 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86776975 -0.01454421 -0.49675358 5.72322398] [ 0.05329174 0.99653126 0.06391741 0.42550599] [ 0.49410084 -0.08193846 0.86553477 1.39040615] [ 0. 0. 0. 1. ]] SLAMing on 202.676502481 meters Centerline goodness [0,1] 0.509252813551456 Centerline is valid? [False, False] Translation: X:5.72, Y:0.42, Z:1.39 [[ 0.86803943 -0.01500479 -0.49626849 5.7219462 ] [ 0.05388338 0.99648642 0.06412019 0.42398144] [ 0.4935627 -0.08239948 0.86579801 1.38972535] [ 0. 0. 0. 1. ]] SLAMing on 202.70650248099997 meters Centerline goodness [0,1] 0.49778344391968243 Centerline is valid? [False, False] Translation: X:5.72, Y:0.42, Z:1.39 [[ 0.86822171 -0.01506759 -0.49594761 5.7217486 ] [ 0.054012 0.9964691 0.06428099 0.42362666] [ 0.49322791 -0.08259727 0.86596993 1.3890902 ] [ 0. 0. 0. 1. ]] SLAMing on 202.73650248099997 meters Centerline goodness [0,1] 0.497112678099881 Centerline is valid? [False, False] Translation: X:5.72, Y:0.42, Z:1.39 [[ 0.8683688 -0.01535861 -0.49568108 5.72092446] [ 0.05431493 0.99645284 0.06427773 0.42371947] [ 0.4929356 -0.08273966 0.86612276 1.38876699] [ 0. 0. 0. 1. ]] SLAMing on 202.76650248099997 meters Centerline goodness [0,1] 0.5021195052552117 Centerline is valid? [False, False] Translation: X:5.72, Y:0.42, Z:1.39 [[ 0.86842729 -0.01538197 -0.49557788 5.72066342] [ 0.0543598 0.99644706 0.06432938 0.42395005] [ 0.49282761 -0.08280491 0.86617798 1.38858902] [ 0. 0. 0. 1. ]] SLAMing on 202.79650248099998 meters Centerline goodness [0,1] 0.5004791358132241 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86840771 -0.01583184 -0.49559803 5.7199728 ] [ 0.05456722 0.99647086 0.06378279 0.42579358] [ 0.4928392 -0.08243287 0.86620687 1.38899672] [ 0. 0. 0. 1. ]] SLAMing on 202.82650248099998 meters Centerline goodness [0,1] 0.5002917323064355 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86835107 -0.01608018 -0.49568926 5.71988529] [ 0.0545747 0.99650265 0.06327765 0.4278187 ] [ 0.49293815 -0.08199931 0.86619172 1.38937312] [ 0. 0. 0. 1. ]] SLAMing on 202.85650248099998 meters Centerline goodness [0,1] 0.5047538497433505 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86822655 -0.01599655 -0.49591004 5.7204632 ] [ 0.05444393 0.99651636 0.06317445 0.42860822] [ 0.49317189 -0.08184903 0.86607287 1.38963038] [ 0. 0. 0. 1. ]] SLAMing on 202.88650248099998 meters Centerline goodness [0,1] 0.5043279246500982 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86792978 -0.01554587 -0.49644358 5.72247725] [ 0.05391812 0.9965523 0.06305825 0.43062543] [ 0.4937517 -0.08149744 0.86577562 1.39002936] [ 0. 0. 0. 1. ]] SLAMing on 202.91650248099998 meters Centerline goodness [0,1] 0.5120169028963817 Centerline is valid? [False, False] Translation: X:5.72, Y:0.43, Z:1.39 [[ 0.86792685 -0.01509794 -0.49646251 5.72305167] [ 0.05370369 0.9965307 0.06358045 0.4294613 ] [ 0.4937802 -0.08184505 0.86572657 1.38973768] [ 0. 0. 0. 1. ]] SLAMing on 202.94650248099998 meters Centerline goodness [0,1] 0.4966480446927374 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.39 [[ 0.86769873 -0.01412928 -0.4968896 5.72575623] [ 0.0529524 0.99653558 0.06413176 0.42983087] [ 0.49426203 -0.08195854 0.86544084 1.389523 ] [ 0. 0. 0. 1. ]] SLAMing on 202.97650248099998 meters Centerline goodness [0,1] 0.5277573041658068 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.39 [[ 0.86752792 -0.01380587 -0.49719685 5.72732093] [ 0.05252998 0.99656742 0.06398421 0.43126755] [ 0.49460683 -0.08162582 0.86527528 1.38967225] [ 0. 0. 0. 1. ]] SLAMing on 203.00650248099998 meters Centerline goodness [0,1] 0.5510810168686149 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.39 [[ 0.86768287 -0.00838924 -0.49704734 5.72843356] [ 0.04829595 0.99655041 0.06748909 0.43347876] [ 0.49476655 -0.08256451 0.86509489 1.38907663] [ 0. 0. 0. 1. ]] SLAMing on 203.03650248099999 meters Centerline goodness [0,1] 0.5784313725490196 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.39 [[ 0.8673628 -0.00820401 -0.49760875 5.72919175] [ 0.04798157 0.99658484 0.06720429 0.43474572] [ 0.49535799 -0.08216655 0.86479426 1.39009748] [ 0. 0. 0. 1. ]] SLAMing on 203.066502481 meters Centerline goodness [0,1] 0.6114307978181382 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.67261427e-01 -2.03110894e-03 -4.97848865e-01 5.73095208e+00] [ 4.32808087e-02 9.96513296e-01 7.13303804e-02 4.35312387e-01] [ 4.95968133e-01 -8.34093890e-02 8.64325451e-01 1.39015291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.096502481 meters Centerline goodness [0,1] 0.6390616082424679 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.67235553e-01 3.62712827e-03 -4.97884866e-01 5.73122114e+00] [ 3.89902690e-02 9.96407885e-01 7.51736983e-02 4.35752184e-01] [ 4.96369072e-01 -8.46059686e-02 8.63978920e-01 1.39040883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.126502481 meters Centerline goodness [0,1] 0.6330211689602216 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.67108692e-01 3.59809040e-03 -4.98105982e-01 5.73084275e+00] [ 3.89071969e-02 9.96429650e-01 7.49278546e-02 4.35966249e-01] [ 4.96597166e-01 -8.43505016e-02 8.63872819e-01 1.39121492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.156502481 meters Centerline goodness [0,1] 0.645254334044407 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.67024071e-01 3.39918404e-03 -4.98254660e-01 5.73069859e+00] [ 3.87661354e-02 9.96485439e-01 7.42560238e-02 4.36884129e-01] [ 4.96755924e-01 -8.36971676e-02 8.63845088e-01 1.39209286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.186502481 meters Centerline goodness [0,1] 0.645254334044407 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.67024071e-01 3.39918404e-03 -4.98254660e-01 5.73069859e+00] [ 3.87661354e-02 9.96485439e-01 7.42560238e-02 4.36884129e-01] [ 4.96755924e-01 -8.36971676e-02 8.63845088e-01 1.39209286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.216502481 meters Centerline goodness [0,1] 0.6528090900892777 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66924384e-01 3.58052245e-03 -4.98426817e-01 5.73141329e+00] [ 3.85165313e-02 9.96502927e-01 7.41511492e-02 4.36906567e-01] [ 4.96949282e-01 -8.34811115e-02 8.63754777e-01 1.39241294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.246502481 meters Centerline goodness [0,1] 0.6575264124251272 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66742951e-01 3.15023092e-03 -4.98745158e-01 5.73132390e+00] [ 3.85446441e-02 9.96566330e-01 7.32793333e-02 4.38700373e-01] [ 4.97263478e-01 -8.27383002e-02 8.63645417e-01 1.39347281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.276502481 meters Centerline goodness [0,1] 0.6556121679881817 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66586168e-01 3.39981968e-03 -4.99015886e-01 5.73222145e+00] [ 3.83072179e-02 9.96572961e-01 7.33136451e-02 4.38786985e-01] [ 4.97554992e-01 -8.26485010e-02 8.63486106e-01 1.39376396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.306502481 meters Centerline goodness [0,1] 0.653693096171239 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66476588e-01 3.75831635e-03 -4.99203564e-01 5.73366983e+00] [ 3.81511460e-02 9.96548803e-01 7.37222711e-02 4.37968724e-01] [ 4.97757786e-01 -8.29238100e-02 8.63342822e-01 1.39342793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.336502481 meters Centerline goodness [0,1] 0.6324529210035497 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66452164e-01 3.67879393e-03 -4.99246546e-01 5.73366257e+00] [ 3.83185801e-02 9.96533233e-01 7.38457930e-02 4.37350483e-01] [ 4.97787438e-01 -8.31142659e-02 8.63307411e-01 1.39339248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.366502481 meters Centerline goodness [0,1] 0.6182311285219226 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66327783e-01 3.76595232e-03 -4.99461700e-01 5.73342701e+00] [ 3.83091832e-02 9.96524978e-01 7.39619780e-02 4.36733307e-01] [ 4.98004597e-01 -8.32092862e-02 8.63173004e-01 1.39396380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.396502481 meters Centerline goodness [0,1] 0.5943685698814752 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66228486e-01 3.49793088e-03 -4.99635843e-01 5.73236947e+00] [ 3.86039501e-02 9.96517830e-01 7.39050096e-02 4.36370775e-01] [ 4.98154540e-01 -8.33065417e-02 8.63077096e-01 1.39464085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.426502481 meters Centerline goodness [0,1] 0.5852961525734741 Centerline is valid? [False, False] Translation: X:5.73, Y:0.44, Z:1.39 [[ 8.66189433e-01 3.67013647e-03 -4.99702307e-01 5.73231934e+00] [ 3.85666903e-02 9.96499520e-01 7.41708580e-02 4.35408820e-01] [ 4.98225326e-01 -8.35178776e-02 8.63015810e-01 1.39477794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45650248099997 meters Centerline goodness [0,1] 0.5702753610189255 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.40 [[ 8.65990813e-01 -1.48412991e-03 -5.00057706e-01 5.73163202e+00] [ 4.26339295e-02 9.96573678e-01 7.08749130e-02 4.31654445e-01] [ 4.98239160e-01 -8.26964485e-02 8.63086923e-01 1.39573045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48650248099997 meters Centerline goodness [0,1] 0.5658600548337108 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.40 [[ 8.65819214e-01 -5.54136619e-04 -5.00356655e-01 5.73222912e+00] [ 4.21187086e-02 9.96530896e-01 7.17787454e-02 4.28975402e-01] [ 4.98581090e-01 -8.32217931e-02 8.62838936e-01 1.39617376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51650248099997 meters Centerline goodness [0,1] 0.5706359622956687 Centerline is valid? [False, False] Translation: X:5.73, Y:0.43, Z:1.40 [[ 8.65591585e-01 2.98963502e-04 -5.00750556e-01 5.73340143e+00] [ 4.15402997e-02 9.96510158e-01 7.24010260e-02 4.27137306e-01] [ 4.99024661e-01 -8.34710469e-02 8.62558388e-01 1.39669756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54650248099998 meters Centerline goodness [0,1] 0.5858071053886504 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.40 [[ 8.65459284e-01 9.95619099e-04 -5.00978279e-01 5.73548281e+00] [ 4.09051429e-02 9.96518630e-01 7.26456420e-02 4.25538200e-01] [ 4.99306516e-01 -8.33644335e-02 8.62405574e-01 1.39682333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57650248099998 meters Centerline goodness [0,1] 0.6018546126781561 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.40 [[ 8.64850001e-01 1.51385722e-03 -5.02028070e-01 5.73703384e+00] [ 4.01918290e-02 9.96576843e-01 7.22441246e-02 4.27260038e-01] [ 5.00418916e-01 -8.26577576e-02 8.61828639e-01 1.39875805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60650248099998 meters Centerline goodness [0,1] 0.6142959299207438 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.40 [[ 8.64678737e-01 2.48866875e-03 -5.02319111e-01 5.73717464e+00] [ 3.89093604e-02 9.96651519e-01 7.19153051e-02 4.29237916e-01] [ 5.00816078e-01 -8.17285505e-02 8.61686544e-01 1.40032843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63650248099998 meters Centerline goodness [0,1] 0.6364286992306316 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.40 [[ 8.63979230e-01 3.51335572e-03 -5.03515190e-01 5.73967907e+00] [ 3.77611292e-02 9.96707682e-01 7.17488185e-02 4.29928984e-01] [ 5.02109537e-01 -8.10027910e-02 8.61002068e-01 1.40249672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66650248099998 meters Centerline goodness [0,1] 0.6486051021930479 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.40 [[ 8.63519144e-01 3.91260266e-03 -5.04300881e-01 5.74101169e+00] [ 3.72659560e-02 9.96741040e-01 7.15440314e-02 4.30784641e-01] [ 5.02937308e-01 -8.05728953e-02 8.60559163e-01 1.40386817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69650248099998 meters Centerline goodness [0,1] 0.6704290961211143 Centerline is valid? [False, False] Translation: X:5.74, Y:0.43, Z:1.41 [[ 8.62794920e-01 4.88210154e-03 -5.05530504e-01 5.74358805e+00] [ 3.62519354e-02 9.96781744e-01 7.14979119e-02 4.31241911e-01] [ 5.04252638e-01 -8.00144944e-02 8.59841240e-01 1.40590868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72650248099998 meters Centerline goodness [0,1] 0.6786728441189658 Centerline is valid? [False, False] Translation: X:5.75, Y:0.43, Z:1.41 [[ 8.62360786e-01 5.62203672e-03 -5.06263041e-01 5.74570213e+00] [ 3.56177736e-02 9.96787207e-01 7.17400691e-02 4.30789067e-01] [ 5.05039848e-01 -7.98977848e-02 8.59389955e-01 1.40677838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75650248099998 meters Centerline goodness [0,1] 0.6731842741574375 Centerline is valid? [False, False] Translation: X:5.75, Y:0.43, Z:1.41 [[ 0.8615654 0.00713127 -0.50759649 5.7497909 ] [ 0.03443864 0.99677671 0.07245799 0.43003792] [ 0.50647708 -0.07990823 0.85854274 1.40808327] [ 0. 0. 0. 1. ]] SLAMing on 203.78650248099999 meters Centerline goodness [0,1] 0.6730298141841429 Centerline is valid? [False, False] Translation: X:5.75, Y:0.43, Z:1.41 [[ 0.8611782 0.00797099 -0.50824065 5.75184319] [ 0.0338181 0.99676316 0.07293513 0.42955744] [ 0.50717693 -0.07999787 0.85812115 1.40866534] [ 0. 0. 0. 1. ]] SLAMing on 203.816502481 meters Centerline goodness [0,1] 0.6760866318147871 Centerline is valid? [False, False] Translation: X:5.75, Y:0.43, Z:1.41 [[ 0.86049234 0.00859484 -0.50939088 5.75330166] [ 0.03305722 0.9968087 0.0726611 0.43028784] [ 0.50838977 -0.07936336 0.85746213 1.41097179] [ 0. 0. 0. 1. ]] SLAMing on 203.846502481 meters Centerline goodness [0,1] 0.6755214247295762 Centerline is valid? [False, False] Translation: X:5.75, Y:0.43, Z:1.41 [[ 0.85993124 0.00895757 -0.5103313 5.7544457 ] [ 0.03254489 0.99684915 0.07233677 0.43154102] [ 0.50937128 -0.07881332 0.8569302 1.41276806] [ 0. 0. 0. 1. ]] SLAMing on 203.876502481 meters Centerline goodness [0,1] 0.674845706752951 Centerline is valid? [False, False] Translation: X:5.76, Y:0.43, Z:1.42 [[ 0.85933074 0.00957693 -0.51133059 5.75525409] [ 0.03156 0.99692603 0.07171088 0.43412902] [ 0.51044554 -0.07776095 0.85638693 1.41528231] [ 0. 0. 0. 1. ]] SLAMing on 203.906502481 meters Centerline goodness [0,1] 0.6713737482760689 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.8588099 0.00956786 -0.51220505 5.75541438] [ 0.03109339 0.99700879 0.0707579 0.43622939] [ 0.51134994 -0.07669377 0.85594352 1.41771318] [ 0. 0. 0. 1. ]] SLAMing on 203.936502481 meters Centerline goodness [0,1] 0.6723937360178971 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.85856506 0.00969885 -0.51261289 5.75610756] [ 0.03082568 0.99703582 0.07049365 0.43677414] [ 0.51177712 -0.07632503 0.85572114 1.41856488] [ 0. 0. 0. 1. ]] SLAMing on 203.966502481 meters Centerline goodness [0,1] 0.6709109299696555 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.85817264 0.01014636 -0.51326092 5.75748192] [ 0.03029506 0.99706126 0.07036368 0.43692185] [ 0.51246652 -0.07593345 0.85534331 1.4197502 ] [ 0. 0. 0. 1. ]] SLAMing on 203.996502481 meters Centerline goodness [0,1] 0.6705618649133294 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.85780843 0.01047442 -0.51386281 5.758341 ] [ 0.02991326 0.99708015 0.07025938 0.43700192] [ 0.51309833 -0.0756404 0.85499043 1.42094127] [ 0. 0. 0. 1. ]] SLAMing on 204.026502481 meters Centerline goodness [0,1] 0.6667660830922485 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.85724068 0.01070706 -0.51480459 5.75889756] [ 0.02948496 0.99712264 0.06983612 0.43830683] [ 0.51407105 -0.07504535 0.8544584 1.42301593] [ 0. 0. 0. 1. ]] SLAMing on 204.056502481 meters Centerline goodness [0,1] 0.6637263082608178 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.42 [[ 0.85670685 0.01109026 -0.51568438 5.75972289] [ 0.02894733 0.99715943 0.06953504 0.43967777] [ 0.51499071 -0.07449883 0.85395228 1.42487851] [ 0. 0. 0. 1. ]] SLAMing on 204.086502481 meters Centerline goodness [0,1] 0.6605581256528876 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.43 [[ 0.85628016 0.01138221 -0.51638622 5.76081567] [ 0.02856744 0.99718321 0.06935096 0.44066581] [ 0.51572103 -0.07413568 0.85354304 1.42610804] [ 0. 0. 0. 1. ]] SLAMing on 204.116502481 meters Centerline goodness [0,1] 0.6571095082752223 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.43 [[ 0.85564299 0.01192831 -0.51742903 5.76322088] [ 0.02781403 0.99722998 0.06898365 0.44310952] [ 0.5168186 -0.07341716 0.85294106 1.42770108] [ 0. 0. 0. 1. ]] SLAMing on 204.146502481 meters Centerline goodness [0,1] 0.6488166387759982 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.43 [[ 0.85510354 0.01233388 -0.51831054 5.7659233 ] [ 0.02727645 0.99726223 0.06873159 0.44475657] [ 0.51773926 -0.07291029 0.85242604 1.42870044] [ 0. 0. 0. 1. ]] SLAMing on 204.176502481 meters Centerline goodness [0,1] 0.6481630704031993 Centerline is valid? [False, False] Translation: X:5.77, Y:0.45, Z:1.43 [[ 0.85440536 0.00736114 -0.51955489 5.76641502] [ 0.03074958 0.99743093 0.06469928 0.44616919] [ 0.51869638 -0.07125551 0.85198399 1.43104863] [ 0. 0. 0. 1. ]] SLAMing on 204.20650248099997 meters Centerline goodness [0,1] 0.6440814379825319 Centerline is valid? [False, False] Translation: X:5.77, Y:0.45, Z:1.43 [[ 0.85400907 0.00774152 -0.52020051 5.76801625] [ 0.03050107 0.99742443 0.06491683 0.44589717] [ 0.51936325 -0.07130623 0.85157339 1.43177113] [ 0. 0. 0. 1. ]] SLAMing on 204.23650248099997 meters Centerline goodness [0,1] 0.647396779090882 Centerline is valid? [False, False] Translation: X:5.77, Y:0.45, Z:1.43 [[ 0.8538446 0.00794096 -0.52046742 5.76898022] [ 0.03029942 0.99743002 0.06492539 0.44572063] [ 0.5196454 -0.07120606 0.85140963 1.43212537] [ 0. 0. 0. 1. ]] SLAMing on 204.26650248099997 meters Centerline goodness [0,1] 0.6437705407827905 Centerline is valid? [False, False] Translation: X:5.77, Y:0.45, Z:1.43 [[ 0.85385172 0.0073192 -0.52046486 5.76911059] [ 0.03055306 0.99747237 0.06415128 0.4466621 ] [ 0.51961885 -0.07067748 0.85146987 1.43242698] [ 0. 0. 0. 1. ]] SLAMing on 204.29650248099998 meters Centerline goodness [0,1] 0.6491457824870528 Centerline is valid? [False, False] Translation: X:5.77, Y:0.45, Z:1.43 [[ 0.8538906 0.00707456 -0.52040445 5.76846065] [ 0.03078987 0.99746963 0.06408061 0.44590789] [ 0.51954098 -0.07074102 0.85151211 1.4325592 ] [ 0. 0. 0. 1. ]] SLAMing on 204.32650248099998 meters Centerline goodness [0,1] 0.6528627263776591 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.43 [[ 0.85380592 0.00644731 -0.52055152 5.76680144] [ 0.03159624 0.99743816 0.0641778 0.44399482] [ 0.51963172 -0.07124286 0.8514149 1.4330986 ] [ 0. 0. 0. 1. ]] SLAMing on 204.35650248099998 meters Centerline goodness [0,1] 0.6551477384537404 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.43 [[ 0.85375015 0.00668844 -0.52063994 5.76541797] [ 0.03163117 0.99740447 0.06468232 0.44187273] [ 0.51972122 -0.07169099 0.85132265 1.43373195] [ 0. 0. 0. 1. ]] SLAMing on 204.38650248099998 meters Centerline goodness [0,1] 0.6577662677859142 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.43 [[ 0.8539485 0.00634998 -0.52031878 5.7630942 ] [ 0.03201616 0.99738992 0.06471717 0.44009388] [ 0.51937166 -0.07192374 0.85151633 1.43407608] [ 0. 0. 0. 1. ]] SLAMing on 204.41650248099998 meters Centerline goodness [0,1] 0.6596205158612511 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.44 [[ 8.53664746e-01 8.36310161e-04 -5.20822237e-01 5.76339184e+00] [ 3.59600882e-02 9.97517633e-01 6.05429099e-02 4.39798492e-01] [ 5.19579997e-01 -7.04121614e-02 8.51515563e-01 1.43515783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44650248099998 meters Centerline goodness [0,1] 0.6622414508386179 Centerline is valid? [False, False] Translation: X:5.76, Y:0.44, Z:1.43 [[ 8.53723047e-01 1.33691201e-03 -5.20725621e-01 5.76444402e+00] [ 3.57618311e-02 9.97485152e-01 6.11920135e-02 4.37597495e-01] [ 5.19497884e-01 -7.08631339e-02 8.51528253e-01 1.43455576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47650248099998 meters Centerline goodness [0,1] 0.6626018660682651 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.53116586e-01 -3.50920758e-03 -5.21708517e-01 5.76681610e+00] [ 3.92188752e-02 9.97579366e-01 5.74220256e-02 4.38334306e-01] [ 5.20244145e-01 -6.94485037e-02 8.51189130e-01 1.43569937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50650248099998 meters Centerline goodness [0,1] 0.6578059321532177 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52969517e-01 -2.86681007e-03 -5.21952857e-01 5.76851170e+00] [ 3.88677799e-02 9.97557446e-01 5.80382372e-02 4.37100591e-01] [ 5.20511574e-01 -6.97919959e-02 8.50997520e-01 1.43550566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53650248099999 meters Centerline goodness [0,1] 0.6518724816307182 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52745203e-01 -2.21051467e-03 -5.22322441e-01 5.77043069e+00] [ 3.86431192e-02 9.97517595e-01 5.88672912e-02 4.35766059e-01] [ 5.20895698e-01 -7.03829686e-02 8.50713765e-01 1.43518040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.566502481 meters Centerline goodness [0,1] 0.6460297693174406 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52342212e-01 -1.40825993e-03 -5.22982572e-01 5.77306300e+00] [ 3.82489930e-02 9.97486218e-01 5.96511490e-02 4.35221492e-01] [ 5.21583904e-01 -7.08467490e-02 8.50253474e-01 1.43519532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.596502481 meters Centerline goodness [0,1] 0.6449858088930936 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.43 [[ 8.52300208e-01 -7.52270042e-04 -5.23052377e-01 5.77447156e+00] [ 3.81423795e-02 9.97425960e-01 6.07174840e-02 4.31971691e-01] [ 5.21660343e-01 -7.16999866e-02 8.50135047e-01 1.43449945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.626502481 meters Centerline goodness [0,1] 0.6456874390568212 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51895403e-01 -4.11043842e-05 -5.23711963e-01 5.77697465e+00] [ 3.75266659e-02 9.97434253e-01 6.09644184e-02 4.32266429e-01] [ 5.22365745e-01 -7.15884716e-02 8.49711198e-01 1.43506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.656502481 meters Centerline goodness [0,1] 0.645410199556541 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51756258e-01 1.39950378e-04 -5.23938220e-01 5.77868509e+00] [ 3.72812222e-02 9.97448992e-01 6.08737948e-02 4.32663729e-01] [ 5.22610168e-01 -7.13826928e-02 8.49578203e-01 1.43504469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.686502481 meters Centerline goodness [0,1] 0.6434477056634973 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51677728e-01 -1.03555009e-04 -5.24065871e-01 5.77896228e+00] [ 3.73505723e-02 9.97468981e-01 6.05026188e-02 4.32482968e-01] [ 5.22733185e-01 -7.11028931e-02 8.49525983e-01 1.43547930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.716502481 meters Centerline goodness [0,1] 0.6503461333648897 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.43 [[ 8.52107027e-01 5.16811973e-03 -5.23342053e-01 5.77778115e+00] [ 3.36135920e-02 9.97346334e-01 6.45787645e-02 4.31590856e-01] [ 5.22287029e-01 -7.26194252e-02 8.49672101e-01 1.43448237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.746502481 meters Centerline goodness [0,1] 0.6560760393225157 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.52191844e-01 4.36016194e-03 -5.23211286e-01 5.77543079e+00] [ 3.39649918e-02 9.97395219e-01 6.36329807e-02 4.33122500e-01] [ 5.22125885e-01 -7.19983742e-02 8.49823978e-01 1.43551846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.776502481 meters Centerline goodness [0,1] 0.656249075142798 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.52161003e-01 4.08814223e-03 -5.23263711e-01 5.77498249e+00] [ 3.40463931e-02 9.97417511e-01 6.32388458e-02 4.33731356e-01] [ 5.22170918e-01 -7.17049202e-02 8.49821121e-01 1.43597525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.806502481 meters Centerline goodness [0,1] 0.6621032980709396 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52032408e-01 3.75721591e-03 -5.23475557e-01 5.77370831e+00] [ 3.40725814e-02 9.97455833e-01 6.26172515e-02 4.35171959e-01] [ 5.22379014e-01 -7.11880911e-02 8.49736678e-01 1.43720946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.836502481 meters Centerline goodness [0,1] 0.6716834387152314 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.52507232e-01 3.53211556e-03 -5.22703494e-01 5.77142078e+00] [ 3.44662552e-02 9.97421175e-01 6.29529724e-02 4.32347540e-01] [ 5.21577891e-01 -7.16834963e-02 8.50187027e-01 1.43653077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.866502481 meters Centerline goodness [0,1] 0.6709838403041826 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.52582966e-01 3.52093264e-03 -5.22580031e-01 5.77142561e+00] [ 3.44571665e-02 9.97422517e-01 6.29366771e-02 4.31840821e-01] [ 5.21454686e-01 -7.16653660e-02 8.50264127e-01 1.43641415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.896502481 meters Centerline goodness [0,1] 0.674506422454805 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.52864584e-01 2.92649348e-03 -5.22123967e-01 5.77098547e+00] [ 3.48015539e-02 9.97441945e-01 6.24373178e-02 4.31674765e-01] [ 5.20971068e-01 -7.14213024e-02 8.50581063e-01 1.43590794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.926502481 meters Centerline goodness [0,1] 0.6754378140516755 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.52609368e-01 2.87072965e-03 -5.22540931e-01 5.77150003e+00] [ 3.46100154e-02 9.97478887e-01 6.19517317e-02 4.33166406e-01] [ 5.21401393e-01 -7.09057765e-02 8.50360487e-01 1.43680172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95650248099997 meters Centerline goodness [0,1] 0.6763366955279836 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52423033e-01 2.84090289e-03 -5.22845008e-01 5.77163251e+00] [ 3.42527076e-02 9.97533682e-01 6.12642231e-02 4.36178362e-01] [ 5.21729552e-01 -7.01318921e-02 8.50223378e-01 1.43776366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98650248099997 meters Centerline goodness [0,1] 0.676346073579393 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.52060663e-01 3.22700653e-03 -5.23433103e-01 5.77229872e+00] [ 3.39237589e-02 9.97538295e-01 6.13720511e-02 4.36738254e-01] [ 5.22342613e-01 -7.00495290e-02 8.49853669e-01 1.43874291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01650248099997 meters Centerline goodness [0,1] 0.6745701898639558 Centerline is valid? [False, False] Translation: X:5.77, Y:0.44, Z:1.44 [[ 8.51873597e-01 3.69999938e-03 -5.23734365e-01 5.77388876e+00] [ 3.35792592e-02 9.97531876e-01 6.16651375e-02 4.36490714e-01] [ 5.22669885e-01 -7.01175145e-02 8.49646824e-01 1.43878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04650248099998 meters Centerline goodness [0,1] 0.6736460579918524 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51711847e-01 4.67090257e-03 -5.23989612e-01 5.77643283e+00] [ 3.30648836e-02 9.97488532e-01 6.26365945e-02 4.34800056e-01] [ 5.22966198e-01 -7.06739850e-02 8.49418356e-01 1.43818319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07650248099998 meters Centerline goodness [0,1] 0.6736460579918524 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51711847e-01 4.67090257e-03 -5.23989612e-01 5.77643283e+00] [ 3.30648836e-02 9.97488532e-01 6.26365945e-02 4.34800056e-01] [ 5.22966198e-01 -7.06739850e-02 8.49418356e-01 1.43818319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099998 meters Centerline goodness [0,1] 0.6748845300221942 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51578585e-01 5.10453444e-03 -5.24202115e-01 5.77763784e+00] [ 3.27868087e-02 9.97476335e-01 6.29760840e-02 4.33924382e-01] [ 5.23200668e-01 -7.08159989e-02 8.49262124e-01 1.43819415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13650248099998 meters Centerline goodness [0,1] 0.6761998980723687 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51560452e-01 5.77662034e-03 -5.24224596e-01 5.77905090e+00] [ 3.24211991e-02 9.97445074e-01 6.36568232e-02 4.32459471e-01] [ 5.23252962e-01 -7.12036231e-02 8.49197493e-01 1.43767185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099998 meters Centerline goodness [0,1] 0.6758428981348636 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.85167239 0.00588379 -0.52404152 5.77876542] [ 0.03236615 0.99743769 0.06380043 0.43146078] [ 0.52307415 -0.07129827 0.84929971 1.43755724] [ 0. 0. 0. 1. ]] SLAMing on 205.19650248099998 meters Centerline goodness [0,1] 0.6785490745432328 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.85166296 0.00583627 -0.52405738 5.77813833] [ 0.0323116 0.99745105 0.06361896 0.43130073] [ 0.52309287 -0.07111505 0.84930353 1.4380885 ] [ 0. 0. 0. 1. ]] SLAMing on 205.22650248099998 meters Centerline goodness [0,1] 0.6826575971836868 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 8.51706981e-01 5.67469728e-03 -5.23987611e-01 5.77729553e+00] [ 3.23228411e-02 9.97468369e-01 6.33410403e-02 4.31453675e-01] [ 5.23020509e-01 -7.08847745e-02 8.49367350e-01 1.43850033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25650248099998 meters Centerline goodness [0,1] 0.6851193499238192 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.51778929e-01 4.96847633e-03 -5.23877820e-01 5.77446901e+00] [ 3.26571860e-02 9.97506889e-01 6.25580832e-02 4.32453411e-01] [ 5.22882553e-01 -7.03940326e-02 8.49493093e-01 1.43973331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099999 meters Centerline goodness [0,1] 0.6913986537023187 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.51886853e-01 4.76699289e-03 -5.23704178e-01 5.77366287e+00] [ 3.27629990e-02 9.97514948e-01 6.23739816e-02 4.32025669e-01] [ 5.22700082e-01 -7.02936943e-02 8.49613689e-01 1.43989074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.316502481 meters Centerline goodness [0,1] 0.6919155786084779 Centerline is valid? [False, False] Translation: X:5.77, Y:0.43, Z:1.44 [[ 8.51850215e-01 5.17539105e-03 -5.23759894e-01 5.77449140e+00] [ 3.25349021e-02 9.97497465e-01 6.27717075e-02 4.31044655e-01] [ 5.22774034e-01 -7.05125694e-02 8.49550050e-01 1.43970461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346502481 meters Centerline goodness [0,1] 0.6911497302292307 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.85175647 0.00596287 -0.52390396 5.77631376] [ 0.03217107 0.99745323 0.06365594 0.42903534] [ 0.52294926 -0.07107391 0.84939541 1.43912815] [ 0. 0. 0. 1. ]] SLAMing on 205.376502481 meters Centerline goodness [0,1] 0.6915329208882512 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.85163419 0.0065493 -0.5240957 5.77779388] [ 0.03180255 0.9974339 0.06414217 0.42830021] [ 0.52317091 -0.07129324 0.84924053 1.43893965] [ 0. 0. 0. 1. ]] SLAMing on 205.406502481 meters Centerline goodness [0,1] 0.6938353702372394 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.85147186 0.00716621 -0.52435133 5.77890567] [ 0.03148361 0.99740434 0.06475623 0.42723068] [ 0.52345434 -0.07164658 0.84903611 1.43890148] [ 0. 0. 0. 1. ]] SLAMing on 205.436502481 meters Centerline goodness [0,1] 0.694427819008858 Centerline is valid? [False, False] Translation: X:5.78, Y:0.43, Z:1.44 [[ 0.8515077 0.00755372 -0.52428768 5.77966329] [ 0.03147672 0.99735654 0.06549157 0.42518647] [ 0.52339646 -0.07226944 0.84901901 1.43823205] [ 0. 0. 0. 1. ]] SLAMing on 205.466502481 meters Centerline goodness [0,1] 0.6921261724117331 Centerline is valid? [False, False] Translation: X:5.78, Y:0.42, Z:1.44 [[ 0.85143773 0.00824286 -0.52439093 5.78098604] [ 0.03118699 0.9973113 0.06631403 0.42301109] [ 0.52352761 -0.07281645 0.8488914 1.43783139] [ 0. 0. 0. 1. ]] SLAMing on 205.496502481 meters Centerline goodness [0,1] 0.6897830964846672 Centerline is valid? [False, False] Translation: X:5.78, Y:0.42, Z:1.44 [[ 0.8514077 0.00834431 -0.52443808 5.78194778] [ 0.03154869 0.99724833 0.06708541 0.41972967] [ 0.52355478 -0.07366237 0.84880166 1.43711581] [ 0. 0. 0. 1. ]] SLAMing on 205.526502481 meters Centerline goodness [0,1] 0.6876159138498354 Centerline is valid? [False, False] Translation: X:5.78, Y:0.42, Z:1.44 [[ 0.85134882 0.00887274 -0.52452499 5.78295539] [ 0.03133221 0.99721203 0.06772344 0.41788338] [ 0.52366353 -0.07409079 0.84869728 1.43685598] [ 0. 0. 0. 1. ]] SLAMing on 205.556502481 meters Centerline goodness [0,1] 0.6696471149260849 Centerline is valid? [False, False] Translation: X:5.79, Y:0.42, Z:1.44 [[ 8.50604198e-01 4.24870798e-03 -5.25789356e-01 5.78568338e+00] [ 3.46687241e-02 9.97338206e-01 6.41450053e-02 4.17922238e-01] [ 5.24662347e-01 -7.27904569e-02 8.48192768e-01 1.43827806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.586502481 meters Centerline goodness [0,1] 0.6658916808250619 Centerline is valid? [False, False] Translation: X:5.79, Y:0.42, Z:1.44 [[ 8.50398964e-01 4.99428040e-03 -5.26114682e-01 5.78751113e+00] [ 3.42975411e-02 9.97301879e-01 6.49048578e-02 4.16002200e-01] [ 5.25019314e-01 -7.32394637e-02 8.47933194e-01 1.43815591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.616502481 meters Centerline goodness [0,1] 0.6629946110102123 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 8.50337284e-01 5.68462432e-03 -5.26207362e-01 5.78919588e+00] [ 3.40548857e-02 9.97251198e-01 6.58051177e-02 4.13400411e-01] [ 5.25134999e-01 -7.38764767e-02 8.47806286e-01 1.43753229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.646502481 meters Centerline goodness [0,1] 0.6627765042126887 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 0.85023656 0.00593523 -0.52636734 5.78944183] [ 0.03390744 0.99724234 0.06601513 0.41257763] [ 0.52530761 -0.07397624 0.84769065 1.43782333] [ 0. 0. 0. 1. ]] SLAMing on 205.676502481 meters Centerline goodness [0,1] 0.6635135939080254 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 0.85016579 0.00630004 -0.52647738 5.78898385] [ 0.03377655 0.99721616 0.06647612 0.41067242] [ 0.52543056 -0.07429831 0.84758627 1.43824618] [ 0. 0. 0. 1. ]] SLAMing on 205.70650248099997 meters Centerline goodness [0,1] 0.6620271234832262 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 0.85000319 0.00617499 -0.52674134 5.78868665] [ 0.03366954 0.99724986 0.06602335 0.41155912] [ 0.52570042 -0.0738552 0.84745766 1.43918242] [ 0. 0. 0. 1. ]] SLAMing on 205.73650248099997 meters Centerline goodness [0,1] 0.6714765001039161 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 0.84980955 0.00650707 -0.52704969 5.78996445] [ 0.03338458 0.99725163 0.06614123 0.41163805] [ 0.52603155 -0.07380278 0.84725673 1.43938865] [ 0. 0. 0. 1. ]] SLAMing on 205.76650248099997 meters Centerline goodness [0,1] 0.6869947693770804 Centerline is valid? [False, False] Translation: X:5.79, Y:0.41, Z:1.44 [[ 0.84931152 0.00729704 -0.52784155 5.79326227] [ 0.0326445 0.99726476 0.06631239 0.41191159] [ 0.52688166 -0.073551 0.84675024 1.43992616] [ 0. 0. 0. 1. ]] SLAMing on 205.79650248099998 meters Centerline goodness [0,1] 0.6864199737814325 Centerline is valid? [False, False] Translation: X:5.80, Y:0.41, Z:1.44 [[ 0.84878695 0.00777762 -0.5286778 5.79550578] [ 0.03214659 0.99728292 0.06628251 0.4128574 ] [ 0.52775686 -0.07325492 0.84623071 1.44085372] [ 0. 0. 0. 1. ]] SLAMing on 205.82650248099998 meters Centerline goodness [0,1] 0.6948537134283571 Centerline is valid? [False, False] Translation: X:5.80, Y:0.42, Z:1.44 [[ 0.84812531 0.01048867 -0.52969184 5.79922713] [ 0.02973967 0.99728501 0.06736588 0.41767971] [ 0.52896031 -0.07288757 0.84551073 1.44178937] [ 0. 0. 0. 1. ]] SLAMing on 205.85650248099998 meters Centerline goodness [0,1] 0.6923423965351299 Centerline is valid? [False, False] Translation: X:5.80, Y:0.42, Z:1.44 [[ 0.84753766 0.0108608 -0.53062412 5.80099463] [ 0.02929689 0.99730882 0.06720725 0.41895457] [ 0.52992604 -0.07250632 0.84493859 1.44310037] [ 0. 0. 0. 1. ]] SLAMing on 205.88650248099998 meters Centerline goodness [0,1] 0.6873078082604763 Centerline is valid? [False, False] Translation: X:5.81, Y:0.42, Z:1.44 [[ 0.84692291 0.01368325 -0.53153961 5.80531181] [ 0.02664066 0.99732129 0.06812133 0.42481425] [ 0.53104789 -0.07185408 0.84428972 1.44389868] [ 0. 0. 0. 1. ]] SLAMing on 205.91650248099998 meters Centerline goodness [0,1] 0.6844490091831803 Centerline is valid? [False, False] Translation: X:5.81, Y:0.43, Z:1.45 [[ 0.84626452 0.01367988 -0.53258729 5.80543175] [ 0.02641813 0.99736299 0.06759554 0.42728729] [ 0.53210755 -0.07127367 0.84367151 1.44603925] [ 0. 0. 0. 1. ]] SLAMing on 205.94650248099998 meters Centerline goodness [0,1] 0.6804242424242424 Centerline is valid? [False, False] Translation: X:5.81, Y:0.43, Z:1.45 [[ 0.84576794 0.01327919 -0.53338566 5.80576685] [ 0.02630793 0.99743637 0.06654764 0.43025902] [ 0.53290195 -0.07031613 0.84325035 1.44792446] [ 0. 0. 0. 1. ]] SLAMing on 205.97650248099998 meters Centerline goodness [0,1] 0.678802344552541 Centerline is valid? [False, False] Translation: X:5.80, Y:0.43, Z:1.45 [[ 0.8456098 0.01259369 -0.53365295 5.80483782] [ 0.02660463 0.99748492 0.06569654 0.43105666] [ 0.53313813 -0.06975128 0.84314797 1.44911313] [ 0. 0. 0. 1. ]] SLAMing on 206.00650248099998 meters Centerline goodness [0,1] 0.67690959632584 Centerline is valid? [False, False] Translation: X:5.81, Y:0.43, Z:1.45 [[ 0.84538622 0.01275034 -0.53400333 5.80596571] [ 0.02653381 0.99747849 0.06582264 0.43040018] [ 0.5334961 -0.06981469 0.84291626 1.44940852] [ 0. 0. 0. 1. ]] SLAMing on 206.03650248099999 meters Centerline goodness [0,1] 0.6748444014744093 Centerline is valid? [False, False] Translation: X:5.81, Y:0.43, Z:1.45 [[ 0.84514247 0.01262044 -0.53439212 5.80717512] [ 0.02645625 0.99750847 0.06539822 0.43147679] [ 0.53388601 -0.06940883 0.84270288 1.44995056] [ 0. 0. 0. 1. ]] SLAMing on 206.066502481 meters Centerline goodness [0,1] 0.6761791879406759 Centerline is valid? [False, False] Translation: X:5.81, Y:0.43, Z:1.45 [[ 0.84501696 0.01231197 -0.53459775 5.806431 ] [ 0.02654663 0.99753634 0.06493479 0.4322731 ] [ 0.53408016 -0.06906276 0.84260828 1.45082742] [ 0. 0. 0. 1. ]] SLAMing on 206.096502481 meters Centerline goodness [0,1] 0.6743165401846942 Centerline is valid? [False, False] Translation: X:5.80, Y:0.43, Z:1.45 [[ 0.84503244 0.01682098 -0.5344504 5.80402028] [ 0.02294063 0.99744432 0.06766496 0.43473552] [ 0.53422271 -0.06943972 0.84248693 1.45198586] [ 0. 0. 0. 1. ]] SLAMing on 206.126502481 meters Centerline goodness [0,1] 0.669529465509365 Centerline is valid? [False, False] Translation: X:5.80, Y:0.43, Z:1.45 [[ 0.84473338 0.01695104 -0.53491885 5.80338317] [ 0.02285338 0.99744411 0.06769762 0.43440572] [ 0.5346992 -0.06941114 0.84218695 1.4532196 ] [ 0. 0. 0. 1. ]] SLAMing on 206.156502481 meters Centerline goodness [0,1] 0.673247417969107 Centerline is valid? [False, False] Translation: X:5.80, Y:0.44, Z:1.45 [[ 0.84450522 0.01686106 -0.53528182 5.80334986] [ 0.02273601 0.99747437 0.06729007 0.43543311] [ 0.53506448 -0.06899699 0.84198896 1.45424014] [ 0. 0. 0. 1. ]] SLAMing on 206.186502481 meters Centerline goodness [0,1] 0.6747009951611431 Centerline is valid? [False, False] Translation: X:5.80, Y:0.44, Z:1.46 [[ 0.84409873 0.01694268 -0.53592003 5.80439535] [ 0.0224386 0.99750887 0.06687726 0.43635381] [ 0.53571806 -0.0684763 0.8416158 1.45552272] [ 0. 0. 0. 1. ]] SLAMing on 206.216502481 meters Centerline goodness [0,1] 0.6757620003650301 Centerline is valid? [False, False] Translation: X:5.81, Y:0.44, Z:1.46 [[ 0.84384783 0.01717629 -0.53630758 5.80562648] [ 0.02210901 0.99752576 0.06673491 0.43650161] [ 0.53612688 -0.06817134 0.8413802 1.45616279] [ 0. 0. 0. 1. ]] SLAMing on 206.246502481 meters Centerline goodness [0,1] 0.6698787123445906 Centerline is valid? [False, False] Translation: X:5.81, Y:0.44, Z:1.46 [[ 0.84321932 0.01802722 -0.53726735 5.80737866] [ 0.02138385 0.99752169 0.06703146 0.436611 ] [ 0.53714422 -0.06801107 0.84074407 1.45770697] [ 0. 0. 0. 1. ]] SLAMing on 206.276502481 meters Centerline goodness [0,1] 0.6689642607718702 Centerline is valid? [False, False] Translation: X:5.81, Y:0.44, Z:1.46 [[ 0.8426501 0.01871549 -0.53813618 5.8099056 ] [ 0.02056828 0.99754764 0.06690027 0.43746439] [ 0.53806855 -0.06744206 0.84019867 1.45908477] [ 0. 0. 0. 1. ]] SLAMing on 206.306502481 meters Centerline goodness [0,1] 0.6619632276586647 Centerline is valid? [False, False] Translation: X:5.82, Y:0.44, Z:1.47 [[ 0.84263164 0.02667797 -0.53782916 5.82409494] [ 0.0106484 0.99775124 0.06617465 0.44125922] [ 0.53838511 -0.06148787 0.84045268 1.46771123] [ 0. 0. 0. 1. ]] SLAMing on 206.336502481 meters Centerline goodness [0,1] 0.6540142416185324 Centerline is valid? [False, False] Translation: X:5.82, Y:0.44, Z:1.47 [[ 0.84229372 0.02648752 -0.53836762 5.82429669] [ 0.01042874 0.99780412 0.06540776 0.44287421] [ 0.53891792 -0.06070704 0.84016792 1.46922841] [ 0. 0. 0. 1. ]] SLAMing on 206.366502481 meters Centerline goodness [0,1] 0.6481288981288982 Centerline is valid? [False, False] Translation: X:5.82, Y:0.44, Z:1.47 [[ 0.84219294 0.03234567 -0.53820518 5.82337343] [ 0.00624295 0.99754701 0.0697208 0.44164997] [ 0.53914013 -0.06207835 0.83992511 1.46963091] [ 0. 0. 0. 1. ]] SLAMing on 206.396502481 meters Centerline goodness [0,1] 0.6468468468468469 Centerline is valid? [False, False] Translation: X:5.82, Y:0.44, Z:1.47 [[ 0.8417642 0.03232933 -0.53887646 5.82411502] [ 0.00603294 0.99757952 0.06927264 0.44312055] [ 0.53981166 -0.06156224 0.83953169 1.47100491] [ 0. 0. 0. 1. ]] SLAMing on 206.426502481 meters Centerline goodness [0,1] 0.638305652902636 Centerline is valid? [False, False] Translation: X:5.83, Y:0.44, Z:1.47 [[ 8.41406015e-01 3.23673310e-02 -5.39433290e-01 5.82565597e+00] [ 5.63783100e-03 9.97624613e-01 6.86538108e-02 4.44577656e-01] [ 5.40374068e-01 -6.08069630e-02 8.39224869e-01 1.47210879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45650248099997 meters Centerline goodness [0,1] 0.6376529307931098 Centerline is valid? [False, False] Translation: X:5.83, Y:0.44, Z:1.47 [[ 8.41236998e-01 3.28012265e-02 -5.39670634e-01 5.82627868e+00] [ 5.35060097e-03 9.97604043e-01 6.89749586e-02 4.43712147e-01] [ 5.40640069e-01 -6.09118493e-02 8.39045924e-01 1.47248426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48650248099997 meters Centerline goodness [0,1] 0.6253873731542808 Centerline is valid? [False, False] Translation: X:5.83, Y:0.44, Z:1.47 [[ 8.41073692e-01 3.29618826e-02 -5.39915326e-01 5.82629611e+00] [ 5.12758338e-03 9.97610951e-01 6.88919331e-02 4.43944748e-01] [ 5.40896250e-01 -6.07116533e-02 8.38895310e-01 1.47322422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51650248099997 meters Centerline goodness [0,1] 0.5923828660151612 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.47 [[ 8.41164934e-01 3.35763497e-02 -5.39735289e-01 5.82584930e+00] [ 4.18775510e-03 9.97636254e-01 6.85883936e-02 4.46800802e-01] [ 5.40762440e-01 -5.99544308e-02 8.39036024e-01 1.47384699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54650248099998 meters Centerline goodness [0,1] 0.5774862721171445 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.40812314e-01 3.36016192e-02 -5.40282874e-01 5.82622181e+00] [ 3.97735707e-03 9.97661216e-01 6.82369272e-02 4.48209722e-01] [ 5.41312140e-01 -5.95233466e-02 8.38712190e-01 1.47507762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57650248099998 meters Centerline goodness [0,1] 0.5687093920629595 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.40430009e-01 3.40041961e-02 -5.40852211e-01 5.82739668e+00] [ 3.62335794e-03 9.97654524e-01 6.83543824e-02 4.48703828e-01] [ 5.41907991e-01 -5.94067754e-02 8.38335592e-01 1.47593856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60650248099998 meters Centerline goodness [0,1] 0.5808749657502968 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.40033236e-01 3.46321399e-02 -5.41428461e-01 5.82943022e+00] [ 2.96478261e-03 9.97652603e-01 6.84141361e-02 4.49489549e-01] [ 5.42526841e-01 -5.90753658e-02 8.37958667e-01 1.47677876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63650248099998 meters Centerline goodness [0,1] 0.568389613556016 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.39763895e-01 3.51371072e-02 -5.41813607e-01 5.83019607e+00] [ 2.48295373e-03 9.97644830e-01 6.85465403e-02 4.49676211e-01] [ 5.42946071e-01 -5.89082078e-02 8.37698864e-01 1.47755958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099998 meters Centerline goodness [0,1] 0.5953061348574208 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.39567355e-01 3.54715890e-02 -5.42096322e-01 5.83113722e+00] [ 2.19088941e-03 9.97636845e-01 6.86725991e-02 4.49530902e-01] [ 5.43251191e-01 -5.88429455e-02 8.37505613e-01 1.47798029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69650248099998 meters Centerline goodness [0,1] 0.5500015230436504 Centerline is valid? [False, False] Translation: X:5.83, Y:0.45, Z:1.48 [[ 8.39332341e-01 3.57082179e-02 -5.42444600e-01 5.83345120e+00] [ 1.81246914e-03 9.97650970e-01 6.84781491e-02 4.49761838e-01] [ 5.43615614e-01 -5.84590893e-02 8.37296005e-01 1.47827427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72650248099998 meters Centerline goodness [0,1] 0.5491713380453327 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.38999752e-01 3.66338462e-02 -5.42897207e-01 5.83517950e+00] [ 1.23979221e-03 9.97599785e-01 6.92324475e-02 4.48457061e-01] [ 5.44130388e-01 -5.87590860e-02 8.36940554e-01 1.47865275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75650248099998 meters Centerline goodness [0,1] 0.563390161334594 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.38743235e-01 3.66553733e-02 -5.43291974e-01 5.83554748e+00] [ 1.00812680e-03 9.97625467e-01 6.88651686e-02 4.49742020e-01] [ 5.44526188e-01 -5.83079015e-02 8.36714658e-01 1.47962076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78650248099999 meters Centerline goodness [0,1] 0.5578812863184155 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.38407162e-01 3.77809649e-02 -5.43733418e-01 5.83666367e+00] [ 4.24941883e-04 9.97549056e-01 6.99692881e-02 4.47820139e-01] [ 5.45044265e-01 -5.88938073e-02 8.36336218e-01 1.48003293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.816502481 meters Centerline goodness [0,1] 0.5175674027083079 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.38234463e-01 3.77001816e-02 -5.44005222e-01 5.83710162e+00] [ 2.03851337e-04 9.97585558e-01 6.94479214e-02 4.49232328e-01] [ 5.45309952e-01 -5.83245373e-02 8.36202909e-01 1.48080709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.846502481 meters Centerline goodness [0,1] 0.544009258695255 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37959245e-01 3.82750770e-02 -5.44388943e-01 5.83736797e+00] [-9.49350507e-05 9.97547704e-01 6.99897821e-02 4.47503414e-01] [ 5.45732805e-01 -5.85969034e-02 8.35907955e-01 1.48152933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.876502481 meters Centerline goodness [0,1] 0.5250768902828953 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37813431e-01 3.86964595e-02 -5.44583547e-01 5.83779704e+00] [-7.89087493e-04 9.97569759e-01 6.96703194e-02 4.48984975e-01] [ 5.45956072e-01 -5.79410053e-02 8.35807877e-01 1.48246831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.906502481 meters Centerline goodness [0,1] 0.5263445263445263 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37874455e-01 3.91762812e-02 -5.44455340e-01 5.83856814e+00] [-1.21475426e-03 9.97552600e-01 6.99094798e-02 4.47513326e-01] [ 5.45861633e-01 -5.79139878e-02 8.35871430e-01 1.48231783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.936502481 meters Centerline goodness [0,1] 0.5120554916096202 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37614453e-01 3.96578163e-02 -5.44820416e-01 5.84054499e+00] [-1.66257254e-03 9.97541702e-01 7.00556176e-02 4.46896544e-01] [ 5.46259338e-01 -5.77737944e-02 8.35621281e-01 1.48263645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.966502481 meters Centerline goodness [0,1] 0.49020023628487475 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37506299e-01 3.99862959e-02 -5.44962655e-01 5.84278369e+00] [-2.39945047e-03 9.97578426e-01 6.95091873e-02 4.47907384e-01] [ 5.46422402e-01 -5.69067713e-02 8.35574160e-01 1.48300989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.996502481 meters Centerline goodness [0,1] 0.49020023628487475 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37506299e-01 3.99862959e-02 -5.44962655e-01 5.84278369e+00] [-2.39945047e-03 9.97578426e-01 6.95091873e-02 4.47907384e-01] [ 5.46422402e-01 -5.69067713e-02 8.35574160e-01 1.48300989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.026502481 meters Centerline goodness [0,1] 0.49430303030303036 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.48 [[ 8.37188241e-01 4.07516547e-02 -5.45394492e-01 5.84212142e+00] [-3.13063492e-03 9.97560865e-01 6.97317735e-02 4.48876318e-01] [ 5.46905886e-01 -5.66711897e-02 8.35273804e-01 1.48442634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.056502481 meters Centerline goodness [0,1] 0.48298947112166024 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36726832e-01 4.09715276e-02 -5.46085655e-01 5.84235471e+00] [-3.60168846e-03 9.97587415e-01 6.93280450e-02 4.51607564e-01] [ 5.47608653e-01 -5.60418050e-02 8.34855724e-01 1.48605632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.086502481 meters Centerline goodness [0,1] 0.4900410521514368 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36744505e-01 4.17750923e-02 -5.45997688e-01 5.84222980e+00] [-3.96501977e-03 9.97521856e-01 7.02454607e-02 4.48694075e-01] [ 5.47579138e-01 -5.66126116e-02 8.34836571e-01 1.48592290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.116502481 meters Centerline goodness [0,1] 0.4761933663095924 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36629473e-01 4.16987344e-02 -5.46179769e-01 5.84322468e+00] [-4.13321577e-03 9.97550486e-01 6.98279664e-02 4.49876036e-01] [ 5.47753632e-01 -5.61626559e-02 8.34752487e-01 1.48622049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.146502481 meters Centerline goodness [0,1] 0.4927803844407447 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36444997e-01 3.68720476e-02 -5.46809125e-01 5.84449635e+00] [-7.24527460e-04 9.97807758e-01 6.61751719e-02 4.49273817e-01] [ 5.48050401e-01 -5.49557132e-02 8.34638022e-01 1.48698286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.176502481 meters Centerline goodness [0,1] 0.4754281910064758 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.36291727e-01 3.67271667e-02 -5.47053254e-01 5.84526142e+00] [-8.83913386e-04 9.97842959e-01 6.56402918e-02 4.50742288e-01] [ 5.48284019e-01 -5.44108853e-02 8.34520275e-01 1.48752978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20650248099997 meters Centerline goodness [0,1] 0.4750994814904136 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36505807e-01 3.68706878e-02 -5.46716185e-01 5.84380543e+00] [-7.20194609e-04 9.97806750e-01 6.61904205e-02 4.48066465e-01] [ 5.47957586e-01 -5.49749290e-02 8.34697694e-01 1.48720497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23650248099997 meters Centerline goodness [0,1] 0.5009182598223694 Centerline is valid? [False, False] Translation: X:5.84, Y:0.45, Z:1.49 [[ 8.36215780e-01 3.75900933e-02 -5.47110734e-01 5.84436958e+00] [-1.10422072e-03 9.97761418e-01 6.68650344e-02 4.46461278e-01] [ 5.48399444e-01 -5.53094659e-02 8.34385350e-01 1.48778669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26650248099997 meters Centerline goodness [0,1] 0.4851335866353055 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.36201415e-01 3.72494292e-02 -5.47155987e-01 5.84522350e+00] [-1.22114717e-03 9.97814690e-01 6.60632499e-02 4.49163681e-01] [ 5.48421100e-01 -5.45740251e-02 8.34419543e-01 1.48797789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29650248099998 meters Centerline goodness [0,1] 0.5019558283685382 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.36002724e-01 3.77447926e-02 -5.47425589e-01 5.84623838e+00] [-1.31251976e-03 9.97766112e-01 6.67911869e-02 4.47485447e-01] [ 5.48723722e-01 -5.51191073e-02 8.34184729e-01 1.48789785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32650248099998 meters Centerline goodness [0,1] 0.483227943390545 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.35863140e-01 3.77571594e-02 -5.47637844e-01 5.84664495e+00] [-1.41208903e-03 9.97776293e-01 6.66368948e-02 4.47938585e-01] [ 5.48936077e-01 -5.49260108e-02 8.34057742e-01 1.48832399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35650248099998 meters Centerline goodness [0,1] 0.505421686746988 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.35534841e-01 3.25769654e-02 -5.48470847e-01 5.84707160e+00] [ 2.11236524e-03 9.98042873e-01 6.24976934e-02 4.49198106e-01] [ 5.49433405e-01 -5.33775711e-02 8.33830779e-01 1.48989272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38650248099998 meters Centerline goodness [0,1] 0.49744468494468497 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.35329379e-01 3.29579131e-02 -5.48760972e-01 5.84819087e+00] [ 1.83485247e-03 9.98028633e-01 6.27334101e-02 4.48556192e-01] [ 5.49746725e-01 -5.34099559e-02 8.33622165e-01 1.49016193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41650248099998 meters Centerline goodness [0,1] 0.4985920555988257 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.35059557e-01 3.38831361e-02 -5.49115170e-01 5.84828055e+00] [ 1.32768496e-03 9.97974648e-01 6.35990567e-02 4.46925651e-01] [ 5.50157954e-01 -5.38380520e-02 8.33323281e-01 1.49087126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44650248099998 meters Centerline goodness [0,1] 0.5106593505442116 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.49 [[ 8.35002394e-01 3.43178716e-02 -5.49175096e-01 5.84833245e+00] [ 1.05641671e-03 9.97951386e-01 6.39680828e-02 4.45583582e-01] [ 5.50245296e-01 -5.39936600e-02 8.33255542e-01 1.49107533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47650248099998 meters Centerline goodness [0,1] 0.509533359274447 Centerline is valid? [False, False] Translation: X:5.85, Y:0.44, Z:1.49 [[ 8.35394682e-01 3.42040468e-02 -5.48585280e-01 5.84729180e+00] [ 8.42617756e-04 9.97981049e-01 6.35068241e-02 4.44992222e-01] [ 5.49649903e-01 -5.35155108e-02 8.33679239e-01 1.49096094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50650248099998 meters Centerline goodness [0,1] 0.517240348096534 Centerline is valid? [False, False] Translation: X:5.85, Y:0.44, Z:1.49 [[ 8.35302403e-01 3.46019386e-02 -5.48700831e-01 5.84696841e+00] [ 5.82112284e-04 9.97961309e-01 6.38191775e-02 4.43672290e-01] [ 5.49790466e-01 -5.36277178e-02 8.33579337e-01 1.49147083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53650248099999 meters Centerline goodness [0,1] 0.5057076261056658 Centerline is valid? [False, False] Translation: X:5.85, Y:0.44, Z:1.49 [[ 8.35274797e-01 3.51023835e-02 -5.48711068e-01 5.84698333e+00] [ 2.56723375e-07 9.97959998e-01 6.38423227e-02 4.43666478e-01] [ 5.49832714e-01 -5.33260240e-02 8.33570826e-01 1.49197077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.566502481 meters Centerline goodness [0,1] 0.4829714899200763 Centerline is valid? [False, False] Translation: X:5.85, Y:0.44, Z:1.50 [[ 8.34532655e-01 3.84359004e-02 -5.49616165e-01 5.85351912e+00] [-4.97293628e-03 9.98048516e-01 6.22449226e-02 4.43644448e-01] [ 5.50936037e-01 -4.92122144e-02 8.33095217e-01 1.49864742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.596502481 meters Centerline goodness [0,1] 0.4873796279681799 Centerline is valid? [False, False] Translation: X:5.85, Y:0.45, Z:1.50 [[ 8.34323649e-01 3.84472049e-02 -5.49932596e-01 5.85445307e+00] [-5.30623761e-03 9.98078905e-01 6.17279734e-02 4.45572489e-01] [ 5.51249392e-01 -4.85830350e-02 8.32924845e-01 1.49932422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.626502481 meters Centerline goodness [0,1] 0.4632366192106686 Centerline is valid? [False, False] Translation: X:5.86, Y:0.45, Z:1.51 [[ 0.83402387 0.04393932 -0.54997593 5.86332425] [-0.01252841 0.99807497 0.06074037 0.44881112] [ 0.5515861 -0.0437686 0.83296883 1.50621039] [ 0. 0. 0. 1. ]] SLAMing on 207.656502481 meters Centerline goodness [0,1] 0.46740471104960746 Centerline is valid? [False, False] Translation: X:5.86, Y:0.45, Z:1.51 [[ 0.83377291 0.0445422 -0.55030785 5.86421085] [-0.01293739 0.99804286 0.06118062 0.44830861] [ 0.55195594 -0.0438912 0.83271736 1.50658113] [ 0. 0. 0. 1. ]] SLAMing on 207.686502481 meters Centerline goodness [0,1] 0.4597049150650213 Centerline is valid? [False, False] Translation: X:5.87, Y:0.45, Z:1.51 [[ 0.83330762 0.04514831 -0.55096284 5.86571555] [-0.01347693 0.99802231 0.06139904 0.44980406] [ 0.55264526 -0.043739 0.83226805 1.5074419 ] [ 0. 0. 0. 1. ]] SLAMing on 207.716502481 meters Centerline goodness [0,1] 0.4577454149922954 Centerline is valid? [False, False] Translation: X:5.87, Y:0.45, Z:1.51 [[ 0.83310064 0.04551596 -0.55124552 5.8668388 ] [-0.01376929 0.99800624 0.06159507 0.44989419] [ 0.55295003 -0.04372463 0.83206636 1.50770123] [ 0. 0. 0. 1. ]] SLAMing on 207.746502481 meters Centerline goodness [0,1] 0.4553698274038026 Centerline is valid? [False, False] Translation: X:5.87, Y:0.45, Z:1.51 [[ 0.83303814 0.04562185 -0.55133122 5.868539 ] [-0.01397865 0.99801148 0.06146284 0.45132268] [ 0.55303893 -0.04349402 0.83201936 1.50739068] [ 0. 0. 0. 1. ]] SLAMing on 207.776502481 meters Centerline goodness [0,1] 0.4658441440624149 Centerline is valid? [False, False] Translation: X:5.88, Y:0.45, Z:1.51 [[ 0.83518458 0.04211994 -0.54835447 5.88217301] [-0.00803704 0.99789125 0.06440852 0.45353197] [ 0.54991101 -0.04938586 0.83376191 1.51437635] [ 0. 0. 0. 1. ]] SLAMing on 207.806502481 meters Centerline goodness [0,1] 0.47060781169636645 Centerline is valid? [False, False] Translation: X:5.88, Y:0.45, Z:1.51 [[ 0.83514133 0.04175864 -0.54844797 5.88205631] [-0.00791876 0.99792339 0.06392336 0.45495858] [ 0.54997841 -0.04904201 0.83373775 1.51475251] [ 0. 0. 0. 1. ]] SLAMing on 207.836502481 meters Centerline goodness [0,1] 0.47621790402279685 Centerline is valid? [False, False] Translation: X:5.89, Y:0.46, Z:1.52 [[ 0.83770363 0.03727095 -0.54485182 5.89188048] [-0.00771409 0.99837652 0.05643427 0.45717745] [ 0.54607062 -0.04307216 0.83663114 1.52139833] [ 0. 0. 0. 1. ]] SLAMing on 207.866502481 meters Centerline goodness [0,1] 0.4843200291156132 Centerline is valid? [False, False] Translation: X:5.89, Y:0.46, Z:1.52 [[ 0.83776076 0.03754502 -0.54474516 5.89136942] [-0.00769022 0.99834562 0.0569814 0.455253 ] [ 0.54598331 -0.04354757 0.83666351 1.52127332] [ 0. 0. 0. 1. ]] SLAMing on 207.896502481 meters Centerline goodness [0,1] 0.5066594183201958 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 0.84104026 0.03266141 -0.53998567 5.90074508] [-0.00690159 0.99874232 0.04966024 0.45679335] [ 0.54092851 -0.0380395 0.84020792 1.52780556] [ 0. 0. 0. 1. ]] SLAMing on 207.926502481 meters Centerline goodness [0,1] 0.5136775362318841 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.40971998e-01 2.73298494e-02 -5.40387989e-01 5.90021114e+00] [-3.23222293e-03 9.98959485e-01 4.54917648e-02 4.58105694e-01] [ 5.41068990e-01 -3.65106459e-02 8.40185290e-01 1.52884762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95650248099997 meters Centerline goodness [0,1] 0.5156675337245176 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.41065550e-01 2.17056716e-02 -5.40497553e-01 5.89925625e+00] [ 6.94872976e-04 9.99150436e-01 4.12058573e-02 4.58397096e-01] [ 5.40932766e-01 -3.50324041e-02 8.40335929e-01 1.52952719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98650248099997 meters Centerline goodness [0,1] 0.5315159775859457 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.41576517e-01 2.14903273e-02 -5.39710230e-01 5.89890783e+00] [ 7.88242342e-04 9.99158266e-01 4.10138686e-02 4.57761869e-01] [ 5.40137339e-01 -3.49417312e-02 8.40851194e-01 1.52840370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01650248099997 meters Centerline goodness [0,1] 0.5376194508285956 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.41740294e-01 2.14503699e-02 -5.39456355e-01 5.89883897e+00] [ 7.40449591e-04 9.99163583e-01 4.08850402e-02 4.57534482e-01] [ 5.39882143e-01 -3.48140260e-02 8.41020365e-01 1.52814332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04650248099998 meters Centerline goodness [0,1] 0.5439379770128812 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.41964312e-01 2.19320024e-02 -5.39087270e-01 5.89838035e+00] [ 4.55248114e-04 9.99144214e-01 4.13597895e-02 4.56070745e-01] [ 5.39533030e-01 -3.50688851e-02 8.41233786e-01 1.52770792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07650248099998 meters Centerline goodness [0,1] 0.5411248866041729 Centerline is valid? [False, False] Translation: X:5.90, Y:0.46, Z:1.53 [[ 8.42305318e-01 2.19370004e-02 -5.38554100e-01 5.89701489e+00] [ 3.59234645e-04 9.99148367e-01 4.12602994e-02 4.56349817e-01] [ 5.39000577e-01 -3.49472369e-02 8.41580103e-01 1.52742994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 13396.59 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%| | 0/6936 [00:00